gazebo_mavlink_interface.h File Reference

#include <atomic>
#include <boost/asio.hpp>
#include <boost/bind.hpp>
#include <boost/shared_array.hpp>
#include <boost/system/system_error.hpp>
#include <cassert>
#include <chrono>
#include <deque>
#include <memory>
#include <mutex>
#include <sstream>
#include <stdexcept>
#include <thread>
#include <vector>
#include <cstdlib>
#include <iostream>
#include <math.h>
#include <netinet/in.h>
#include <random>
#include <stdio.h>
#include <string>
#include <sys/socket.h>
#include <Eigen/Eigen>
#include <gazebo/common/Plugin.hh>
#include <gazebo/common/common.hh>
#include <gazebo/gazebo.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/transport/transport.hh>
#include <CommandMotorSpeed.pb.h>
#include <Imu.pb.h>
#include <Lidar.pb.h>
#include <OpticalFlow.pb.h>
#include <ignition/math.hh>
#include <sdf/sdf.hh>
#include "common.h"
#include <mavlink/v2.0/common/mavlink.h>
#include "msgbuffer.h"
#include <rotors_gazebo_plugins/geo_mag_declination.h>

Include dependency graph for gazebo_mavlink_interface.h:

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Go to the source code of this file.

Classes
class	gazebo::GazeboMavlinkInterface

Namespaces
	gazebo

Typedefs
typedef const boost::shared_ptr< const gz_mav_msgs::CommandMotorSpeed >	gazebo::CommandMotorSpeedPtr
typedef const boost::shared_ptr< const gz_sensor_msgs::Imu >	gazebo::ImuPtr
typedef const boost::shared_ptr< const lidar_msgs::msgs::lidar >	gazebo::LidarPtr
using	lock_guard = std::lock_guard< std::recursive_mutex >
typedef const boost::shared_ptr< const opticalFlow_msgs::msgs::opticalFlow >	gazebo::OpticalFlowPtr

Enumerations
enum	gazebo::Framing : uint8_t { gazebo::Framing::incomplete = MAVLINK_FRAMING_INCOMPLETE, gazebo::Framing::ok = MAVLINK_FRAMING_OK, gazebo::Framing::bad_crc = MAVLINK_FRAMING_BAD_CRC, gazebo::Framing::bad_signature = MAVLINK_FRAMING_BAD_SIGNATURE }
	Rx packer framing status. (same as mavlink::mavlink_framing_t) More...

Variables
static constexpr auto	kDefaultBaudRate = 921600
static constexpr auto	kDefaultDevice = "/dev/ttyACM0"
static constexpr double	kDefaultImuInterval = 0.004
static const std::string	gazebo::kDefaultImuTopic = "/imu"
static const std::string	gazebo::kDefaultLidarTopic = "/link/lidar"
static const uint32_t	kDefaultMavlinkUdpPort = 14560
static const std::string	gazebo::kDefaultMotorVelocityReferencePubTopic
static const std::string	gazebo::kDefaultOpticalFlowTopic = "/px4flow/link/opticalFlow"
static const uint32_t	kDefaultQGCUdpPort = 14550
static constexpr ssize_t	MAX_SIZE = MAVLINK_MAX_PACKET_LEN + 16
	Maximum buffer size with padding for CRC bytes (280 + padding) More...
static constexpr size_t	MAX_TXQ_SIZE = 1000

Typedef Documentation

lock_guard

using lock_guard = std::lock_guard<std::recursive_mutex>

Definition at line 70 of file gazebo_mavlink_interface.h.

Variable Documentation

kDefaultBaudRate

constexpr auto kDefaultBaudRate = 921600

static

Definition at line 72 of file gazebo_mavlink_interface.h.

kDefaultDevice

constexpr auto kDefaultDevice = "/dev/ttyACM0"

static

Definition at line 71 of file gazebo_mavlink_interface.h.

kDefaultImuInterval

constexpr double kDefaultImuInterval = 0.004

static

Definition at line 73 of file gazebo_mavlink_interface.h.

kDefaultMavlinkUdpPort

const uint32_t kDefaultMavlinkUdpPort = 14560

static

Definition at line 67 of file gazebo_mavlink_interface.h.

kDefaultQGCUdpPort

const uint32_t kDefaultQGCUdpPort = 14550

static

Definition at line 68 of file gazebo_mavlink_interface.h.

MAX_SIZE

constexpr ssize_t MAX_SIZE = MAVLINK_MAX_PACKET_LEN + 16

static

Maximum buffer size with padding for CRC bytes (280 + padding)

Definition at line 76 of file gazebo_mavlink_interface.h.

MAX_TXQ_SIZE

constexpr size_t MAX_TXQ_SIZE = 1000

static

Definition at line 77 of file gazebo_mavlink_interface.h.