mavros.mission module

class mavros.mission.GeofencePlugin(parent_node: BaseNode)

Bases: MissionPluginBase

Interface to geofence plugin.

class mavros.mission.MissionPluginBase(parent_node: BaseNode)

Bases: PluginModule

property cli_clear: rclpy.node.Client

property cli_pull: rclpy.node.Client

property cli_push: rclpy.node.Client

property points: List[mavros_msgs.msg.Waypoint]

Subscribe and return points cache.

subscribe_points(callback: rclpy.node.Callable.([rclpy.node.MsgType], None), qos_profile: rclpy.qos.QoSProfile = rclpy.qos.QoSProfile) → rclpy.node.Subscription

Subscribe to points list (waypoints, fences, rallypoints).

class mavros.mission.PlanFile

Bases: object

Base class for waypoint file parsers.

fence: List[mavros_msgs.msg.Waypoint] | None = None

load(file_: TextIO) → PlanFile

Return a iterable of waypoints.

mission: List[mavros_msgs.msg.Waypoint] | None = None

rally: List[mavros_msgs.msg.Waypoint] | None = None

save(file_: TextIO)

Write waypoints to file.

class mavros.mission.QGroundControlPlan

Bases: PlanFile

class mavros.mission.QGroundControlWPL

Bases: PlanFile

Parse QGC waypoint file.

class CSVDialect

Bases: Dialect

delimiter = '\t'

doublequote = False

lineterminator = '\r\n'

quoting = 3

skipinitialspace = True

FieldTypes

alias of bool | int | float

fields_map: Mapping[str, Callable[[Any], bool | int | float]] = {'autocontinue': <function QGroundControlWPL.<lambda>>, 'command': <class 'int'>, 'frame': <class 'int'>, 'is_current': <function QGroundControlWPL.<lambda>>, 'param1': <class 'float'>, 'param2': <class 'float'>, 'param3': <class 'float'>, 'param4': <class 'float'>, 'x_lat': <class 'float'>, 'y_long': <class 'float'>, 'z_alt': <class 'float'>}

file_header = 'QGC WPL 120'

known_versions = (110, 120)

load(file_: TextIO) → PlanFile

Return a iterable of waypoints.

save(file_: TextIO)

Write waypoints to file.

class mavros.mission.RallypointPlugin(parent_node: BaseNode)

Bases: MissionPluginBase

Interface to rallypoint plugin.

class mavros.mission.WaypointPlugin(parent_node: BaseNode)

Bases: MissionPluginBase

Interface to waypoint plugin.

property cli_set_current: rclpy.node.Client