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Plugins for mavros 0.6

Standard plugin set for mavros version 0.6.

sys_status

Handles SYSTEM_STATUS and HEARTBEAT messages. Changes UAS.connection_status().

Published Topics

~state (mavros/State) ~battery (mavros/BatteryStatus)

Services

~set_stream_rate (mavros/StreamRate)

Parameters

~conn_timeout (double, default: 30.0) ~conn_heartbeat (double, default: 0.0) ~sys/min_voltage (double, default: 6.0)

imu_pub

Publish IMU state

Published Topics

~imu/data (sensor_msgs/Imu) ~imu/data_raw (sensor_msgs/Imu) ~imu/mag (sensor_msgs/MagneticField) ~imu/temperature (sensor_msgs/Temperature) ~imu/atm_pressure (sensor_msgs/FluidPressure)

Parameters

~imu/frame_id (string, default: fcu) ~imu/linear_acceleration_stdev (double, default: 0.0003) ~imu/angular_velocity_stdev (double, default: !dec 0.02) ~imu/orientation_stdev (double, default: 1.0) ~imu/magnetic_stdev (, default: 0.0)

gps

Publish GPS Fix (like nmea_navsat_driver)

Published Topics

~fix (sensor_msgs/NavSatFix) ~time_reference (sensor_msgs/TimeReference) ~gps_vel (geometry_msgs/TwistStamped)

Parameters

~gps/frame_id (string, default: gps) ~gps/time_ref_source (string, default: same as ~gps/frame_id)

param

Allows to access to FCU parameters and map it to ROS parameters in ~param/.

Services

~param/pull (mavros/ParamPull) ~param/push (mavros/ParamPush) ~param/get (mavros/ParamGet) ~param/set (mavros/ParamSet)

waypoint

Allows to access to FCU mission (waypoints).

Published Topics

~mission/waypoints (mavros/WaypointList)

Services

~mission/pull (mavros/WaypointPull) ~mission/push (mavros/WaypointPush) ~mission/clear (mavros/WaypointClear) ~mission/set_current (mavros/WaypointSetCurrent) ~mission/goto (mavros/WaypointGOTO)

Parameters

~mission/pull_after_gcs (bool, default: false)

rc_io

Publish RC receiver inputs.

Published Topics

~rc/in (mavros/RCIn) ~rc/out (mavros/RCOut)

Services

~rc/override (mavros/OverrideRCIn)

command

Send COMMAND_LONG to FCU.

Services

~cmd/command (mavros/CommandLong) ~cmd/arming (mavros/CommandBool) ~cmd/set_mode (mavros/CommandMode) ~cmd/set_home (mavros/CommandHome)

local_position

Publish LOCAL_POSITION_NED in TF and PoseStamped topic. (Since 0.6.0)

Published Topics

~position/local (geometry_msgs/PoseStamped)

Parameters

~position/local/send_tf (bool, default: true) ~position/local/frame_id (string, default: local_origin) ~position/local/child_frame_id (string, default: fcu)

vision_position

Sent VISION_POSITION_ESTIMATE to FCU from PoseStamped topic. (Since 0.6.0)

Subscribed Topics

~position/vision (geometry_msgs/PoseStamped) ~position/vision (geometry_msgs/PoseWithCovarianceStamped)

Parameters

~position/vision/pose_with_covariance (bool, default: false) ~position/vision/listen_tf (bool, default: false) ~position/vision/frame_id (string, default: local_origin) ~position/vision/child_frame_id (string, default: vision) ~position/vision/tf_rate_limit (double, default: 50.0)

setpoint_position

Sent LOCAL_NED_POSITION_SETPOINT_EXTERNAL to FCU. (Since 0.6.0)

Subscribed Topics

~position/local_setpoint (geometry_msgs/PoseStamped)

Parameters

~position/setpoint/listen_tf (bool, default: false) ~position/setpoint/frame_id (string, default: local_origin) ~position/setpoint/child_frame_id (string, default: setpoint) ~position/setpoint/tf_rate_limit (double, default: 50.0)

safety_area

Sends safety allowed area to FCU. Initial area can be loaded from parameters. (Since UPCOMING)

Subscribed Topics

~safety_area/set (geometry_msgs/PolygonStamped)

Parameters

~safety_area/p1/x (double) ~safety_area/p1/y (double) ~safety_area/p1/z (double) ~safety_area/p2/x (double) ~safety_area/p2/y (double) ~safety_area/p2/z (double)

2019-07-13 12:51