mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs

Package Summary

Tags	uav mav mavlink plugin apm px4
Version	2.9.0
License	GPLv3
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	ros2
Last Updated	2024-10-23
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	uav mav mavlink plugin apm px4
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.

Additional Links

Maintainers

Vladimir Ermakov

Authors

Vladimir Ermakov

mavros/README.md

MAVROS

MAVLink extendable communication node for ROS2.

ROS API documentation moved to wiki.ros.org.

Features

Communication with autopilot via serial port, UDP or TCP (e.g. PX4 Pro or ArduPilot)
Internal proxy for Ground Control Station (serial, UDP, TCP)
Plugin system for ROS-MAVLink translation
Parameter manipulation tool
Waypoint manipulation tool
PX4Flow support (by mavros_extras)
OFFBOARD mode support
Geographic coordinates conversions.

Limitations

Only for Linux.

This package are dependent on ros-*-mavlink build from mavlink-gbp-release. It exists in ROS package index and usually updates each month.

Connection URL

Connection defined by URL, you can use any supported type for FCU and GCS.

Supported schemas:

Serial: /path/to/serial/device[:baudrate]
Serial: serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]
Serial with hardware flow control: serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid]
UDP: udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid]
UDP broadcast until GCS discovery: udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid]
UDP broadcast (permanent): udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid]
TCP client: tcp://[server_host][:port][/?ids=sysid,compid]
TCP server: tcp-l://[bind_host][:port][/?ids=sysid,compid]

Note:

Ids from URL overrides value given by system_id & component_id parameters.
bind_host - default 0.0.0.0 - i.e. IP4 ANY
UDP default ports: 14555 @ 14550
UDP remote address updated every time with incoming packet on bind port.
TCP default port: 5760

Coordinate frames

MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Please read documents from issue #473 for additional information.

All the conversions are handled in src/lib/ftf_frame_conversions.cpp and src/lib/ftf_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.

MAVROS also allows conversion of geodetic and geocentric coordinates through GeographicLib given that:

geographic_msgs and NatSatFix.msg require the LLA fields to be filled in WGS-84 datum, meaning that the altitude should be the height above the WGS-84 ellipsoid. For that, a conversion from the height above the geoid (AMSL, considering the egm96 geoid model) to height above the WGS-84 ellipsoid, and vice-versa, is available and used in several plugins;
According to ROS REP 105, the earth frame should be propagated in ECEF (Earth-Centered, Earth-Fixed) local coordinates. For that, the functionalities of GeographicLib are used in order to allow conversion from geodetic coordinates to geocentric coordinates;
The translation from GPS coordinates to local geocentric coordinates require the definition of a local origin on the map frame, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in the global_position plugin.

Composite nodes

See also: https://docs.ros.org/en/foxy/Tutorials/Composition.html

mavros::router::Router

This is router node required to support connections to FCU(s), GCS(es) and UAS nodes. The Router allows you to add/remove endpoints on the fly without node restart.

mavros::uas::UAS

This node is a plugin container which manages all protocol plugins. Each plugin is a subnode to this.

Programs

mavros_node – all-in-one container

That is a preconfigured composite node contaier, which provides similar parameters as ROS1 mavros_node. That container loads Router, UAS and configures them to work together (sets uas_link, etc.).

Main node. Allow disable GCS proxy by setting empty URL.

ros2 run mavros mavros_node --ros-args --params-file params.yaml

Launch Files

XXX TODO! #1564

Launch files are provided for use with common FCUs, in particular Pixhawk:

px4.launch – for use with the PX4 Autopilot (for VTOL, multicopters and planes)
apm.launch – for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)

Examples:

roslaunch mavros px4.launch
roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@

Installation

Required dependencies

Most of the ROS dependencies are supported and installed by rosdep, including external libraries as Eigen and Boost.

GeographicLib can be installed by apt-get and it is already included on the rosdep of MAVROS package. It is also possible to compile it and install it from src but be advised to have the proper install directories the same as the ones of the apt-get install, in order to make sure that the FindGeographicLib.cmake finds the required shared libraries (libGeographic.so).

Since GeographicLib requires certain datasets (mainly the geoid dataset) so to fulfill certain calculations, these need to be installed manually by the user using geographiclib-tools, which can be installed by apt-get in Debian systems. For a quicker procedure, just run the available script in the “mavros/scripts” folder, install_geographiclib_datasets.sh.

Note that if you are using an older MAVROS release source install and want to update to a new one, remember to run rosdep update before running rosdep install --from-paths ${ROS_WORKSPACE} --ignore-src --rosdistro=${ROSDISTRO}, with ROS_WORKSPACE your src folder of catkin workspace. This will allow updating the rosdep list and install the required dependencies when issuing rosdep install.

:bangbang: The geoid dataset is mandatory to allow the conversion between heights in order to respect ROS msg API. Not having the dataset available will shutdown the mavros_node :bangbang:

:heavy_exclamation_mark:Run install_geographiclib_datasets.sh to install all datasets or geographiclib-datasets-download egm96_5 (Debian 7, Ubuntu 14.04, 14.10), geographiclib-get-geoids egm96-5 (Debian 8, Fedora 22, Ubuntu 15.04 or later) to install the geoid dataset only:heavy_exclamation_mark:

Binary installation (deb)

ROS repository has binary packages for Ubuntu x86, amd64 (x86_64) and armhf (ARMv7). Kinetic also support Debian Jessie amd64 and arm64 (ARMv8).

