플러그인(Plugins)

1. 3dr_radio

Publish 3DR Radio status to diagnostics and topic.

Published Topics

~radio_status (mavros_msgs/RadioStatus)

Status received from modem, same as RADIO_STATUS message.

2. actuator_control

Sends acruator commands to FCU.

Subscribed Topics

~actuator_control (mavros_msgs/ActuatorControl)

actuator command

3. hil_controls

Publish HIL_CONTROLS New in 0.18

Published Topics

~hil_controls/hil_controls (mavros_msgs/HilControls)

HIL data

Parameters

~frame_id (string, default: "map")

frame for altitude messages

4. command

Send COMMAND_LONG to FCU.

Services

~cmd/command (mavros_msgs/CommandLong)

Send any COMMAND_LONG to FCU.

~cmd/command_int (mavros_msgs/CommandInt)

Send any COMMAND_INT to FCU.

~cmd/arming (mavros_msgs/CommandBool)

Change Arming status.

~cmd/set_home (mavros_msgs/CommandHome)

Change HOME location.

~cmd/takeoff (mavros_msgs/CommandTOL)

Send takeoff command.

~cmd/land (mavros_msgs/CommandTOL)

Send land command.

~cmd/trigger_control (mavros_msgs/CommandTriggerControl)

Send camera trigger control command.

Parameters

~cmd/use_comp_id_system_control (bool, default: false)

Use SYSTEM_CONTROL component id instead of mavros target component.

5. ftp

Support plugin for MAVLink-FTP (PX4).

Services

~ftp/open (mavros_msgs/FileOpen)

Open file (acquire session).

~ftp/close (mavros_msgs/FileClose)

Close file (release session).

~ftp/read (mavros_msgs/FileRead)

Read from opened file.

~ftp/write (mavros_msgs/FileWrite)

Write to opened file.

~ftp/list (mavros_msgs/FileList)

List directory.

~ftp/truncate (mavros_msgs/FileTruncate)

Truncate file.

~ftp/remove (mavros_msgs/FileRemove)

Unlink file.

~ftp/rename (mavros_msgs/FileRename)

Rename file/directory.

~ftp/mkdir (mavros_msgs/FileMakeDir)

Create directory.

~ftp/rmdir (mavros_msgs/FileRemoveDir)

Remove directory.

~ftp/checksum (mavros_msgs/FileChecksum)

Request to calculate CRC32 of file on FCU.

~ftp/reset (std_srvs/Empty)

Reset FCU server (dangerous).

6. global_position

Publish global position information fused by FCU and raw GPS data.

Published Topics

~global_position/global (sensor_msgs/NavSatFix)

GPS Fix. IMPORTANT: Altitude is specified as ellipsoid height and care must be taken to avoid a common pitfall. See this section for more.

~global_position/local (geometry_msgs/PoseWithCovarianceStamped)

UTM coords.

~global_position/gp_vel (geometry_msgs/TwistStamped)

Velocity fused by FCU.

~global_position/rel_alt (std_msgs/Float64)

Relative altitude.

~global_position/compass_hdg (std_msgs/Float64)

Compass heading in degrees.

~global_position/raw/fix (sensor_msgs/NavSatFix)

GPS position fix reported by the device.

~global_position/raw/gps_vel (geometry_msgs/TwistStamped)

Velocity output from the GPS device.

Parameters

~global_position/frame_id (string, default: fcu)

frame_id for messages.

~global_position/tf/send (bool, default: true)

Send or not local UTM coords via TF?

~global_position/tf/frame_id (string, default: local_origin)

frame_id for TF.

~global_position/tf/child_frame_id (string, default: fcu_utm)

Child frame_id for TF.

7. imu_pub

Publish IMU state

Published Topics

~imu/data (sensor_msgs/Imu)

Imu data, orientation computed by FCU

~imu/data_raw (sensor_msgs/Imu)

Raw IMU data without orientation

~imu/mag (sensor_msgs/MagneticField)

FCU compass data

~imu/temperature (sensor_msgs/Temperature)

Temperature reported by FCU (usually from barometer)

~imu/atm_pressure (sensor_msgs/FluidPressure)

Air pressure.

Parameters

~imu/frame_id (string, default: fcu)

Frame ID for this plugin.

~imu/linear_acceleration_stdev (double, default: 0.0003)

Gyro's standard deviation

~imu/angular_velocity_stdev (double, default: !dec 0.02)

Accel's standard deviation

~imu/orientation_stdev (double, default: 1.0)

Standard deviation for IMU.orientation

~imu/magnetic_stdev (double, default: 0.0)

Standard deviation for magnetic field message (undefined if: 0.0)

8. local_position

Publish LOCAL_POSITION_NED in TF and PoseStamped topic.

Published Topics

~local_position/pose (geometry_msgs/PoseStamped)

Local position from FCU.

