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Mavros Command Plugin

ROS / ros eco / packages / mavros

Expose mavlink command_long(76) and command_int(75), and wrap multiple service that use this command like

  • arming
  • set_home
  • takeoff
  • land
  • trigger_control
  • trigger_interval
  • vtol_transition
  • land_local
  • takeoff_local

This service send the command and wait for acknowledge

Check mavlink command protocol

sequenceDiagram
    participant GCS
    participant Drone

    GCS->>Drone: COMMAND_LONG(confirmation=0)
    Drone-->>GCS: COMMAND_ACK

Command_ACK (77)

Report status of a command. Includes feedback whether the command was executed.

for example

  • 0: Command accept (success)
  • 3: unsupported command
  • 4: failed

check MAV_RESULT for more result values

set_home

do_set_servo