Just use apt for installation:

sudo apt install ros-foxy-mavros

Then install GeographicLib datasets by running the install_geographiclib_datasets.sh script:

ros2 run mavros install_geographiclib_datasets.sh

# Alternative:
wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh

Source installation

Use vcs utility for retrieving sources and colcon tool for build.

NOTE: The source installation instructions are for the ROS Foxy release.

sudo apt install -y python3-vcstool python3-rosinstall-generator python3-osrf-pycommon

# 1. Create the workspace: unneeded if you already has workspace
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws

# 2. Install MAVLink
#    we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
rosinstall_generator --format repos mavlink | tee /tmp/mavlink.repos

# 3. Install MAVROS: get source (upstream - released)
rosinstall_generator --format repos --upstream mavros | tee -a /tmp/mavros.repos
# alternative: latest source
# rosinstall_generator --format repos --upstream-development mavros | tee -a /tmp/mavros.repos
# For fetching all the dependencies into your ros2_ws, just add '--deps' to the above scripts
# ex: rosinstall_generator --format repos --upstream mavros --deps | tee -a /tmp/mavros.repos

# 4. Create workspace & deps
vcs import src < /tmp/mavlink.repos
vcs import src < /tmp/mavros.repos
rosdep install --from-paths src --ignore-src -y

# 5. Install GeographicLib datasets:
./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

# 6. Build source
colcon build

# 7. Make sure that you use setup.bash or setup.zsh from workspace.
#    Else ros2 run can't find nodes from this workspace.
source install/setup.bash

Build error. if you has error with missing mavlink* then you need fresh mavlink package. You may update from ros-shadow-fixed (binary installation) or redo script steps 2 & 4.

Note. Since MAVLink 2.0 merged (0.18) all dialects supported by same binary. Unfortunately overlap of v1.0 message ID’s not fully handled, first loaded message forbid further changes. Load order always:

common
ardupilotmega
alphabetical ordered list
…

Note: MAVLINK_DIALECT not used anymore.

Troubleshooting

Error: serial0: receive: End of file

This issue should have been solve in mavros v0.23.2, it was found to be a Boost.ASIO error and should be fix in release > v1.12.0 ( >Boost 1.66).

Contributing

See CONTRIBUTING.md.

Glossary

GCS — Ground Control Station
FCU — Flight Control Unit (aka FC)
OBC — OnBoard Computer (your odroid or raspberry)

Links

MAVLink – The communication protocol for Drones, used by flight controllers, ground control stations, and peripherals
mavlink_ros – original ROS node (few messages, no proxy)
Pixhawk – Open Standards for drone hardware
PX4 Autopilot – Flight Controller with support for most vehicle types and hardened/tested MAVROS support
ArduPilot – tested autopilot APM:Plane (default command set)
QGroundControl – Ground Control Station for MAVLink autopilots, with tested support for Android, iOS, Mac OS, Linux, and Windows
mavros_extras – extra plugins & node for mavros

CHANGELOG

Changelog for package mavros

2.9.0 (2024-10-10)

py-mavros: fix flake8 errors
py-mavros: reconfigure flake8
py: isort
py: black
py-mavros: reformat with black
py-mavros: csv escapechar of empty string unsupported since py 3.11
apply ament_uncrustify --reformat (jazzy)
Merge pull request #2000 from leocencetti/fix-test-errors Fix test errors in 3x3 covariance test cases
fix: Patch test errors
Merge pull request #1998 from leocencetti/fix-wrong-covariance-rotation Fix 3x3 covariance matrix rotation/transformation
chore: Fix and reenable covariance rotation tests
fix: Correct 3x3 covariance matrix rotation
use GeographicLib::Geoid::ConvertHeight
fix -Wdeprecated-enum-float-conversion in GeographicLib
depcrecation errors
#1965: sync format of configs
Contributors: Jacob Dahl, Leonardo Cencetti, Vladimir Ermakov

2.8.0 (2024-06-07)

param: replace old rmw_qos usage
sys_status: replace rmw_qos too
command: fix humble condition
regenerate all using cogall.sh
command: keep support for humble
command: fix misprint
command: replace deprecated rmw_qos
reformat with jazzy's ament_uncrustify
Merge branch 'master' into ros2 * master: 1.19.0 update changelog gps_global_origin: remove LLA to ECEF conversion
1.19.0
update changelog
gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Update mavlink.py Kept #569 FIXME tag
Update mavlink.py Fixed bug #569 from mavros. Fixed another bug in the building of the ros mavlink message- the seq field was not added to the ros mavlink message.
Contributors: Beniamino Pozzan, Vladimir Ermakov, danielkalmanson

1.19.0 (2024-06-06)

gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Contributors: Beniamino Pozzan

2.7.0 (2024-03-03)

Merge branch 'master' into ros2 * master: 1.18.0 update changelog sys_status.cpp: improve timeout code sys_status.cpp: Add a SYS_STATUS message publisher [camera plugin] Fix image_index and capture_result not properly filled Fix missing semi-colon GPS_STATUS Plugin: Fill in available messages for ROS1 legacy
1.18.0
update changelog
move /conn parameters to /sys and /time
sys_status.cpp: improve timeout code # Conflicts: # mavros/src/plugins/sys_status.cpp
sys_status.cpp: Add a SYS_STATUS message publisher
Removed warning from geometry2 header
Fix PR 1922 regarding EVENT message
use synchronise_stamp to create stamp
new checksum for event enum
remove event_time_boot_ms, fill stamp instead
handle events
fix mav service call and wp load
Remove hardcoded namespace from px4_pluginlists
Remove hardcoded namespace from px4_config
Define _frd frames in odom plugin based on parent/child frame parametrs
Define parameters for base_link, odom, map frames
Contributors: Alejandro Hernández Cordero, Dr.-Ing. Amilcar do Carmo Lucas, Mattia Giurato, Mohamed Abdelkader, Vladimir Ermakov, elgarbe, sathak93, victor

