Plugins for mavros 0.7

Standard plugin set for mavros version 0.7.

sys_status

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

Published Topics

~state (mavros/State)
  • FCU state
~battery (mavros/BatteryStatus)
  • 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.
~conn_heartbeat (double, default: 0.0)
  • Period to send HEARTBEAT messages (or disabled if 0.0)
~sys/min_voltage (double, default: 6.0)
  • Minimal battery voltage for diagnostics.

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 (, default: 0.0)
  • Standard deviation for magnetic field message (undefined if: 0.0)

gps

Publish GPS Fix (like nmea_navsat_driver)

Published Topics

~fix (sensor_msgs/NavSatFix)
  • GPS position fix reported by the device.
~time_reference (sensor_msgs/TimeReference)
  • Time reference computed from SYSTEM_TIME.
~gps_vel (geometry_msgs/TwistStamped)
  • Velocity output from the GPS device.

Parameters

~gps/frame_id (string, default: gps)
  • Frame ID for fix message.
~gps/time_ref_source (string, default: same as ~gps/frame_id)
  • 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).
~param/push (mavros/ParamPush)
  • Request send parameters from ROS to FCU.
~param/get (mavros/ParamGet)
  • Return FCU parameter value.
~param/set (mavros/ParamSet)
  • 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.
~mission/push (mavros/WaypointPush)
  • Send new waypoint table.
~mission/clear (mavros/WaypointClear)
  • Clear mission on FCU.
~mission/set_current (mavros/WaypointSetCurrent)
  • Set current seq. number in list.
~mission/goto (mavros/WaypointGOTO)
  • 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)
~rc/out (mavros/RCOut)
  • Publish FCU servo outputs
~rc/override (mavros/OverrideRCIn)
  • Send RC override message to FCU. This topic replace override service. New in 0.7.0

command

Send COMMAND_LONG to FCU.

Services

~cmd/command (mavros/CommandLong)
  • Send any COMMAND_LONG to FCU.
~cmd/arming (mavros/CommandBool)
  • Change Arming status.
~cmd/set_mode (mavros/CommandMode)
  • Change FCU operation mode.
~cmd/set_home (mavros/CommandHome)
  • Change HOME location.

local_position

Publish LOCAL_POSITION_NED in TF and PoseStamped topic.

Published Topics

~position/local (geometry_msgs/PoseStamped)
  • Local position from FCU.

Parameters

~position/local/send_tf (bool, default: true)
  • TF send switch.
~position/local/frame_id (string, default: local_origin)
  • Origin frame_id for TF.
~position/local/child_frame_id (string, default: fcu)

vision_position

Sent VISION_POSITION_ESTIMATE to FCU from PoseStamped topic.

Subscribed Topics

~position/vision (geometry_msgs/PoseStamped)
  • Vision position.
~position/vision (geometry_msgs/PoseWithCovarianceStamped)
  • Vision position with covariance (optional alternative).

Parameters

~position/vision/pose_with_covariance (bool, default: false)
  • Selector for vision position message type.
~position/vision/listen_tf (bool, default: false)
  • TF listen switch. Disable topic if enabled.
~position/vision/frame_id (string, default: local_origin)
  • Origin frame_id for TF.
~position/vision/child_frame_id (string, default: vision)
  • Child frame_id for TF.
~position/vision/tf_rate_limit (double, default: 50.0)
  • Rate limit for TF listener [Hz]. (Since UPCOMING)

setpoint_accel

Send acceleration setpoint to FCU.

Subscribed Topics

~setpoint/accel (geometry_msgs/Vector3)
  • Acceleration or force setpoint vector.

Parameters

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

setpoint_attitude

Send ATTITUDE_SETPOINT_EXTERNAL to FCU.

Subscribed Topics

~setpoint/att_vel (geometry_msgs/Twist)
  • Send angular velocity.
~setpoint/attitude (geometry_msgs/PoseStamped)
  • Send attitude setpoint.
~setpoint/attitude (geometry_msgs/PoseWithCovarianceStamped)
  • Send attitude setpoint with covariance (alternative).

Parameters

~setpoint/attitude/listen_tf (bool, default: false)
  • TF listen switch. Disable topics if enabled.
~setpoint/attitude/listen_twist (bool, default: false)
  • Use att_vel topic instead of attitude.
~setpoint/attitude/pose_with_covariance (bool, default: false)
  • Selector for attitude message type.
~setpoint/attitude/frame_id (string, default: local_origin)
  • Origin frame_id for TF.
~setpoint/attitude/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 LOCAL_NED_POSITION_SETPOINT_EXTERNAL to FCU.

Subscribed Topics

~setpoint/local_setpoint (geometry_msgs/PoseStamped)
  • Setpoint position. Orientation not used.

Parameters

~setpoint/position/listen_tf (bool, default: false)
  • TF listen switch. Disable topic if enabled.
~setpoint/position/frame_id (string, default: local_origin)
  • Origin frame_id for TF.
~setpoint/position/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_velocity

Send velocity setpoint to FCU.

Subscribed Topics

~setpoint/cmd_vel (geometry_msgs/Twist)
  • Velocity setpoint.

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.

3dr_radio

Publish 3DR Radio status to diagnostics and topic.

Published Topics

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

vision_speed

Send vision speed estimates to FCU. New in 0.7.0

Subscribed Topics

~vision_speed/speed_vector (geometry_msgs/Vector3Stamped)
  • Send speed vector.
~vision_speed/speed_twist (geometry_msgs/TwistStamped)
  • Send linear speed. (alternative)

Parameters

~vision_speed/listen_twist (bool, default: false)
  • Topic type selector.

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.

Wiki: mavros/Plugins_0.7 (last edited 2015-02-03 15:11:59 by vooon)