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Plugins for mavros 0.16-0.17

Standard plugin set for mavros version 0.16—0.17.

3dr_radio

Publish 3DR Radio status to diagnostics and topic.

Published Topics

~radio_status (mavros_msgs/RadioStatus)

• Status received from modem, same as RADIO_STATUS message.

altitude

Publish altitude information.

Published Topics

~altitude (mavros_msgs/Altitude)

• Direct copy of altitude data provided by Mavlink.

Parameters

~frame_id (string, default: "map")

• frame for altitude messages

actuator_control

Sends acruator commands to FCU. New in 0.11.0

Subscribed Topics

~actuator_control (mavros_msgs/ActuatorControl)

• actuator command

command

Send COMMAND_LONG to FCU.

Services

~cmd/command (mavros_msgs/CommandLong)

• Send any COMMAND_LONG to FCU.

~cmd/command_int (mavros_msgs/CommandInt)

• Send any COMMAND_INT to FCU.

~cmd/arming (mavros_msgs/CommandBool)

• Change Arming status.

~cmd/set_home (mavros_msgs/CommandHome)

• Change HOME location.

~cmd/takeoff (mavros_msgs/CommandTOL)

• Send takeoff command.

~cmd/land (mavros_msgs/CommandTOL)

• Send land command.

~cmd/trigger_control (mavros_msgs/CommandTriggerControl)

• Send camera trigger control command.

Parameters

~cmd/use_comp_id_system_control (bool, default: false)

• Use SYSTEM_CONTROL component id instead of mavros target component.

ftp

Support plugin for MAVLink-FTP (PX4).

Services

~ftp/open (mavros_msgs/FileOpen)

• Open file (acquire session).

~ftp/close (mavros_msgs/FileClose)

• Close file (release session).

~ftp/read (mavros_msgs/FileRead)

• Read from opened file.

~ftp/write (mavros_msgs/FileWrite)

• Write to opened file.

~ftp/list (mavros_msgs/FileList)

• List directory.

~ftp/truncate (mavros_msgs/FileTruncate)

• Truncate file.

~ftp/remove (mavros_msgs/FileRemove)

• Unlink file.

~ftp/rename (mavros_msgs/FileRename)

• Rename file/directory.

~ftp/mkdir (mavros_msgs/FileMakeDir)

• Create directory.

~ftp/rmdir (mavros_msgs/FileRemoveDir)

• Remove directory.

~ftp/checksum (mavros_msgs/FileChecksum)

• Request to calculate CRC32 of file on FCU.

~ftp/reset (std_srvs/Empty)

• Reset FCU server (dangerous).

global_position

Publish global position information fused by FCU and raw GPS data.

Published Topics

~global_position/global (sensor_msgs/NavSatFix)

• GPS Fix.

~global_position/local (geometry_msgs/PoseWithCovarianceStamped)

• UTM coords.

~global_position/gp_vel (geometry_msgs/TwistStamped)

• Velocity fused by FCU.

~global_position/rel_alt (std_msgs/Float64)

• Relative altitude.

~global_position/compass_hdg (std_msgs/Float64)

• Compass heading in degrees.

~global_position/raw/fix (sensor_msgs/NavSatFix)

• GPS position fix reported by the device.

~global_position/raw/gps_vel (geometry_msgs/TwistStamped)

• Velocity output from the GPS device.

Parameters

~global_position/frame_id (string, default: fcu)

• frame_id for messages.

~global_position/tf/send (bool, default: true)

• Send or not local UTM coords via TF?

~global_position/tf/frame_id (string, default: local_origin)

• frame_id for TF.

~global_position/tf/child_frame_id (string, default: fcu_utm)

• Child frame_id for TF.

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 (double, default: 0.0)

• Standard deviation for magnetic field message (undefined if: 0.0)

local_position

Publish LOCAL_POSITION_NED in TF and PoseStamped topic.

Published Topics

~local_position/pose (geometry_msgs/PoseStamped)

• Local position from FCU.

~local_position/velocity (geometry_msgs/TwistStamped)

• Velocity data from FCU.

Parameters

~local_position/frame_id (string, default: fcu)

• frame_id for message.

~local_position/tf/send (bool, default: true)

• TF send switch.

~local_position/tf/frame_id (string, default: local_origin)

• Origin frame_id for TF.

~local_position/tf/child_frame_id (string, default: fcu)

• Child frame_id for TF.

manual_control

Publish MANUAL_CONTROL message (user input). New in 0.15.0

Published Topics

~manual_control/control (mavros_msgs/ManualControl)

• RC Rx, interpreted and normalized.

param

Allows to access to FCU parameters and map it to ROS parameters in ~param/.

Services

~param/pull (mavros_msgs/ParamPull)

• Request parameter from device (or internal cache).

~param/push (mavros_msgs/ParamPush)

• Request send parameters from ROS to FCU.

~param/get (mavros_msgs/ParamGet)

• Return FCU parameter value.

~param/set (mavros_msgs/ParamSet)

• Set parameter on FCU immidiatly.

rc_io

Publish RC receiver inputs.

Subscribed Topics

~rc/override (mavros_msgs/OverrideRCIn)

• Send RC override message to FCU. APM and PX4 only. APM requires setup FCU param SYSID_MYGCS to match mavros system id. Not recommended to use in automatic control because lack of safety mechanisms. Use one of setpoint plugins and OFFBOARD mode.

