Plugin

Namespaces
	mavros
	mavros::extra_plugins

Classes
class	mavros::extra_plugins::ADSBPlugin
	ADS-B Vehicle plugin. More...
class	mavros::extra_plugins::CamIMUSyncPlugin
	Camera IMU synchronisation plugin. More...
class	mavros::extra_plugins::CompanionProcessStatusPlugin
	Obstacle companion process status plugin. More...
class	mavros::extra_plugins::DebugValuePlugin
	Plugin for Debug msgs from MAVLink API. More...
class	mavros::extra_plugins::DistanceSensorItem
	Distance sensor mapping storage item. More...
class	mavros::extra_plugins::DistanceSensorPlugin
	Distance sensor plugin. More...
class	mavros::extra_plugins::FakeGPSPlugin
	Fake GPS plugin. More...
class	mavros::extra_plugins::GpsRtkPlugin
	GPS RTK plugin. More...
class	mavros::extra_plugins::LandingTargetPlugin
	Landing Target plugin. More...
class	mavros::extra_plugins::MocapPoseEstimatePlugin
	MocapPoseEstimate plugin. More...
class	mavros::extra_plugins::MountControlPlugin
	Mount Control plugin. More...
class	mavros::extra_plugins::ObstacleDistancePlugin
	Obstacle distance plugin. More...
class	mavros::extra_plugins::OdometryPlugin
	Odometry plugin. More...
class	mavros::extra_plugins::PX4FlowPlugin
	PX4 Optical Flow plugin. More...
class	mavros::extra_plugins::RangefinderPlugin
	Ardupilot Rangefinder plugin. More...
class	mavros::extra_plugins::TrajectoryPlugin
	Trajectory plugin to receive planned path from the FCU and send back to the FCU a corrected path (collision free, smoothed) More...
class	mavros::extra_plugins::VibrationPlugin
	Vibration plugin. More...
class	mavros::extra_plugins::VisionPoseEstimatePlugin
	Vision pose estimate plugin. More...
class	mavros::extra_plugins::VisionSpeedEstimatePlugin
	Vision speed estimate plugin. More...
class	mavros::extra_plugins::WheelOdometryPlugin
	Wheel odometry plugin. More...

Typedefs
typedef mavros_msgs::BatteryStatus	BatteryMsg
typedef boost::shared_ptr< PluginBase const >	ConstPtr
typedef mavconn::MAVConnInterface::ReceivedCb	HandlerCb
typedef std::tuple< mavlink::msgid_t, const char *, size_t, HandlerCb >	HandlerInfo
typedef std::list< CommandTransaction >	L_CommandTransaction
typedef std::lock_guard< std::mutex >	lock_guard
typedef std::lock_guard< std::recursive_mutex >	lock_guard
typedef std::lock_guard< std::recursive_mutex >	lock_guard
typedef std::lock_guard< std::recursive_mutex >	lock_guard
typedef std::lock_guard< std::mutex >	lock_guard
typedef std::unordered_map< uint16_t, mavros_msgs::VehicleInfo >	M_VehicleInfo
using	mavros::extra_plugins::Matrix6d = Eigen::Matrix< double, 6, 6, Eigen::RowMajor >
using	mavros::extra_plugins::MavPoints = std::array< float, NUM_POINTS >
	Type matching mavlink::common::msg::TRAJECTORY::TRAJECTORY_REPRESENTATION_WAYPOINTS fields. More...
typedef mavlink::common::MAV_MISSION_RESULT	MRES
typedef mavlink::common::MAV_PARAM_TYPE	MT
typedef mavlink::common::msg::PARAM_SET	PARAM_SET
typedef boost::shared_ptr< PluginBase >	Ptr
typedef boost::shared_ptr< DistanceSensorItem >	mavros::extra_plugins::DistanceSensorItem::Ptr
using	mavros::extra_plugins::RosPoints = mavros_msgs::PositionTarget
typedef std::vector< HandlerInfo >	Subscriptions
typedef message_filters::Synchronizer< SyncPoseThrustPolicy >	SyncPoseThrust
typedef message_filters::sync_policies::ApproximateTime< geometry_msgs::PoseStamped, mavros_msgs::Thrust >	SyncPoseThrustPolicy
typedef message_filters::Synchronizer< SyncTwistThrustPolicy >	SyncTwistThrust
typedef message_filters::sync_policies::ApproximateTime< geometry_msgs::TwistStamped, mavros_msgs::Thrust >	SyncTwistThrustPolicy
typedef UAS::timesync_mode	TSM
typedef std::unique_lock< std::recursive_mutex >	unique_lock
typedef std::unique_lock< std::mutex >	unique_lock
typedef std::unique_lock< std::recursive_mutex >	unique_lock
typedef std::unique_lock< std::recursive_mutex >	unique_lock
typedef std::vector< uint8_t >	V_FileData
typedef XmlRpc::XmlRpcValue	XmlRpcValue

Enumerations
enum	ErrorCode
enum	mavros::extra_plugins::WheelOdometryPlugin::OM { mavros::extra_plugins::WheelOdometryPlugin::OM::NONE, mavros::extra_plugins::WheelOdometryPlugin::OM::RPM, mavros::extra_plugins::WheelOdometryPlugin::OM::DIST }
	Odometry computation modes. More...
enum	OP {   OP::IDLE, OP::ACK, OP::LIST, OP::OPEN,   OP::READ, OP::WRITE, OP::CHECKSUM }
enum	Opcode
enum	PR {   PR::IDLE, PR::RXLIST, PR::RXPARAM, PR::RXPARAM_TIMEDOUT,   PR::TXPARAM }
enum	WP {   WP::IDLE, WP::RXLIST, WP::RXWP, WP::TXLIST,   WP::TXPARTIAL, WP::TXWP, WP::CLEAR, WP::SET_CUR }

