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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.