<<TOC(4)>>
== Plugins for mavros 0.11 ==

Standard plugin set for mavros version 0.11.

{{{
#!clearsilver CS/NodeAPI
node.14 {
 name= 3dr_radio
 desc= Publish 3DR Radio status to diagnostics and topic.
 pub {
  0.name= ~radio_status
  0.type= mavros/RadioStatus
  0.desc= Status received from modem, same as RADIO_STATUS message.
 }
}

node.20 {
 name= actuator_control
 desc= Sends acruator commands to FCU. <<Version(0.11.0)>>
 sub {
  0.name= ~actuator_control
  0.type= mavros/ActuatorControl
  0.desc= actuator command
 }
}

node.6 {
 name= command
 desc= Send COMMAND_LONG to FCU.
 srv {
  0.name= ~cmd/command
  0.type= mavros/CommandLong
  0.desc= Send any COMMAND_LONG to FCU.
  4.name= ~cmd/command_int
  4.type= mavros/CommandInt
  4.desc= Send any COMMAND_INT to FCU.
  1.name= ~cmd/arming
  1.type= mavros/CommandBool
  1.desc= Change Arming status.
  3.name= ~cmd/set_home
  3.type= mavros/CommandHome
  3.desc= Change HOME location.
  5.name= ~cmd/guided_enable
  5.type= mavros/CommandBool
  5.desc= Enable guided mode by sending MAV_CMD_NAV_GUIDED_ENABLE command.
  6.name= ~cmd/takeoff
  6.type= mavros/CommandTOL
  6.desc= Send takeoff command.
  7.name= ~cmd/land
  7.type= mavros/CommandTOL
  7.desc= Send land command.
 }
 param {
  0.name= ~cmd/use_comp_id_system_control
  0.type= bool
  0.desc= Use `SYSTEM_CONTROL` component id instead of mavros target component.
  0.default= false
 }
}

node.18 {
 name= ftp
 desc= Support plugin for MAVLink-FTP ('''PX4''').
 srv {
  0.name= ~ftp/open
  0.type= mavros/FileOpen
  0.desc= Open file (acquire session).
  1.name= ~ftp/close
  1.type= mavros/FileClose
  1.desc= Close file (release session).
  2.name= ~ftp/read
  2.type= mavros/FileRead
  2.desc= Read from opened file.
  3.name= ~ftp/write
  3.type= mavros/FileWrite
  3.desc= Write to opened file.
  4.name= ~ftp/list
  4.type= mavros/FileList
  4.desc= List directory.
  5.name= ~ftp/truncate
  5.type= mavros/FileTruncate
  5.desc= Truncate file.
  6.name= ~ftp/remove
  6.type= mavros/FileRemove
  6.desc= Unlink file.
  7.name= ~ftp/rename
  7.type= mavros/FileRename
  7.desc= Rename file/directory.
  8.name= ~ftp/mkdir
  8.type= mavros/FileMakeDir
  8.desc= Create directory.
  9.name= ~ftp/rmdir
  9.type= mavros/FileRemoveDir
  9.desc= Remove directory.
  10.name= ~ftp/checksum
  10.type= mavros/FileChecksum
  10.desc= Request to calculate CRC32 of file on FCU.
  11.name= ~ftp/reset
  11.type= std_srvs/Empty
  11.desc= Reset FCU server (dangerous).
 }
}

node.17 {
 name= global_position
 desc= Publish global position information fused by FCU.
 pub {
  0.name= ~global_position/global
  0.type= sensor_msgs/NavSatFix
  0.desc= GPS Fix.
  1.name= ~global_position/local
  1.type= geometry_msgs/PoseWithCovarianceStamped
  1.desc= UTM coords.
  2.name= ~global_position/gp_vel
  2.type= geometry_msgs/Vector3Stamped
  2.desc= Velocity fused by FCU.
  3.name= ~global_position/rel_alt
  3.type= std_msgs/Float64
  3.desc= Relative altitude.
  4.name= ~global_position/compass_hdg
  4.type= std_msgs/Float64
  4.desc= Compass heading in degrees.
 }
 param {
  0.name= ~global_position/send_tf
  0.type= bool
  0.desc= Send or not local UTM coords?
  1.name= ~global_position/frame_id
  1.type= string
  1.desc= Origin frame_id for TF.
  1.default= local_origin
  2.name= ~global_position/child_frame_id
  2.type= string
  2.desc= Child frame_id for TF.
  2.default= fcu
 }
}

