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)

• Child frame_id for TF and PoseStamped.

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.