Functions
void	accel_cb (const geometry_msgs::Vector3Stamped::ConstPtr &req)
void	actuator_control_cb (const mavros_msgs::ActuatorControl::ConstPtr &req)
	ActuatorControlPlugin ()
void	add_dirent (const char *ptr, size_t slen)
void	add_sample (int64_t offset_ns)
void	add_timesync_observation (int64_t offset_ns, uint64_t local_time_ns, uint64_t remote_time_ns)
void	mavros::extra_plugins::ADSBPlugin::adsb_cb (const mavros_msgs::ADSBVehicle::ConstPtr &req)
	mavros::extra_plugins::ADSBPlugin::ADSBPlugin ()
	AltitudePlugin ()
bool	arming_cb (mavros_msgs::CommandBool::Request &req, mavros_msgs::CommandBool::Response &res)
void	attitude_cb (const mavros_msgs::AttitudeTarget::ConstPtr &req)
void	attitude_pose_cb (const geometry_msgs::PoseStamped::ConstPtr &pose_msg, const mavros_msgs::Thrust::ConstPtr &thrust_msg)
void	attitude_twist_cb (const geometry_msgs::TwistStamped::ConstPtr &req, const mavros_msgs::Thrust::ConstPtr &thrust_msg)
void	autopilot_version_cb (const ros::TimerEvent &event)
	BatteryStatusDiag (const std::string &name)
float	mavros::extra_plugins::DistanceSensorItem::calculate_variance (float range)
bool	call_get_home_position (void)
	mavros::extra_plugins::CamIMUSyncPlugin::CamIMUSyncPlugin ()
void	mavros::extra_plugins::LandingTargetPlugin::cartesian_to_displacement (const Eigen::Vector3d &pos, Eigen::Vector2f &angle)
	Displacement: (not to be mixed with angular displacement) More...
static bool	check_exclude_param_id (std::string param_id)
bool	checksum_cb (mavros_msgs::FileChecksum::Request &req, mavros_msgs::FileChecksum::Response &res)
void	checksum_crc32_file (std::string &path)
void	clear ()
bool	clear_cb (mavros_msgs::WaypointClear::Request &req, mavros_msgs::WaypointClear::Response &res)
bool	close_cb (mavros_msgs::FileClose::Request &req, mavros_msgs::FileClose::Response &res)
bool	close_file (std::string &path)
void	mavros::extra_plugins::MountControlPlugin::command_cb (const mavros_msgs::MountControl::ConstPtr &req)
	Send mount control commands to vehicle. More...
void	command_int (bool broadcast, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, int32_t x, int32_t y, float z)
bool	command_int_cb (mavros_msgs::CommandInt::Request &req, mavros_msgs::CommandInt::Response &res)
void	command_long (bool broadcast, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
bool	command_long_cb (mavros_msgs::CommandLong::Request &req, mavros_msgs::CommandLong::Response &res)
	CommandPlugin ()
	CommandTransaction (uint16_t command)
	mavros::extra_plugins::CompanionProcessStatusPlugin::CompanionProcessStatusPlugin ()
static constexpr int	compute_rw_timeout (size_t len)
virtual void	connection_cb (bool connected)
void	mavros::extra_plugins::VisionSpeedEstimatePlugin::convert_vision_speed (const ros::Time &stamp, const Eigen::Vector3d &vel_enu, const ftf::Covariance3d &cov_enu)
	Convert vector and covariance from local ENU to local NED frame. More...
void	create_directory (std::string &path)
static Ptr	mavros::extra_plugins::DistanceSensorItem::create_item (DistanceSensorPlugin *owner, std::string topic_name)
static std::string	custom_version_to_hex_string (std::array< uint8_t, 8 > &array)
uint8_t *	data ()
char *	data_c ()
uint32_t *	data_u32 ()
void	mavros::extra_plugins::DebugValuePlugin::debug_cb (const mavros_msgs::DebugValue::ConstPtr &req)
	Debug callbacks. More...
void	mavros::extra_plugins::DebugValuePlugin::debug_logger (const std::string &type, const mavros_msgs::DebugValue &dv)
	Helper function to log debug messages. More...
	mavros::extra_plugins::DebugValuePlugin::DebugValuePlugin ()
bool	decode_valid (UAS *uas)
void	diag_run (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	mavros::extra_plugins::DistanceSensorPlugin::distance_sensor (uint32_t time_boot_ms, uint32_t min_distance, uint32_t max_distance, uint32_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	mavros::extra_plugins::DistanceSensorItem::DistanceSensorItem ()
	mavros::extra_plugins::DistanceSensorPlugin::DistanceSensorPlugin ()
	DummyPlugin ()
void	enable_connection_cb ()
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	mavros::extra_plugins::FakeGPSPlugin::FakeGPSPlugin ()
void	fill_lla (MsgT &msg, sensor_msgs::NavSatFix::Ptr fix)
void	mavros::extra_plugins::TrajectoryPlugin::fill_msg_acceleration (geometry_msgs::Vector3 &acceleration, const mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &t, const size_t i)
void	mavros::extra_plugins::TrajectoryPlugin::fill_msg_position (geometry_msgs::Point &position, const mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &t, const size_t i)
void	mavros::extra_plugins::TrajectoryPlugin::fill_msg_velocity (geometry_msgs::Vector3 &velocity, const mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &t, const size_t i)
void	mavros::extra_plugins::TrajectoryPlugin::fill_points_acceleration (MavPoints &x, MavPoints &y, MavPoints &z, const geometry_msgs::Vector3 &acceleration, const size_t i)
void	mavros::extra_plugins::TrajectoryPlugin::fill_points_all_unused (mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &t, const size_t i)
void	mavros::extra_plugins::TrajectoryPlugin::fill_points_position (MavPoints &x, MavPoints &y, MavPoints &z, const geometry_msgs::Point &position, const size_t i)
auto	mavros::extra_plugins::TrajectoryPlugin::fill_points_unused_path (mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &t, const size_t i)
void	mavros::extra_plugins::TrajectoryPlugin::fill_points_velocity (MavPoints &x, MavPoints &y, MavPoints &z, const geometry_msgs::Vector3 &velocity, const size_t i)
void	mavros::extra_plugins::TrajectoryPlugin::fill_points_yaw_q (MavPoints &y, const geometry_msgs::Quaternion &orientation, const size_t i)
void	mavros::extra_plugins::TrajectoryPlugin::fill_points_yaw_speed (MavPoints &yv, const double yaw_speed, const size_t i)
void	mavros::extra_plugins::TrajectoryPlugin::fill_points_yaw_wp (MavPoints &y, const double yaw, const size_t i)
void	fill_unknown_cov (sensor_msgs::NavSatFix::Ptr fix)
M_VehicleInfo::iterator	find_or_create_vehicle_info (uint8_t sysid, uint8_t compid)
static WaypointItem	from_msg (mavros_msgs::Waypoint &wp, uint16_t seq)
	FTPPlugin ()
	FTPRequest ()
	FTPRequest (Opcode op, uint8_t session=0)
bool	get_cb (mavros_msgs::ParamGet::Request &req, mavros_msgs::ParamGet::Response &res)
uint64_t	get_monotonic_now (void)
Subscriptions	get_subscriptions ()
Subscriptions	mavros::extra_plugins::GpsRtkPlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::RangefinderPlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::CamIMUSyncPlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::DebugValuePlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::VibrationPlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::ADSBPlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::MountControlPlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::ObstacleDistancePlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::CompanionProcessStatusPlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::TrajectoryPlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::VisionSpeedEstimatePlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::MocapPoseEstimatePlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::PX4FlowPlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::VisionPoseEstimatePlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::LandingTargetPlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::FakeGPSPlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::OdometryPlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::DistanceSensorPlugin::get_subscriptions ()
Subscriptions	mavros::extra_plugins::WheelOdometryPlugin::get_subscriptions ()
uint8_t	get_target_system_id ()
uint16_t	get_vehicle_key (uint8_t sysid, uint8_t compid)
void	global_cb (const mavros_msgs::GlobalPositionTarget::ConstPtr &req)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	GlobalPositionPlugin ()
void	go_idle (bool is_error_, int r_errno_=0)
void	go_idle (void)
void	gps_cb (const mavros_msgs::HilGPS::ConstPtr &req)
void	gps_cb (const sensor_msgs::NavSatFix::ConstPtr &msg)
void	gps_diag_run (diagnostic_updater::DiagnosticStatusWrapper &stat)
	mavros::extra_plugins::GpsRtkPlugin::GpsRtkPlugin ()
void	handle_ack_checksum (FTPRequest &req)
void	handle_ack_list (FTPRequest &req)
void	handle_ack_open (FTPRequest &req)
void	handle_ack_read (FTPRequest &req)
void	handle_ack_write (FTPRequest &req)
void	handle_actuator_control_target (const mavlink::mavlink_message_t *msg, mavlink::common::msg::ACTUATOR_CONTROL_TARGET &actuator_control_target)
void	mavros::extra_plugins::ADSBPlugin::handle_adsb (const mavlink::mavlink_message_t *msg, mavlink::common::msg::ADSB_VEHICLE &adsb)
void	handle_altitude (const mavlink::mavlink_message_t *msg, mavlink::common::msg::ALTITUDE &altitude)
void	handle_apm_wind (const mavlink::mavlink_message_t *msg, mavlink::ardupilotmega::msg::WIND &wind)
void	handle_attitude (const mavlink::mavlink_message_t *msg, mavlink::common::msg::ATTITUDE &att)
void	handle_attitude_quaternion (const mavlink::mavlink_message_t *msg, mavlink::common::msg::ATTITUDE_QUATERNION &att_q)
void	handle_attitude_target (const mavlink::mavlink_message_t *msg, mavlink::common::msg::ATTITUDE_TARGET &tgt)
void	handle_autopilot_version (const mavlink::mavlink_message_t *msg, mavlink::common::msg::AUTOPILOT_VERSION &apv)
void	handle_battery_status (const mavlink::mavlink_message_t *msg, mavlink::common::msg::BATTERY_STATUS &bs)
void	mavros::extra_plugins::CamIMUSyncPlugin::handle_cam_trig (const mavlink::mavlink_message_t *msg, mavlink::common::msg::CAMERA_TRIGGER &ctrig)
void	handle_command_ack (const mavlink::mavlink_message_t *msg, mavlink::common::msg::COMMAND_ACK &ack)
void	mavros::extra_plugins::DebugValuePlugin::handle_debug (const mavlink::mavlink_message_t *msg, mavlink::common::msg::DEBUG &debug)
	Handle DEBUG message. Message specification: https://mavlink.io/en/messages/common.html#DEBUG. More...
void	mavros::extra_plugins::DebugValuePlugin::handle_debug_vector (const mavlink::mavlink_message_t *msg, mavlink::common::msg::DEBUG_VECT &debug)
	Handle DEBUG_VECT message. Message specification: https://mavlink.io/en/messages/common.html#DEBUG_VECT. More...
void	mavros::extra_plugins::DistanceSensorPlugin::handle_distance_sensor (const mavlink::mavlink_message_t *msg, mavlink::common::msg::DISTANCE_SENSOR &dist_sen)
void	handle_extended_sys_state (const mavlink::mavlink_message_t *msg, mavlink::common::msg::EXTENDED_SYS_STATE &state)
void	handle_file_transfer_protocol (const mavlink::mavlink_message_t *msg, FTPRequest &req)
void	handle_global_position_int (const mavlink::mavlink_message_t *msg, mavlink::common::msg::GLOBAL_POSITION_INT &gpos)
void	handle_gps_global_origin (const mavlink::mavlink_message_t *msg, mavlink::common::msg::GPS_GLOBAL_ORIGIN &glob_orig)
void	handle_gps_raw_int (const mavlink::mavlink_message_t *msg, mavlink::common::msg::GPS_RAW_INT &raw_gps)
void	handle_heartbeat (const mavlink::mavlink_message_t *msg, mavlink::common::msg::HEARTBEAT &hb)
void	handle_highres_imu (const mavlink::mavlink_message_t *msg, mavlink::common::msg::HIGHRES_IMU &imu_hr)
void	handle_hil_actuator_controls (const mavlink::mavlink_message_t *msg, mavlink::common::msg::HIL_ACTUATOR_CONTROLS &hil_actuator_controls)
void	handle_hil_controls (const mavlink::mavlink_message_t *msg, mavlink::common::msg::HIL_CONTROLS &hil_controls)
void	handle_home_position (const mavlink::mavlink_message_t *msg, mavlink::common::msg::HOME_POSITION &home_position)
void	handle_hwstatus (const mavlink::mavlink_message_t *msg, mavlink::ardupilotmega::msg::HWSTATUS &hwst)
void	mavros::extra_plugins::LandingTargetPlugin::handle_landing_target (const mavlink::mavlink_message_t *msg, mavlink::common::msg::LANDING_TARGET &land_target)
	Receive landing target from FCU. More...
void	handle_local_position_ned (const mavlink::mavlink_message_t *msg, mavlink::common::msg::LOCAL_POSITION_NED &pos_ned)
void	handle_local_position_ned_cov (const mavlink::mavlink_message_t *msg, mavlink::common::msg::LOCAL_POSITION_NED_COV &pos_ned)
void	handle_lpned_system_global_offset (const mavlink::mavlink_message_t *msg, mavlink::common::msg::LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET &offset)
void	handle_manual_control (const mavlink::mavlink_message_t *msg, mavlink::common::msg::MANUAL_CONTROL &manual_control)
void	handle_meminfo (const mavlink::mavlink_message_t *msg, mavlink::ardupilotmega::msg::MEMINFO &mem)
void	handle_message (const mavlink::mavlink_message_t *mmsg, msgT &rst)
void	handle_mission_ack (const mavlink::mavlink_message_t *msg, mavlink::common::msg::MISSION_ACK &mack)
void	handle_mission_count (const mavlink::mavlink_message_t *msg, mavlink::common::msg::MISSION_COUNT &mcnt)
void	handle_mission_current (const mavlink::mavlink_message_t *msg, mavlink::common::msg::MISSION_CURRENT &mcur)
void	handle_mission_item (const mavlink::mavlink_message_t *msg, WaypointItem &wpi)
void	handle_mission_item_reached (const mavlink::mavlink_message_t *msg, mavlink::common::msg::MISSION_ITEM_REACHED &mitr)
void	handle_mission_request (const mavlink::mavlink_message_t *msg, mavlink::common::msg::MISSION_REQUEST &mreq)
void	mavros::extra_plugins::DebugValuePlugin::handle_named_value_float (const mavlink::mavlink_message_t *msg, mavlink::common::msg::NAMED_VALUE_FLOAT &value)
	Handle NAMED_VALUE_FLOAT message. Message specification: https://mavlink.io/en/messages/common.html#NAMED_VALUE_FLOAT. More...
void	mavros::extra_plugins::DebugValuePlugin::handle_named_value_int (const mavlink::mavlink_message_t *msg, mavlink::common::msg::NAMED_VALUE_INT &value)
	Handle NAMED_VALUE_INT message. Message specification: https://mavlink.io/en/messages/common.html#NAMED_VALUE_INT. More...
void	mavros::extra_plugins::OdometryPlugin::handle_odom (const mavlink::mavlink_message_t *msg, mavlink::common::msg::ODOMETRY &odom_msg)
	Handle ODOMETRY MAVlink message. More...
void	mavros::extra_plugins::PX4FlowPlugin::handle_optical_flow_rad (const mavlink::mavlink_message_t *msg, mavlink::common::msg::OPTICAL_FLOW_RAD &flow_rad)
void	handle_param_value (const mavlink::mavlink_message_t *msg, mavlink::common::msg::PARAM_VALUE &pmsg)
void	handle_position_target_global_int (const mavlink::mavlink_message_t *msg, mavlink::common::msg::POSITION_TARGET_GLOBAL_INT &tgt)
void	handle_position_target_local_ned (const mavlink::mavlink_message_t *msg, mavlink::common::msg::POSITION_TARGET_LOCAL_NED &tgt)
void	handle_px4_wind (const mavlink::mavlink_message_t *msg, mavlink::common::msg::WIND_COV &wind)
void	handle_radio (const mavlink::mavlink_message_t *msg, mavlink::ardupilotmega::msg::RADIO &rst)
void	handle_radio_status (const mavlink::mavlink_message_t *msg, mavlink::common::msg::RADIO_STATUS &rst)
void	mavros::extra_plugins::RangefinderPlugin::handle_rangefinder (const mavlink::mavlink_message_t *msg, mavlink::ardupilotmega::msg::RANGEFINDER &rangefinder)
void	handle_raw_imu (const mavlink::mavlink_message_t *msg, mavlink::common::msg::RAW_IMU &imu_raw)
void	handle_rc_channels (const mavlink::mavlink_message_t *msg, mavlink::common::msg::RC_CHANNELS &channels)
void	handle_rc_channels_raw (const mavlink::mavlink_message_t *msg, mavlink::common::msg::RC_CHANNELS_RAW &port)
void	handle_req_ack (FTPRequest &req)
void	handle_req_nack (FTPRequest &req)
void	mavros::extra_plugins::WheelOdometryPlugin::handle_rpm (const mavlink::mavlink_message_t *msg, mavlink::ardupilotmega::msg::RPM &rpm)
	Handle Ardupilot RPM MAVlink message. Message specification: http://mavlink.io/en/messages/ardupilotmega.html#RPM. More...
void	handle_safety_allowed_area (const mavlink::mavlink_message_t *msg, mavlink::common::msg::SAFETY_ALLOWED_AREA &saa)
void	handle_scaled_imu (const mavlink::mavlink_message_t *msg, mavlink::common::msg::SCALED_IMU &imu_raw)
void	handle_scaled_pressure (const mavlink::mavlink_message_t *msg, mavlink::common::msg::SCALED_PRESSURE &press)
void	handle_servo_output_raw (const mavlink::mavlink_message_t *msg, mavlink::common::msg::SERVO_OUTPUT_RAW &port)
void	handle_statustext (const mavlink::mavlink_message_t *msg, mavlink::common::msg::STATUSTEXT &st)
void	handle_statustext_raw (const mavlink::mavlink_message_t *msg, const mavconn::Framing f)
void	handle_sys_status (const mavlink::mavlink_message_t *msg, mavlink::common::msg::SYS_STATUS &st)
void	handle_system_time (const mavlink::mavlink_message_t *msg, mavlink::common::msg::SYSTEM_TIME &mtime)
void	handle_timesync (const mavlink::mavlink_message_t *msg, mavlink::common::msg::TIMESYNC &tsync)
void	mavros::extra_plugins::TrajectoryPlugin::handle_trajectory (const mavlink::mavlink_message_t *msg, mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &trajectory)
void	handle_vfr_hud (const mavlink::mavlink_message_t *msg, mavlink::common::msg::VFR_HUD &vfr_hud)
void	mavros::extra_plugins::VibrationPlugin::handle_vibration (const mavlink::mavlink_message_t *msg, mavlink::common::msg::VIBRATION &vibration)
void	mavros::extra_plugins::WheelOdometryPlugin::handle_wheel_distance (const mavlink::mavlink_message_t *msg, mavlink::common::msg::WHEEL_DISTANCE &wheel_dist)
	Handle WHEEL_DISTANCE MAVlink message. Message specification: https://mavlink.io/en/messages/common.html#WHEEL_DISTANCE. More...
PayloadHeader *	header ()
void	heartbeat_cb (const ros::TimerEvent &event)
	HeartbeatStatus (const std::string &name, size_t win_size)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	HilPlugin ()
void	home_position_cb (const mavros_msgs::HomePosition::ConstPtr &req)
	HomePositionPlugin ()
	HwStatus (const std::string &name)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	IMUPlugin ()
void	initialize (UAS &uas_)
void	mavros::extra_plugins::DebugValuePlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::RangefinderPlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::GpsRtkPlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::VibrationPlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::CamIMUSyncPlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::ADSBPlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::MocapPoseEstimatePlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::MountControlPlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::ObstacleDistancePlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::PX4FlowPlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::VisionSpeedEstimatePlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::CompanionProcessStatusPlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::VisionPoseEstimatePlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::TrajectoryPlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::OdometryPlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::WheelOdometryPlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::LandingTargetPlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::FakeGPSPlugin::initialize (UAS &uas_)
