MAVROS 유틸리티 커맨드

1. mavcmd

간단한 이착륙 관련 명령을 수행할 수 있습니다.

usage: mavcmd [-h] [-n MAVROS_NS] [-v] [--wait]
              {long,int,sethome,takeoff,land,takeoffcur,landcur,trigger_control}
              ...

Commad line tool for sending commands to MAVLink device.

positional arguments:
  {long,int,sethome,takeoff,land,takeoffcur,landcur,trigger_control}
    long                Send any command (COMMAND_LONG)
    int                 Send any command (COMMAND_INT)
    sethome             Request change home position
    takeoff             Request takeoff
    land                Request land
    takeoffcur          Request takeoff from current GPS coordinates
    landcur             Request land on current GPS coordinates
    trigger_control     Control onboard camera trigerring system (PX4)

optional arguments:
  -h, --help            show this help message and exit
  -n MAVROS_NS, --mavros-ns MAVROS_NS
                        ROS node namespace
  -v, --verbose         verbose output
  --wait                Wait for establishing FCU connection

2. mavftp

MAVLink FTP를 사용할 수 있습니다.

usage: mavftp [-h] [-n MAVROS_NS] [-v]
              {cd,list,cat,remove,mkdir,rmdir,download,upload,verify,reset}
              ...

File manipulation tool for MAVLink-FTP.

positional arguments:
  {cd,list,cat,remove,mkdir,rmdir,download,upload,verify,reset}
    cd                  change directory
    list                list files and dirs
    cat                 cat file
    remove              remove file
    mkdir               create direcotory
    rmdir               remove directory
    download            download file
    upload              upload file
    verify              verify files
    reset               reset

optional arguments:
  -h, --help            show this help message and exit
  -n MAVROS_NS, --mavros-ns MAVROS_NS
                        ROS node namespace
  -v, --verbose         verbose output

3. mavparam

파라메터를 저장, 설정 할 수 있습니다.

usage: mavparam [-h] [-n MAVROS_NS] [-v] {load,dump,get,set} ...

Commad line tool for getting, setting, parameters from MAVLink device.

positional arguments:
  {load,dump,get,set}
    load                load parameters from file
    dump                dump parameters to file
    get                 get parameter
    set                 set parameter

optional arguments:
  -h, --help            show this help message and exit
  -n MAVROS_NS, --mavros-ns MAVROS_NS
                        ROS node namespace
  -v, --verbose         verbose output

4. mavsafety

아밍/디스아밍 관련 명령을 수행 합니다.

usage: mavsafety [-h] [-n MAVROS_NS] [-v] {arm,disarm,safetyarea} ...

Commad line tool for manipulating safty on MAVLink device.

positional arguments:
  {arm,disarm,safetyarea}
    arm                 Arm motors
    disarm              Disarm motors
    safetyarea          Send safety area

optional arguments:
  -h, --help            show this help message and exit
  -n MAVROS_NS, --mavros-ns MAVROS_NS
                        ROS node namespace
  -v, --verbose         verbose output

5. mavsetp

Testing utility for setpoint plugins.

usage: mavsetp [-h] [-n MAVROS_NS] [-V] {local} ...

Commad line tool for control the device by setpoints.

positional arguments:
  {local}
    local               Send local setpoint

optional arguments:
  -h, --help            show this help message and exit
  -n MAVROS_NS, --mavros-ns MAVROS_NS
                        ROS node namespace
  -V, --verbose         verbose output

$ rosrun mavros mavsetp local pos <x> <y> <z>
$ rosrun mavros mavsetp global vel <vx> <vy> <vz>
$ rosrun mavros mavsetp attitude quat <x> <y> <z> <w>

6. mavsys

비행모드를 변경

usage: mavsys [-h] [-n MAVROS_NS] [-v] [--wait] {mode,rate} ...

Change mode and rate on MAVLink device.

positional arguments:
  {mode,rate}
    mode                Set mode
    rate                Set stream rate

optional arguments:
  -h, --help            show this help message and exit
  -n MAVROS_NS, --mavros-ns MAVROS_NS
                        ROS node namespace
  -v, --verbose         verbose output
  --wait                Wait for establishing FCU connection

Supported custom modes listed at mavros/CustomModes.

rosrun mavros mavsys mode -c OFFBOARD

7. mavwp

미션 비행과 관련된 기능을 제공합니다.

usage: mavwp [-h] [-n MAVROS_NS] [-v]
             {show,load,pull,dump,clear,setcur,goto} ...

Commad line tool for manipulating mission on MAVLink device.

positional arguments:
  {show,load,pull,dump,clear,setcur,goto}
    show                Show waypoints
    load                load waypoints from file
    pull                pull waypoints from FCU
    dump                dump waypoints to file
    clear               clear waypoints on device
    setcur              set current waypoints on device
    goto                send goto waypoint (APM only)

optional arguments:
  -h, --help            show this help message and exit
  -n MAVROS_NS, --mavros-ns MAVROS_NS
                        ROS node namespace
  -v, --verbose         verbose output

$ rosrun mavros mavwp dump wp.txt