Setpoint position plugin. More...
Inheritance diagram for mavros::std_plugins::SetpointPositionPlugin:
Public Member Functions | |
| Subscriptions | get_subscriptions () override |
| Return vector of MAVLink message subscriptions (handlers) More... | |
| void | initialize (UAS &uas_) override |
| Plugin initializer. More... | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | SetpointPositionPlugin () |
 Public Member Functions inherited from mavros::plugin::PluginBase | |
| virtual | ~PluginBase () |
Private Member Functions | |
| void | gps_cb (const sensor_msgs::NavSatFix::ConstPtr &msg) |
| void | local_cb (const geometry_msgs::PoseStamped::ConstPtr &msg) |
| void | send_position_target (const ros::Time &stamp, const Eigen::Affine3d &tr) |
| Send setpoint to FCU position controller. More... | |
| bool | set_mav_frame_cb (mavros_msgs::SetMavFrame::Request &req, mavros_msgs::SetMavFrame::Response &res) |
| void | setpoint_cb (const geometry_msgs::PoseStamped::ConstPtr &req) |
| void | setpointg2l_cb (const geographic_msgs::GeoPoseStamped::ConstPtr &req) |
| void | setpointg_cb (const geographic_msgs::GeoPoseStamped::ConstPtr &req) |
| void | transform_cb (const geometry_msgs::TransformStamped &transform) |
| Private Member Functions inherited from mavros::plugin::SetPositionTargetLocalNEDMixin< SetpointPositionPlugin > | |
| void | set_position_target_local_ned (uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, Eigen::Vector3d p, Eigen::Vector3d v, Eigen::Vector3d af, float yaw, float yaw_rate) |
Message specification: https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED. More... | |
| Private Member Functions inherited from mavros::plugin::SetPositionTargetGlobalIntMixin< SetpointPositionPlugin > | |
| void | set_position_target_global_int (uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, int32_t lat_int, int32_t lon_int, float alt, Eigen::Vector3d v, Eigen::Vector3d af, float yaw, float yaw_rate) |
Message specification: https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT. More... | |
| Private Member Functions inherited from mavros::plugin::TF2ListenerMixin< SetpointPositionPlugin > | |
| void | tf2_start (const char *_thd_name, void(SetpointPositionPlugin::*cbp)(const geometry_msgs::TransformStamped &)) |
| start tf listener More... | |
| void | tf2_start (const char *_thd_name, message_filters::Subscriber< T > &topic_sub, void(SetpointPositionPlugin::*cbp)(const geometry_msgs::TransformStamped &, const typename T::ConstPtr &)) |
| start tf listener syncronized with another topic More... | |
Private Attributes | |
| Eigen::Vector3d | current_gps |
| geodetic coordinates LLA More... | |
| Eigen::Vector3d | current_local_pos |
| Current local position in ENU. More... | |
| ros::Subscriber | gps_sub |
| current GPS More... | |
| ros::Subscriber | local_sub |
| current local ENU More... | |
| MAV_FRAME | mav_frame |
| ros::ServiceServer | mav_frame_srv |
| uint32_t | old_gps_stamp = 0 |
| old time gps time stamp in [ms], to check if new gps msg is received More... | |
| ros::Subscriber | setpoint_sub |
| ros::Subscriber | setpointg2l_sub |
| Global setpoint converted to local setpoint. More... | |
| ros::Subscriber | setpointg_sub |
| Global setpoint. More... | |
| ros::NodeHandle | sp_nh |
| ros::NodeHandle | spg_nh |
| to get local position and gps coord which are not under sp_h() More... | |
| std::string | tf_child_frame_id |
| std::string | tf_frame_id |
| bool | tf_listen |
| double | tf_rate |
| Private Attributes inherited from mavros::plugin::TF2ListenerMixin< SetpointPositionPlugin > | |
| std::string | tf_thd_name |
| std::thread | tf_thread |
Friends | |
| class | SetPositionTargetGlobalIntMixin |
| class | SetPositionTargetLocalNEDMixin |
| class | TF2ListenerMixin |
Additional Inherited Members | |
| Public Types inherited from mavros::plugin::PluginBase | |
| using | ConstPtr = boost::shared_ptr< PluginBase const > |
| using | HandlerCb = mavconn::MAVConnInterface::ReceivedCb |
| generic message handler callback More... | |
| using | HandlerInfo = std::tuple< mavlink::msgid_t, const char *, size_t, HandlerCb > |
| Tuple: MSG ID, MSG NAME, message type into hash_code, message handler callback. More... | |
| using | Ptr = boost::shared_ptr< PluginBase > |
| using | Subscriptions = std::vector< HandlerInfo > |
| Subscriptions vector. More... | |
| Protected Member Functions inherited from mavros::plugin::PluginBase | |
| virtual void | capabilities_cb (UAS::MAV_CAP capabilities) |
| virtual void | connection_cb (bool connected) |
| void | enable_capabilities_cb () |
| void | enable_connection_cb () |
| template<class _C > | |
| HandlerInfo | make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing)) |
| template<class _C , class _T > | |
| HandlerInfo | make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &)) |
| PluginBase () | |
| Plugin constructor Should not do anything before initialize() More... | |
| Protected Attributes inherited from mavros::plugin::PluginBase | |
| UAS * | m_uas |
Detailed Description
Setpoint position plugin.
Send setpoint positions to FCU controller.
Definition at line 36 of file setpoint_position.cpp.
The documentation for this class was generated from the following file: