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Package Summary

Released Continuous integration Documented

Extra nodes and plugins for mavros

Package Summary

Released Continuous integration Documented

Extra nodes and plugins for MAVROS.

Package Summary

Released Continuous integration Documented

Extra nodes and plugins for MAVROS.

Package Summary

Released Continuous integration Documented

Extra nodes and plugins for MAVROS.

Cannot load information on name: mavros_extras, distro: melodic, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Overview

This package provides additional nodes and plugins not included to mavros.

Nodes

gcs_image_bridge

Additional proxy with image streaming for GCS. It mux FCU streams from mavros and images from any source. REMOVED IN 0.18

Subscribed Topics

mavlink/from (mavros/Mavlink)
  • Mavlink stream from autopilot.
mavlink/gcs_image (sensor_msgs/Image)
  • Image stream to send.

Published Topics

mavlink/to (mavros/Mavlink)
  • Mavlink stream to autopilot.

Parameters

~gcs_url (string, default: udp://@)
  • Connection URL.
~jpeg_quality (int, default: 60)
  • JPEG quality level for image encoding.

copter_visualization

Converts information published on mavros topics into markers for visualization in RVIZ. copter_visualization.png

Subscribed Topics

local_position (geometry_msgs/PoseStamped)
  • Position source (e.g. mavros/local_position/local topic)
local_setpoint (geometry_msgs/PoseStamped)
  • Local setpoints (e.g. mavros/setpoint_position/local topic)

Published Topics

track_markers (visualization_msgs/Marker)
  • Markers to visualize vehicle path.
vehicle_marker (visualization_msgs/MarkerArray)
  • Marker to visualize copter model.
wp_markers (visualization_msgs/Marker)
  • Markers to visualize local setpoints.

Parameters

~fixed_frame_id (string, default: 'local_origin')
  • Pose frame id.
~child_frame_id (string, default: 'fcu')
  • Pose child frame id.
~marker_scale (double, default: 1.0)
  • Marker scale factor.
~num_rotors (int, default: 4)
  • Number of rotors in copter model.
~arm_len (double, default: 0.22)
  • Copter model arm length (m).
~body_width (double, default: 0.15)
  • Copter model body width (m).
~body_height (double, default: 0.10)
  • Copter model body height (m).
~max_track_size (int, default: 1000)
  • Max number of markers in track.

Utility commands

All utilities provides <util> --help and <util> <command> --help information.

mavteleop

usage: mavteleop [-h] [-n MAVROS_NS] [-v] (-rc | -att | -vel | -pos)

Teleoperation script for Copter-UAV

optional arguments:
  -h, --help            show this help message and exit
  -n MAVROS_NS, --mavros-ns MAVROS_NS
                        ROS node namespace
  -v, --verbose         verbose output
  -rc, --rc-override    use rc override control type
  -att, --sp-attitude   use attitude setpoint control type
  -vel, --sp-velocity   use velocity setpoint control type
  -pos, --sp-position   use position setpoint control type

mavftpfuse

PX4 only. Require fusepy package, use sudo pip install fusepy.

usage: mavftpfuse [-h] [-n MAVROS_NS] [-v] [-d] path

FUSE for MAVLink-FTP mavros plugin

positional arguments:
  path                  mount point

optional arguments:
  -h, --help            show this help message and exit
  -n MAVROS_NS, --mavros-ns MAVROS_NS
                        ROS node namespace
  -v, --verbose         verbose output
  -d, --debug           libfuse debug

Plugins

Extra set of communication plugins loaded by mavros_node.

cam_imu_sync

Syncronization markers for IMU and Camera. EXPERIMENTAL (TODO)

distance_sensor

Publish range finders data from FCU; Send data to FCU. (TODO page with config spec).

Subscribed Topics

~distance_sensor/<sensor_name> (sensor_msgs/Range)
  • Send ROS sensor data to FCU.

Published Topics

~distance_sensor/<sensor_name> (sensor_msgs/Range)
  • Data from FCU-connected sensor.

Parameters

~distance_sensor/<sensor_name>/subscriber (bool, default: false)
  • Subscriber or Publisher
~distance_sensor/<sensor_name>/id (int)
  • Sensor Id. required
~distance_sensor/<sensor_name>/orientation (string)
  • Orientation of the sensor. required for subscriber.

image_pub

Publish images from PX4Flow module. REMOVED IN 0.18

Published Topics

~image/camera_image (sensor_msgs/Image)
  • Image stream from mavlink device.

Parameters

~image/frame_id (string, default: px4flow)
  • Frame ID for camera_image topic.

mocap_pose_estimate

Send ATT_POS_MOCAP message to FCU.

Subscribed Topics

~mocap/pose (geometry_msgs/PoseStamped)
  • Pose to send.
~mocap/tf (geometry_msgs/TransformStamped)
  • Pose to send.

Parameters

~mocap/use_tf (bool, default: false)
  • Vicon mocap system.
~mocap/use_pose (bool, default: true)
  • Optitrack mocap system.

px4flow

Publish OPTICAL_FLOW_RAD message data from FCU or PX4Flow module.

Published Topics

~px4flow/raw/optical_flow_rad (mavros_msgs/OpticalFlowRad)
  • Optical flow data.
~px4flow/ground_distance (sensor_msgs/Range)
  • Sonar range data.
~px4flow/temperature (sensor_msgs/Temperature)
  • IMU sensor temperature.

Parameters

~px4flow/frame_id (string, default: px4flow)
  • Frame Id.
~px4flow/ranger_fov (double, default: 0.0)
  • Sonar FOV.
~px4flow/ranger_min_range (double, default: 0.3)
  • Sonar minimum range.
~px4flow/ranger_max_range (double, default: 5.0)
  • Sonar maximum range.

vibration

Publish VIBRATION message data.

vision_pose_estimate

Sent VISION_POSITION_ESTIMATE to FCU from PoseStamped topic.

Subscribed Topics

~vision_pose/pose (geometry_msgs/PoseStamped)
  • Vision position.
~vision_pose/pose_cov (geometry_msgs/PoseWithCovarianceStamped)
  • Vision position (with covariance).

Parameters

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

vision_speed_estimate

Send vision speed estimates to FCU.

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.

Wiki: mavros_extras (last edited 2016-06-23 17:29:18 by vooon)