3dr_radio

Publish 3DR Radio status to diagnostics and topic.

Published Topics

~radio_status (mavros_msgs/RadioStatus)
  • Status received from modem, same as RADIO_STATUS message.

actuator_control

Sends acruator commands to FCU.

Subscribed Topics

~actuator_control (mavros_msgs/ActuatorControl)
  • actuator command

hil_controls

Publish HIL_CONTROLS New in 0.18

Published Topics

~hil_controls/hil_controls (mavros_msgs/HilControls)
  • HIL data

Parameters

~frame_id (string, default: "map")
  • frame for altitude messages

command

Send COMMAND_LONG to FCU.

Services

~cmd/command (mavros_msgs/CommandLong)
  • Send any COMMAND_LONG to FCU.
~cmd/command_int (mavros_msgs/CommandInt)
  • Send any COMMAND_INT to FCU.
~cmd/arming (mavros_msgs/CommandBool)
  • Change Arming status.
~cmd/set_home (mavros_msgs/CommandHome)
  • Change HOME location.
~cmd/takeoff (mavros_msgs/CommandTOL)
  • Send takeoff command.
~cmd/land (mavros_msgs/CommandTOL)
  • Send land command.
~cmd/trigger_control (mavros_msgs/CommandTriggerControl)
  • Send camera trigger control command.

Parameters

~cmd/use_comp_id_system_control (bool, default: false)
  • Use SYSTEM_CONTROL component id instead of mavros target component.

ftp

Support plugin for MAVLink-FTP (PX4).

Services

~ftp/open (mavros_msgs/FileOpen)
  • Open file (acquire session).
~ftp/close (mavros_msgs/FileClose)
  • Close file (release session).
~ftp/read (mavros_msgs/FileRead)
  • Read from opened file.
~ftp/write (mavros_msgs/FileWrite)
  • Write to opened file.
~ftp/list (mavros_msgs/FileList)
  • List directory.
~ftp/truncate (mavros_msgs/FileTruncate)
  • Truncate file.
~ftp/remove (mavros_msgs/FileRemove)
  • Unlink file.
~ftp/rename (mavros_msgs/FileRename)
  • Rename file/directory.
~ftp/mkdir (mavros_msgs/FileMakeDir)
  • Create directory.
~ftp/rmdir (mavros_msgs/FileRemoveDir)
  • Remove directory.
~ftp/checksum (mavros_msgs/FileChecksum)
  • Request to calculate CRC32 of file on FCU.
~ftp/reset (std_srvs/Empty)
  • Reset FCU server (dangerous).

global_position

Publish global position information fused by FCU and raw GPS data.

Published Topics

~global_position/global (sensor_msgs/NavSatFix)
  • GPS Fix.
~global_position/local (geometry_msgs/PoseWithCovarianceStamped)
  • UTM coords.
~global_position/gp_vel (geometry_msgs/TwistStamped)
  • Velocity fused by FCU.
~global_position/rel_alt (std_msgs/Float64)
  • Relative altitude.
~global_position/compass_hdg (std_msgs/Float64)
  • Compass heading in degrees.
~global_position/raw/fix (sensor_msgs/NavSatFix)
  • GPS position fix reported by the device.
~global_position/raw/gps_vel (geometry_msgs/TwistStamped)
  • Velocity output from the GPS device.

Parameters

~global_position/frame_id (string, default: fcu)
  • frame_id for messages.
~global_position/tf/send (bool, default: true)
  • Send or not local UTM coords via TF?
~global_position/tf/frame_id (string, default: local_origin)
  • frame_id for TF.
~global_position/tf/child_frame_id (string, default: fcu_utm)
  • Child frame_id for TF.

imu_pub

Publish IMU state

Published Topics

~imu/data (sensor_msgs/Imu)
  • Imu data, orientation computed by FCU
~imu/data_raw (sensor_msgs/Imu)
  • Raw IMU data without orientation
~imu/mag (sensor_msgs/MagneticField)
  • FCU compass data
~imu/temperature (sensor_msgs/Temperature)
  • Temperature reported by FCU (usually from barometer)
~imu/atm_pressure (sensor_msgs/FluidPressure)
  • Air pressure.

Parameters

~imu/frame_id (string, default: fcu)
  • Frame ID for this plugin.
~imu/linear_acceleration_stdev (double, default: 0.0003)
  • Gyro's standard deviation
~imu/angular_velocity_stdev (double, default: !dec 0.02)
  • Accel's standard deviation
~imu/orientation_stdev (double, default: 1.0)
  • Standard deviation for IMU.orientation
~imu/magnetic_stdev (double, default: 0.0)
  • Standard deviation for magnetic field message (undefined if: 0.0)

local_position

Publish LOCAL_POSITION_NED in TF and PoseStamped topic.