1.18.0 (2024-03-03)

sys_status.cpp: improve timeout code
sys_status.cpp: Add a SYS_STATUS message publisher
Contributors: Dr.-Ing. Amilcar do Carmo Lucas

2.6.0 (2023-09-09)

fix build warnings tf2_eigen.h
switch to use tf2_eigen.hpp, but that drops support for EOL distros
fix ament_cpplint
reformat python code with black
msgs: move generator code
ament uncrustify
Merge branch 'master' into ros2 * master: 1.17.0 update changelog cog: regenerate all Bugfix/update map origin with home position (#1892) mavros: Remove extra ';' mavros_extras: Fix some init order warnings Suppress warnings from included headers 1.16.0 update changelog made it such that the gp_origin topic published latched. use hpp instead of deprecated .h pluginlib headers
1.17.0
update changelog
cog: regenerate all
local takeoff and land topics (#1890)
- local takeoff and land topics
- vector3 position type, rename to TOLLocal
- remove auto include line
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
1.16.0
update changelog
Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Ido Guzi, Lucas Walter, Morten Fyhn Amundsen, Shu-Nong Wu, Vladimir Ermakov, natmol

2.5.0 (2023-05-05)

Merge pull request #1852 from robobe/fix-mavlink-header-stamp Fix mavlink header stamp in convert_to_rosmsg method
Delete test_convert_to_rosmsg.py
fix flake8
fix flake8
fix conver_to_rosmsg method fix header stamp field move from rclpy.Time to builtin_interfaces Time message
Merge branch 'mavlink_payload64_fix' into ros2
Merge pull request #1851 from robobe/mavlink_payload64_fix cast payload_octest to int
cast payload_octest to int test script ,
Merge pull request #1838 from vacabun/launch_namespace_fix fix ROS2 launch parameters namespace and name.
fix plugin denylist allowlist name, and fix parameters namespace.
Merge pull request #1835 from vacabun/multi_uas_launch_fix Multi-UAS launch
Merge branch 'ros2' into multi_uas_launch_fix
Merge pull request #1836 from eMrazSVK/ros2 Fix apm_pluginlist.yaml and apm.launch
naming
Fix apm config and launch ROS2
Remove duplicate parameters
fix parameters name tgt_system and tgt_component and add multi-uas launch.
Merge pull request #1834 from vacabun/px4_launch_fix fix px4 launch file for ROS2
change plugin odom parameters in apm launch.
1.Change part of parameters to be flat In ROS2. 2.Remove plugin safety_area in launch parameters file.
remove event_launcher.yaml mavlink_bridge.launch
remove file 'apm2.lunch'.
fix apm launch files to ROS2.
fix plugin distance_sensor parses yaml from string parameter.
fix px4 launch file on ROS2.
Merge pull request #1833 from lopsided98/ftp-segfault plugins: ftp: fix null pointer dereference
plugins: ftp: fix null pointer dereference df4e529 mistakenly switched PayloadHeader::data from using a non-standards compliant (but accepted by most compilers) flexible array to a pointer. This resulted in an attempt to dereference the uninitialized contents of the array. This patch eliminates PayloadHeader::data and instead makes FTPRequest::data() use pointer arithmetic to get the data buffer from within the payload buffer.
Contributors: Ben Wolsieffer, Eduard Mraz, Vladimir Ermakov, robo, robobe, vacabun

2.4.0 (2022-12-30)

ci: ignore xml lib warn
Merge branch 'master' into ros2 * master: 1.15.0 update changelog ci: update actions Implement debug float array handler mavros_extras: Fix a sequence point warning mavros_extras: Fix a comparison that shouldn't be bitwise mavros: Fix some warnings mavros_extras: Fix buggy check for lat/lon ignored libmavconn: fix MAVLink v1.0 output selection
1.15.0
update changelog
Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

2.3.0 (2022-09-24)

extras: fix linter errors
mavros: remove custom find script, re-generate
Merge branch 'master' into ros2 * master: 1.14.0 update changelog scripts: waypoint and param files are text, not binary libmavconn: fix MAVLink v1.0 output selection plugins: add guided_target to accept offboard position targets add cmake module path for geographiclib on debian based systems use already installed FindGeographicLib.cmake
1.14.0
update changelog
scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1771 from alehed/fix/update_comment Put correct version in comment
Put correct version in comment Now that the change has been merged into master in pymavlink, it will be in the next tagged release.
Contributors: Alexander Hedges, Sanket Sharma, Vladimir Ermakov, acxz

