MAVROS node class. More...
#include <mavros.h>
Public Member Functions | |
MavRos () | |
void | spin () |
~MavRos () | |
Private Member Functions | |
void | add_plugin (std::string &pl_name, ros::V_string &blacklist, ros::V_string &whitelist) |
bool | is_blacklisted (std::string &pl_name, ros::V_string &blacklist, ros::V_string &whitelist) |
void | log_connect_change (bool connected) |
void | mavlink_pub_cb (const mavlink_message_t *mmsg, uint8_t sysid, uint8_t compid) |
fcu link -> ros | |
void | mavlink_sub_cb (const mavros_msgs::Mavlink::ConstPtr &rmsg) |
ros -> fcu link | |
void | plugin_route_cb (const mavlink_message_t *mmsg, uint8_t sysid, uint8_t compid) |
message router | |
void | startup_px4_usb_quirk (void) |
start mavlink app on USB | |
void | terminate_cb () |
fcu link termination callback | |
Private Attributes | |
MavlinkDiag | fcu_link_diag |
mavconn::MAVConnInterface::Ptr | gcs_link |
MavlinkDiag | gcs_link_diag |
std::vector < mavplugin::MavRosPlugin::Ptr > | loaded_plugins |
UAS | mav_uas |
UAS object passed to all plugins. | |
ros::NodeHandle | mavlink_nh |
ros::Publisher | mavlink_pub |
ros::Subscriber | mavlink_sub |
std::array < mavconn::MAVConnInterface::MessageSig, 256 > | message_route_table |
fcu link interface -> router -> plugin callback | |
pluginlib::ClassLoader < mavplugin::MavRosPlugin > | plugin_loader |