node.2 {
 name= gps
 desc= Publish GPS Fix (like [[nmea_navsat_driver]])
 pub {
  0.name= ~gps/fix
  0.type= sensor_msgs/NavSatFix
  0.desc= GPS position fix reported by the device.
  2.name= ~gps/gps_vel
  2.type= geometry_msgs/TwistStamped
  2.desc= Velocity output from the GPS device.
 }
 param {
  0.name= ~gps/frame_id
  0.type= string
  0.desc= Frame ID for fix message.
  0.default= gps
 }
}

node.1 {
 name= imu_pub
 desc= Publish IMU state
 pub {
  0.name= ~imu/data
  0.type= sensor_msgs/Imu
  0.desc= Imu data, orientation computed by FCU
  1.name= ~imu/data_raw
  1.type= sensor_msgs/Imu
  1.desc= Raw IMU data without orientation
  2.name= ~imu/mag
  2.type= sensor_msgs/MagneticField
  2.desc= FCU compass data
  3.name= ~imu/temperature
  3.type= sensor_msgs/Temperature
  3.desc= Temperature reported by FCU (usually from barometer)
  4.name= ~imu/atm_pressure
  4.type= sensor_msgs/FluidPressure
  4.desc= Air pressure.
 }
 param {
  0.name= ~imu/frame_id
  0.type= string
  0.desc= Frame ID for this plugin.
  0.default= fcu
  1.name= ~imu/linear_acceleration_stdev
  1.type= double
  1.desc= Gyro's standard deviation
  1.default= 0.0003
  2.name= ~imu/angular_velocity_stdev
  2.type= double
  2.desc= Accel's standard deviation
  2.default= !dec 0.02
  3.name= ~imu/orientation_stdev
  3.type= double
  3.desc= Standard deviation for IMU.orientation
  3.default= 1.0
  4.name= ~imu/magnetic_stdev
  4.desc= Standard deviation for magnetic field message (undefined if: 0.0)
  4.default= 0.0
 }
}

node.7 {
 name= local_position
 desc= Publish LOCAL_POSITION_NED in [[tf|TF]] and PoseStamped topic.
 pub {
  0.name= ~local_position/local
  0.type= geometry_msgs/PoseStamped
  0.desc= Local position from FCU.
 }
 param {
  0.name= ~local_position/send_tf
  0.type= bool
  0.desc= TF send switch.
  0.default= true
  1.name= ~local_position/frame_id
  1.type= string
  1.desc= Origin frame_id for TF.
  1.default= local_origin
  2.name= ~local_position/child_frame_id
  2.type= string
  2.desc= Child frame_id for TF and PoseStamped.
  2.default= fcu
 }
}

node.3 {
 name= param
 desc= Allows to access to FCU parameters and map it to ROS parameters in `~param/`.
 srv {
  0.name= ~param/pull
  0.type= mavros/ParamPull
  0.desc= Request parameter from device (or internal cache).
  1.name= ~param/push
  1.type= mavros/ParamPush
  1.desc= Request send parameters from ROS to FCU.
  2.name= ~param/get
  2.type= mavros/ParamGet
  2.desc= Return FCU parameter value.
  3.name= ~param/set
  3.type= mavros/ParamSet
  3.desc= Set parameter on FCU immidiatly.
 }
}

