Mavros
ROS / ros eco / packages
MAVLink extendable communication node for ROS2.
Connections url
- Serial: /path/to/serial/device[:baudrate]
- Serial: serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]
- UDP: udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid]
- TCP client: tcp://[server_host][:port][/?ids=sysid,compid]
ardupilot connection |
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| ros2 launch mavros apm.launch fcu_url:=tcp://localhost:5760 gcs_url:=udp://@localhost:14550
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using node.launch connect to APM SITL and control pluginlist and config |
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| ros2 launch mavros node.launch \
fcu_url:=tcp://0.0.0.0:5760@ \
gcs_url:=udp://@127.0.0.1:14560 \
tgt_system:=1 \
tgt_component:=1 \
pluginlists_yaml:=plugins.yaml \
config_yaml:=config.yaml
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using node.launch connect to APM HW and control pluginlist and config |
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| ros2 launch mavros node.launch \
fcu_url:=/dev/ttyACM1:115200 \
gcs_url:=udp://@127.0.0.1:14560 \
tgt_system:=1 \
tgt_component:=1 \
pluginlists_yaml:=/workspace/src/ardupilot_bringup/config/plugins.yaml \
config_yaml:=/workspace/src/ardupilot_bringup/config/config.yaml
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Plugins