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Mavros

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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
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
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

message interval

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ros2 service call /mavros/set_message_interval mavros_msgs/srv/MessageInterval "{message_id: 74, message_rate: 1.0}"
  • GLOBAL: Global coordinate frame with WGS84 latitude/longitude and altitude positive over mean sea level (MSL) by default
  • RELATIVE_ALT: Altitude is relative to the vehicle home position rather than MSL.
  • TERRAIN_ALT: Altitude is relative to ground level rather than MSL.

  • INT: Latitude/longitude (in degrees) are scaled by multiplying by 1E7.

  • LOCAL: Origin of local frame is fixed relative to earth. origin of the vehicle position-estimator ("EKF").

  • BODY: Origin of local frame travels with the vehicle. NOTE, "BODY" does NOT indicate alignment of frame axis with vehicle attitude.

ENU and NED coordinate frame

  • NED: North East Down
  • ENU: East North Down (use by ROS)

NED

This frame is widely used in aviation and maritime applications - North (X-axis): Points towards true North. - East (Y-axis): Points towards East, perpendicular to the North axis. - Down (Z-axis): Points downwards, perpendicular to the North-East plane.

ENU

This frame is commonly used in robotics and ROS

  • East (X-axis): Points towards East.
  • North (Y-axis): Points towards true North, perpendicular to the East axis.
  • Up (Z-axis): Points upwards, perpendicular to the East-North plane.

Plugins

tf

sys_status

sys_time

terrain

distance_sensor

ahrs2

home_position

setpoint_velocity

local_position

vfr_hud

gimbal_control

setpoint_raw

setpoint_attitude

param

global_position

imu

do_set_mode

command

rc_io

altitude

vision_speed_estimation