node.5 {
 name= rc_io
 desc= Publish RC receiver inputs.
 pub {
  0.name= ~rc/in
  0.type= mavros/RCIn
  0.desc= Publish RC inputs (in raw milliseconds)
  1.name= ~rc/out
  1.type= mavros/RCOut
  1.desc= Publish FCU servo outputs
  2.name= ~rc/override
  2.type= mavros/OverrideRCIn
  2.desc= Send RC override message to FCU. '''APM''' only. Requires setup FCU param `SYSID_MYGCS` to match mavros system id.
 }
}

node.13 {
 name= safety_area
 desc= Sends safety allowed area to FCU. Initial area can be loaded from parameters.
 sub {
  0.name= ~safety_area/set
  0.type= geometry_msgs/PolygonStamped
  0.desc= Volumetric area described by two corners.
 }
 param {
  0.name= ~safety_area/p1/x
  0.type= double
  0.desc= Corner 1 X.
  1.name= ~safety_area/p1/y
  1.type= double
  1.desc= Corner 1 Y.
  2.name= ~safety_area/p1/z
  2.type= double
  2.desc= Corner 1 Z.
  3.name= ~safety_area/p2/x
  3.type= double
  3.desc= Corner 2 X.
  4.name= ~safety_area/p2/y
  4.type= double
  4.desc= Corner 2 Y.
  5.name= ~safety_area/p2/z
  5.type= double
  5.desc= Corner 2 Z.
 }
}

node.9 {
 name= setpoint_accel
 desc= Send acceleration setpoint to FCU.
 sub {
  0.name= ~setpoint_accel/accel
  0.type= geometry_msgs/Vector3Stamped
  0.desc= Acceleration or force setpoint vector.
 }
 param {
  0.name= ~setpoint_accel/send_force
  0.type= bool
  0.desc= Send force setpoint.
 }
}

node.10 {
 name= setpoint_attitude
 desc= Send ATTITUDE_SETPOINT_EXTERNAL to FCU.
 sub {
  0.name= ~setpoint_attitude/cmd_vel
  0.type= geometry_msgs/TwistStamped
  0.desc= Send angular velocity.
  1.name= ~setpoint_attitude/attitude
  1.type= geometry_msgs/PoseStamped
  1.desc= Send attitude setpoint.
  2.name= ~setpoint_attitude/attitude
  2.type= geometry_msgs/PoseWithCovarianceStamped
  2.desc= Send attitude setpoint with covariance (alternative).
 }
 param {
  0.name= ~setpoint_attitude/listen_tf
  0.type= bool
  0.desc= TF listen switch. Disable topics if enabled.
  0.default= false
  1.name= ~setpoint_attitude/listen_twist
  1.type= bool
  1.desc= Use att_vel topic instead of attitude.
  1.default= false
  2.name= ~setpoint_attutude/pose_with_covariance
  2.type= bool
  2.desc= Selector for attitude message type.
  2.default= false
  3.name= ~setpoint_attutude/frame_id
  3.type= string
  3.desc= Origin frame_id for TF.
  3.default= local_origin
  4.name= ~setpoint_attitude/child_frame_id
  4.type= string
  4.desc= Child frame_id for TF.
  4.default= attitude
  5.name= ~setpoint_attitude/tf_rate_limit
  5.type= double
  5.desc= Rate limit for TF listener [Hz].
  5.default= 10.0
 }
}

node.11 {
 name= setpoint_position
 desc= Sent LOCAL_NED_POSITION_SETPOINT_EXTERNAL to FCU.
 sub {
  0.name= ~setpoint_position/local
  0.type= geometry_msgs/PoseStamped
  0.desc= Setpoint position. Orientation not used.
 }
 param {
  0.name= ~setpoint_position/listen_tf
  0.type= bool
  0.desc= TF listen switch. Disable topic if enabled.
  0.default= false
  1.name= ~setpoint_position/frame_id
  1.type= string
  1.desc= Origin frame_id for TF.
  1.default= local_origin
  2.name= ~setpoint_position/child_frame_id
  2.type= string
  2.desc= Child frame_id for TF.
  2.default= setpoint
  3.name= ~setpoint_position/tf_rate_limit
  3.type= double
  3.desc= Rate limit for TF listener [Hz].
  3.default= 50.0
 }
}