~local_position/velocity (geometry_msgs/TwistStamped)

Velocity data from FCU.

Parameters

~local_position/frame_id (string, default: fcu)

frame_id for message.

~local_position/tf/send (bool, default: true)

TF send switch.

~local_position/tf/frame_id (string, default: local_origin)

Origin frame_id for TF.

~local_position/tf/child_frame_id (string, default: fcu)

Child frame_id for TF.

9. manual_control

Publish MANUAL_CONTROL message (user input).

Subscribed Topics

~manual_control/send (mavros_msgs/ManualControl)

RC Rx, interpreted and normalized.

Published Topics

~manual_control/control (mavros_msgs/ManualControl)

RC Rx, interpreted and normalized.

10. param

Allows to access to FCU parameters and map it to ROS parameters in ~param/.

Services

~param/pull (mavros_msgs/ParamPull)

Request parameter from device (or internal cache).

~param/push (mavros_msgs/ParamPush)

Request send parameters from ROS to FCU.

~param/get (mavros_msgs/ParamGet)

Return FCU parameter value.

~param/set (mavros_msgs/ParamSet)

Set parameter on FCU immidiatly.

11. rc_io

Publish RC receiver inputs.

Subscribed Topics

~rc/override (mavros_msgs/OverrideRCIn)

Send RC override message to FCU. APM and PX4 only. APM requires setup FCU param SYSID_MYGCS to match mavros system id. Not recommended to use in automatic control because lack of safety mechanisms. Use one of setpoint plugins and OFFBOARD mode.

Published Topics

~rc/in (mavros_msgs/RCIn)

Publish RC inputs (in raw milliseconds)

~rc/out (mavros_msgs/RCOut)

Publish FCU servo outputs

12. safety_area

Sends safety allowed area to FCU. Initial area can be loaded from parameters.

Subscribed Topics

~safety_area/set (geometry_msgs/PolygonStamped)

Volumetric area described by two corners.

Parameters

~safety_area/p1/x (double)

Corner 1 X.

~safety_area/p1/y (double)

Corner 1 Y.

~safety_area/p1/z (double)

Corner 1 Z.

~safety_area/p2/x (double)

Corner 2 X.

~safety_area/p2/y (double)

Corner 2 Y.

~safety_area/p2/z (double)

Corner 2 Z.

13. setpoint_accel

Send acceleration setpoint.

Subscribed Topics

~setpoint_accel/accel (geometry_msgs/Vector3Stamped)

Acceleration or force setpoint vector.

Parameters

~setpoint_accel/send_force (bool)

Send force setpoint.

14. setpoint_attitude

Send attitude setpoint using SET_ATTITUDE_TARGET.

Subscribed Topics

~setpoint_attitude/cmd_vel (geometry_msgs/TwistStamped)

Send angular velocity.

~setpoint_attitude/attitude (geometry_msgs/PoseStamped)

Send attitude setpoint.

~setpoint_attitude/thrust (mavros_msgs/Thrust)

Send throttle value(0~1).

Parameters

~setpoint_attitude/reverse_throttle (bool, default: false)

Allow to send -1.0 throttle or not.

~setpoint_attitude/use_quaternion (bool, default: false)

Enable ~setpoint_attitude/target_attitude PoseStamped topic subscriber and disable ~setpoint_attitude/cmd_vel Twist topic.

~setpoint_attitude/tf/listen (bool, default: false)

TF listen switch. Disable topics if enabled.

~setpoint_attutude/tf/frame_id (string, default: local_origin)

Origin frame_id for TF.

~setpoint_attitude/tf/child_frame_id (string, default: attitude)

Child frame_id for TF.

~setpoint_attitude/tf/rate_limit (double, default: 10.0)

Rate limit for TF listener [Hz].

15. setpoint_position

Sends position setpoint using SET_POSITION_TARGET_GLOBAL_INT or SET_POSITION_TARGET_LOCAL_NED.

Subscribed Topics

~setpoint_position/global (geographic_msgs/GeoPoseStamped)

Global frame setpoint position. Sends an LLA to the flight controller. Only YAW axis extracted from orientation field. IMPORTANT: Altitude is interpreted as AMSL and care must be taken to avoid a common pitfall. See this section for more.

~setpoint_position/local (geometry_msgs/PoseStamped)

Local frame setpoint position. Only YAW axis extracted from orientation field.

~setpoint_position/global_to_local (geographic_msgs/GeoPoseStamped)

The old implementation of ~setpoint_position/global. Converts LLA to local ENU. This was done as a workaround before the flight controller could accept LLA setpoints directly. Consider using ~setpoint_position/global instead. See the details here. Only YAW axis extracted from orientation field.

Parameters

~setpoint_position/tf/listen (bool, default: false)