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Package Summary

Extra nodes and plugins for mavros

Package Summary

Extra nodes and plugins for MAVROS.

Package Summary

Extra nodes and plugins for MAVROS.

Package Summary

Extra nodes and plugins for MAVROS.

Package Summary

Extra nodes and plugins for MAVROS.

Package Summary

Extra nodes and plugins for MAVROS.

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/gcs_image (sensor_msgs/Image)

Published Topics

mavlink/to (mavros/Mavlink)

Parameters

~gcs_url (string, default: udp://@) ~jpeg_quality (int, default: 60)

copter_visualization

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

Subscribed Topics

local_position (geometry_msgs/PoseStamped) local_setpoint (geometry_msgs/PoseStamped)

Published Topics

track_markers (visualization_msgs/Marker) vehicle_marker (visualization_msgs/MarkerArray) wp_markers (visualization_msgs/Marker)

Parameters

~fixed_frame_id (string, default: 'local_origin') ~child_frame_id (string, default: 'fcu') ~marker_scale (double, default: 1.0) ~num_rotors (int, default: 4) ~arm_len (double, default: 0.22) ~body_width (double, default: 0.15) ~body_height (double, default: 0.10) ~max_track_size (int, default: 1000)

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)

Published Topics

~distance_sensor/<sensor_name> (sensor_msgs/Range)

Parameters

~distance_sensor/<sensor_name>/subscriber (bool, default: false) ~distance_sensor/<sensor_name>/id (int) ~distance_sensor/<sensor_name>/orientation (string)

image_pub

Publish images from PX4Flow module. REMOVED IN 0.18

Published Topics

~image/camera_image (sensor_msgs/Image)

Parameters

~image/frame_id (string, default: px4flow)

mocap_pose_estimate

Send ATT_POS_MOCAP message to FCU.

Subscribed Topics

~mocap/pose (geometry_msgs/PoseStamped) ~mocap/tf (geometry_msgs/TransformStamped)

Parameters

~mocap/use_tf (bool, default: false) ~mocap/use_pose (bool, default: true)

px4flow

Publish OPTICAL_FLOW_RAD message data from FCU or PX4Flow module.

Published Topics

~px4flow/raw/optical_flow_rad (mavros_msgs/OpticalFlowRad) ~px4flow/ground_distance (sensor_msgs/Range) ~px4flow/temperature (sensor_msgs/Temperature)

Parameters

~px4flow/frame_id (string, default: px4flow) ~px4flow/ranger_fov (double, default: 0.0) ~px4flow/ranger_min_range (double, default: 0.3) ~px4flow/ranger_max_range (double, default: 5.0)

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_pose/pose_cov (geometry_msgs/PoseWithCovarianceStamped)

Parameters

~vision_pose/tf/listen (bool, default: false) ~vision_pose/tf/frame_id (string, default: local_origin) ~vision_pose/tf/child_frame_id (string, default: vision) ~vision_pose/tf/rate_limit (double, default: 50.0)

vision_speed_estimate

Send vision speed estimates to FCU.

Subscribed Topics

~vision_speed/speed_vector (geometry_msgs/Vector3Stamped) ~vision_speed/speed_twist (geometry_msgs/TwistStamped)

Parameters

~vision_speed/listen_twist (bool, default: false)


2019-09-21 12:51