node.12 {
 name= setpoint_velocity
 desc= Send velocity setpoint to FCU.
 sub {
  0.name= ~setpoint_velocity/cmd_vel
  0.type= geometry_msgs/TwistStamped
  0.desc= Velocity setpoint.
 }
}

node.0 {
 name= sys_status
 desc= System status plugin. Handles FCU detection. '''REQUIRED''' never blacklist it!.
 pub {
  0.name= ~state
  0.type= mavros/State
  0.desc= FCU state
  1.name= ~battery
  1.type= mavros/BatteryStatus
  1.desc= FCU battery status report.
 }
 srv {
  0.name= ~set_stream_rate
  0.type= mavros/StreamRate
  0.desc= Send stream rate request to FCU.
  1.name= ~set_mode
  1.type= mavros/SetMode
  1.desc= Set FCU operation mode. See custom mode identifiers at [[mavros/FcuModes|modes page]].
 }
 param {
  0.name= ~conn/timeout
  0.type= double
  0.desc= Connection time out in seconds.
  0.default= 30.0
  1.name= ~conn/heartbeat
  1.type= double
  1.desc= Period to send HEARTBEAT messages (or disabled if 0.0)
  1.default= 0.0
  2.name= ~sys/min_voltage
  2.type= double
  2.desc= Minimal battery voltage for diagnostics.
  2.default= 6.0
  3.name= ~sys/disable_diag
  3.type= bool
  3.desc= Disable all diag except HEARTBEAT message.
  3.default= false
 }
}

node.19 {
 name= sys_time
 desc= System time plugin. Does time syncronization on '''PX4'''.
 pub {
  1.name= ~time_reference
  1.type= sensor_msgs/TimeReference
  1.desc= Time reference computed from SYSTEM_TIME.
 }
 param {
  0.name= ~conn/system_time
  0.type= double
  0.desc= Send `SYSTEM_TIME` to device period in seconds.
  0.default= 0.0
  1.name= ~conn/timesync
  1.type= double
  1.desc= TIMESYNC period. '''PX4''' only.
  1.default= 0.0
  2.name= ~time/time_ref_source
  2.type= string
  2.desc= Ref source for time_reference message.
  2.default= "fcu"
  3.name= ~time/timesync_avg_alpha
  3.type= double
  3.desc= Alpha for exponential moving average.
  3.default= 0.6
 }
}

node.16 {
 name= vfr_hud
 desc= Publish VFR_HUD and WIND messages.
 pub {
  0.name= ~vfr_hud
  0.type= mavros/VFR_HUD
  0.desc= Data for HUD.
  1.name= ~wind_estimation
  1.type= geometry_msgs/TwistStamped
  1.desc= Wind estimation from FCU ('''APM''').
 }
}

node.4 {
 name= waypoint
 desc= Allows to access to FCU mission (waypoints).
 pub {
  0.name= ~mission/waypoints
  0.type= mavros/WaypointList
  0.desc= Current waypoint table. Updates on changes.
 }
 srv {
  0.name= ~mission/pull
  0.type= mavros/WaypointPull
  0.desc= Request update waypoint list.
  1.name= ~mission/push
  1.type= mavros/WaypointPush
  1.desc= Send new waypoint table.
  2.name= ~mission/clear
  2.type= mavros/WaypointClear
  2.desc= Clear mission on FCU.
  3.name= ~mission/set_current
  3.type= mavros/WaypointSetCurrent
  3.desc= Set current seq. number in list.
  4.name= ~mission/goto
  4.type= mavros/WaypointGOTO
  4.desc= Send goto point (APM specific).
 }
 param {
  0.name= ~mission/pull_after_gcs
  0.type= bool
  0.desc= Defines pull or not waypoints if detected GCS activity.
  0.default= false
 }
}

}}}

=== Notes ===

Plugins: [[mavros_extras#vision_pose_estimate|`vision_position`]] and [[mavros_extras#vision_speed_estimate|`vision_speed`]] moved to [[mavros_extras]].