mavros.base module

class mavros.base.BaseNode(*args: Any, **kwargs: Any)

Bases: Node

Base class for mavros client object.

It’s used to hide plugin parameters.

get_topic(*args: str) → str

property mavros_ns: str

start_spinner() → Thread

property uas_settings: UASParams

class mavros.base.PluginModule(parent_node: BaseNode)

Bases: object

PluginModule is a base class for modules used to talk to mavros plugins.

Provides some helper functions.

create_client(srv_type: rclpy.node.SrvType, srv_name: Tuple | str, **kwargs) → rclpy.node.Client

create_publisher(msg_type: rclpy.node.MsgType, topic: Tuple | str, qos_profile: rclpy.qos.QoSProfile | int, **kwargs) → rclpy.node.Publisher

create_service(srv_type: rclpy.node.SrvType, srv_name: ~typing.Tuple | str, callback: rclpy.node.Callable.([rclpy.node.SrvTypeRequest, rclpy.node.SrvTypeResponse], rclpy.node.SrvTypeResponse), **kwargs) → rclpy.node.Service

create_subscription(msg_type: rclpy.node.MsgType, topic: ~typing.Tuple | str, callback: rclpy.node.Callable.([rclpy.node.MsgType], None), qos_profile: rclpy.qos.QoSProfile | int, **kwargs) → rclpy.node.Subscription

get_logger(*args, **kwargs)

property node: BaseNode

exception mavros.base.ServiceWaitTimeout: Bases: RuntimeError

class mavros.base.UASParams(uas_url: str = '', fcu_protocol: str = 'v2.0', system_id: int = 1, component_id: int = 191, target_system_id: int = 1, target_component_id: int = 1, plugin_allowlist: List[str] = <factory>, plugin_denylist: List[str] = <factory>)

Bases: object

component_id: int = 191

fcu_protocol: str = 'v2.0'

plugin_allowlist: List[str]

plugin_denylist: List[str]

system_id: int = 1

target_component_id: int = 1

property target_ids: (<class 'int'>, <class 'int'>)

target_system_id: int = 1

property uas_ids: (<class 'int'>, <class 'int'>)

uas_url: str = ''

mavros.base.wait_for_service(client: rclpy.node.Client, lg: Any | None)