void	mavros::extra_plugins::DistanceSensorPlugin::initialize (UAS &uas_)
bool	is_normalized (float thrust)
bool	land_cb (mavros_msgs::CommandTOL::Request &req, mavros_msgs::CommandTOL::Response &res)
void	mavros::extra_plugins::LandingTargetPlugin::landing_target (uint64_t time_usec, uint8_t target_num, uint8_t frame, Eigen::Vector2f angle, float distance, Eigen::Vector2f size, Eigen::Vector3d pos, Eigen::Quaterniond q, uint8_t type, uint8_t position_valid)
	mavros::extra_plugins::LandingTargetPlugin::LandingTargetPlugin ()
void	mavros::extra_plugins::LandingTargetPlugin::landtarget_cb (const mavros_msgs::LandingTarget::ConstPtr &req)
	callback for raw LandingTarget msgs topic - useful if one has the data processed in another node More...
bool	list_cb (mavros_msgs::FileList::Request &req, mavros_msgs::FileList::Response &res)
void	list_directory (std::string &path)
void	list_directory_end ()
void	local_cb (const mavros_msgs::PositionTarget::ConstPtr &req)
void	local_cb (const geometry_msgs::PoseStamped::ConstPtr &msg)
	LocalPositionPlugin ()
HandlerInfo	make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing))
HandlerInfo	make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &))
	ManualControlPlugin ()
	MemInfo (const std::string &name)
void	mission_ack (MRES type)
void	mission_clear_all ()
void	mission_count (uint16_t cnt)
void	mission_item (WaypointItem &wp)
void	mission_request (uint16_t seq)
void	mission_request_list ()
void	mission_set_current (uint16_t seq)
void	mission_write_partial_list (uint16_t start_index, uint16_t end_index)
bool	mkdir_cb (mavros_msgs::FileMakeDir::Request &req, mavros_msgs::FileMakeDir::Response &res)
void	mavros::extra_plugins::MocapPoseEstimatePlugin::mocap_pose_cb (const geometry_msgs::PoseStamped::ConstPtr &pose)
void	mavros::extra_plugins::FakeGPSPlugin::mocap_pose_cb (const geometry_msgs::PoseStamped::ConstPtr &req)
void	mavros::extra_plugins::MocapPoseEstimatePlugin::mocap_pose_send (uint64_t usec, Eigen::Quaterniond &q, Eigen::Vector3d &v)
void	mavros::extra_plugins::MocapPoseEstimatePlugin::mocap_tf_cb (const geometry_msgs::TransformStamped::ConstPtr &trans)
void	mavros::extra_plugins::FakeGPSPlugin::mocap_tf_cb (const geometry_msgs::TransformStamped::ConstPtr &trans)
	mavros::extra_plugins::MocapPoseEstimatePlugin::MocapPoseEstimatePlugin ()
	mavros::extra_plugins::MountControlPlugin::MountControlPlugin ()
void	mavros::extra_plugins::ObstacleDistancePlugin::obstacle_cb (const sensor_msgs::LaserScan::ConstPtr &req)
	Send obstacle distance array to the FCU. More...
	mavros::extra_plugins::ObstacleDistancePlugin::ObstacleDistancePlugin ()
void	mavros::extra_plugins::OdometryPlugin::odom_cb (const nav_msgs::Odometry::ConstPtr &odom)
	Sends odometry data msgs to the FCU. More...
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	mavros::extra_plugins::OdometryPlugin::OdometryPlugin ()
bool	open_cb (mavros_msgs::FileOpen::Request &req, mavros_msgs::FileOpen::Response &res)
bool	open_file (std::string &path, int mode)
void	optical_flow_cb (const mavros_msgs::OpticalFlowRad::ConstPtr &req)
void	override_cb (const mavros_msgs::OverrideRCIn::ConstPtr req)
void	param_request_list ()
void	param_request_read (std::string id, int16_t index=-1)
void	param_set (Parameter &param)
	ParamPlugin ()
	ParamSetOpt (Parameter &_p, size_t _rem)
void	mavros::extra_plugins::TrajectoryPlugin::path_cb (const nav_msgs::Path::ConstPtr &req)
	Send corrected path to the FCU. More...
	PluginBase (const PluginBase &)=delete
	PluginBase ()
void	mavros::extra_plugins::LandingTargetPlugin::pose_cb (const geometry_msgs::PoseStamped::ConstPtr &req)
	callback for PoseStamped msgs topic More...
void	process_autopilot_version_apm_quirk (mavlink::common::msg::AUTOPILOT_VERSION &apv, uint8_t sysid, uint8_t compid)
void	process_autopilot_version_normal (mavlink::common::msg::AUTOPILOT_VERSION &apv, uint8_t sysid, uint8_t compid)
void	mavros::extra_plugins::WheelOdometryPlugin::process_measurement (std::vector< double > measurement, bool rpm, ros::Time time, ros::Time time_pub)
	Process wheel measurement. More...
void	process_statustext_normal (uint8_t severity, std::string &text)
void	publish_disconnection ()
void	publish_imu_data (uint32_t time_boot_ms, Eigen::Quaterniond &orientation_enu, Eigen::Quaterniond &orientation_ned, Eigen::Vector3d &gyro_flu, Eigen::Vector3d &gyro_frd)
void	publish_imu_data_raw (std_msgs::Header &header, Eigen::Vector3d &gyro_flu, Eigen::Vector3d &accel_flu, Eigen::Vector3d &accel_frd)
void	publish_mag (std_msgs::Header &header, Eigen::Vector3d &mag_field)
void	mavros::extra_plugins::WheelOdometryPlugin::publish_odometry (ros::Time time)
	Publish odometry. Odometry is computed from the very start but no pose info is published until we have initial orientation (yaw). Once we get it, the robot's current pose is updated with it and starts to be published. Twist info doesn't depend on initial orientation so is published from the very start. More...
void	publish_tf (boost::shared_ptr< nav_msgs::Odometry > &odom)
void	publish_waypoints ()
bool	pull_cb (mavros_msgs::WaypointPull::Request &req, mavros_msgs::WaypointPull::Response &res)
bool	pull_cb (mavros_msgs::ParamPull::Request &req, mavros_msgs::ParamPull::Response &res)
bool	push_cb (mavros_msgs::WaypointPush::Request &req, mavros_msgs::WaypointPush::Response &res)
bool	push_cb (mavros_msgs::ParamPush::Request &req, mavros_msgs::ParamPush::Response &res)
	mavros::extra_plugins::PX4FlowPlugin::PX4FlowPlugin ()
void	mavros::extra_plugins::DistanceSensorItem::range_cb (const sensor_msgs::Range::ConstPtr &msg)
	mavros::extra_plugins::RangefinderPlugin::RangefinderPlugin ()
uint8_t *	raw_payload ()
void	rcin_raw_cb (const mavros_msgs::RCIn::ConstPtr &req)
	RCIOPlugin ()
bool	read_cb (mavros_msgs::FileRead::Request &req, mavros_msgs::FileRead::Response &res)
bool	read_file (std::string &path, size_t off, size_t len)
void	read_file_end ()
bool	remove_cb (mavros_msgs::FileRemove::Request &req, mavros_msgs::FileRemove::Response &res)
void	remove_directory (std::string &path)
void	remove_file (std::string &path)
bool	rename_ (std::string &old_path, std::string &new_path)
bool	rename_cb (mavros_msgs::FileRename::Request &req, mavros_msgs::FileRename::Response &res)
bool	req_update_cb (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
void	request_mission_done (void)
bool	reset_cb (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	reset_filter ()
void	restart_timeout_timer (void)
void	restart_timeout_timer_int (void)
bool	rmdir_cb (mavros_msgs::FileRemoveDir::Request &req, mavros_msgs::FileRemoveDir::Response &res)
bool	rosparam_set_allowed (const Parameter &p)
void	mavros::extra_plugins::GpsRtkPlugin::rtcm_cb (const mavros_msgs::RTCM::ConstPtr &msg)
	Handle mavros_msgs::RTCM message It converts the message to the MAVLink GPS_RTCM_DATA message for GPS injection. Message specification: https://mavlink.io/en/messages/common.html#GPS_RTCM_DATA. More...
void	run (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	safetyarea_cb (const geometry_msgs::PolygonStamped::ConstPtr &req)
	SafetyAreaPlugin ()
void	schedule_pull (const ros::Duration &dt)
void	scheduled_pull_cb (const ros::TimerEvent &event)
void	send (UAS *uas, uint16_t seqNumber)
void	send_any_path_command (FTPRequest::Opcode op, const std::string &debug_msg, std::string &path, uint32_t offset)
void	send_attitude_ang_velocity (const ros::Time &stamp, const Eigen::Vector3d &ang_vel, const float thrust)
void	send_attitude_quaternion (const ros::Time &stamp, const Eigen::Affine3d &tr, const float thrust)
void	send_calc_file_crc32_command (std::string &path)
void	send_cb (const mavros_msgs::ManualControl::ConstPtr req)
void	mavros::extra_plugins::PX4FlowPlugin::send_cb (const mavros_msgs::OpticalFlowRad::ConstPtr msg)
bool	send_command_int (bool broadcast, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, int32_t x, int32_t y, float z, unsigned char &success)
bool	send_command_long_and_wait (bool broadcast, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, unsigned char &success, uint8_t &result)
void	send_create_command ()
void	send_create_dir_command (std::string &path)
void	mavros::extra_plugins::FakeGPSPlugin::send_fake_gps (const ros::Time &stamp, const Eigen::Vector3d &ecef_offset)
	Send fake GPS coordinates through HIL_GPS Mavlink msg. More...
void	mavros::extra_plugins::LandingTargetPlugin::send_landing_target (const ros::Time &stamp, const Eigen::Affine3d &tr)
	Send landing target transform to FCU. More...
void	send_list_command ()
void	send_open_ro_command ()
void	send_open_wo_command ()
bool	send_param_set_and_wait (Parameter &param)
void	send_position_target (const ros::Time &stamp, const Eigen::Affine3d &tr)
void	send_read_command ()
void	send_remove_command (std::string &path)
void	send_remove_dir_command (std::string &path)
bool	send_rename_command (std::string &old_path, std::string &new_path)
void	send_reset ()
void	send_safety_set_allowed_area (Eigen::Vector3d p1, Eigen::Vector3d p2)
void	send_setpoint_acceleration (const ros::Time &stamp, Eigen::Vector3d &accel_enu)
void	send_setpoint_velocity (const ros::Time &stamp, Eigen::Vector3d &vel_enu, double yaw_rate)
void	send_terminate_command (uint32_t session)
void	send_timesync_msg (uint64_t tc1, uint64_t ts1)
void	send_truncate_command (std::string &path, size_t length)
void	mavros::extra_plugins::VisionPoseEstimatePlugin::send_vision_estimate (const ros::Time &stamp, const Eigen::Affine3d &tr, const geometry_msgs::PoseWithCovariance::_covariance_type &cov)
	Send vision estimate transform to FCU position controller. More...
void	mavros::extra_plugins::VisionSpeedEstimatePlugin::send_vision_speed_estimate (const uint64_t usec, const Eigen::Vector3d &v, const ftf::Covariance3d &cov)
	Send vision speed estimate on local NED frame to the FCU. More...
void	send_waypoint (size_t seq)
void	send_write_command (const size_t bytes_to_copy)
void	sensor_cb (const mavros_msgs::HilSensor::ConstPtr &req)
void	set (mavlink::common::msg::SYS_STATUS &st)
void	set (float volt, float curr, float rem)
void	set (uint16_t f, uint16_t b)
void	set (uint16_t v, uint8_t e)
void	set_attitude_target (uint32_t time_boot_ms, uint8_t type_mask, Eigen::Quaterniond orientation, Eigen::Vector3d body_rate, float thrust)
bool	set_cb (mavros_msgs::ParamSet::Request &req, mavros_msgs::ParamSet::Response &res)
bool	set_cur_cb (mavros_msgs::WaypointSetCurrent::Request &req, mavros_msgs::WaypointSetCurrent::Response &res)
void	set_current_waypoint (size_t seq)
void	set_data_string (std::string &s)
void	set_gp_origin_cb (const geographic_msgs::GeoPointStamped::ConstPtr &req)
bool	set_home_cb (mavros_msgs::CommandHome::Request &req, mavros_msgs::CommandHome::Response &res)
bool	set_mav_frame_cb (mavros_msgs::SetMavFrame::Request &req, mavros_msgs::SetMavFrame::Response &res)
bool	set_message_interval_cb (mavros_msgs::MessageInterval::Request &req, mavros_msgs::MessageInterval::Response &res)
void	set_min_voltage (float volt)
bool	set_mode_cb (mavros_msgs::SetMode::Request &req, mavros_msgs::SetMode::Response &res)
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)
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)
bool	set_rate_cb (mavros_msgs::StreamRate::Request &req, mavros_msgs::StreamRate::Response &res)
void	set_target (MsgT &cmd, bool broadcast)
void	set_timestamp (uint64_t remote_timestamp_ns)
void	set_value (mavlink::common::msg::PARAM_VALUE &pmsg)
void	set_value_apm_quirk (mavlink::common::msg::PARAM_VALUE &pmsg)
friend class	SetAttitudeTargetMixin
void	setpoint_cb (const geometry_msgs::PoseStamped::ConstPtr &req)
	SetpointAccelerationPlugin ()
	SetpointAttitudePlugin ()
void	setpointg_cb (const mavros_msgs::GlobalPositionTarget::ConstPtr &req)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SetpointPositionPlugin ()
	SetpointRawPlugin ()
	SetpointVelocityPlugin ()
friend class	SetPositionTargetGlobalIntMixin
friend class	SetPositionTargetLocalNEDMixin
void	setup_covariance (ftf::Covariance3d &cov, double stdev)
void	shedule_cb (const ros::TimerEvent &event)
void	shedule_pull (const ros::Duration &dt)
void	state_quat_cb (const mavros_msgs::HilStateQuaternion::ConstPtr &req)
void	mavros::extra_plugins::CompanionProcessStatusPlugin::status_cb (const mavros_msgs::CompanionProcessStatus::ConstPtr &req)
	Send companion process status to FCU over a heartbeat message. More...
void	statustext_cb (const mavros_msgs::StatusText::ConstPtr &req)
bool	sync_converged ()
void	sys_time_cb (const ros::TimerEvent &event)
	SystemStatusDiag (const std::string &name)
	SystemStatusPlugin ()
	SystemTimePlugin ()
bool	takeoff_cb (mavros_msgs::CommandTOL::Request &req, mavros_msgs::CommandTOL::Response &res)
	TDRRadioPlugin ()
void	tf2_start (const char *_thd_name, message_filters::Subscriber< T > &topic_sub, void(D::*cbp)(const geometry_msgs::TransformStamped &, const typename T::ConstPtr &))
void	tf2_start (const char *_thd_name, void(D::*cbp)(const geometry_msgs::TransformStamped &))
friend class	TF2ListenerMixin
void	tick (uint8_t type_, uint8_t autopilot_, std::string &mode_, uint8_t system_status_)
void	tick (int64_t rtt_ns, uint64_t remote_timestamp_ns, int64_t time_offset_ns)
void	timeout_cb (const ros::TimerEvent &event)
void	timesync_cb (const ros::TimerEvent &event)
	TimeSyncStatus (const std::string &name, size_t win_size)
int64_t	to_integer ()
mavros_msgs::Waypoint	to_msg ()
PARAM_SET	to_param_set ()
PARAM_SET	to_param_set_apm_qurk ()
double	to_real ()
std::string	to_string ()
void	mavros::extra_plugins::TrajectoryPlugin::trajectory_cb (const mavros_msgs::Trajectory::ConstPtr &req)
	Send corrected path to the FCU. More...
	mavros::extra_plugins::TrajectoryPlugin::TrajectoryPlugin ()
void	transform_cb (const geometry_msgs::TransformStamped &transform)
void	transform_cb (const geometry_msgs::TransformStamped &transform, const mavros_msgs::Thrust::ConstPtr &thrust_msg)
void	mavros::extra_plugins::VisionPoseEstimatePlugin::transform_cb (const geometry_msgs::TransformStamped &transform)
void	mavros::extra_plugins::FakeGPSPlugin::transform_cb (const geometry_msgs::TransformStamped &trans)
void	mavros::extra_plugins::LandingTargetPlugin::transform_cb (const geometry_msgs::TransformStamped &transform)
	callback for TF2 listener More...
void	mavros::extra_plugins::OdometryPlugin::transform_lookup (const std::string &frame_id, const std::string &child_frame_id, const std::string &local_frame_orientation, const std::string &body_frame_orientation, Eigen::Affine3d &tf_parent2local, Eigen::Affine3d &tf_child2local, Eigen::Affine3d &tf_parent2body, Eigen::Affine3d &tf_child2body)
	Lookup transforms. More...
bool	trigger_control_cb (mavros_msgs::CommandTriggerControl::Request &req, mavros_msgs::CommandTriggerControl::Response &res)
bool	trigger_interval_cb (mavros_msgs::CommandTriggerInterval::Request &req, mavros_msgs::CommandTriggerInterval::Response &res)
bool	truncate_cb (mavros_msgs::FileTruncate::Request &req, mavros_msgs::FileTruncate::Response &res)
void	truncate_file (std::string &path, size_t length)
void	mavros::extra_plugins::VisionSpeedEstimatePlugin::twist_cb (const geometry_msgs::TwistStamped::ConstPtr &req)
	Callback to geometry_msgs/TwistStamped msgs. More...
void	mavros::extra_plugins::VisionSpeedEstimatePlugin::twist_cov_cb (const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &req)
	Callback to geometry_msgs/TwistWithCovarianceStamped msgs. More...
void	mavros::extra_plugins::WheelOdometryPlugin::update_odometry (std::vector< double > distance, double dt)
	Update odometry (currently, only 2-wheels differential configuration implemented). Odometry is computed for robot's origin (IMU). More...
void	mavros::extra_plugins::WheelOdometryPlugin::update_odometry_diffdrive (std::vector< double > distance, double dt)
	Update odometry for differential drive robot. Odometry is computed for robot's origin (IMU). The wheels are assumed to be parallel to the robot's x-direction (forward) and with the same x-offset. No slip is assumed (Instantaneous Center of Curvature (ICC) along the axis connecting the wheels). All computations are performed for ROS frame conventions. The approach is the extended and more accurate version of standard one described in the book https://github.com/correll/Introduction-to-Autonomous-Robots and at the page (with some typos fixed) http://correll.cs.colorado.edu/?p=1307 The extension is that exact pose update is used instead of approximate, and that the robot's origin can be specified anywhere instead of the middle-point between the wheels. More...
void	mavros::extra_plugins::VisionSpeedEstimatePlugin::vector_cb (const geometry_msgs::Vector3Stamped::ConstPtr &req)
	Callback to geometry_msgs/Vector3Stamped msgs. More...
bool	vehicle_info_get_cb (mavros_msgs::VehicleInfoGet::Request &req, mavros_msgs::VehicleInfoGet::Response &res)
void	vel_cb (const geometry_msgs::TwistStamped::ConstPtr &req)
void	vel_unstamped_cb (const geometry_msgs::Twist::ConstPtr &req)
	VfrHudPlugin ()
	mavros::extra_plugins::VibrationPlugin::VibrationPlugin ()
void	mavros::extra_plugins::VisionPoseEstimatePlugin::vision_cb (const geometry_msgs::PoseStamped::ConstPtr &req)
void	mavros::extra_plugins::FakeGPSPlugin::vision_cb (const geometry_msgs::PoseStamped::ConstPtr &req)
void	mavros::extra_plugins::VisionPoseEstimatePlugin::vision_cov_cb (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &req)
	mavros::extra_plugins::VisionPoseEstimatePlugin::VisionPoseEstimatePlugin ()
	mavros::extra_plugins::VisionSpeedEstimatePlugin::VisionSpeedEstimatePlugin ()
bool	wait_ack_for (CommandTransaction &tr)
bool	wait_completion (const int msecs)
bool	wait_fetch_all ()
bool	wait_param_set_ack_for (std::shared_ptr< ParamSetOpt > opt)
bool	wait_push_all ()
	WaypointPlugin ()
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	mavros::extra_plugins::WheelOdometryPlugin::WheelOdometryPlugin ()
	WindEstimationPlugin ()
float	mavros::extra_plugins::TrajectoryPlugin::wrap_pi (float a)
size_t	write_bytes_to_copy ()
bool	write_cb (mavros_msgs::FileWrite::Request &req, mavros_msgs::FileWrite::Response &res)
bool	write_file (std::string &path, size_t off, V_FileData &data)
void	write_file_end ()
virtual	~PluginBase ()

