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ROS / ros eco / packages / mavros

SRTM

terrain altitude data

Plugin

Publish terrain data as message stream

Topic Msg
report TerrainReport

Set message rate

Don't forget to set message rate

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ros2 service call /mavros/set_message_interval mavros_msgs/srv/MessageInterval "{\"message_id\": 136, \"message_rate\": 2 }"

Message explain

alt text

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header:
  stamp:
    sec: 1752417366
    nanosec: 28968923
  frame_id: terrain
latitude: -35.363262
longitude: 149.1652373
spacing: 100
terrain_height: 583.843994140625
current_height: 0.23602294921875
pending: 0
loaded: 504
Field unit desc
terrain_height m Terrain height MSL
current_height m Current vehicle height above lat/lon terrain height
Mavlink
TERRAIN_REPORT (136)

Ardupilot parameters

parameter value
TERRAIN_SPACING
# TODO: explain all terrain parameters

Loading terrain into SD card

Ardupilot

Reference