Contents
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)- FCU state
- FCU battery status report.
Services
~set_stream_rate (mavros/StreamRate)- Send stream rate request to FCU. (Since 0.5.0)
Parameters
~conn_timeout (double, default: 30.0)- Connection time out in seconds.
- Period to send HEARTBEAT messages (or disabled if 0.0)
- Minimal battery voltage for diagnostics.
imu_pub
Publish IMU statePublished Topics
~imu/data (sensor_msgs/Imu)- Imu data, orientation computed by FCU
- Raw IMU data without orientation
- FCU compass data
- Temperature reported by FCU (usually from barometer)
- Air pressure.
Parameters
~imu/frame_id (string, default: fcu)- Frame ID for this plugin.
- Gyro's standard deviation
- Accel's standard deviation
- Standard deviation for IMU.orientation
- Standard deviation for magnetic field message (undefined if: 0.0) (Since 0.6.0)
gps
Publish GPS Fix (like nmea_navsat_driver)Published Topics
~fix (sensor_msgs/NavSatFix)- GPS position fix reported by the device.
- Time reference computed from SYSTEM_TIME.
- Velocity output from the GPS device.
Parameters
~gps/frame_id (string, default: gps)- Frame ID for fix message.
- Ref source for time_reference message.
param
Allows to access to FCU parameters and map it to ROS parameters in ~param/.Services
~param/pull (mavros/ParamPull)- Request parameter from device (or internal cache).
- Request send parameters from ROS to FCU.
- Return FCU parameter value.
- Set parameter on FCU immidiatly.
waypoint
Allows to access to FCU mission (waypoints).Published Topics
~mission/waypoints (mavros/WaypointList)- Current waypoint table. Updates on changes.
Services
~mission/pull (mavros/WaypointPull)- Request update waypoint list.
- Send new waypoint table.
- Clear mission on FCU.
- Set current seq. number in list.
- Send goto point (APM specific).
Parameters
~mission/pull_after_gcs (bool, default: false)- Defines pull or not waypoints if detected GCS activity.
rc_io
Publish RC receiver inputs.Published Topics
~rc/in (mavros/RCIn)- Publish RC inputs (in raw milliseconds)
- Publish FCU servo outputs
Services
~rc/override (mavros/OverrideRCIn)- Send RC override message to FCU (Since 0.5.0)
command
Send COMMAND_LONG to FCU.Services
~cmd/command (mavros/CommandLong)- Send any COMMAND_LONG to FCU.
- Change Arming status.
- Change FCU operation mode.
- Change HOME location.
local_position
Publish LOCAL_POSITION_NED in TF and PoseStamped topic. (Since 0.6.0)Published Topics
~position/local (geometry_msgs/PoseStamped)- Local position from FCU.
Parameters
~position/local/send_tf (bool, default: true)- TF send switch.
- Origin frame_id for TF.
- Child frame_id for TF and PoseStamped.
vision_position
Sent VISION_POSITION_ESTIMATE to FCU from PoseStamped topic. (Since 0.6.0)Subscribed Topics
~position/vision (geometry_msgs/PoseStamped)- Vision position.
- Vision position with covariance (optional alternative).
Parameters
~position/vision/pose_with_covariance (bool, default: false)- Selector for vision position message type.
- TF listen switch. Disable topic if enabled.
- Origin frame_id for TF.
- Child frame_id for TF.
- Rate limit for TF listener [Hz]. (Since UPCOMING)
setpoint_position
Sent LOCAL_NED_POSITION_SETPOINT_EXTERNAL to FCU. (Since 0.6.0)Subscribed Topics
~position/local_setpoint (geometry_msgs/PoseStamped)- Setpoint position. Orientation not used.
Parameters
~position/setpoint/listen_tf (bool, default: false)- TF listen switch. Disable topic if enabled.
- Origin frame_id for TF.
- Child frame_id for TF.
- Rate limit for TF listener [Hz]. (Since UPCOMING)
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)- Volumetric area described by two corners.
Parameters
~safety_area/p1/x (double)- Corner 1 X.
- Corner 1 Y.
- Corner 1 Z.
- Corner 2 X.
- Corner 2 Y.
- Corner 2 Z.