Variables
static constexpr int	_RETRIES_COUNT
static constexpr size_t	mavros::extra_plugins::DistanceSensorItem::ACC_SIZE = 50
ros::Subscriber	accel_sub
std::condition_variable	ack
std::condition_variable	ack
const ros::Duration	ACK_TIMEOUT_DT
static constexpr int	ACK_TIMEOUT_MS
L_CommandTransaction	ack_waiting_list
uint32_t	active_session
ros::Subscriber	actuator_control_sub
ros::NodeHandle	mavros::extra_plugins::ADSBPlugin::adsb_nh
ros::Publisher	mavros::extra_plugins::ADSBPlugin::adsb_pub
ros::Subscriber	mavros::extra_plugins::ADSBPlugin::adsb_sub
ros::Publisher	altitude_pub
ftf::Covariance3d	angular_velocity_cov
ros::ServiceServer	arming_srv
ros::Subscriber	attitude_sub
MAV_AUTOPILOT	autopilot
ros::Timer	autopilot_version_timer
std::string	mavros::extra_plugins::DistanceSensorPlugin::base_frame_id
BatteryStatusDiag	batt_diag
ros::Publisher	batt_pub
float	battery_voltage
MAV_FRAME	mavros::extra_plugins::OdometryPlugin::bf_id
	body frame (pose) ID More...
std::string	mavros::extra_plugins::OdometryPlugin::body_frame_orientation_in_desired
	orientation of the body frame (input data) More...
std::string	mavros::extra_plugins::OdometryPlugin::body_frame_orientation_out_desired
	orientation of the body frame (output data) More...
const ros::Duration	BOOTUP_TIME_DT
const ros::Duration	BOOTUP_TIME_DT
static constexpr int	BOOTUP_TIME_MS
static constexpr int	BOOTUP_TIME_MS
std::atomic< uint16_t >	brkval
ros::Publisher	mavros::extra_plugins::CamIMUSyncPlugin::cam_imu_pub
ros::NodeHandle	mavros::extra_plugins::CamIMUSyncPlugin::cam_imu_sync_nh
uint32_t	checksum_crc32
ros::ServiceServer	checksum_srv
std::string	child_frame_id
std::string	mavros::extra_plugins::OdometryPlugin::child_frame_id
	child frame identifier More...
std::string	mavros::extra_plugins::WheelOdometryPlugin::child_frame_id
	body-fixed frame for topic headers More...
static constexpr int	CHUNK_TIMEOUT_MS
	clear
ros::ServiceServer	clear_srv
ros::ServiceServer	close_srv
ros::NodeHandle	cmd_nh
ros::ServiceServer	command_int_srv
ros::ServiceServer	command_long_srv
ros::Subscriber	mavros::extra_plugins::MountControlPlugin::command_sub
std::condition_variable	cond
std::mutex	cond_mutex
std::mutex	cond_mutex
std::mutex	cond_mutex
MAV_TYPE	conn_heartbeat_mav_type
ros::Publisher	control_pub
int	convergence_window
int	mavros::extra_plugins::WheelOdometryPlugin::count
	requested number of wheels to compute odometry More...
int	count_
int	count_
int	mavros::extra_plugins::WheelOdometryPlugin::count_meas
	number of wheels in measurements More...
int	mavros::extra_plugins::DistanceSensorItem::covariance
	in centimeters, current specification More...
float	current
Eigen::Vector3d	current_gps
Eigen::Vector3d	current_local_pos
uint8_t	data []
std::vector< float >	mavros::extra_plugins::DistanceSensorItem::data
	array allocation for measurements More...
size_t	mavros::extra_plugins::DistanceSensorItem::data_index
	array index More...
static const uint8_t	DATA_MAXSZ
ros::NodeHandle	mavros::extra_plugins::DebugValuePlugin::debug_nh
ros::Publisher	mavros::extra_plugins::DebugValuePlugin::debug_pub
ros::Subscriber	mavros::extra_plugins::DebugValuePlugin::debug_sub
ros::Publisher	mavros::extra_plugins::DebugValuePlugin::debug_vector_pub
bool	diag_added
std::mutex	diag_mutex
ros::Publisher	diff_press_pub
static const char	DIRENT_DIR
static const char	DIRENT_FILE
static const char	DIRENT_SKIP
bool	disable_diag
ros::NodeHandle	mavros::extra_plugins::DistanceSensorPlugin::dist_nh
ros::Publisher	mavros::extra_plugins::WheelOdometryPlugin::dist_pub
bool	do_pull_after_gcs
TimeSyncStatus	dt_diag
GeographicLib::Geocentric	mavros::extra_plugins::FakeGPSPlugin::earth
Eigen::Vector3d	ecef_origin
Eigen::Vector3d	mavros::extra_plugins::FakeGPSPlugin::ecef_origin
	geocentric origin [m] More...
bool	enable_partial_push
Eigen::Quaterniond	enu_orientation
double	mavros::extra_plugins::FakeGPSPlugin::eph
double	mavros::extra_plugins::FakeGPSPlugin::epv
uint16_t	expected_command
ros::Publisher	extended_state_pub
double	mavros::extra_plugins::DistanceSensorItem::field_of_view
	FOV of the sensor. More...
double	filter_alpha
float	filter_alpha_final
float	filter_alpha_initial
double	filter_beta
float	filter_beta_final
float	filter_beta_initial
GPS_FIX_TYPE	mavros::extra_plugins::FakeGPSPlugin::fix_type
ros::NodeHandle	mavros::extra_plugins::PX4FlowPlugin::flow_nh
ros::Publisher	mavros::extra_plugins::PX4FlowPlugin::flow_rad_pub
ros::Subscriber	mavros::extra_plugins::PX4FlowPlugin::flow_rad_sub
double	mavros::extra_plugins::LandingTargetPlugin::focal_length
double	mavros::extra_plugins::LandingTargetPlugin::fov_x
double	mavros::extra_plugins::LandingTargetPlugin::fov_y
ros::NodeHandle	mavros::extra_plugins::FakeGPSPlugin::fp_nh
MAV_FRAME	mavros::extra_plugins::LandingTargetPlugin::frame
std::string	frame_id
std::string	frame_id
std::string	frame_id
std::string	frame_id
std::string	frame_id
std::string	mavros::extra_plugins::VibrationPlugin::frame_id
std::string	mavros::extra_plugins::DistanceSensorItem::frame_id
	frame id for send More...
std::string	mavros::extra_plugins::PX4FlowPlugin::frame_id
std::string	mavros::extra_plugins::LandingTargetPlugin::frame_id
std::string	mavros::extra_plugins::OdometryPlugin::frame_id
	parent frame identifier More...
std::string	mavros::extra_plugins::WheelOdometryPlugin::frame_id
	origin frame for topic headers More...
std::atomic< ssize_t >	freemem
ros::NodeHandle	ftp_nh
static constexpr double	GAUSS_TO_TESLA
ros::ServiceServer	get_srv
ros::Subscriber	global_sub
ros::Publisher	gp_fix_pub
ros::Publisher	gp_global_offset_pub
ros::Publisher	gp_global_origin_pub
ros::Publisher	gp_hdg_pub
ros::NodeHandle	gp_nh
ros::Publisher	gp_odom_pub
ros::Publisher	gp_rel_alt_pub
ros::Subscriber	gp_set_global_origin_sub
ros::Rate	mavros::extra_plugins::FakeGPSPlugin::gps_rate
ros::NodeHandle	mavros::extra_plugins::GpsRtkPlugin::gps_rtk_nh
ros::Subscriber	mavros::extra_plugins::GpsRtkPlugin::gps_rtk_sub
ros::Subscriber	gps_sub
double	gps_uere
bool	has_att_quat
bool	has_battery_status
bool	has_hr_imu
bool	has_local_position_ned
bool	has_local_position_ned_cov
bool	has_radio_status
bool	has_raw_imu
std::atomic< bool >	has_rc_channels_msg
bool	has_scaled_imu
HeartbeatStatus	hb_diag
ros::Timer	heartbeat_timer
int	high_deviation_count
int	high_rtt_count
ros::Publisher	hil_actuator_controls_pub
ros::Publisher	hil_controls_pub
ros::Subscriber	hil_flow_sub
ros::Subscriber	hil_gps_sub
ros::NodeHandle	hil_nh
ros::Subscriber	hil_rcin_sub
ros::Subscriber	hil_sensor_sub
ros::Subscriber	hil_state_quaternion_sub
int	hist_indx_
int	hist_indx_
ros::NodeHandle	hp_nh
ros::Publisher	hp_pub
ros::Subscriber	hp_sub
ros::Subscriber	hp_sub
HwStatus	hwst_diag
size_t	i2cerr
size_t	i2cerr_last
int	mavros::extra_plugins::LandingTargetPlugin::image_height
int	mavros::extra_plugins::LandingTargetPlugin::image_width
ros::NodeHandle	imu_nh
ros::Publisher	imu_pub
ros::Publisher	imu_raw_pub
bool	is_error
bool	is_map_init
bool	mavros::extra_plugins::DistanceSensorItem::is_subscriber
	this item is a subscriber, else is a publisher More...
bool	is_timedout
bool	is_timedout
bool	is_timedout
	kCmdBurstReadFile
	kCmdBurstReadFile
	kCmdCalcFileCRC32
	kCmdCalcFileCRC32
	kCmdCreateDirectory
	kCmdCreateDirectory
	kCmdCreateFile
	kCmdCreateFile
	kCmdListDirectory
	kCmdListDirectory
	kCmdNone
	kCmdNone
	kCmdOpenFileRO
	kCmdOpenFileRO
	kCmdOpenFileWO
	kCmdOpenFileWO
	kCmdReadFile
	kCmdReadFile
	kCmdRemoveDirectory
	kCmdRemoveDirectory
	kCmdRemoveFile
	kCmdRemoveFile
	kCmdRename
	kCmdRename
	kCmdResetSessions
	kCmdResetSessions
	kCmdTerminateSession
	kCmdTerminateSession
	kCmdTruncateFile
	kCmdTruncateFile
	kCmdWriteFile
	kCmdWriteFile
	kErrEOF
	kErrEOF
	kErrFail
	kErrFail
	kErrFailErrno
	kErrFailErrno
	kErrFailFileExists
	kErrFailFileExists
	kErrFailFileProtected
	kErrFailFileProtected
	kErrInvalidDataSize
	kErrInvalidDataSize
	kErrInvalidSession
	kErrInvalidSession
	kErrNone
	kErrNone
	kErrNoSessionsAvailable
	kErrNoSessionsAvailable
	kErrUnknownCommand
	kErrUnknownCommand
	kRspAck
	kRspAck
	kRspNak
	kRspNak
ros::ServiceServer	land_srv
ros::Publisher	mavros::extra_plugins::LandingTargetPlugin::land_target_pub
ros::Subscriber	mavros::extra_plugins::LandingTargetPlugin::land_target_sub
std::string	mavros::extra_plugins::LandingTargetPlugin::land_target_type
ros::Time	mavros::extra_plugins::FakeGPSPlugin::last_pos_time
uint64_t	last_remote_ts
int64_t	last_rtt
uint16_t	last_send_seqnr
mavlink::common::msg::SYS_STATUS	last_st
mavros_msgs::RadioStatus::Ptr	last_status
ros::Time	mavros::extra_plugins::VisionPoseEstimatePlugin::last_transform_stamp
ros::Time	mavros::extra_plugins::LandingTargetPlugin::last_transform_stamp
ros::Time	mavros::extra_plugins::FakeGPSPlugin::last_transform_stamp
MAV_FRAME	mavros::extra_plugins::OdometryPlugin::lf_id
	local frame (pose) ID More...
Eigen::Vector3d	linear_accel_vec_flu
Eigen::Vector3d	linear_accel_vec_frd
ftf::Covariance3d	linear_acceleration_cov
std::mutex	list_cond_mutex
std::vector< mavros_msgs::FileEntry >	list_entries
uint32_t	list_offset
std::string	list_path
std::condition_variable	list_receiving
std::condition_variable	list_receiving
std::condition_variable	list_sending
ros::ServiceServer	list_srv
const ros::Duration	LIST_TIMEOUT_DT
const ros::Duration	LIST_TIMEOUT_DT
static constexpr int	LIST_TIMEOUT_MS
static constexpr int	LIST_TIMEOUT_MS
static constexpr int	LIST_TIMEOUT_MS
bool	mavros::extra_plugins::LandingTargetPlugin::listen_lt
bool	mavros::extra_plugins::LandingTargetPlugin::listen_tf
bool	mavros::extra_plugins::VisionSpeedEstimatePlugin::listen_twist
	If True, listen to Twist data topics. More...
ros::Publisher	local_accel
Eigen::Vector3d	local_ecef
std::string	mavros::extra_plugins::OdometryPlugin::local_frame_in
	orientation and source of the input local frame More...
std::string	mavros::extra_plugins::OdometryPlugin::local_frame_orientation_in
	orientation of the local frame (input data) More...
std::string	mavros::extra_plugins::OdometryPlugin::local_frame_orientation_out
	orientation of the local frame (output data) More...
std::string	mavros::extra_plugins::OdometryPlugin::local_frame_out
	orientation and source of the output local frame More...
ros::Publisher	local_odom
ros::Publisher	local_position
ros::Publisher	local_position_cov
ros::Subscriber	local_sub
ros::Subscriber	local_sub
ros::Publisher	local_velocity_body
ros::Publisher	local_velocity_cov
ros::Publisher	local_velocity_local
int	low_rssi
ros::NodeHandle	lp_nh
ros::Publisher	mavros::extra_plugins::LandingTargetPlugin::lt_marker_pub
UAS *	m_uas
ros::Publisher	magn_pub
ftf::Covariance3d	magnetic_cov
ros::NodeHandle	manual_control_nh
Eigen::Vector3d	map_origin
Eigen::Vector3d	mavros::extra_plugins::FakeGPSPlugin::map_origin
	geodetic origin [lla] More...
MAV_FRAME	mav_frame
MAV_FRAME	mav_frame
std::string	mavros::extra_plugins::LandingTargetPlugin::mav_frame
ros::ServiceServer	mav_frame_srv
ros::ServiceServer	mav_frame_srv
int	max_cons_high_deviation
int	max_cons_high_rtt
int	max_deviation_sample
const double	max_freq_
const double	max_freq_
static constexpr size_t	MAX_RESERVE_DIFF
int	max_rtt_sample
std::vector< double >	mavros::extra_plugins::WheelOdometryPlugin::measurement_prev
	previous measurement More...
MemInfo	mem_diag
ros::ServiceServer	message_interval_srv
static constexpr double	MILLIBAR_TO_PASCAL
static constexpr double	MILLIG_TO_MS2
static constexpr double	MILLIMS2_TO_MS2
static constexpr double	MILLIRS_TO_RADSEC
static constexpr double	MILLIT_TO_TESLA
const double	min_freq_
const double	min_freq_
float	min_voltage
ros::ServiceServer	mkdir_srv
ros::Subscriber	mavros::extra_plugins::MocapPoseEstimatePlugin::mocap_pose_sub
ros::Subscriber	mavros::extra_plugins::FakeGPSPlugin::mocap_pose_sub
ros::Subscriber	mavros::extra_plugins::MocapPoseEstimatePlugin::mocap_tf_sub
ros::Subscriber	mavros::extra_plugins::FakeGPSPlugin::mocap_tf_sub
bool	mavros::extra_plugins::FakeGPSPlugin::mocap_transform
	set use of mocap data (TransformStamped msg) More...
std::string	mode
ros::ServiceServer	mode_srv
ros::NodeHandle	mavros::extra_plugins::MountControlPlugin::mount_nh
ros::NodeHandle	mavros::extra_plugins::MocapPoseEstimatePlugin::mp_nh
std::recursive_mutex	mutex
std::mutex	mutex
std::mutex	mutex
std::mutex	mutex
std::mutex	mutex
std::mutex	mutex
std::mutex	mutex
std::recursive_mutex	mutex
std::mutex	mutex
ros::Publisher	mavros::extra_plugins::DebugValuePlugin::named_value_float_pub
ros::Publisher	mavros::extra_plugins::DebugValuePlugin::named_value_int_pub
ros::NodeHandle	nh
ros::NodeHandle	nh
ros::NodeHandle	nh
ros::NodeHandle	nh
ros::NodeHandle	nh
ros::NodeHandle	nh
ros::NodeHandle	nh
ros::NodeHandle	nh
ros::NodeHandle	mavros::extra_plugins::LandingTargetPlugin::nh
float	normalized_thrust
static constexpr size_t	mavros::extra_plugins::NUM_POINTS = 5
	Points count in TRAJECTORY message. More...
ros::NodeHandle	mavros::extra_plugins::ObstacleDistancePlugin::obstacle_nh
ros::Subscriber	mavros::extra_plugins::ObstacleDistancePlugin::obstacle_sub
OM	mavros::extra_plugins::WheelOdometryPlugin::odom_mode
	odometry computation mode More...
ros::NodeHandle	mavros::extra_plugins::OdometryPlugin::odom_nh
	node handler More...
ros::Publisher	mavros::extra_plugins::OdometryPlugin::odom_pub
	nav_msgs/Odometry publisher More...
ros::Publisher	mavros::extra_plugins::WheelOdometryPlugin::odom_pub
ros::Subscriber	mavros::extra_plugins::OdometryPlugin::odom_sub
	nav_msgs/Odometry subscriber More...
int64_t	offset
uint32_t	offset
Eigen::Vector3d	mavros::extra_plugins::FakeGPSPlugin::old_ecef
	previous geocentric position [m] More...
uint32_t	old_gps_stamp
double	mavros::extra_plugins::FakeGPSPlugin::old_stamp
	previous stamp [s] More...
OP	op_state
uint8_t	opcode
std::string	open_path
size_t	open_size
ros::ServiceServer	open_srv
static constexpr int	OPEN_TIMEOUT_MS
int	mavros::extra_plugins::DistanceSensorItem::orientation
	check orientation of sensor if != -1 More...
ftf::Covariance3d	orientation_cov
ros::Subscriber	override_sub
DistanceSensorPlugin *	mavros::extra_plugins::DistanceSensorItem::owner
uint8_t	padding [2]
Parameter	param
uint16_t	param_count
ssize_t	param_count
std::string	param_id
uint16_t	param_index
ros::NodeHandle	param_nh
size_t	param_rx_retries
PR	param_state
const ros::Duration	PARAM_TIMEOUT_DT
static constexpr int	PARAM_TIMEOUT_MS
XmlRpcValue	param_value
ros::Publisher	param_value_pub
std::unordered_map< std::string, Parameter >	parameters
std::list< uint16_t >	parameters_missing_idx
static constexpr double	PASCAL_TO_MILLIBAR
ros::Subscriber	mavros::extra_plugins::TrajectoryPlugin::path_sub
ros::Timer	poll_timer
message_filters::Subscriber< geometry_msgs::PoseStamped >	pose_sub
ros::Subscriber	mavros::extra_plugins::LandingTargetPlugin::pose_sub
Eigen::Vector3d	mavros::extra_plugins::DistanceSensorItem::position
	sensor position More...
ros::Publisher	mavros::extra_plugins::DistanceSensorItem::pub
ros::ServiceServer	pull_srv
ros::ServiceServer	pull_srv
ros::ServiceServer	push_srv
ros::ServiceServer	push_srv
int	r_errno
static constexpr double	RAD_TO_DEG
static constexpr double	mavros::extra_plugins::RAD_TO_DEG = 180.0 / M_PI
	Radians to degrees. More...
ros::Publisher	mavros::extra_plugins::PX4FlowPlugin::range_pub
ros::NodeHandle	mavros::extra_plugins::RangefinderPlugin::rangefinder_nh
ros::Publisher	mavros::extra_plugins::RangefinderPlugin::rangefinder_pub
double	mavros::extra_plugins::PX4FlowPlugin::ranger_fov
double	mavros::extra_plugins::PX4FlowPlugin::ranger_max_range
double	mavros::extra_plugins::PX4FlowPlugin::ranger_min_range
ros::ServiceServer	rate_srv
ros::Publisher	raw_fix_pub
std::vector< uint16_t >	raw_rc_in
std::vector< uint16_t >	raw_rc_out
bool	mavros::extra_plugins::WheelOdometryPlugin::raw_send
	send wheel's RPM and cumulative distance More...
ros::Publisher	raw_vel_pub
ros::Publisher	rc_in_pub
ros::NodeHandle	rc_nh
ros::Publisher	rc_out_pub
V_FileData	read_buffer
uint32_t	read_offset
size_t	read_size
ros::ServiceServer	read_srv
std::mutex	recv_cond_mutex
float	remaining
ros::ServiceServer	remove_srv
ros::ServiceServer	rename_srv
uint8_t	req_opcode
const ros::Duration	REQUEST_POLL_TIME_DT
static constexpr int	REQUEST_POLL_TIME_MS
const ros::Duration	RESCHEDULE_DT
static constexpr int	RESCHEDULE_MS
bool	reschedule_pull
ros::ServiceServer	reset_srv
uint8_t	result
static constexpr int	RETRIES_COUNT
const int	RETRIES_COUNT
static constexpr int	RETRIES_COUNT
size_t	retries_remaining
bool	reverse_thrust
ros::ServiceServer	rmdir_srv
double	rot_cov
ros::Publisher	mavros::extra_plugins::WheelOdometryPlugin::rpm_pub
Eigen::Vector3d	mavros::extra_plugins::WheelOdometryPlugin::rpose
	Robot origin 2D-state (SI units) More...
Eigen::Matrix3d	mavros::extra_plugins::WheelOdometryPlugin::rpose_cov
	pose error 1-var More...
int64_t	rtt_sum
Eigen::Vector3d	mavros::extra_plugins::WheelOdometryPlugin::rtwist
	twist (vx, vy, vyaw) More...
Eigen::Vector3d	mavros::extra_plugins::WheelOdometryPlugin::rtwist_cov
	twist error 1-var (vx_cov, vy_cov, vyaw_cov) More...
ros::NodeHandle	safety_nh
ros::Publisher	safetyarea_pub
ros::Subscriber	safetyarea_sub
int	mavros::extra_plugins::FakeGPSPlugin::satellites_visible
ros::Timer	schedule_timer
std::mutex	send_cond_mutex
bool	send_force
ros::Subscriber	send_sub
bool	mavros::extra_plugins::DistanceSensorItem::send_tf
	defines if a transform is sent or not More...
bool	mavros::extra_plugins::LandingTargetPlugin::send_tf
std::vector< WaypointItem >	send_waypoints
uint8_t	mavros::extra_plugins::DistanceSensorItem::sensor_id
	id of the sensor More...
std::unordered_map< uint8_t, DistanceSensorItem::Ptr >	mavros::extra_plugins::DistanceSensorPlugin::sensor_map
std::vector< int >	seq_nums_
std::vector< int >	seq_nums_
uint16_t	seqNumber
uint32_t	sequence
uint8_t	session
std::map< std::string, uint32_t >	session_file_map
ros::ServiceServer	set_cur_srv
ros::ServiceServer	set_home_srv
std::unordered_map< std::string, std::shared_ptr< ParamSetOpt > >	set_parameters
ros::ServiceServer	set_srv
ros::Subscriber	setpoint_sub
ros::Subscriber	setpointg_sub
ros::Timer	shedule_timer
uint8_t	size
ros::NodeHandle	sp_nh
ros::NodeHandle	sp_nh
ros::NodeHandle	sp_nh
ros::NodeHandle	sp_nh
ros::NodeHandle	sp_nh
ros::NodeHandle	mavros::extra_plugins::VisionSpeedEstimatePlugin::sp_nh
ros::NodeHandle	mavros::extra_plugins::VisionPoseEstimatePlugin::sp_nh
ros::NodeHandle	spg_nh
ros::Publisher	state_pub
ros::Publisher	static_press_pub
ros::NodeHandle	mavros::extra_plugins::CompanionProcessStatusPlugin::status_nh
ros::Publisher	status_pub
ros::Subscriber	mavros::extra_plugins::CompanionProcessStatusPlugin::status_sub
ros::Publisher	statustext_pub
ros::Subscriber	statustext_sub
ros::Subscriber	mavros::extra_plugins::DistanceSensorItem::sub
std::unique_ptr< SyncPoseThrust >	sync_pose
std::unique_ptr< SyncTwistThrust >	sync_twist
SystemStatusDiag	sys_diag
ros::Timer	sys_time_timer
MAV_STATE	system_status
ros::ServiceServer	takeoff_srv
ros::Publisher	target_actuator_control_pub
ros::Publisher	target_attitude_pub
ros::Publisher	target_global_pub
ros::Publisher	target_local_pub
double	mavros::extra_plugins::LandingTargetPlugin::target_size_x
double	mavros::extra_plugins::LandingTargetPlugin::target_size_y
ros::Publisher	temp_baro_pub
ros::Publisher	temp_imu_pub
ros::Publisher	mavros::extra_plugins::PX4FlowPlugin::temp_pub
static constexpr double	TESLA_TO_GAUSS
std::string	tf_child_frame_id
std::string	tf_child_frame_id
std::string	tf_child_frame_id
std::string	tf_child_frame_id
std::string	mavros::extra_plugins::VisionPoseEstimatePlugin::tf_child_frame_id
std::string	mavros::extra_plugins::LandingTargetPlugin::tf_child_frame_id
std::string	mavros::extra_plugins::FakeGPSPlugin::tf_child_frame_id
std::string	mavros::extra_plugins::WheelOdometryPlugin::tf_child_frame_id
	frame for TF and Pose More...
std::string	tf_frame_id
std::string	tf_frame_id
std::string	tf_frame_id
std::string	tf_frame_id
std::string	mavros::extra_plugins::VisionPoseEstimatePlugin::tf_frame_id
std::string	mavros::extra_plugins::LandingTargetPlugin::tf_frame_id
std::string	mavros::extra_plugins::FakeGPSPlugin::tf_frame_id
std::string	mavros::extra_plugins::WheelOdometryPlugin::tf_frame_id
	origin for TF More...
std::string	tf_global_frame_id
bool	tf_listen
bool	tf_listen
bool	mavros::extra_plugins::FakeGPSPlugin::tf_listen
	set use of TF Listener data More...
double	tf_rate
double	tf_rate
double	mavros::extra_plugins::VisionPoseEstimatePlugin::tf_rate
double	mavros::extra_plugins::LandingTargetPlugin::tf_rate
double	mavros::extra_plugins::FakeGPSPlugin::tf_rate
bool	tf_send
bool	tf_send
bool	mavros::extra_plugins::WheelOdometryPlugin::tf_send
	send TF More...
std::string	tf_thd_name
std::thread	tf_thread
message_filters::Subscriber< mavros_msgs::Thrust >	th_sub
double	time_offset
ros::Time	mavros::extra_plugins::WheelOdometryPlugin::time_prev
	timestamp of previous measurement More...
ros::Publisher	time_ref_pub
std::string	time_ref_source
double	time_skew
ros::Timer	timeout_timer
ros::Timer	timeout_timer
std::vector< ros::Time >	times_
std::vector< ros::Time >	times_
ros::Publisher	timesync_status_pub
ros::Timer	timesync_timer
const double	tolerance_
const double	tolerance_
std::string	mavros::extra_plugins::DistanceSensorItem::topic_name
ros::Publisher	mavros::extra_plugins::TrajectoryPlugin::trajectory_desired_pub
ros::Subscriber	mavros::extra_plugins::TrajectoryPlugin::trajectory_generated_sub
ros::NodeHandle	mavros::extra_plugins::TrajectoryPlugin::trajectory_nh
ros::ServiceServer	trigger_control_srv
ros::ServiceServer	trigger_interval_srv
ros::ServiceServer	truncate_srv
bool	mavros::extra_plugins::VisionSpeedEstimatePlugin::twist_cov
	If True, listen to TwistWithCovariance data topic. More...
ros::Publisher	mavros::extra_plugins::WheelOdometryPlugin::twist_pub
bool	mavros::extra_plugins::WheelOdometryPlugin::twist_send
	send geometry_msgs/TwistWithCovarianceStamped instead of nav_msgs/Odometry More...
message_filters::Subscriber< geometry_msgs::TwistStamped >	twist_sub
MAV_TYPE	type
LANDING_TARGET_TYPE	mavros::extra_plugins::LandingTargetPlugin::type
ftf::Covariance3d	unk_orientation_cov
ros::ServiceServer	update_srv
bool	use_comp_id_system_control
bool	mavros::extra_plugins::FakeGPSPlugin::use_mocap
	set use of mocap data (PoseStamped msg) More...
bool	use_quaternion
bool	use_relative_alt
bool	mavros::extra_plugins::FakeGPSPlugin::use_vision
	set use of vision data More...
float	vcc
ros::ServiceServer	vehicle_info_get_srv
M_VehicleInfo	vehicles
double	mavros::extra_plugins::WheelOdometryPlugin::vel_cov
	wheel velocity measurement error 1-var (m/s) More...
ros::Subscriber	vel_sub
ros::Subscriber	vel_unstamped_sub
int	version_retries
ros::Publisher	vfr_pub
ros::NodeHandle	mavros::extra_plugins::VibrationPlugin::vibe_nh
ros::Publisher	mavros::extra_plugins::VibrationPlugin::vibration_pub
ros::Subscriber	mavros::extra_plugins::VisionPoseEstimatePlugin::vision_cov_sub
ros::Subscriber	mavros::extra_plugins::FakeGPSPlugin::vision_pose_sub
ros::Subscriber	mavros::extra_plugins::VisionPoseEstimatePlugin::vision_sub
ros::Subscriber	mavros::extra_plugins::VisionSpeedEstimatePlugin::vision_twist_cov_sub
	Subscriber to geometry_msgs/TwistWithCovarianceStamped msgs. More...
ros::Subscriber	mavros::extra_plugins::VisionSpeedEstimatePlugin::vision_twist_sub
	Subscriber to geometry_msgs/TwistStamped msgs. More...
ros::Subscriber	mavros::extra_plugins::VisionSpeedEstimatePlugin::vision_vector_sub
	Subscriber to geometry_msgs/Vector3Stamped msgs. More...
float	voltage
std::vector< WaypointItem >	waypoints
std::vector< Eigen::Vector2d >	mavros::extra_plugins::WheelOdometryPlugin::wheel_offset
	wheel x,y offsets (m,NED) More...
std::vector< double >	mavros::extra_plugins::WheelOdometryPlugin::wheel_radius
	wheel radiuses (m) More...
ros::Publisher	wind_pub
const size_t	window_size_
const size_t	window_size_
ros::NodeHandle	mavros::extra_plugins::WheelOdometryPlugin::wo_nh
size_t	wp_count
size_t	wp_cur_active
size_t	wp_cur_id
size_t	wp_end_id
ros::Publisher	wp_list_pub
ros::NodeHandle	wp_nh
ros::Publisher	wp_reached_pub
size_t	wp_retries
size_t	wp_set_active
size_t	wp_start_id
WP	wp_state
const ros::Duration	WP_TIMEOUT_DT
static constexpr int	WP_TIMEOUT_MS
ros::Timer	wp_timer
V_FileData	write_buffer
V_FileData::iterator	write_it
uint32_t	write_offset
ros::ServiceServer	write_srv
double	x_lat
double	y_long
bool	mavros::extra_plugins::WheelOdometryPlugin::yaw_initialized
	initial yaw initialized (from IMU) More...
double	z_alt