2.2.0 (2022-06-27)

extras: fix build
Merge branch 'master' into ros2 * master: mount_control.cpp: detect MOUNT_ORIENTATION stale messages ESCTelemetryItem.msg: correct RPM units apm_config.yaml: add mount configuration sys_status.cpp fix free memory for values > 64KiB uncrustify cellular_status.cpp Add CellularStatus plugin and message *_config.yaml: document usage of multiple batteries diagnostics sys_status.cpp: fix compilation sys_status.cpp: support diagnostics on up-to 10 batteries sys_status.cpp: do not use harcoded constants sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). sys_status.cpp: ignore sys_status mavlink messages from gimbals mount_control.cpp: use mount_nh for params to keep similarities with other plugins set diag settings before add() sys_status.cpp: remove deprecated BATTERY2 mavlink message support Mount control plugin: add configurable diagnostics Bugfix: increment_f had no value asigned when input LaserScan was bigger than obstacle.distances.size() Bugfix: wrong interpolation when the reduction ratio (scale_factor) is not integer. Disable startup_px4_usb_quirk in px4_config.yaml
cmake: style fix
cmake: downgrade to C++17 as 20 breaks something in rclcpp
pylib: fix flake8 for checkid
cmake: hide -std=c++2a
Merge pull request #1752 from alehed/fix/make_compatible_with_mavlink_pr_666 Make compatible with pymavlink type annotations PR
Make compatible with pymavlink type annotations PR In that PR, the attribute name is changed to msgname due to conflicts with message instance variables.

1.17.0 (2023-09-09)

cog: regenerate all
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov, natmol

1.16.0 (2023-05-05)

Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Lucas Walter, Shu-Nong Wu, Vladimir Ermakov

1.15.0 (2022-12-30)

Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.14.0 (2022-09-24)

scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1744 from amilcarlucas/pr_gimbal_diagnostics_fixes mount_control.cpp: detect MOUNT_ORIENTATION stale messages
mount_control.cpp: detect MOUNT_ORIENTATION stale messages correct MountConfigure response success correct constructor initialization order some gimbals send negated/inverted angle measurements, correct that to obey the MAVLink frame convention using run-time parameters
Update global_position.py
Merge pull request #1745 from antonyramsy/ros2 fix subscribe_raw_salellites typo
fix subscribe_raw_salellites typo subscribe_raw_salellites -> subscribe_raw_satellites
Merge pull request #1743 from amilcarlucas/pr_apm_config apm_config.yaml: add mount configuration
apm_config.yaml: add mount configuration
Merge pull request #1732 from amilcarlucas/pr-meminfo-fix MEMINFO fixes
sys_status.cpp fix free memory for values > 64KiB
Merge pull request #1716 from amilcarlucas/avoid-harcoded-values sys_status.cpp: do not use harcoded constants
Merge pull request #1711 from amilcarlucas/diagnose-up-to-n-batteries Diagnose up-to 10 batteries
*_config.yaml: document usage of multiple batteries diagnostics
sys_status.cpp: fix compilation
sys_status.cpp: support diagnostics on up-to 10 batteries Uses as many battery monitors as the user specified in min_voltage parameter. Add myself as a contributor, this is not my first patch to this file
Merge pull request #1712 from amilcarlucas/fix-disabled-diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag
sys_status.cpp: do not use harcoded constants
sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics Use atomic variable to prevent potential threading problems
sys_status.cpp: fix enabling of mem_diag and hwst_diag
Merge pull request #1704 from amilcarlucas/correct-bat-voltages sys_status.cpp: Do not use battery1 voltage for all batteries.
sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). Support both cell and total voltages above 65V Support up-to 14S batteries If available, add cell voltage information to the battery diagnostic
Merge pull request #1707 from amilcarlucas/ignore-gimbal-sys-status sys_status.cpp: ignore sys_status mavlink messages from gimbals
sys_status.cpp: ignore sys_status mavlink messages from gimbals
Merge pull request #1703 from amilcarlucas/remove-deprecated-battery2 sys_status.cpp: remove deprecated BATTERY2 mavlink message support
sys_status.cpp: remove deprecated BATTERY2 mavlink message support
Merge pull request #1696 from okalachev/patch-2 Disable startup_px4_usb_quirk in px4_config.yaml
Disable startup_px4_usb_quirk in px4_config.yaml
Contributors: Alexander Hedges, Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Vladimir Ermakov, antonyramsy

2.1.1 (2022-03-02)

Merge pull request #1717 from rob-clarke/fix--sys-status-callbacks Maybe fix sys status callbacks
uncrustify
Cleanup for pr
Initialise common client
Add debug
Use common client Add debug
plugins: Fix misprint Fix #1709
Contributors: Rob Clarke, Vladimir Ermakov

2.1.0 (2022-02-02)

plugin: sys_status: Add temporary hack from \@Michel1968 https://github.com/mavlink/mavros/issues/1588#issuecomment-1027699924
py-lib: make linters happy again
py-lib: fix WPL loading
py-lib: reformat with black, fix WPL
py-lib: gracefull exiting - need to join to spinner thread
py-lib: debug shutdown call
py-lib: fix checkid
sys: place service servers to separate callback group
plugins: fix topic names to use prefix for namespaced ones
py-lib: fix import
uas: fix linter warnings
uas: set executor timeout to 1s
uas: use custom executor derived from MultiThreadedExecutor one
uas: fix lambda
ci: fix several lint warnings
uas: log amount of executor threads
command: add request header for possible future use
Merge branch 'master' into ros2 * master: 1.13.0 update changelog py-lib: fix compatibility with py3 for Noetic re-generate all coglets test: add checks for ROTATION_CUSTOM lib: Fix rotation search for CUSTOM Removed CamelCase for class members. Publish to "report" More explicitly state "TerrainReport" to allow for future extension of the plugin to support other terrain messages Fixed callback name to match [handle_{MESSAGE_NAME.lower()}]{.title-ref} convention Add extra MAV_FRAMES to waypoint message as defined in https://mavlink.io/en/messages/common.html Fixed topic names to match more closely what other plugins use. Fixed a typo. Add plugin for reporting terrain height estimate from FCU 1.12.2 update changelog Set time/publish_sim_time to false by default plugin: setpoint_raw: move getParam to initializer extras: trajectory: backport #1667
1.13.0
update changelog
Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
1.12.2
update changelog
Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Merge pull request #1670 from windelbouwman/fix-uninitialized-struct-member Fix spurious bug because class field was uninitialized.
Fix spurious bug because class field was uninitialized.
Merge branch 'master' into ros2 * master: 1.12.1 update changelog mavconn: fix connection issue introduced by #1658 mavros_extras: Fix some warnings mavros: Fix some warnings
1.12.1
update changelog
mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Oleg Kalachev, Vladimir Ermakov, Windel Bouwman, hs293go

