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Plugins for mavros 0.8

Standard plugin set for mavros version 0.8.

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) ~set_mode (mavros/SetMode)

Parameters

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

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) ~rc/override (mavros/OverrideRCIn)

command

Send COMMAND_LONG to FCU.

Services

~cmd/command (mavros/CommandLong) ~cmd/command_int (mavros/CommandInt) ~cmd/arming (mavros/CommandBool) ~cmd/set_home (mavros/CommandHome) ~cmd/guided_enable (mavros/CommandBool) ~cmd/takeoff (mavros/CommandTOL) ~cmd/land (mavros/CommandTOL)

local_position

Publish LOCAL_POSITION_NED in TF and PoseStamped topic.

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)

setpoint_accel

Send acceleration setpoint to FCU.

Subscribed Topics

~setpoint/accel (geometry_msgs/Vector3)

Parameters

~setpoint/accel/send_force (bool)

setpoint_attitude

Send ATTITUDE_SETPOINT_EXTERNAL to FCU.

Subscribed Topics

~setpoint/att_vel (geometry_msgs/Twist) ~setpoint/attitude (geometry_msgs/PoseStamped) ~setpoint/attitude (geometry_msgs/PoseWithCovarianceStamped)

Parameters

~setpoint/attitude/listen_tf (bool, default: false) ~setpoint/attitude/listen_twist (bool, default: false) ~setpoint/attitude/pose_with_covariance (bool, default: false) ~setpoint/attitude/frame_id (string, default: local_origin) ~setpoint/attitude/child_frame_id (string, default: attitude) ~setpoint/attitude/tf_rate_limit (double, default: 10.0)

setpoint_position

Sent LOCAL_NED_POSITION_SETPOINT_EXTERNAL to FCU.

Subscribed Topics

~setpoint/local_setpoint (geometry_msgs/PoseStamped)

Parameters

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

setpoint_velocity

Send velocity setpoint to FCU.

Subscribed Topics

~setpoint/cmd_vel (geometry_msgs/Twist)

safety_area

Sends safety allowed area to FCU. Initial area can be loaded from parameters.

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)

3dr_radio

Publish 3DR Radio status to diagnostics and topic.

Published Topics

~radio_status (mavros/RadioStatus)

vfr_hud

Publish VFR_HUD and WIND messages. New in 0.8.0

Published Topics

~vfr_hud (mavros/VFR_HUD) ~wind_estimation (geometry_msgs/TwistStamped)

global_position

Publish global position information fused by FCU. New in 0.8.0

Published Topics

~global_position/global (sensor_msgs/NavSatFix) ~global_position/local (geometry_msgs/PoseWithCovarianceStamped) ~global_position/gps_vel (geometry_msgs/Vector3Stamped) ~global_position/rel_alt (std_msgs/Float64) ~global_position/compass_hdg (std_msgs/Float64)

Parameters

~global_position/send_tf (bool) ~global_position/frame_id (string, default: local_origin) ~global_position/child_frame_id (string, default: fcu)

ftp

Support plugin for MAVLink-FTP (PX4). New in 0.8.0

Services

~ftp/open (mavros/FileOpen) ~ftp/close (mavros/FileClose) ~ftp/read (mavros/FileRead) ~ftp/write (mavros/FileWrite) ~ftp/list (mavros/FileList) ~ftp/truncate (mavros/FileTruncate) ~ftp/remove (mavros/FileRemove) ~ftp/rename (mavros/FileRename) ~ftp/mkdir (mavros/FileMakeDir) ~ftp/rmdir (mavros/FileRemoveDir) ~ftp/checksum (mavros/FileChecksum) ~ftp/reset (std_srvs/Empty)

Notes

Setpoint plugins are mutually exclusive, please blacklist all unused plugins. Also APM does not support this commands.

Also blacklist 3dr_radio if you dont use 3DR Radio for FCU connection.

Plugins: `vision_position` and `vision_speed` moved to mavros_extras.


2019-10-12 12:48