Friends
class	mavros::extra_plugins::DistanceSensorPlugin::DistanceSensorItem
class	mavros::extra_plugins::VisionPoseEstimatePlugin::TF2ListenerMixin
class	mavros::extra_plugins::LandingTargetPlugin::TF2ListenerMixin
class	mavros::extra_plugins::FakeGPSPlugin::TF2ListenerMixin

Detailed Description

Typedef Documentation

using mavros::extra_plugins::Matrix6d = typedef Eigen::Matrix<double, 6, 6, Eigen::RowMajor>

Definition at line 29 of file odom.cpp.

using mavros::extra_plugins::MavPoints = typedef std::array<float, NUM_POINTS>

Type matching mavlink::common::msg::TRAJECTORY::TRAJECTORY_REPRESENTATION_WAYPOINTS fields.

Definition at line 30 of file trajectory.cpp.

typedef boost::shared_ptr<DistanceSensorItem> mavros::extra_plugins::DistanceSensorItem::Ptr

Definition at line 33 of file distance_sensor.cpp.

using mavros::extra_plugins::RosPoints = typedef mavros_msgs::PositionTarget

Definition at line 32 of file trajectory.cpp.

Enumeration Type Documentation

enum mavros::extra_plugins::WheelOdometryPlugin::OM

strongprivate

Odometry computation modes.

Enumerator
NONE	no odometry computation
RPM	use wheel's RPM
DIST	use wheel's cumulative distance

Definition at line 174 of file wheel_odometry.cpp.

Function Documentation

void mavros::extra_plugins::ADSBPlugin::adsb_cb ( const mavros_msgs::ADSBVehicle::ConstPtr &  req )

inlineprivate

Definition at line 114 of file adsb.cpp.

mavros::extra_plugins::ADSBPlugin::ADSBPlugin ( )

inline

Definition at line 33 of file adsb.cpp.

float mavros::extra_plugins::DistanceSensorItem::calculate_variance ( float  range )

inlineprivate

Calculate measurements variance to send to the FCU.

Definition at line 77 of file distance_sensor.cpp.

mavros::extra_plugins::CamIMUSyncPlugin::CamIMUSyncPlugin ( )

inline

Definition at line 32 of file cam_imu_sync.cpp.

void mavros::extra_plugins::LandingTargetPlugin::cartesian_to_displacement ( const Eigen::Vector3d &  pos, Eigen::Vector2f &  angle  )

inlineprivate

Displacement: (not to be mixed with angular displacement)

WITH angle_rad = atan(y / x) * (π / 180) IF X & Y > 0: (1st quadrant) θ_x = angle_rad θ_y = - angle_rad IF X < 0 & Y > 0: (2nd quadrant) θ_x = π - angle_rad θ_y = angle_rad IF X < 0 & Y < 0: (3rd quadrant) θ_x = π + angle_rad θ_y = π - angle_rad IF X > 0 & Y < 0: (4th quadrant) θ_x = - angle_rad θ_y = π + angle_rad

Definition at line 197 of file landing_target.cpp.

void mavros::extra_plugins::MountControlPlugin::command_cb ( const mavros_msgs::MountControl::ConstPtr &  req )

inlineprivate

Send mount control commands to vehicle.

Message specification: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_MOUNT_CONTROL

Parameters

req	received MountControl msg

Definition at line 63 of file mount_control.cpp.

mavros::extra_plugins::CompanionProcessStatusPlugin::CompanionProcessStatusPlugin ( )

inline

Definition at line 38 of file companion_process_status.cpp.

void mavros::extra_plugins::VisionSpeedEstimatePlugin::convert_vision_speed ( const ros::Time &  stamp, const Eigen::Vector3d &  vel_enu, const ftf::Covariance3d &  cov_enu  )

inlineprivate

Convert vector and covariance from local ENU to local NED frame.

Parameters

stamp	ROS timestamp of the message
vel_enu	Velocity/speed vector in the ENU frame
cov_enu	Linear velocity/speed in the ENU frame

Definition at line 110 of file vision_speed_estimate.cpp.

DistanceSensorItem::Ptr mavros::extra_plugins::DistanceSensorItem::create_item ( DistanceSensorPlugin *  owner, std::string  topic_name  )

static

Definition at line 306 of file distance_sensor.cpp.

void mavros::extra_plugins::DebugValuePlugin::debug_cb ( const mavros_msgs::DebugValue::ConstPtr &  req )

inlineprivate

Debug callbacks.

Parameters

req	pointer to mavros_msgs/Debug.msg being published

Definition at line 239 of file debug_value.cpp.

void mavros::extra_plugins::DebugValuePlugin::debug_logger ( const std::string &  type, const mavros_msgs::DebugValue &  dv  )

inlineprivate

Helper function to log debug messages.

Parameters

type	Type of debug message
dv	Data value

Definition at line 70 of file debug_value.cpp.

mavros::extra_plugins::DebugValuePlugin::DebugValuePlugin ( )

inline

Definition at line 26 of file debug_value.cpp.

void mavros::extra_plugins::DistanceSensorPlugin::distance_sensor ( uint32_t  time_boot_ms, uint32_t  min_distance, uint32_t  max_distance, uint32_t  current_distance, uint8_t  type, uint8_t  id, uint8_t  orientation, uint8_t  covariance  )

inlineprivate

Definition at line 161 of file distance_sensor.cpp.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mavros::extra_plugins::DistanceSensorItem::DistanceSensorItem ( )

inline

Definition at line 37 of file distance_sensor.cpp.

mavros::extra_plugins::DistanceSensorPlugin::DistanceSensorPlugin ( )

inline

Definition at line 115 of file distance_sensor.cpp.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mavros::extra_plugins::FakeGPSPlugin::FakeGPSPlugin ( )

inline

Definition at line 45 of file fake_gps.cpp.

void mavros::extra_plugins::TrajectoryPlugin::fill_msg_acceleration ( geometry_msgs::Vector3 &  acceleration, const mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &  t, const size_t  i  )

inlineprivate

Definition at line 182 of file trajectory.cpp.

void mavros::extra_plugins::TrajectoryPlugin::fill_msg_position ( geometry_msgs::Point &  position, const mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &  t, const size_t  i  )

inlineprivate

Definition at line 164 of file trajectory.cpp.

void mavros::extra_plugins::TrajectoryPlugin::fill_msg_velocity ( geometry_msgs::Vector3 &  velocity, const mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &  t, const size_t  i  )

inlineprivate

Definition at line 173 of file trajectory.cpp.

void mavros::extra_plugins::TrajectoryPlugin::fill_points_acceleration ( MavPoints &  x, MavPoints &  y, MavPoints &  z, const geometry_msgs::Vector3 &  acceleration, const size_t  i  )

inlineprivate

Definition at line 107 of file trajectory.cpp.

void mavros::extra_plugins::TrajectoryPlugin::fill_points_all_unused ( mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &  t, const size_t  i  )

inlineprivate

Definition at line 146 of file trajectory.cpp.

void mavros::extra_plugins::TrajectoryPlugin::fill_points_position ( MavPoints &  x, MavPoints &  y, MavPoints &  z, const geometry_msgs::Point &  position, const size_t  i  )

inlineprivate

Definition at line 89 of file trajectory.cpp.

auto mavros::extra_plugins::TrajectoryPlugin::fill_points_unused_path ( mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &  t, const size_t  i  )

inlineprivate

Definition at line 136 of file trajectory.cpp.

void mavros::extra_plugins::TrajectoryPlugin::fill_points_velocity ( MavPoints &  x, MavPoints &  y, MavPoints &  z, const geometry_msgs::Vector3 &  velocity, const size_t  i  )

inlineprivate

Definition at line 98 of file trajectory.cpp.

void mavros::extra_plugins::TrajectoryPlugin::fill_points_yaw_q ( MavPoints &  y, const geometry_msgs::Quaternion &  orientation, const size_t  i  )

inlineprivate

Definition at line 127 of file trajectory.cpp.

void mavros::extra_plugins::TrajectoryPlugin::fill_points_yaw_speed ( MavPoints &  yv, const double  yaw_speed, const size_t  i  )

inlineprivate

Definition at line 123 of file trajectory.cpp.

void mavros::extra_plugins::TrajectoryPlugin::fill_points_yaw_wp ( MavPoints &  y, const double  yaw, const size_t  i  )

inlineprivate

Definition at line 119 of file trajectory.cpp.

Subscriptions mavros::extra_plugins::GpsRtkPlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 40 of file gps_rtk.cpp.

Subscriptions mavros::extra_plugins::RangefinderPlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 41 of file rangefinder.cpp.

Subscriptions mavros::extra_plugins::CamIMUSyncPlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 43 of file cam_imu_sync.cpp.

Subscriptions mavros::extra_plugins::DebugValuePlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 44 of file debug_value.cpp.

Subscriptions mavros::extra_plugins::VibrationPlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 44 of file vibration.cpp.

Subscriptions mavros::extra_plugins::ADSBPlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 45 of file adsb.cpp.

Subscriptions mavros::extra_plugins::MountControlPlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 48 of file mount_control.cpp.

Subscriptions mavros::extra_plugins::ObstacleDistancePlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 48 of file obstacle_distance.cpp.

Subscriptions mavros::extra_plugins::CompanionProcessStatusPlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 49 of file companion_process_status.cpp.

Subscriptions mavros::extra_plugins::TrajectoryPlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 55 of file trajectory.cpp.

Subscriptions mavros::extra_plugins::VisionSpeedEstimatePlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 58 of file vision_speed_estimate.cpp.

Subscriptions mavros::extra_plugins::MocapPoseEstimatePlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 63 of file mocap_pose_estimate.cpp.

Subscriptions mavros::extra_plugins::PX4FlowPlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 65 of file px4flow.cpp.

Subscriptions mavros::extra_plugins::VisionPoseEstimatePlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 65 of file vision_pose_estimate.cpp.

Subscriptions mavros::extra_plugins::LandingTargetPlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 108 of file landing_target.cpp.