2.0.5 (2021-11-28)

fix some build warnings; drop old copter vis
router: fix #1655: use MAVConnInterface::connect() from #1658
Merge branch 'master' into ros2 * master: 1.12.0 update changelog Fix multiple bugs lib: fix mission frame debug print extras: distance_sensor: revert back to zero quaternion
1.12.0
update changelog
Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
extras: fix some more lint warns
plugin: fix some compile warnings
cmake: require C++20 to build all modules
extras: port distance_sensor plugin
lib: ignore MAVPACKED-related warnings from mavlink
lib: fix mission frame debug print
msgs: update conversion header
Merge branch 'master' into ros2 * master: 1.11.1 update changelog lib: fix build
1.11.1
update changelog
lib: fix build
Merge branch 'master' into ros2 * master: 1.11.0 update changelog lib: fix ftf warnings msgs: use pragmas to ignore unaligned pointer warnings extras: landing_target: fix misprint msgs: fix convert const plugin: setpoint_raw: fix misprint msgs: try to hide 'unaligned pointer' warning plugin: sys: fix compillation error plugin: initialize quaternions with identity plugin: sys: Use wall timers for connection management Use meters for relative altitude distance_sensor: Initialize sensor orientation quaternion to zero Address review comments Add camera plugin for interfacing with mavlink camera protocol
1.11.0
update changelog
lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
extras: port log_transfer
Contributors: Alexander Sherikov, Jaeyoung-Lim, Vladimir Ermakov

2.0.4 (2021-11-04)

Merge branch 'master' into ros2 * master: 1.10.0 prepare release
1.10.0
prepare release
extras: port esc_status plugin
plugins: update metadata xml
mavros: port mav_controller_output plugin
Merge branch 'master' into ros2 * master: (25 commits) Remove reference Catch std::length_error in send_message Show ENOTCONN error instead of crash Tunnel: Check for invalid payload length Tunnel.msg: Generate enum with cog mavros_extras: Create tunnel plugin mavros_msgs: Add Tunnel message MountControl.msg: fix copy-paste sys_time.cpp: typo sys_time: publish /clock for simulation times 1.9.0 update changelog Spelling corrections Changed OverrideRCIn to 18 channels This adds functionality to erase all logs on the SD card via mavlink publish BATTERY2 message as /mavros/battery2 topic Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0 Added NAV_CONTROLLER_OUTPUT Plugin Added GPS_INPUT plugin Update esc_status plugin with datatype change on MAVLink. ...
Merge pull request #1631 from shubham-shahh/ros2 rectified spelling and gramatical errors
Update mission_protocol_base.cpp
Update test_uas.cpp
Update setpoint_raw.cpp
Update param.cpp
Update param.cpp
Update mission_protocol_base.cpp
Update ftp.cpp
Update command.cpp
Update param.py
Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
1.9.0
update changelog
Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: fix lint error
extras: fix build, add UAS::send_massage(msg, compid)
extras: port companion_process_status
style: apply ament_uncrustify --reformat
Merge branch 'master' into ros2 * master: extras: esc_telemetry: fix build extras: fix esc_telemetry centi-volt/amp conversion extras: uncrustify all plugins plugins: reformat xml extras: reformat plugins xml extras: fix apm esc_telemetry msgs: fix types for apm's esc telemetry actually allocate memory for the telemetry information fixed some compile errors added esc_telemetry plugin Reset calibration flag when re-calibrating. Prevent wrong data output. Exclude changes to launch files. Delete debug files. Apply uncrustify changes. Set progress array to global to prevent erasing data. Move Compass calibration report to extras. Rewrite code based on instructions. Remove extra message from CMakeLists. Add message and service definition. Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
plugins: reformat xml
mavros_extras: ported landing_target plugin to ros2
sanitized code
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Marcelino Almeida, Shubham Shah, Val Doroshchuk, Vladimir Ermakov

2.0.3 (2021-06-20)

param: fix Foxy build
Contributors: Vladimir Ermakov

2.0.2 (2021-06-20)

mavros: fix run on Galactic
plugin: param: #1579: fix cpplint warnings
plugin: param: #1579: implement std parameter events
plugin: param: #1579: rewrite plugin to implement standard parameter services
plugin: add ability to set node options
lib: fix lint error
plugin: fix build error
lib: fix reorder warnings
lib: fix ftf compilation warnings
Contributors: Vladimir Ermakov

2.0.1 (2021-06-06)

readme: update source build instruction
Merge branch 'master' into ros2 * master: readme: update 1.8.0 update changelog Create semgrep-analysis.yml Create codeql-analysis.yml
1.8.0
update changelog
Contributors: Vladimir Ermakov

