mavros_extras
Extra nodes and plugins for <a href=”http://wiki.ros.org/mavros”>MAVROS</a>.
- Standard Documents
- ROS Package Dependencies
- rosidl_default_runtime
- diagnostic_updater
- message_filters
- eigen_stl_containers
- mavros
- libmavconn
- pluginlib
- tf2_ros
- tf2_eigen
- rclcpp
- rclcpp_components
- rcpputils
- urdf
- yaml_cpp_vendor
- diagnostic_msgs
- geometry_msgs
- mavros_msgs
- nav_msgs
- sensor_msgs
- geographic_msgs
- trajectory_msgs
- std_msgs
- std_srvs
- visualization_msgs
README
mavros extras
Some extra plugins and nodes for mavros.
ADSB
Publish/subscribe to the location and information of an ADS-B vehicle.
cam_imu_sync
Publish camera trigger data for synchronisation of IMU and camera frames.
debug_value
Subs/Pubs debug msgs from and to the FCU.
distance_sensor
Publish DISTANCE_SENSOR message data from FCU or connected sensors in companion computer.
fake_gps
Sends fake GPS from local position estimation source data (motion capture, vision) to FCU.
gimbal_control
Adds support for Mavlink Gimbal Protocol v2. To publish to tf, set parameter
tf_send=True. The implementation of this plugin has been tested with a
Freefly Astro with the mapping payload as well as with Auterion Sim. The
plugin was built following the specifications available at
https://mavlink.io/en/services/gimbal_v2.html with some adaptation to better
suit ROS2 and support tf publishing with child frame labels specified by the
gimbal_device_id field of gimbal_attitude_msg. This should enable support for
multiple gimbal devices on the target platform publishing to different leaves
of the tf tree. The assumed frame for each gimbal device is base_link_frd.
When taking control of the gimbal with the GimbalManagerConfigure, sysid_primary
can be set to -2, and default gimbal_device_id is 154, though 0 can be used for all
gimbal devices. After taking control of the gimbal, you can set RoI’s or manually
set the gimbal’s orientation using the service calls provided. The topic publishers
for gimbal control have not been successfully validated, though this is possibly due
to the implimentation on the Freefly Astro or with Auterion’s simulator. Feel
free to reach out to mark.beaty@adinkratech.com with any questions or feedback on
this plugin!
gps_input
Send GPS_INPUT messages to the FCU.
gps_status
Publish GPS_RAW and GPS_RTK messages from FCU.
gps_rtk
Sends the RTCM messages to the FCU for the RTK Fix.
log_transfer
Expose firmware functionality, that is related to log transfer
mocap_pose_estimate
Send motion capture pose estimate to FCU. Currently, not used by the FCU.
Data can be send via vision_position plugin.
obstacle_distance
Send obstacle distance report to the FCU.
odom
Send odometry to FCU from another estimator.
px4flow
Publish OPTICAL_FLOW_RAD data from FCU or PX4Flow module.
rangefinder
Publish RANGEFINDER message data from FCU sensors in companion computer.
trajectory
Receive planned path from the FCU and send back corrected path (collision free, smoothed) to the FCU.
wheel_odometry
Compute and publish wheel odometry coming from FCU sensors.
vibration
Publish VIBRATION message data from FCU.
vision_pose_estimate
Send vision pose estimate to FCU.
vision_speed_estimate
Send vision speed estimate to FCU.
companion_process_status
Send companion process status report to the FCU.
servo_state_publisher
Convert mavros_msgs/RCOut to sensor_msgs/JointState messages.
It is required to bind URDF model and real servos.
px-ros-pkg replacement
Use roslaunch mavros_extras px4flow.launch for that.