Subscriptions mavros::extra_plugins::FakeGPSPlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 133 of file fake_gps.cpp.

Subscriptions mavros::extra_plugins::OdometryPlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 133 of file odom.cpp.

Subscriptions mavros::extra_plugins::DistanceSensorPlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 144 of file distance_sensor.cpp.

Subscriptions mavros::extra_plugins::WheelOdometryPlugin::get_subscriptions ( )

inlinevirtual

Implements mavros::plugin::PluginBase.

Definition at line 157 of file wheel_odometry.cpp.

mavros::extra_plugins::GpsRtkPlugin::GpsRtkPlugin ( )

inline

Definition at line 30 of file gps_rtk.cpp.

void mavros::extra_plugins::ADSBPlugin::handle_adsb ( const mavlink::mavlink_message_t *  msg, mavlink::common::msg::ADSB_VEHICLE &  adsb  )

inlineprivate

Definition at line 58 of file adsb.cpp.

void mavros::extra_plugins::CamIMUSyncPlugin::handle_cam_trig ( const mavlink::mavlink_message_t *  msg, mavlink::common::msg::CAMERA_TRIGGER &  ctrig  )

inlineprivate

Definition at line 55 of file cam_imu_sync.cpp.

void mavros::extra_plugins::DebugValuePlugin::handle_debug ( const mavlink::mavlink_message_t *  msg, mavlink::common::msg::DEBUG &  debug  )

inlineprivate

Handle DEBUG message. Message specification: https://mavlink.io/en/messages/common.html#DEBUG.

Parameters

msg	Received Mavlink msg
debug	DEBUG msg

Definition at line 114 of file debug_value.cpp.

void mavros::extra_plugins::DebugValuePlugin::handle_debug_vector ( const mavlink::mavlink_message_t *  msg, mavlink::common::msg::DEBUG_VECT &  debug  )

inlineprivate

Handle DEBUG_VECT message. Message specification: https://mavlink.io/en/messages/common.html#DEBUG_VECT.

Parameters

msg	Received Mavlink msg
debug	DEBUG_VECT msg

Definition at line 154 of file debug_value.cpp.

void mavros::extra_plugins::DistanceSensorPlugin::handle_distance_sensor ( const mavlink::mavlink_message_t *  msg, mavlink::common::msg::DISTANCE_SENSOR &  dist_sen  )

inlineprivate

Receive distance sensor data from FCU.

Definition at line 199 of file distance_sensor.cpp.

void mavros::extra_plugins::LandingTargetPlugin::handle_landing_target ( const mavlink::mavlink_message_t *  msg, mavlink::common::msg::LANDING_TARGET &  land_target  )

inlineprivate

Receive landing target from FCU.

Todo:

these transforms should be applied according to the MAV_FRAME

Definition at line 301 of file landing_target.cpp.

void mavros::extra_plugins::DebugValuePlugin::handle_named_value_float ( const mavlink::mavlink_message_t *  msg, mavlink::common::msg::NAMED_VALUE_FLOAT &  value  )

inlineprivate

Handle NAMED_VALUE_FLOAT message. Message specification: https://mavlink.io/en/messages/common.html#NAMED_VALUE_FLOAT.

Todo:

: add handler for DEBUG_ARRAY (https://github.com/mavlink/mavlink/pull/734)

Parameters

msg	Received Mavlink msg
value	NAMED_VALUE_FLOAT msg

Definition at line 190 of file debug_value.cpp.

void mavros::extra_plugins::DebugValuePlugin::handle_named_value_int ( const mavlink::mavlink_message_t *  msg, mavlink::common::msg::NAMED_VALUE_INT &  value  )

inlineprivate

Handle NAMED_VALUE_INT message. Message specification: https://mavlink.io/en/messages/common.html#NAMED_VALUE_INT.

Parameters

msg	Received Mavlink msg
value	NAMED_VALUE_INT msg

Definition at line 215 of file debug_value.cpp.

void mavros::extra_plugins::OdometryPlugin::handle_odom ( const mavlink::mavlink_message_t *  msg, mavlink::common::msg::ODOMETRY &  odom_msg  )

inlineprivate

Handle ODOMETRY MAVlink message.

Message specification: https://mavlink.io/en/messages/common.html#ODOMETRY

Parameters

msg	Received Mavlink msg
att	ATTITUDE msg

Required affine rotations to apply transforms

Lookup to the required trans

Build 6x6 pose covariance matrix to be transformed and sent

Build 6x6 velocity covariance matrix to be transformed and sent

< Position vector. WRT frame_id

< Attitude quaternion. WRT frame_id

< Linear velocity vector. WRT child_frame_id

< Angular velocity vector. WRT child_frame_id

< Zero initialized pose 6-D Covariance matrix. WRT frame_id

< Zero initialized velocity 6-D Covariance matrix. WRT child_frame_id

Position parsing

Orientation parsing

Velocities parsing Linear and angular velocities are in the same frame as child_frame_id.

Covariances parsing

Transform pose covariance matrix

Transform twist covariance matrix

Publish the data

Definition at line 204 of file odom.cpp.

void mavros::extra_plugins::PX4FlowPlugin::handle_optical_flow_rad ( const mavlink::mavlink_message_t *  msg, mavlink::common::msg::OPTICAL_FLOW_RAD &  flow_rad  )

inlineprivate

Raw message with axes mapped to ROS conventions and temp in degrees celsius.

The optical flow camera is essentially an angular sensor, so conversion is like gyroscope. (aircraft -> baselink)

Todo:

: use distance_sensor plugin only to publish this data (which receives DISTANCE_SENSOR msg with multiple rangefinder sensors data)

Todo:

: suggest modification on MAVLink OPTICAL_FLOW_RAD msg which removes sonar data fields from it

Definition at line 86 of file px4flow.cpp.

void mavros::extra_plugins::RangefinderPlugin::handle_rangefinder ( const mavlink::mavlink_message_t *  msg, mavlink::ardupilotmega::msg::RANGEFINDER &  rangefinder  )

inlineprivate

Definition at line 53 of file rangefinder.cpp.

void mavros::extra_plugins::WheelOdometryPlugin::handle_rpm ( const mavlink::mavlink_message_t *  msg, mavlink::ardupilotmega::msg::RPM &  rpm  )

inlineprivate

Handle Ardupilot RPM MAVlink message. Message specification: http://mavlink.io/en/messages/ardupilotmega.html#RPM.

Parameters

msg	Received Mavlink msg
rpm	RPM msg

Definition at line 529 of file wheel_odometry.cpp.

void mavros::extra_plugins::TrajectoryPlugin::handle_trajectory ( const mavlink::mavlink_message_t *  msg, mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &  trajectory  )

inlineprivate

Definition at line 286 of file trajectory.cpp.

void mavros::extra_plugins::VibrationPlugin::handle_vibration ( const mavlink::mavlink_message_t *  msg, mavlink::common::msg::VIBRATION &  vibration  )

inlineprivate

Definition at line 58 of file vibration.cpp.

void mavros::extra_plugins::WheelOdometryPlugin::handle_wheel_distance ( const mavlink::mavlink_message_t *  msg, mavlink::common::msg::WHEEL_DISTANCE &  wheel_dist  )

inlineprivate

Handle WHEEL_DISTANCE MAVlink message. Message specification: https://mavlink.io/en/messages/common.html#WHEEL_DISTANCE.

Parameters

msg	Received Mavlink msg
dist	WHEEL_DISTANCE msg

Definition at line 559 of file wheel_odometry.cpp.

void mavros::extra_plugins::DebugValuePlugin::initialize ( UAS &  uas_ )

inlinevirtual

Reimplemented from mavros::plugin::PluginBase.

Definition at line 30 of file debug_value.cpp.

void mavros::extra_plugins::RangefinderPlugin::initialize ( UAS &  uas_ )

inlinevirtual

Reimplemented from mavros::plugin::PluginBase.

Definition at line 34 of file rangefinder.cpp.

void mavros::extra_plugins::GpsRtkPlugin::initialize ( UAS &  uas_ )

inlinevirtual

Reimplemented from mavros::plugin::PluginBase.

Definition at line 34 of file gps_rtk.cpp.

void mavros::extra_plugins::VibrationPlugin::initialize ( UAS &  uas_ )

inlinevirtual

Reimplemented from mavros::plugin::PluginBase.

Definition at line 35 of file vibration.cpp.

void mavros::extra_plugins::CamIMUSyncPlugin::initialize ( UAS &  uas_ )

inlinevirtual

Reimplemented from mavros::plugin::PluginBase.

Definition at line 36 of file cam_imu_sync.cpp.

void mavros::extra_plugins::ADSBPlugin::initialize ( UAS &  uas_ )

inlinevirtual

Reimplemented from mavros::plugin::PluginBase.

Definition at line 37 of file adsb.cpp.

void mavros::extra_plugins::MocapPoseEstimatePlugin::initialize ( UAS &  uas_ )

inlinevirtual

Note

For VICON ROS package, subscribe to TransformStamped topic

For Optitrack ROS package, subscribe to PoseStamped topic

Reimplemented from mavros::plugin::PluginBase.

Definition at line 39 of file mocap_pose_estimate.cpp.

void mavros::extra_plugins::MountControlPlugin::initialize ( UAS &  uas_ )

inlinevirtual

Reimplemented from mavros::plugin::PluginBase.

Definition at line 41 of file mount_control.cpp.

void mavros::extra_plugins::ObstacleDistancePlugin::initialize ( UAS &  uas_ )

inlinevirtual

Reimplemented from mavros::plugin::PluginBase.

Definition at line 41 of file obstacle_distance.cpp.

void mavros::extra_plugins::PX4FlowPlugin::initialize ( UAS &  uas_ )

inlinevirtual

Note

Default rangefinder is Maxbotix HRLV-EZ4 This is a narrow beam (60cm wide at 5 meters, but also at 1 meter). 6.8 degrees at 5 meters, 31 degrees at 1 meter

Reimplemented from mavros::plugin::PluginBase.

Definition at line 41 of file px4flow.cpp.

void mavros::extra_plugins::VisionSpeedEstimatePlugin::initialize ( UAS &  uas_ )

inlinevirtual

Reimplemented from mavros::plugin::PluginBase.

Definition at line 41 of file vision_speed_estimate.cpp.

void mavros::extra_plugins::CompanionProcessStatusPlugin::initialize ( UAS &  uas_ )

inlinevirtual

Reimplemented from mavros::plugin::PluginBase.

Definition at line 42 of file companion_process_status.cpp.

void mavros::extra_plugins::VisionPoseEstimatePlugin::initialize ( UAS &  uas_ )

inlinevirtual

Reimplemented from mavros::plugin::PluginBase.

Definition at line 42 of file vision_pose_estimate.cpp.

void mavros::extra_plugins::TrajectoryPlugin::initialize ( UAS &  uas_ )

inlinevirtual

Reimplemented from mavros::plugin::PluginBase.

Definition at line 46 of file trajectory.cpp.

void mavros::extra_plugins::OdometryPlugin::initialize ( UAS &  uas_ )

inlinevirtual

Map from param string to local MAV_FRAME

Map from param string to body MAV_FRAME

Reimplemented from mavros::plugin::PluginBase.

Definition at line 51 of file odom.cpp.

void mavros::extra_plugins::WheelOdometryPlugin::initialize ( UAS &  uas_ )

inlinevirtual

Reimplemented from mavros::plugin::PluginBase.

Definition at line 53 of file wheel_odometry.cpp.

void mavros::extra_plugins::LandingTargetPlugin::initialize ( UAS &  uas_ )

inlinevirtual

Reimplemented from mavros::plugin::PluginBase.

Definition at line 58 of file landing_target.cpp.

void mavros::extra_plugins::FakeGPSPlugin::initialize ( UAS &  uas_ )

inlinevirtual

Conversion of the origin from geodetic coordinates (LLA) to ECEF (Earth-Centered, Earth-Fixed)

Reimplemented from mavros::plugin::PluginBase.

Definition at line 62 of file fake_gps.cpp.

void mavros::extra_plugins::DistanceSensorPlugin::initialize ( UAS &  uas_ )

inlinevirtual

Reimplemented from mavros::plugin::PluginBase.

Definition at line 119 of file distance_sensor.cpp.

void mavros::extra_plugins::LandingTargetPlugin::landing_target ( uint64_t  time_usec, uint8_t  target_num, uint8_t  frame, Eigen::Vector2f  angle, float  distance, Eigen::Vector2f  size, Eigen::Vector3d  pos, Eigen::Quaterniond  q, uint8_t  type, uint8_t  position_valid  )

inlineprivate

Definition at line 147 of file landing_target.cpp.

mavros::extra_plugins::LandingTargetPlugin::LandingTargetPlugin ( )

inline

Definition at line 41 of file landing_target.cpp.

void mavros::extra_plugins::LandingTargetPlugin::landtarget_cb ( const mavros_msgs::LandingTarget::ConstPtr &  req )

inlineprivate

callback for raw LandingTarget msgs topic - useful if one has the data processed in another node

Todo:

these transforms should be applied according to the MAV_FRAME

Definition at line 374 of file landing_target.cpp.

void mavros::extra_plugins::MocapPoseEstimatePlugin::mocap_pose_cb ( const geometry_msgs::PoseStamped::ConstPtr &  pose )

inlineprivate

Definition at line 92 of file mocap_pose_estimate.cpp.

void mavros::extra_plugins::FakeGPSPlugin::mocap_pose_cb ( const geometry_msgs::PoseStamped::ConstPtr &  req )

inlineprivate

Definition at line 249 of file fake_gps.cpp.

void mavros::extra_plugins::MocapPoseEstimatePlugin::mocap_pose_send ( uint64_t  usec, Eigen::Quaterniond &  q, Eigen::Vector3d &  v  )

inlineprivate

Definition at line 76 of file mocap_pose_estimate.cpp.

void mavros::extra_plugins::MocapPoseEstimatePlugin::mocap_tf_cb ( const geometry_msgs::TransformStamped::ConstPtr &  trans )

inlineprivate

Definition at line 112 of file mocap_pose_estimate.cpp.

void mavros::extra_plugins::FakeGPSPlugin::mocap_tf_cb ( const geometry_msgs::TransformStamped::ConstPtr &  trans )

inlineprivate

Definition at line 241 of file fake_gps.cpp.

mavros::extra_plugins::MocapPoseEstimatePlugin::MocapPoseEstimatePlugin ( )

inline

Definition at line 35 of file mocap_pose_estimate.cpp.

mavros::extra_plugins::MountControlPlugin::MountControlPlugin ( )

inline

Definition at line 37 of file mount_control.cpp.

void mavros::extra_plugins::ObstacleDistancePlugin::obstacle_cb ( const sensor_msgs::LaserScan::ConstPtr &  req )

inlineprivate

Send obstacle distance array to the FCU.

Message specification: https://mavlink.io/en/messages/common.html#OBSTACLE_DISTANCE

Parameters

req	received ObstacleDistance msg

< [centimeters]

< fill the rest of the array values as "Unknown"

< [degrees]

< [degrees]

< [microsecs]

< defaults is laser type (depth sensor, Lidar)

< [centimeters]

< [centimeters]

Definition at line 63 of file obstacle_distance.cpp.

mavros::extra_plugins::ObstacleDistancePlugin::ObstacleDistancePlugin ( )

inline

Definition at line 37 of file obstacle_distance.cpp.

void mavros::extra_plugins::OdometryPlugin::odom_cb ( const nav_msgs::Odometry::ConstPtr &  odom )

inlineprivate

Sends odometry data msgs to the FCU.

Message specification: https://mavlink.io/en/messages/common.html#ODOMETRY

Parameters

req	received Odometry msg

Required affine rotations to apply transforms

Build 6x6 pose covariance matrix to be transformed and sent

Build 6x6 pose covariance matrix to be transformed and sent

Build 6x6 velocity covariance matrix to be transformed and sent

Apply transforms: According to nav_msgs/Odometry.

< Position vector. WRT frame_id

< Attitude quaternion. WRT frame_id

< Linear velocity vector. WRT child_frame_id

< Angular velocity vector. WRT child_frame_id

< Zero initialized pose 6-D Covariance matrix. WRT frame_id

< Zero initialized velocity 6-D Covariance matrix. WRT child_frame_id

Position and orientation are in the same frame as frame_id. For a matter of simplicity, and given the existent MAV_FRAME enum values, the default frame_id will be a local frame of reference, so the pose is WRT a local frame.

Linear and angular velocities are in the same frame as child_frame_id. Same logic here applies as above.

Apply covariance transforms

Definition at line 310 of file odom.cpp.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mavros::extra_plugins::OdometryPlugin::OdometryPlugin ( )

inline

Definition at line 41 of file odom.cpp.

void mavros::extra_plugins::TrajectoryPlugin::path_cb ( const nav_msgs::Path::ConstPtr &  req )

inlineprivate

Send corrected path to the FCU.

Message specification: https://mavlink.io/en/messages/common.html#TRAJECTORY

Parameters

req	received nav_msgs Path msg

< [milisecs]

Definition at line 250 of file trajectory.cpp.

void mavros::extra_plugins::LandingTargetPlugin::pose_cb ( const geometry_msgs::PoseStamped::ConstPtr &  req )

inlineprivate

callback for PoseStamped msgs topic

Definition at line 363 of file landing_target.cpp.

void mavros::extra_plugins::WheelOdometryPlugin::process_measurement ( std::vector< double >  measurement, bool  rpm, ros::Time  time, ros::Time  time_pub  )

inlineprivate

Process wheel measurement.