2.0.0 (2021-05-28)

pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fix flake8
pylib: fixing lint erorrs
includes: include tf2 buffer
pylib: fix ftp, add flags to wp
pylib: port mavftp
test: fix ParamDict test, yapf
pylib: fix wp load/dump file
pylib: port mavwp
pylib: fix param plugin
pylib: port mavparam
pylib: add uas settings accessor
pylib: fix set_mode
plugin: fix sys_status ~/set_mode service
pylib: porting mavsys
pylib: fix checkid
pylib: port checkid
pylib: force-create mav script entry point, why console_scripts didn't work?
pylib: small fix for setup
pylib: fix mavcmd trigger
pylib: move cmd check to utils
pylib: move wait flag to global group
pylib: port mavsafety, drop safetyarea as it completely outdated
pylib: fix script path
pylib: wait for services by default
pylib: add local position plugin
pylib: port all mavcmd
pylib: port most of mavcmd
pylib: start porting mavcmd
pylib: fix loading
pylib: port ftp
pylib: port mavlink helpers
pylib: port setpoint plugin
pylib: remove event_lanucher, ros2 should have different way to do the same
pylib: test ParamFile
pylib: test ParamDict
pylib: port param
pylib: add system module
pylib: fix loading
pylib: apply yapf
tests: add simple plan file
msgs: update command codes
pylib: move to support ament_python
pylib: start porting
plugins: fix all cpplint errors
plugins: fix some cpplint errors
test: fix cpplint errors
lib: fix lint errors
lib: fixing cpplint
plugins: waypoint: fix parameter exception
plugins: geofence: port to ros2
plugins: rallypoint: port to ros2
plugins: waypoint: port to ros2
plugins: mission base ported to ros2
plugins: mission: noe step further
mission proto: start port
mavros: make cpplint happy about includes
tests: make cpplint happy
mavros: make cpplint happy
lib: uncrustify
Merge branch 'master' into ros2 * master: ci: github uses yaml parser which do not support anchors. surprise, surprise! ci: install geographiclib datasets extras: #1370: set obstacle aangle offset lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink() extras: distance_sensor: rename param for custom orientation, apply uncrustify px4_config: Add distance_sensor parameters distance_sensor: Add horizontal_fov_ratio, vertical_fov_ratio, sensor_orientation parameters distance_sensor: Fill horizontal_fov, vertical_fov, quaternion
lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
lib: fix misprint
plugins: param: #1567: use parameters qos
lib: more lint...
lib: fix more linter warnings
lib: fix some linter warnings
lib: fix some linter warnings
router: fix lint error, it invalidated after erase
plugins: ftp: disable ll debug
plugins: param: add use_sim_time to excluded ids
plugins: param: set only allowed posparam
plugins: param: ported to ros2
plugins: ftp: port to ros2
plugins: setpoint_position: port to ros2
plugins: setpoint_attitude: port to ros2
Merge branch 'master' into ros2 * master: convert whole expression to mm
convert whole expression to mm
plugins: setpoint_trajectory: port to ros2
plugins: setpoint_velocity: port to ros2
plugins: setpoint_accel: port to ros2
plugins: setpoint_raw: fix sefgault
plugins: setpoint_raw: port to ros2
plugins: imu: port to ros2
plugins: global_position: port to ros2
plugin: local_position: port to ros2
plugins: wind_estimation: port to ros2
plugins: rc_io: port to ros2
plugins: port manual_control
plugins: home_position: port to ros2
plugins: sys_status: update set_message_interval
plugins: sys_status: implement autopilot version request
plugins: port command to ros2
uas: add eigen aligned allocator
plugin: altitude: port to ros2
uas: add convinient helpers
plugins: actuator_control: port to ros2
uas: fix some more lint errors
uas: fix some lint errors
plugin: sys_status: fix some lint errors
plugins: port sys_time
Merge branch 'master' into ros2 * master: 1.7.1 update changelog re-generate all pymavlink enums 1.7.0 update changelog
plugins: sys_status: fix connection timeout
lib: update cog to match ament-uncrustify
plugins: sys_status: fixing mav_type
plugins: sys_state: declare parameters
plugins: sys_state: ported most of things
plugins: sys_status: port most of the parts
plugins: start porting sys_status
plugins: generate description xml
plugins: port dummy
mavros: generate plugin list
Merge branch 'master' into ros2 * master: msgs: re-generate the code lib: re-generate the code plugins: mission: re-generate the code MissionBase: correction to file information MissionBase: add copyright from origional waypoint.cpp uncrustify whitespace add rallypoint and geofence plugins to mavros plugins xml add rallypoint and geofence plugins to CMakeList Geofence: add geofence plugin Rallypoint: add rallypoint plugin Waypoint: inherit MissionBase class for mission protocol MissionBase: breakout mission protocol from waypoint.cpp README: Update PX4 Autopilot references Fix https://github.com/mavlink/mavros/issues/849
uas: test multiple handlers for same message
uas: implement test for plugin message router
uas: fix is_plugin_allowed truth table
uas: initial unittest
uas: implement tf helpers
uas: add parameters callback, testing helper
node: disable intra process messaging because it's throws errors
uas: it's compilling!
uas: still fixing build...
uas: split uas_data.cpp into smaller units
uas: fix misprints
uas: initial implementation porting
uas: style fixes in headers
uas: update plugin base class, add registration macro
uas: begin implementation
router: use common format for address
router: add source id to UAS frame_id
mavros_node: that binary would be similar to old mavros v1 node
router: fix conponent loading
router: add test for Endpoint::recv_message
router: rename mavlink to/from to source/sink, i think that terms more descriptive
router: add diagnostics updater
router: fix incorrect get_msg_byte
router: trying to deal with mock cleanup checks
router: initial import of the test
router: catch open erros on ROSEndpoint
router: catch DeviceError
router: remove debugging printf's
router: weak_ptr segfaults, replace with shared_ptr
router: implement routing, cleanup
tools: remove our custom uncrustify, would use amend-uncrustiry instead
mavros: ament-uncrustify all code. enen unused one
router: implement params handler
router: fix build
router: add handler for parameters and reconnection timer
router: add some code docs, ament-uncrustify
router: implement basic part of Endpoint
lib: add stub code for router
mavros: router decl done
mavros: prototyping router
mavros: update tests
lib: port most of utilities
mnavros: lib: apply ament_uncrustify
lib: port enum_to_string
lib: update sensor_orientation
mavros: add rcpputils
mavros: fix cmake to build libmavros
mavros: begin porting...
Merge pull request #1186 from PickNikRobotics/ros2 mavros_msgs Ros2
Merge branch 'ros2' into ros2
msgs: start porting to ROS2
disable all packages but messages
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Sanket Sharma, Vladimir Ermakov, acxz

