Class ROSEndpoint

Defined in File mavros_router.hpp

Inheritance Relationships

Base Type

public mavros::router::Endpoint (Class Endpoint)

Class Documentation

class ROSEndpoint : public mavros::router::Endpoint 

ROSEndpoint implements Endpoint for UAS node

That endpoint converts mavlink messages to ROS2 IDL and passes them trough DDL messaging or intra-process comms.

Each drone would have separate UAS node

Public Functions

inline ROSEndpoint()

inline ~ROSEndpoint()

virtual bool is_open() override

virtual std::pair<bool, std::string> open() override

virtual void close() override

virtual void send_message(const mavlink_message_t *msg, const Framing framing = Framing::ok, id_t src_id = 0) override

virtual void diag_run(diagnostic_updater::DiagnosticStatusWrapper &stat) override

Public Members

rclcpp::Subscription<mavros_msgs::msg::Mavlink>::SharedPtr sink

rclcpp::Publisher<mavros_msgs::msg::Mavlink>::SharedPtr source