mavros_extras

Extra nodes and plugins for <a href=”http://wiki.ros.org/mavros”>MAVROS</a>.

Links

README

mavros extras

Some extra plugins and nodes for mavros.

ADSB

Publish/subscribe to the location and information of an ADS-B vehicle.

cam_imu_sync

Publish camera trigger data for synchronisation of IMU and camera frames.

debug_value

Subs/Pubs debug msgs from and to the FCU.

distance_sensor

Publish DISTANCE_SENSOR message data from FCU or connected sensors in companion computer.

fake_gps

Sends fake GPS from local position estimation source data (motion capture, vision) to FCU.

gimbal_control

Adds support for Mavlink Gimbal Protocol v2. To publish to tf, set parameter tf_send=True. The implementation of this plugin has been tested with a Freefly Astro with the mapping payload as well as with Auterion Sim. The plugin was built following the specifications available at https://mavlink.io/en/services/gimbal_v2.html with some adaptation to better suit ROS2 and support tf publishing with child frame labels specified by the gimbal_device_id field of gimbal_attitude_msg. This should enable support for multiple gimbal devices on the target platform publishing to different leaves of the tf tree. The assumed frame for each gimbal device is base_link_frd. When taking control of the gimbal with the GimbalManagerConfigure, sysid_primary can be set to -2, and default gimbal_device_id is 154, though 0 can be used for all gimbal devices. After taking control of the gimbal, you can set RoI’s or manually set the gimbal’s orientation using the service calls provided. The topic publishers for gimbal control have not been successfully validated, though this is possibly due to the implimentation on the Freefly Astro or with Auterion’s simulator. Feel free to reach out to mark.beaty@adinkratech.com with any questions or feedback on this plugin!

gps_input

Send GPS_INPUT messages to the FCU.

gps_status

Publish GPS_RAW and GPS_RTK messages from FCU.

gps_rtk

Sends the RTCM messages to the FCU for the RTK Fix.

log_transfer

Expose firmware functionality, that is related to log transfer

mocap_pose_estimate

Send motion capture pose estimate to FCU. Currently, not used by the FCU. Data can be send via vision_position plugin.

obstacle_distance

Send obstacle distance report to the FCU.

odom

Send odometry to FCU from another estimator.

px4flow

Publish OPTICAL_FLOW_RAD data from FCU or PX4Flow module.

rangefinder

Publish RANGEFINDER message data from FCU sensors in companion computer.

trajectory

Receive planned path from the FCU and send back corrected path (collision free, smoothed) to the FCU.

wheel_odometry

Compute and publish wheel odometry coming from FCU sensors.

vibration

Publish VIBRATION message data from FCU.

vision_pose_estimate

Send vision pose estimate to FCU.

vision_speed_estimate

Send vision speed estimate to FCU.

companion_process_status

Send companion process status report to the FCU.

servo_state_publisher

Convert mavros_msgs/RCOut to sensor_msgs/JointState messages. It is required to bind URDF model and real servos.

px-ros-pkg replacement

Use roslaunch mavros_extras px4flow.launch for that.