1.13.0 (2022-01-13)

Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
Contributors: Vladimir Ermakov

1.12.2 (2021-12-12)

Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Contributors: Oleg Kalachev, Vladimir Ermakov, hs293go

1.12.1 (2021-11-29)

mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.12.0 (2021-11-27)

Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
lib: fix mission frame debug print
Contributors: Alexander Sherikov, Vladimir Ermakov

1.11.1 (2021-11-24)

lib: fix build
Contributors: Vladimir Ermakov

1.11.0 (2021-11-24)

lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
Contributors: Jaeyoung-Lim, Vladimir Ermakov

1.10.0 (2021-11-04)

Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
Contributors: David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Marcelino Almeida, Val Doroshchuk, Vladimir Ermakov

1.9.0 (2021-09-09)

Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: reformat xml
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, Karthik Desai, Vladimir Ermakov

1.8.0 (2021-05-05)

lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
convert whole expression to mm
Contributors: Alexey Rogachevskiy, Thomas, Vladimir Ermakov

1.7.1 (2021-04-05)

re-generate all pymavlink enums
Contributors: Vladimir Ermakov

1.7.0 (2021-04-05)

lib: re-generate the code
plugins: mission: re-generate the code
MissionBase: correction to file information
MissionBase: add copyright from origional waypoint.cpp
uncrustify
whitespace
add rallypoint and geofence plugins to mavros plugins xml
add rallypoint and geofence plugins to CMakeList
Geofence: add geofence plugin
Rallypoint: add rallypoint plugin
Waypoint: inherit MissionBase class for mission protocol
MissionBase: breakout mission protocol from waypoint.cpp
README: Update PX4 Autopilot references Much needed fixes to clarify the project is named correctly throughout the README for the PX4 Autopilot, QGroundControl, and MAVLink
Fix https://github.com/mavlink/mavros/issues/849
Contributors: Charlie-Burge, Ramon Roche, Tobias Fischer, Vladimir Ermakov

1.6.0 (2021-02-15)

fix inconsistency in direction of yaw when using set_position in BODY frames and fix problems with yaw in setponit_raw
Contributors: zhouzhiwen2000

1.5.2 (2021-02-02)

readme: add source install note for Noetic release
Contributors: Vladimir Ermakov

1.5.1 (2021-01-04)

Fix tests for renaming of ECEF cases Introduced in 6234af29
Initialise message structures Uninitialised Mavlink 2 extension fields were sent if the fields were not later set. Initialising the fields to zero is the default value for extension fields and appears to the receiver as though sender is unaware of Mavlink 2. Instances were found with regex below, more may exist: mavlink::[\^:]+::msg::[\^:={]+ ?[\^:={]*;
Contributors: Rob Clarke

1.5.0 (2020-11-11)

mavros/sys_status: Fill flight_custom_version field
mavros: Add override specifiers
mavros: Move ECEF tf enums to separate enum class This avoids a bunch of unhandled switch cases, and should improve type safety a bit.
Contributors: Morten Fyhn Amundsen

1.4.0 (2020-09-11)

mavros: use mavlink::minimal:: after incompatible changes in mavlink package Incompatible change: https://github.com/mavlink/mavlink/pull/1463 Fix: #1483, https://github.com/mavlink/mavlink/issues/1474
fixes based on vooon's review
fix issue what we couldn't set real parameters to 0.0 in mavros
Add error message
Fixed compilation error: publish std_msgs::String, not std::string for gcs_ip
Dispatch GCS IP address
Contributors: Artem Batalov, Marcelino, Morten Fyhn Amundsen, Vladimir Ermakov, Øystein Skotheim

1.3.0 (2020-08-08)

fake_gps.cpp: implement speed accuracy
fake_gps.cpp: Add mocap_withcovariance configuration parameter
fake_gps.cpp: add initial support for GPS_INPUT MAVLink message
apm.launch: Avoid warning: Warning: You are using <arg> inside an <include> tag with the default=XY attribute - which is superfluous. Use value=XY instead for less confusion. Attribute name: respawn_mavros
Added support for MavProxy parameter file format
Ignore read-only parameters and statistics parameters in push operations
fix indentation
transform based on coordinate_frame
wind plugin: fix ArduPilot wind transformation
Contributors: Ben Wolsieffer, Dr.-Ing. Amilcar do Carmo Lucas, Yuan, Yuan Xu