Parameters

measurement	measurement
rpm	whether measurement contains RPM-s or cumulative wheel distances
time	measurement's internal time stamp (for accurate dt computations)
time_pub	measurement's time stamp for publish

Definition at line 466 of file wheel_odometry.cpp.

void mavros::extra_plugins::WheelOdometryPlugin::publish_odometry ( ros::Time  time )

inlineprivate

Publish odometry. Odometry is computed from the very start but no pose info is published until we have initial orientation (yaw). Once we get it, the robot's current pose is updated with it and starts to be published. Twist info doesn't depend on initial orientation so is published from the very start.

Parameters

time	measurement's ROS time stamp

Definition at line 213 of file wheel_odometry.cpp.

mavros::extra_plugins::PX4FlowPlugin::PX4FlowPlugin ( )

inline

Definition at line 34 of file px4flow.cpp.

void mavros::extra_plugins::DistanceSensorItem::range_cb

(

const sensor_msgs::Range::ConstPtr &

msg

)

Todo:

Propose changing covarince from uint8_t to float

Definition at line 276 of file distance_sensor.cpp.

mavros::extra_plugins::RangefinderPlugin::RangefinderPlugin ( )

inline

Definition at line 30 of file rangefinder.cpp.

void mavros::extra_plugins::GpsRtkPlugin::rtcm_cb ( const mavros_msgs::RTCM::ConstPtr &  msg )

inlineprivate

Handle mavros_msgs::RTCM message It converts the message to the MAVLink GPS_RTCM_DATA message for GPS injection. Message specification: https://mavlink.io/en/messages/common.html#GPS_RTCM_DATA.

Parameters

msg	Received ROS msg

Definition at line 56 of file gps_rtk.cpp.

void mavros::extra_plugins::PX4FlowPlugin::send_cb ( const mavros_msgs::OpticalFlowRad::ConstPtr  msg )

inlineprivate

Definition at line 156 of file px4flow.cpp.

void mavros::extra_plugins::FakeGPSPlugin::send_fake_gps ( const ros::Time &  stamp, const Eigen::Vector3d &  ecef_offset  )

inlineprivate

Send fake GPS coordinates through HIL_GPS Mavlink msg.

Note

: HIL_GPS messages are accepted on PX4 Firmware out of HIL mode, if use_hil_gps flag is set (param MAV_USEHILGPS = 1).

Todo:

: add GPS_INPUT msg as an alternative, as Ardupilot already supports it

Definition at line 176 of file fake_gps.cpp.

void mavros::extra_plugins::LandingTargetPlugin::send_landing_target ( const ros::Time &  stamp, const Eigen::Affine3d &  tr  )

inlineprivate

Send landing target transform to FCU.

the position of the landing target WRT camera center - on the FCU, the position WRT to the origin local NED frame can be computed to allow the FCU to know where the landing target is in the local frame.

the orientation of the landing target WRT camera frame

: the camera angular offsets can be computed by knowing the position of the target center relative to the camera center, the field-of-view of the camera and the image resolution being considered. The target size is computed by the angle of view formula (similar to angular diameter).

Angular diameter: δ = 2 * atan(d / (2 * D)) where, d = actual diameter; D = distance to the object (or focal length of a camera)

Definition at line 221 of file landing_target.cpp.

void mavros::extra_plugins::VisionPoseEstimatePlugin::send_vision_estimate ( const ros::Time &  stamp, const Eigen::Affine3d &  tr, const geometry_msgs::PoseWithCovariance::_covariance_type &  cov  )

inlineprivate

Send vision estimate transform to FCU position controller.

Warning

Issue #60. This now affects pose callbacks too.

Definition at line 86 of file vision_pose_estimate.cpp.

void mavros::extra_plugins::VisionSpeedEstimatePlugin::send_vision_speed_estimate ( const uint64_t  usec, const Eigen::Vector3d &  v, const ftf::Covariance3d &  cov  )

inlineprivate

Send vision speed estimate on local NED frame to the FCU.

Message specification: https://mavlink.io/en/messages/common.html#VISION_SPEED_ESTIMATE

Parameters

usec	Timestamp (microseconds, synced to UNIX time or since system boot) (us)
v	Velocity/speed vector in the local NED frame (meters)
cov	Linear velocity covariance matrix (local NED frame)

Definition at line 82 of file vision_speed_estimate.cpp.

void mavros::extra_plugins::CompanionProcessStatusPlugin::status_cb ( const mavros_msgs::CompanionProcessStatus::ConstPtr &  req )

inlineprivate

Send companion process status to FCU over a heartbeat message.

Message specification: https://mavlink.io/en/messages/common.html#HEARTBEAT

Parameters

req	received CompanionProcessStatus msg

Definition at line 64 of file companion_process_status.cpp.

void mavros::extra_plugins::TrajectoryPlugin::trajectory_cb ( const mavros_msgs::Trajectory::ConstPtr &  req )

inlineprivate

Send corrected path to the FCU.

Message specification: https://mavlink.io/en/messages/common.html#TRAJECTORY

Parameters

req	received Trajectory msg

< [milisecs]

Definition at line 200 of file trajectory.cpp.

mavros::extra_plugins::TrajectoryPlugin::TrajectoryPlugin ( )

inline

Definition at line 42 of file trajectory.cpp.

void mavros::extra_plugins::VisionPoseEstimatePlugin::transform_cb ( const geometry_msgs::TransformStamped &  transform )

inlineprivate

Definition at line 137 of file vision_pose_estimate.cpp.

void mavros::extra_plugins::FakeGPSPlugin::transform_cb ( const geometry_msgs::TransformStamped &  trans )

inlineprivate

Definition at line 265 of file fake_gps.cpp.

void mavros::extra_plugins::LandingTargetPlugin::transform_cb ( const geometry_msgs::TransformStamped &  transform )

inlineprivate

callback for TF2 listener

Definition at line 353 of file landing_target.cpp.

void mavros::extra_plugins::OdometryPlugin::transform_lookup ( const std::string &  frame_id, const std::string &  child_frame_id, const std::string &  local_frame_orientation, const std::string &  body_frame_orientation, Eigen::Affine3d &  tf_parent2local, Eigen::Affine3d &  tf_child2local, Eigen::Affine3d &  tf_parent2body, Eigen::Affine3d &  tf_child2body  )

inlineprivate

Lookup transforms.

Todo:

Implement in a more general fashion in the API IOT apply frame transforms This should also run in parallel on a thread

Parameters

[in]	&frame_id	The parent frame of reference
[in]	&child_frame_id	The child frame of reference
[in]	&local_frame_orientation	The desired local frame orientation
[in]	&body_frame_orientation	The desired body frame orientation
[in,out]	&tf_parent2local	The affine transform from the parent frame to the local frame
[in,out]	&tf_child2local	The affine transform from the child frame to the local frame
[in,out]	&tf_parent2body	The affine transform from the parent frame to the body frame
[in,out]	&tf_child2body	The affine transform from the child frame to the body frame

Definition at line 170 of file odom.cpp.

void mavros::extra_plugins::VisionSpeedEstimatePlugin::twist_cb ( const geometry_msgs::TwistStamped::ConstPtr &  req )

inlineprivate

Callback to geometry_msgs/TwistStamped msgs.

Parameters

req	received geometry_msgs/TwistStamped msg

Definition at line 124 of file vision_speed_estimate.cpp.

void mavros::extra_plugins::VisionSpeedEstimatePlugin::twist_cov_cb ( const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &  req )

inlineprivate

Callback to geometry_msgs/TwistWithCovarianceStamped msgs.

Parameters

req	received geometry_msgs/TwistWithCovarianceStamped msg

Definition at line 135 of file vision_speed_estimate.cpp.

void mavros::extra_plugins::WheelOdometryPlugin::update_odometry ( std::vector< double >  distance, double  dt  )

inlineprivate

Update odometry (currently, only 2-wheels differential configuration implemented). Odometry is computed for robot's origin (IMU).

Parameters

distance	distance traveled by each wheel since last odometry update
dt	time elapse since last odometry update (s)

Definition at line 446 of file wheel_odometry.cpp.

void mavros::extra_plugins::WheelOdometryPlugin::update_odometry_diffdrive ( std::vector< double >  distance, double  dt  )

inlineprivate

Update odometry for differential drive robot. Odometry is computed for robot's origin (IMU). The wheels are assumed to be parallel to the robot's x-direction (forward) and with the same x-offset. No slip is assumed (Instantaneous Center of Curvature (ICC) along the axis connecting the wheels). All computations are performed for ROS frame conventions. The approach is the extended and more accurate version of standard one described in the book https://github.com/correll/Introduction-to-Autonomous-Robots and at the page (with some typos fixed) http://correll.cs.colorado.edu/?p=1307 The extension is that exact pose update is used instead of approximate, and that the robot's origin can be specified anywhere instead of the middle-point between the wheels.

Parameters

distance	distance traveled by each wheel since last odometry update
dt	time elapse since last odometry update (s)

Definition at line 317 of file wheel_odometry.cpp.

void mavros::extra_plugins::VisionSpeedEstimatePlugin::vector_cb ( const geometry_msgs::Vector3Stamped::ConstPtr &  req )

inlineprivate

Callback to geometry_msgs/Vector3Stamped msgs.

Parameters

req	received geometry_msgs/Vector3Stamped msg

Definition at line 152 of file vision_speed_estimate.cpp.

mavros::extra_plugins::VibrationPlugin::VibrationPlugin ( )

inline

Definition at line 31 of file vibration.cpp.

void mavros::extra_plugins::VisionPoseEstimatePlugin::vision_cb ( const geometry_msgs::PoseStamped::ConstPtr &  req )

inlineprivate

Definition at line 146 of file vision_pose_estimate.cpp.

void mavros::extra_plugins::FakeGPSPlugin::vision_cb ( const geometry_msgs::PoseStamped::ConstPtr &  req )

inlineprivate

Definition at line 257 of file fake_gps.cpp.

void mavros::extra_plugins::VisionPoseEstimatePlugin::vision_cov_cb ( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &  req )

inlineprivate

Definition at line 155 of file vision_pose_estimate.cpp.

mavros::extra_plugins::VisionPoseEstimatePlugin::VisionPoseEstimatePlugin ( )

inline

Definition at line 37 of file vision_pose_estimate.cpp.

mavros::extra_plugins::VisionSpeedEstimatePlugin::VisionSpeedEstimatePlugin ( )

inline

Definition at line 35 of file vision_speed_estimate.cpp.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mavros::extra_plugins::WheelOdometryPlugin::WheelOdometryPlugin ( )

inline

Definition at line 39 of file wheel_odometry.cpp.

float mavros::extra_plugins::TrajectoryPlugin::wrap_pi ( float  a )

inlineprivate

Definition at line 328 of file trajectory.cpp.

Variable Documentation

constexpr size_t mavros::extra_plugins::DistanceSensorItem::ACC_SIZE = 50

staticprivate

Definition at line 72 of file distance_sensor.cpp.

ros::NodeHandle mavros::extra_plugins::ADSBPlugin::adsb_nh

private

Definition at line 53 of file adsb.cpp.

ros::Publisher mavros::extra_plugins::ADSBPlugin::adsb_pub

private

Definition at line 55 of file adsb.cpp.

ros::Subscriber mavros::extra_plugins::ADSBPlugin::adsb_sub

private

Definition at line 56 of file adsb.cpp.

std::string mavros::extra_plugins::DistanceSensorPlugin::base_frame_id

private

Definition at line 156 of file distance_sensor.cpp.

MAV_FRAME mavros::extra_plugins::OdometryPlugin::bf_id

private

body frame (pose) ID

Definition at line 155 of file odom.cpp.

std::string mavros::extra_plugins::OdometryPlugin::body_frame_orientation_in_desired

private

orientation of the body frame (input data)

Definition at line 149 of file odom.cpp.

std::string mavros::extra_plugins::OdometryPlugin::body_frame_orientation_out_desired

private

orientation of the body frame (output data)

Definition at line 150 of file odom.cpp.

ros::Publisher mavros::extra_plugins::CamIMUSyncPlugin::cam_imu_pub

private

Definition at line 53 of file cam_imu_sync.cpp.

ros::NodeHandle mavros::extra_plugins::CamIMUSyncPlugin::cam_imu_sync_nh

private

Definition at line 51 of file cam_imu_sync.cpp.

std::string mavros::extra_plugins::OdometryPlugin::child_frame_id

private

child frame identifier

Definition at line 152 of file odom.cpp.

std::string mavros::extra_plugins::WheelOdometryPlugin::child_frame_id

private

body-fixed frame for topic headers

Definition at line 189 of file wheel_odometry.cpp.

ros::Subscriber mavros::extra_plugins::MountControlPlugin::command_sub

private

Definition at line 55 of file mount_control.cpp.

int mavros::extra_plugins::WheelOdometryPlugin::count

private

requested number of wheels to compute odometry

Definition at line 181 of file wheel_odometry.cpp.

int mavros::extra_plugins::WheelOdometryPlugin::count_meas

private

number of wheels in measurements

Definition at line 194 of file wheel_odometry.cpp.

int mavros::extra_plugins::DistanceSensorItem::covariance

in centimeters, current specification

Definition at line 55 of file distance_sensor.cpp.

std::vector<float> mavros::extra_plugins::DistanceSensorItem::data

private

array allocation for measurements

Definition at line 69 of file distance_sensor.cpp.

size_t mavros::extra_plugins::DistanceSensorItem::data_index

private

array index

Definition at line 70 of file distance_sensor.cpp.

ros::NodeHandle mavros::extra_plugins::DebugValuePlugin::debug_nh

private

Definition at line 54 of file debug_value.cpp.

ros::Publisher mavros::extra_plugins::DebugValuePlugin::debug_pub

private

Definition at line 58 of file debug_value.cpp.

ros::Subscriber mavros::extra_plugins::DebugValuePlugin::debug_sub

private

Definition at line 56 of file debug_value.cpp.

ros::Publisher mavros::extra_plugins::DebugValuePlugin::debug_vector_pub

private

Definition at line 59 of file debug_value.cpp.

ros::NodeHandle mavros::extra_plugins::DistanceSensorPlugin::dist_nh

private

Definition at line 154 of file distance_sensor.cpp.

ros::Publisher mavros::extra_plugins::WheelOdometryPlugin::dist_pub

private

Definition at line 169 of file wheel_odometry.cpp.

GeographicLib::Geocentric mavros::extra_plugins::FakeGPSPlugin::earth

private

Definition at line 146 of file fake_gps.cpp.

Eigen::Vector3d mavros::extra_plugins::FakeGPSPlugin::ecef_origin

private

geocentric origin [m]

Definition at line 167 of file fake_gps.cpp.

double mavros::extra_plugins::FakeGPSPlugin::eph

private

Definition at line 157 of file fake_gps.cpp.

double mavros::extra_plugins::FakeGPSPlugin::epv

private

Definition at line 157 of file fake_gps.cpp.

double mavros::extra_plugins::DistanceSensorItem::field_of_view

FOV of the sensor.

Definition at line 52 of file distance_sensor.cpp.

GPS_FIX_TYPE mavros::extra_plugins::FakeGPSPlugin::fix_type

private

Definition at line 159 of file fake_gps.cpp.

ros::NodeHandle mavros::extra_plugins::PX4FlowPlugin::flow_nh

private

Definition at line 73 of file px4flow.cpp.

ros::Publisher mavros::extra_plugins::PX4FlowPlugin::flow_rad_pub

private

Definition at line 81 of file px4flow.cpp.

ros::Subscriber mavros::extra_plugins::PX4FlowPlugin::flow_rad_sub

private

Definition at line 84 of file px4flow.cpp.

double mavros::extra_plugins::LandingTargetPlugin::focal_length

private

Definition at line 137 of file landing_target.cpp.

double mavros::extra_plugins::LandingTargetPlugin::fov_x

private

Definition at line 136 of file landing_target.cpp.

double mavros::extra_plugins::LandingTargetPlugin::fov_y

private

Definition at line 136 of file landing_target.cpp.

ros::NodeHandle mavros::extra_plugins::FakeGPSPlugin::fp_nh

private

Definition at line 140 of file fake_gps.cpp.

MAV_FRAME mavros::extra_plugins::LandingTargetPlugin::frame

private

Definition at line 140 of file landing_target.cpp.

std::string mavros::extra_plugins::VibrationPlugin::frame_id

private

Definition at line 54 of file vibration.cpp.

std::string mavros::extra_plugins::DistanceSensorItem::frame_id

frame id for send

Definition at line 56 of file distance_sensor.cpp.

std::string mavros::extra_plugins::PX4FlowPlugin::frame_id

private

Definition at line 75 of file px4flow.cpp.

std::string mavros::extra_plugins::LandingTargetPlugin::frame_id

private

Definition at line 126 of file landing_target.cpp.

std::string mavros::extra_plugins::OdometryPlugin::frame_id

private

parent frame identifier

Definition at line 151 of file odom.cpp.

std::string mavros::extra_plugins::WheelOdometryPlugin::frame_id

private

origin frame for topic headers

Definition at line 188 of file wheel_odometry.cpp.

ros::Rate mavros::extra_plugins::FakeGPSPlugin::gps_rate

private

Definition at line 142 of file fake_gps.cpp.

ros::NodeHandle mavros::extra_plugins::GpsRtkPlugin::gps_rtk_nh

private

Definition at line 46 of file gps_rtk.cpp.

ros::Subscriber mavros::extra_plugins::GpsRtkPlugin::gps_rtk_sub

private

Definition at line 47 of file gps_rtk.cpp.

int mavros::extra_plugins::LandingTargetPlugin::image_height

private

Definition at line 138 of file landing_target.cpp.

int mavros::extra_plugins::LandingTargetPlugin::image_width

private

Definition at line 138 of file landing_target.cpp.

bool mavros::extra_plugins::DistanceSensorItem::is_subscriber

this item is a subscriber, else is a publisher

Definition at line 49 of file distance_sensor.cpp.

ros::Publisher mavros::extra_plugins::LandingTargetPlugin::land_target_pub

private

Definition at line 130 of file landing_target.cpp.

ros::Subscriber mavros::extra_plugins::LandingTargetPlugin::land_target_sub

private

Definition at line 132 of file landing_target.cpp.

std::string mavros::extra_plugins::LandingTargetPlugin::land_target_type

private

Definition at line 144 of file landing_target.cpp.

ros::Time mavros::extra_plugins::FakeGPSPlugin::last_pos_time

private

Definition at line 143 of file fake_gps.cpp.

ros::Time mavros::extra_plugins::VisionPoseEstimatePlugin::last_transform_stamp

private

Definition at line 80 of file vision_pose_estimate.cpp.

ros::Time mavros::extra_plugins::LandingTargetPlugin::last_transform_stamp

private

Definition at line 122 of file landing_target.cpp.

ros::Time mavros::extra_plugins::FakeGPSPlugin::last_transform_stamp

private

Definition at line 164 of file fake_gps.cpp.