Published Topics

~local_position/pose (geometry_msgs/PoseStamped)
  • Local position from FCU.
~local_position/velocity (geometry_msgs/TwistStamped)
  • Velocity data from FCU.

Parameters

~local_position/frame_id (string, default: fcu)
  • frame_id for message.
~local_position/tf/send (bool, default: true)
  • TF send switch.
~local_position/tf/frame_id (string, default: local_origin)
  • Origin frame_id for TF.
~local_position/tf/child_frame_id (string, default: fcu)
  • Child frame_id for TF.

manual_control

Publish MANUAL_CONTROL message (user input).

Subscribed Topics

~manual_control/send (mavros_msgs/ManualControl)
  • RC Rx, interpreted and normalized.

Published Topics

~manual_control/control (mavros_msgs/ManualControl)
  • RC Rx, interpreted and normalized.

param

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

Services

~param/pull (mavros_msgs/ParamPull)
  • Request parameter from device (or internal cache).
~param/push (mavros_msgs/ParamPush)
  • Request send parameters from ROS to FCU.
~param/get (mavros_msgs/ParamGet)
  • Return FCU parameter value.
~param/set (mavros_msgs/ParamSet)
  • Set parameter on FCU immidiatly.

rc_io

Publish RC receiver inputs.

Subscribed Topics

~rc/override (mavros_msgs/OverrideRCIn)
  • Send RC override message to FCU. APM and PX4 only. APM requires setup FCU param SYSID_MYGCS to match mavros system id. Not recommended to use in automatic control because lack of safety mechanisms. Use one of setpoint plugins and OFFBOARD mode.

Published Topics

~rc/in (mavros_msgs/RCIn)
  • Publish RC inputs (in raw milliseconds)
~rc/out (mavros_msgs/RCOut)
  • Publish FCU servo outputs

safety_area

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

Subscribed Topics

~safety_area/set (geometry_msgs/PolygonStamped)
  • Volumetric area described by two corners.

Parameters

~safety_area/p1/x (double)
  • Corner 1 X.
~safety_area/p1/y (double)
  • Corner 1 Y.
~safety_area/p1/z (double)
  • Corner 1 Z.
~safety_area/p2/x (double)
  • Corner 2 X.
~safety_area/p2/y (double)
  • Corner 2 Y.
~safety_area/p2/z (double)
  • Corner 2 Z.

setpoint_accel

Send acceleration setpoint.

Subscribed Topics

~setpoint_accel/accel (geometry_msgs/Vector3Stamped)
  • Acceleration or force setpoint vector.

Parameters

~setpoint_accel/send_force (bool)
  • Send force setpoint.

setpoint_attitude

Send attitude setpoint using SET_ATTITUDE_TARGET.

Subscribed Topics

~setpoint_attitude/cmd_vel (geometry_msgs/TwistStamped)
  • Send angular velocity.
~setpoint_attitude/attitude (geometry_msgs/PoseStamped)
  • Send attitude setpoint.
~setpoint_attitude/thrust (mavros_msgs/Thrust)
  • Send throttle value(0~1).

Parameters

~setpoint_attitude/reverse_throttle (bool, default: false)
  • Allow to send -1.0 throttle or not.
~setpoint_attitude/use_quaternion (bool, default: false)
  • Enable ~setpoint_attitude/target_attitude PoseStamped topic subscriber and disable ~setpoint_attitude/cmd_vel Twist topic.
~setpoint_attitude/tf/listen (bool, default: false)
  • TF listen switch. Disable topics if enabled.
~setpoint_attutude/tf/frame_id (string, default: local_origin)
  • Origin frame_id for TF.
~setpoint_attitude/tf/child_frame_id (string, default: attitude)
  • Child frame_id for TF.
~setpoint_attitude/tf/rate_limit (double, default: 10.0)
  • Rate limit for TF listener [Hz].

setpoint_position

Sent position setpoint using SET_POSITION_TARGET_LOCAL_NED.

Subscribed Topics

~setpoint_position/global (mavros_msgs/GlobalPositionTarget)
  • Global frame setpoint position. Converts LLA to local ENU.
~setpoint_position/local (geometry_msgs/PoseStamped)
  • Local frame setpoint position. Only YAW axis extracted from orientation field.