Published Topics

~rc/in (mavros_msgs/RCIn)

• Publish RC inputs (in raw milliseconds)

~rc/out (mavros_msgs/RCOut)

• Publish FCU servo outputs

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.

setpoint_accel

Send acceleration setpoint.

Subscribed Topics

~setpoint_accel/accel (geometry_msgs/Vector3Stamped)

• Acceleration or force setpoint vector.

Parameters

~setpoint_accel/send_force (bool)

• Send force setpoint.

setpoint_attitude

Send attitude setpoint using SET_ATTITUDE_TARGET.

Subscribed Topics

~setpoint_attitude/cmd_vel (geometry_msgs/TwistStamped)

• Send angular velocity.

~setpoint_attitude/attitude (geometry_msgs/PoseStamped)

• Send attitude setpoint.

Parameters

~setpoint_attitude/reverse_throttle (bool, default: false)

• Allow to send -1.0 throttle or not.

~setpoint_attitude/tf/listen (bool, default: false)

• TF listen switch. Disable topics if enabled.

~setpoint_attutude/tf/frame_id (string, default: local_origin)

• Origin frame_id for TF.

~setpoint_attitude/tf/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 position setpoint using SET_POSITION_TARGET_LOCAL_NED.

Subscribed Topics

~setpoint_position/local (geometry_msgs/PoseStamped)

• Setpoint position. Only YAW axis extracted from orientation field.

Parameters

~setpoint_position/tf/listen (bool, default: false)

• TF listen switch. Disable topic if enabled.

~setpoint_position/tf/frame_id (string, default: local_origin)

• Origin frame_id for TF.

~setpoint_position/tf/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_raw

Send RAW setpoint messages to FCU and provide loopback topics (PX4).

Subscribed Topics

~setpoint_raw/local (mavros_msgs/PositionTarget)

• Local position, velocity and acceleration setpoint.

~setpoint_raw/global (mavros_msgs/GlobalPositionTarget)

• Global position, velocity and acceleration setpoint.

~setpoint_raw/attitude (mavros_msgs/AttitudeTarget)

• Attitude, angular rate and thrust setpoint.

Published Topics

~setpoint_raw/target_local (mavros_msgs/PositionTarget)

• Local target loopback.

~setpoint_raw/target_global (mavros_msgs/GlobalPositionTarget)

• Global target loopback.

~setpoint_raw/target_attitude (mavros_msgs/AttitudeTarget)

• Attitude target loopback.

setpoint_velocity

Send velocity setpoint to FCU.

Subscribed Topics

~setpoint_velocity/cmd_vel (geometry_msgs/TwistStamped)

• Velocity setpoint.

sys_status

System status plugin. Handles FCU detection. REQUIRED never blacklist it!.

Published Topics

~state (mavros_msgs/State)

• FCU state

~battery (mavros_msgs/BatteryStatus)

• FCU battery status report.

~extended_state (mavros_msgs/ExtendedState)

• Landing detector and VTOL state.

Services

~set_stream_rate (mavros_msgs/StreamRate)

• Send stream rate request to FCU.

~set_mode (mavros_msgs/SetMode)

• Set FCU operation mode. See custom mode identifiers at modes page.

Parameters

~conn/timeout (double, default: 30.0)

• Connection time out in seconds.

~conn/heartbeat_rate (double, default: 0.0)

• Send HEARTBEAT message rate [Hz] (or disabled if 0.0)

~sys/min_voltage (double, default: 6.0)

• Minimal battery voltage for diagnostics.

~sys/disable_diag (bool, default: false)

• Disable all diag except HEARTBEAT message.

sys_time

System time plugin. Does time syncronization on PX4.

Published Topics

~time_reference (sensor_msgs/TimeReference)

• Time reference computed from SYSTEM_TIME.

Parameters

~conn/system_time_rate (double, default: 0.0)

• Send SYSTEM_TIME to device rate [Hz] (disabled if 0.0).

~conn/timesync_rate (double, default: 0.0)

• TIMESYNC rate. PX4 only.

~time/time_ref_source (string, default: "fcu")

• Ref source for time_reference message.

~time/timesync_avg_alpha (double, default: 0.6)

• Alpha for exponential moving average.

vfr_hud

Publish VFR_HUD and WIND messages.

Published Topics

~vfr_hud (mavros_msgs/VFR_HUD)

• Data for HUD.

~wind_estimation (geometry_msgs/TwistStamped)

• Wind estimation from FCU (APM).

waypoint

Allows to access to FCU mission (waypoints).

Published Topics

~mission/waypoints (mavros_msgs/WaypointList)

• Current waypoint table. Updates on changes.

Services

~mission/pull (mavros_msgs/WaypointPull)

• Request update waypoint list.

~mission/push (mavros_msgs/WaypointPush)

• Send new waypoint table.

~mission/clear (mavros_msgs/WaypointClear)

• Clear mission on FCU.

~mission/set_current (mavros_msgs/WaypointSetCurrent)

• Set current seq. number in list.

Parameters

~mission/pull_after_gcs (bool, default: false)

• Defines pull or not waypoints if detected GCS activity.

Notes

Plugins: `vision_position` and `vision_speed` moved to mavros_extras. New in 0.13 GPS and global_position plugins are merged. TF params moved to tf/ subnamespace. New in 0.16 Waypoint GOTO service removed. Please use setpoint plugins.