MAV_FRAME mavros::extra_plugins::OdometryPlugin::lf_id

private

local frame (pose) ID

Definition at line 154 of file odom.cpp.

bool mavros::extra_plugins::LandingTargetPlugin::listen_lt

private

Definition at line 124 of file landing_target.cpp.

bool mavros::extra_plugins::LandingTargetPlugin::listen_tf

private

Definition at line 120 of file landing_target.cpp.

bool mavros::extra_plugins::VisionSpeedEstimatePlugin::listen_twist

private

If True, listen to Twist data topics.

Definition at line 66 of file vision_speed_estimate.cpp.

std::string mavros::extra_plugins::OdometryPlugin::local_frame_in

private

orientation and source of the input local frame

Definition at line 145 of file odom.cpp.

std::string mavros::extra_plugins::OdometryPlugin::local_frame_orientation_in

private

orientation of the local frame (input data)

Definition at line 147 of file odom.cpp.

std::string mavros::extra_plugins::OdometryPlugin::local_frame_orientation_out

private

orientation of the local frame (output data)

Definition at line 148 of file odom.cpp.

std::string mavros::extra_plugins::OdometryPlugin::local_frame_out

private

orientation and source of the output local frame

Definition at line 146 of file odom.cpp.

ros::Publisher mavros::extra_plugins::LandingTargetPlugin::lt_marker_pub

private

Definition at line 131 of file landing_target.cpp.

Eigen::Vector3d mavros::extra_plugins::FakeGPSPlugin::map_origin

private

geodetic origin [lla]

Definition at line 166 of file fake_gps.cpp.

std::string mavros::extra_plugins::LandingTargetPlugin::mav_frame

private

Definition at line 141 of file landing_target.cpp.

std::vector<double> mavros::extra_plugins::WheelOdometryPlugin::measurement_prev

private

previous measurement

Definition at line 196 of file wheel_odometry.cpp.

ros::Subscriber mavros::extra_plugins::MocapPoseEstimatePlugin::mocap_pose_sub

private

Definition at line 71 of file mocap_pose_estimate.cpp.

ros::Subscriber mavros::extra_plugins::FakeGPSPlugin::mocap_pose_sub

private

Definition at line 149 of file fake_gps.cpp.

ros::Subscriber mavros::extra_plugins::MocapPoseEstimatePlugin::mocap_tf_sub

private

Definition at line 72 of file mocap_pose_estimate.cpp.

ros::Subscriber mavros::extra_plugins::FakeGPSPlugin::mocap_tf_sub

private

Definition at line 148 of file fake_gps.cpp.

bool mavros::extra_plugins::FakeGPSPlugin::mocap_transform

private

set use of mocap data (TransformStamped msg)

Definition at line 154 of file fake_gps.cpp.

ros::NodeHandle mavros::extra_plugins::MountControlPlugin::mount_nh

private

Definition at line 54 of file mount_control.cpp.

ros::NodeHandle mavros::extra_plugins::MocapPoseEstimatePlugin::mp_nh

private

Definition at line 69 of file mocap_pose_estimate.cpp.

ros::Publisher mavros::extra_plugins::DebugValuePlugin::named_value_float_pub

private

Definition at line 60 of file debug_value.cpp.

ros::Publisher mavros::extra_plugins::DebugValuePlugin::named_value_int_pub

private

Definition at line 61 of file debug_value.cpp.

ros::NodeHandle mavros::extra_plugins::LandingTargetPlugin::nh

private

Definition at line 117 of file landing_target.cpp.

constexpr size_t mavros::extra_plugins::NUM_POINTS = 5

static

Points count in TRAJECTORY message.

Definition at line 27 of file trajectory.cpp.

ros::NodeHandle mavros::extra_plugins::ObstacleDistancePlugin::obstacle_nh

private

Definition at line 54 of file obstacle_distance.cpp.

ros::Subscriber mavros::extra_plugins::ObstacleDistancePlugin::obstacle_sub

private

Definition at line 55 of file obstacle_distance.cpp.

OM mavros::extra_plugins::WheelOdometryPlugin::odom_mode

private

odometry computation mode

Definition at line 179 of file wheel_odometry.cpp.

ros::NodeHandle mavros::extra_plugins::OdometryPlugin::odom_nh

private

node handler

Definition at line 141 of file odom.cpp.

ros::Publisher mavros::extra_plugins::OdometryPlugin::odom_pub

private

nav_msgs/Odometry publisher

Definition at line 142 of file odom.cpp.

ros::Publisher mavros::extra_plugins::WheelOdometryPlugin::odom_pub

private

Definition at line 170 of file wheel_odometry.cpp.

ros::Subscriber mavros::extra_plugins::OdometryPlugin::odom_sub

private

nav_msgs/Odometry subscriber

Definition at line 143 of file odom.cpp.

Eigen::Vector3d mavros::extra_plugins::FakeGPSPlugin::old_ecef

private

previous geocentric position [m]

Definition at line 168 of file fake_gps.cpp.

double mavros::extra_plugins::FakeGPSPlugin::old_stamp

private

previous stamp [s]

Definition at line 169 of file fake_gps.cpp.

int mavros::extra_plugins::DistanceSensorItem::orientation

check orientation of sensor if != -1

Definition at line 54 of file distance_sensor.cpp.

DistanceSensorPlugin* mavros::extra_plugins::DistanceSensorItem::owner

Definition at line 63 of file distance_sensor.cpp.

ros::Subscriber mavros::extra_plugins::TrajectoryPlugin::path_sub

private

Definition at line 66 of file trajectory.cpp.

ros::Subscriber mavros::extra_plugins::LandingTargetPlugin::pose_sub

private

Definition at line 133 of file landing_target.cpp.

Eigen::Vector3d mavros::extra_plugins::DistanceSensorItem::position

sensor position

Definition at line 53 of file distance_sensor.cpp.

ros::Publisher mavros::extra_plugins::DistanceSensorItem::pub

Definition at line 59 of file distance_sensor.cpp.

constexpr double mavros::extra_plugins::RAD_TO_DEG = 180.0 / M_PI

static

Radians to degrees.

Definition at line 24 of file obstacle_distance.cpp.

ros::Publisher mavros::extra_plugins::PX4FlowPlugin::range_pub

private

Definition at line 82 of file px4flow.cpp.

ros::NodeHandle mavros::extra_plugins::RangefinderPlugin::rangefinder_nh

private

Definition at line 49 of file rangefinder.cpp.

ros::Publisher mavros::extra_plugins::RangefinderPlugin::rangefinder_pub

private

Definition at line 51 of file rangefinder.cpp.

double mavros::extra_plugins::PX4FlowPlugin::ranger_fov

private

Definition at line 77 of file px4flow.cpp.

double mavros::extra_plugins::PX4FlowPlugin::ranger_max_range

private

Definition at line 79 of file px4flow.cpp.

double mavros::extra_plugins::PX4FlowPlugin::ranger_min_range

private

Definition at line 78 of file px4flow.cpp.

bool mavros::extra_plugins::WheelOdometryPlugin::raw_send

private

send wheel's RPM and cumulative distance

Definition at line 182 of file wheel_odometry.cpp.

ros::Publisher mavros::extra_plugins::WheelOdometryPlugin::rpm_pub

private

Definition at line 168 of file wheel_odometry.cpp.

Eigen::Vector3d mavros::extra_plugins::WheelOdometryPlugin::rpose

private

Robot origin 2D-state (SI units)

pose (x, y, yaw)

Definition at line 201 of file wheel_odometry.cpp.

Eigen::Matrix3d mavros::extra_plugins::WheelOdometryPlugin::rpose_cov

private

pose error 1-var

Definition at line 203 of file wheel_odometry.cpp.

Eigen::Vector3d mavros::extra_plugins::WheelOdometryPlugin::rtwist

private

twist (vx, vy, vyaw)

Definition at line 202 of file wheel_odometry.cpp.

Eigen::Vector3d mavros::extra_plugins::WheelOdometryPlugin::rtwist_cov

private

twist error 1-var (vx_cov, vy_cov, vyaw_cov)

Definition at line 204 of file wheel_odometry.cpp.

int mavros::extra_plugins::FakeGPSPlugin::satellites_visible

private

Definition at line 158 of file fake_gps.cpp.

bool mavros::extra_plugins::DistanceSensorItem::send_tf

defines if a transform is sent or not

Definition at line 50 of file distance_sensor.cpp.

bool mavros::extra_plugins::LandingTargetPlugin::send_tf

private

Definition at line 119 of file landing_target.cpp.

uint8_t mavros::extra_plugins::DistanceSensorItem::sensor_id

id of the sensor

Definition at line 51 of file distance_sensor.cpp.

std::unordered_map<uint8_t, DistanceSensorItem::Ptr> mavros::extra_plugins::DistanceSensorPlugin::sensor_map

private

Definition at line 158 of file distance_sensor.cpp.

ros::NodeHandle mavros::extra_plugins::VisionSpeedEstimatePlugin::sp_nh

private

Definition at line 64 of file vision_speed_estimate.cpp.

ros::NodeHandle mavros::extra_plugins::VisionPoseEstimatePlugin::sp_nh

private

Definition at line 72 of file vision_pose_estimate.cpp.

ros::NodeHandle mavros::extra_plugins::CompanionProcessStatusPlugin::status_nh

private

Definition at line 55 of file companion_process_status.cpp.

ros::Subscriber mavros::extra_plugins::CompanionProcessStatusPlugin::status_sub

private

Definition at line 56 of file companion_process_status.cpp.

ros::Subscriber mavros::extra_plugins::DistanceSensorItem::sub

Definition at line 60 of file distance_sensor.cpp.

double mavros::extra_plugins::LandingTargetPlugin::target_size_x

private

Definition at line 135 of file landing_target.cpp.

double mavros::extra_plugins::LandingTargetPlugin::target_size_y

private

Definition at line 135 of file landing_target.cpp.

ros::Publisher mavros::extra_plugins::PX4FlowPlugin::temp_pub

private

Definition at line 83 of file px4flow.cpp.

std::string mavros::extra_plugins::VisionPoseEstimatePlugin::tf_child_frame_id

private

Definition at line 78 of file vision_pose_estimate.cpp.

std::string mavros::extra_plugins::LandingTargetPlugin::tf_child_frame_id

private

Definition at line 128 of file landing_target.cpp.

std::string mavros::extra_plugins::FakeGPSPlugin::tf_child_frame_id

private

Definition at line 163 of file fake_gps.cpp.

std::string mavros::extra_plugins::WheelOdometryPlugin::tf_child_frame_id

private

frame for TF and Pose

Definition at line 191 of file wheel_odometry.cpp.

std::string mavros::extra_plugins::VisionPoseEstimatePlugin::tf_frame_id

private

Definition at line 77 of file vision_pose_estimate.cpp.

std::string mavros::extra_plugins::LandingTargetPlugin::tf_frame_id

private

Definition at line 127 of file landing_target.cpp.

std::string mavros::extra_plugins::FakeGPSPlugin::tf_frame_id

private

Definition at line 162 of file fake_gps.cpp.

std::string mavros::extra_plugins::WheelOdometryPlugin::tf_frame_id

private

origin for TF

Definition at line 190 of file wheel_odometry.cpp.

bool mavros::extra_plugins::FakeGPSPlugin::tf_listen

private

set use of TF Listener data

Definition at line 155 of file fake_gps.cpp.

double mavros::extra_plugins::VisionPoseEstimatePlugin::tf_rate

private

Definition at line 79 of file vision_pose_estimate.cpp.

double mavros::extra_plugins::LandingTargetPlugin::tf_rate

private

Definition at line 121 of file landing_target.cpp.

double mavros::extra_plugins::FakeGPSPlugin::tf_rate

private

Definition at line 161 of file fake_gps.cpp.

bool mavros::extra_plugins::WheelOdometryPlugin::tf_send

private

send TF

Definition at line 187 of file wheel_odometry.cpp.

ros::Time mavros::extra_plugins::WheelOdometryPlugin::time_prev

private

timestamp of previous measurement

Definition at line 195 of file wheel_odometry.cpp.

std::string mavros::extra_plugins::DistanceSensorItem::topic_name

Definition at line 61 of file distance_sensor.cpp.

ros::Publisher mavros::extra_plugins::TrajectoryPlugin::trajectory_desired_pub

private

Definition at line 68 of file trajectory.cpp.

ros::Subscriber mavros::extra_plugins::TrajectoryPlugin::trajectory_generated_sub

private

Definition at line 65 of file trajectory.cpp.

ros::NodeHandle mavros::extra_plugins::TrajectoryPlugin::trajectory_nh

private

Definition at line 63 of file trajectory.cpp.

bool mavros::extra_plugins::VisionSpeedEstimatePlugin::twist_cov

private

If True, listen to TwistWithCovariance data topic.

Definition at line 67 of file vision_speed_estimate.cpp.

ros::Publisher mavros::extra_plugins::WheelOdometryPlugin::twist_pub

private

Definition at line 171 of file wheel_odometry.cpp.

bool mavros::extra_plugins::WheelOdometryPlugin::twist_send

private

send geometry_msgs/TwistWithCovarianceStamped instead of nav_msgs/Odometry

Definition at line 186 of file wheel_odometry.cpp.

LANDING_TARGET_TYPE mavros::extra_plugins::LandingTargetPlugin::type

private

Definition at line 143 of file landing_target.cpp.

bool mavros::extra_plugins::FakeGPSPlugin::use_mocap

private

set use of mocap data (PoseStamped msg)

Definition at line 152 of file fake_gps.cpp.

bool mavros::extra_plugins::FakeGPSPlugin::use_vision

private

set use of vision data

Definition at line 153 of file fake_gps.cpp.

double mavros::extra_plugins::WheelOdometryPlugin::vel_cov

private

wheel velocity measurement error 1-var (m/s)

Definition at line 192 of file wheel_odometry.cpp.

ros::NodeHandle mavros::extra_plugins::VibrationPlugin::vibe_nh

private

Definition at line 52 of file vibration.cpp.

ros::Publisher mavros::extra_plugins::VibrationPlugin::vibration_pub

private

Definition at line 56 of file vibration.cpp.

ros::Subscriber mavros::extra_plugins::VisionPoseEstimatePlugin::vision_cov_sub

private

Definition at line 75 of file vision_pose_estimate.cpp.

ros::Subscriber mavros::extra_plugins::FakeGPSPlugin::vision_pose_sub

private

Definition at line 150 of file fake_gps.cpp.

ros::Subscriber mavros::extra_plugins::VisionPoseEstimatePlugin::vision_sub

private

Definition at line 74 of file vision_pose_estimate.cpp.

ros::Subscriber mavros::extra_plugins::VisionSpeedEstimatePlugin::vision_twist_cov_sub

private

Subscriber to geometry_msgs/TwistWithCovarianceStamped msgs.

Definition at line 70 of file vision_speed_estimate.cpp.

ros::Subscriber mavros::extra_plugins::VisionSpeedEstimatePlugin::vision_twist_sub

private

Subscriber to geometry_msgs/TwistStamped msgs.

Definition at line 69 of file vision_speed_estimate.cpp.

ros::Subscriber mavros::extra_plugins::VisionSpeedEstimatePlugin::vision_vector_sub

private

Subscriber to geometry_msgs/Vector3Stamped msgs.

Definition at line 71 of file vision_speed_estimate.cpp.

std::vector<Eigen::Vector2d> mavros::extra_plugins::WheelOdometryPlugin::wheel_offset

private

wheel x,y offsets (m,NED)

Definition at line 183 of file wheel_odometry.cpp.

std::vector<double> mavros::extra_plugins::WheelOdometryPlugin::wheel_radius

private

wheel radiuses (m)

Definition at line 184 of file wheel_odometry.cpp.

ros::NodeHandle mavros::extra_plugins::WheelOdometryPlugin::wo_nh

private

Definition at line 166 of file wheel_odometry.cpp.

bool mavros::extra_plugins::WheelOdometryPlugin::yaw_initialized

private

initial yaw initialized (from IMU)

Definition at line 198 of file wheel_odometry.cpp.

Friends

friend class DistanceSensorItem

friend

Definition at line 152 of file distance_sensor.cpp.

friend class TF2ListenerMixin

friend

Definition at line 71 of file vision_pose_estimate.cpp.

friend class TF2ListenerMixin

friend

Definition at line 116 of file landing_target.cpp.

friend class TF2ListenerMixin

friend

Definition at line 139 of file fake_gps.cpp.