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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.

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.