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Overview

This package provides communication driver for various autopilots with MAVLink communication protocol. Additional it provides UDP MAVLink bridge for ground control stations (e.g. QGroundControl).

Main node can be extended by plugins (see pluginlib). See also mavros_extras package.

Nodes

mavros_node

Subscribed Topics

• Mavlink stream to autopilot.

Published Topics

• Mavlink stream from autopilot.

• Diagnostic status information.

Parameters

• Node MAVLink System ID.

• Node MAVLink Component ID.

• FCU MAVLink System ID.

• FCU MAVLink Component ID.

• Define apply quirk for PX4 or not.

• Alias blacklist (glob syntax, example: ['rc*'])

• Alias whitelist (glob syntax, overrides blacklist)

• FCU connection URL.

• MAVLink protocol version. Supported: "v1.0", "v2.0" New in 0.18

• GCS bridge connection URL.

gcs_bridge

Subscribed Topics

• Mavlink stream from autopilot.

Published Topics

• Mavlink stream to autopilot.

Parameters

• Connection URL.

event_launcher

Subscribed Topics

• Source of arming events.

Services

• Optional event triggers. You may create several services using configuration.

Parameters

• Create event (with name <event_name>) triggered by service (param value).

• List of events triggered that handler.

• List of actions to do on corresponding event. Supported actions: run, stop.

• Command to run/stop on event.

• File to save stdout and stderr output of command. Optional.

Usage

Example launch files are in the mavros/launch directory. If the autopilot is on the PX4 native stack use the following to launch an example configuration:

roslaunch mavros px4.launch

If the autopilot is on the ArduPilot/APM stack firmware use the following:

roslaunch mavros apm.launch

Example configurations for the various mavros plugins can also be found in similarly named yaml files. For more details on the choices between APM and PX4 stacks checkout the pixhawk wiki.

Hardware notes:

• APM2.5/2.6 always APM stack
• Pixhawk from manufacturer usually comes with APM stack
• Pixhawk may be flashed by PX4 firmware using QGC or by upload make target.

If you unsure what firmware your FCU runs start apm.launch and see diagnostics. Starting from 0.11 mavros knows string representation for autopilot mavlink enum. For older you shall manually find autopilot type value in mavlink documentation.

Connection URL

Connection defined by URL, you can use any supported type for FCU and GCS.

Supported schemas:

• Serial: /path/to/serial/device[:baudrate]

• Serial: serial:///path/to/serial/device[:baudrate][/?ids=sysid,compid]

• Serial with hardware flow control: serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid]

• UDP: udp://[bind_host][:port]@[remote_host][:port][/?ids=sysid,compid]

• UDP Broadcast: udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid]

• TCP client: tcp://[server_host][:port][/?ids=sysid,compid]

• TCP server: tcp-l://[bind_host][:port][/?ids=sysid,compid]

Notes:

• ids from URL overrides ids given by parameters ~system_id and ~component_id.

• baudrate default value is 57600

• bind_host default value is "0.0.0.0" (IPv4 ANY)

• remote_host by default unknown. mavros will awaiting data at bind_host:port

• server_host default value is "localhost"

• port default values: 14555 for UDP bind, 14550 for UDP remote, 5760 for TCP

• UDP broadcast used on discovery stage, later it switch to GCS address
• Currently supports only IPv4.

Utility commands

All utilities provides <util> --help and <util> <command> --help information.

mavcmd

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

mavftp

PX4 only.

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

mavparam

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

mavsafety

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

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

mavsys

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.

mavwp

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

Plugins

Standard set of communication plugins loaded by mavros_node.

Note: this list for 0.18.0 version. Older versions: 0.6.0, 0.7.0, 0.8.0, 0.10.0, 0.11.0, 0.12.0 — 0.15.0, 0.16.0 — 0.17.0.

   1 #!/usr/bin/env python3
   2 # Example code that helps you convert between AMSL and ellipsoid height
   3 # To run this code you need:
   4 #
   5 # 1) the egm96-5.pgm file from geographiclib.
   6 # To get it on Ubuntu run:
   7 # sudo apt install geographiclib-tools
   8 # sudo geographiclib-get-geoids egm96-5
   9 #
  10 # 2) PyGeodesy
  11 # To get it using pip:
  12 # pip install PyGeodesy
  13 
  14 from pygeodesy.geoids import GeoidPGM
  15 
  16 _egm96 = GeoidPGM('/usr/share/GeographicLib/geoids/egm96-5.pgm', kind=-3)
  17 
  18 def geoid_height(lat, lon):
  19     """Calculates AMSL to ellipsoid conversion offset.
  20     Uses EGM96 data with 5' grid and cubic interpolation.
  21     The value returned can help you convert from meters 
  22     above mean sea level (AMSL) to meters above
  23     the WGS84 ellipsoid.
  24 
  25     If you want to go from AMSL to ellipsoid height, add the value.
  26 
  27     To go from ellipsoid height to AMSL, subtract this value.
  28     """
  29     return _egm96.height(lat, lon)