Parameters

~setpoint_position/tf/listen (bool, default: false)
  • TF listen switch. Disable topic if enabled.
~setpoint_position/tf/frame_id (string, default: local_origin)
  • Origin frame_id for TF.
~setpoint_position/tf/child_frame_id (string, default: setpoint)
  • Child frame_id for TF.
~setpoint_position/tf/rate_limit (double, default: 50.0)
  • Rate limit for TF listener [Hz].

setpoint_raw

Send RAW setpoint messages to FCU and provide loopback topics (PX4).

Subscribed Topics

~setpoint_raw/local (mavros_msgs/PositionTarget)
  • Local position, velocity and acceleration setpoint.
~setpoint_raw/global (mavros_msgs/GlobalPositionTarget)
  • Global position, velocity and acceleration setpoint.
~setpoint_raw/attitude (mavros_msgs/AttitudeTarget)
  • Attitude, angular rate and thrust setpoint.

Published Topics

~setpoint_raw/target_local (mavros_msgs/PositionTarget)
  • Local target loopback.
~setpoint_raw/target_global (mavros_msgs/GlobalPositionTarget)
  • Global target loopback.
~setpoint_raw/target_attitude (mavros_msgs/AttitudeTarget)
  • Attitude target loopback.

setpoint_velocity

Send velocity setpoint to FCU.

Subscribed Topics

~setpoint_velocity/cmd_vel_unstamped (geometry_msgs/Twist)
  • Velocity setpoint.

sys_status

System status plugin. Handles FCU detection. REQUIRED never blacklist it!.

Published Topics

~state (mavros_msgs/State)
  • FCU state
~battery (mavros_msgs/BatteryStatus)
  • FCU battery status report. DEPRECATED
~battery (sensor_msgs/BatteryState)
  • FCU battery status report. New in Kinetic
~extended_state (mavros_msgs/ExtendedState)
  • Landing detector and VTOL state.

Services

~set_stream_rate (mavros_msgs/StreamRate)
  • Send stream rate request to FCU.
~set_mode (mavros_msgs/SetMode)
  • Set FCU operation mode. See custom mode identifiers at modes page.

Parameters

~conn/timeout (double, default: 30.0)
  • Connection time out in seconds.
~conn/heartbeat_rate (double, default: 0.0)
  • Send HEARTBEAT message rate [Hz] (or disabled if 0.0)
~sys/min_voltage (double, default: 6.0)
  • Minimal battery voltage for diagnostics.
~sys/disable_diag (bool, default: false)
  • Disable all diag except HEARTBEAT message.

sys_time

System time plugin. Does time syncronization on PX4.

Published Topics

~time_reference (sensor_msgs/TimeReference)
  • Time reference computed from SYSTEM_TIME.

Parameters

~conn/system_time_rate (double, default: 0.0)
  • Send SYSTEM_TIME to device rate [Hz] (disabled if 0.0).
~conn/timesync_rate (double, default: 0.0)
  • TIMESYNC rate. PX4 only.
~time/time_ref_source (string, default: "fcu")
  • Ref source for time_reference message.
~time/timesync_avg_alpha (double, default: 0.6)
  • Alpha for exponential moving average.

vfr_hud

Publish VFR_HUD and WIND messages.

Published Topics

~vfr_hud (mavros_msgs/VFR_HUD)
  • Data for HUD.
~wind_estimation (geometry_msgs/TwistStamped)
  • Wind estimation from FCU (APM).

waypoint

Allows to access to FCU mission (waypoints).

Published Topics

~mission/reached (mavros_msgs/WaypointReached)
  • Publishes on reaching a waypoint from MISSION_ITEM_REACHED message.
~mission/waypoints (mavros_msgs/WaypointList)
  • Current waypoint table. Updates on changes.

Services

~mission/pull (mavros_msgs/WaypointPull)
  • Request update waypoint list.
~mission/push (mavros_msgs/WaypointPush)
  • Send new waypoint table.
~mission/clear (mavros_msgs/WaypointClear)
  • Clear mission on FCU.
~mission/set_current (mavros_msgs/WaypointSetCurrent)
  • Set current seq. number in list.

Parameters

~mission/pull_after_gcs (bool, default: false)
  • Defines pull or not waypoints if detected GCS activity.

Notes

Plugins: `vision_position` and `vision_speed` moved to mavros_extras. New in 0.13 GPS and global_position plugins are merged. TF params moved to tf/ subnamespace. New in 0.16 Waypoint GOTO service removed. Please use setpoint plugins. New in 0.18 Experimental MAVLink 2.0 support (without packet signing).

Wiki: mavros/Plugins (last edited 2018-06-29 13:57:05 by Coline)