1.2.0 (2020-05-22)

has_capability only works for enums
Uncrustify
Reworked Waypoint plugin to use capabilities_cb Additionally added helper functions has_capability and has_capabilities so that people can use either ints or enums to check if the UAS has a capability. This might make accepting capabilities as a parameter moot though.
Added alias for capabilities enum to UAS
Added alias for capabilities enum to UAS
Added a capabilities change cb queue Plugins can now write functions that they add to the capabilities_cb_vec. These functions will be called only when there is a change to the capabilities themselves not whenever the known status of the fcu_capabilities change. These functions should have a parameter of type mavlink::common::MAV_PROTOCOL_CAPABILITY which is essentially just a uint64_t however being more opinionated is helpful when looking for what the canonical enum names are in the mavlink project header files.
Uncrustify
Fixed Removed Uncrustify Option I'm not sure why this didn't break when I ran uncrustify previously but it seems that the align_number_left option was removed a while ago with this merge request but I may be mistaken https://github.com/uncrustify/uncrustify/pull/1393 I replaced it which align_number_right=true since it seems to be the inverse of align_number_left=true.
Removed deprecated MAV_FRAME values
Removed use of variant in favor of templates Since ROS messages are now the storage type in the node, providing to and from conversion functions is sufficient and can be better expressed with function templates.
Encode factor returns double
Changed encoding factor cog code
Uncrustify changes
Added new parameter to config.yamls
Updated waypoint plugin to support MISSION_ITEM_INT These changes add a new parameter use_mission_item_int, which allows users to prefer the old behavior. These changes also verify that the flight controller supports _INT messages since APM only sends REQUEST_ITEM messages even though it accepts _INT items back. This commit is functional and tested with the APM stack only. PX4 sitl jmavsim threw: WP: upload failed: Command is not supported. FCU: IGN MISSION_ITEM: Busy
Removed x_lat, y_long, z_alt from WP These values seemed to be used due to the fact that double had a greater resolution than float and doubles are used in the ros msg. However they were only ever used for printing. Since the int version of these messages has a greater resolution I figure it is more useful to print the true value in the mavlink message rather than the ros message value
Replaced MISSION_ITEM
add yaw to CMD_DO_SET_HOME
fix local angular velocity
Contributors: Braedon, David Jablonski, Martina Rivizzigno

1.1.0 (2020-04-04)

fixed styling
fixed indent from using spaces
updates apmrover2 modes and allows for arduboat mode changes
mavsafety kill feature for emergency stop
Include trajectory_msgs in CMakeLists.txt This allows build to complete successfully.
Contributors: Anthony Goeckner, Matt Koos, aykutkabaoglu

1.0.0 (2020-01-01)

0.33.4 (2019-12-12)

Replaced estimator status hardcoded definition with cog.
Refactor.
Replaced bool with git add -u as already done.
Added a publisher for estimator status message received from mavlink in sys_status.
Contributors: saifullah3396

0.33.3 (2019-11-13)

package: fix 6fa58e59 - main package depends on trajectory_msgs, not extras
Contributors: Vladimir Ermakov

0.33.2 (2019-11-13)

0.33.1 (2019-11-11)

Add mutex
Initialize type mask
Handle frame with StaticTF
Handle different frames
Set yaw rate from message inputs
Add setpoint trajectory reset interface
Fix trajectory timestamp
Address comments
Pass reference with oneshot timers
Set typemasks correctly
Address more style comments
Address style comments
Visualize desired trajectory
Handle end of trajectory correctly
Remove message handlers
Add setpoint_trajectory plugin template
resolved merge conflict
Contributors: David Jablonski, Jaeyoung-Lim

0.33.0 (2019-10-10)

Add vtol transition service
CleanUp
Update frame name in px4_config to match ROS standards
Enable publishing multiple static tfs at once, publish standard static tfs
moving ACK_TIMEOUT_DEFAULT out of class
cog: Update all generated code
mavros/src/plugins/command.cpp: one more style fix
mavros/src/plugins/command.cpp: style fixes
mavros/src/plugins/command.cpp: command_ack_timeout ms -> s
mavros/src/plugins/command.cpp: command_ack_timeout_ms int -> double
mavros/src/plugins/command.cpp: uncrustify
mavros/src/plugins/command.cpp: parameter for command's ack timeout Sometimes commands take more time than default 5 seconds. Due to a low bandwidth of UART and a high rate of some mavlink streams. To eliminate this problem it's better to provide the parameter to configure the command's ack timeout.
added manual flag to mavros/state
Use GeoPoseStamped messages
Fix build
Add callback for SET_POSITION_TARGET_GLBOAL_INT
Contributors: David Jablonski, Jaeyoung-Lim, Sergei Zobov, Vladimir Ermakov, kamilritz

0.32.2 (2019-09-09)

uncrustify
Add boolean to check if IMU data has been received Follow sensor_msgs/Imu convention when data not present
Uncrustify the GPS_GLOBAL_ORIGIN handler in global_position
Fix global origin conversion to ecef (was using amsl where hae was required) Summary: Fix global origin conversion to ecef (was using amsl where hae was required)
moved code to end of function
added amount of satellites to global_position/raw/
Contributors: David Jablonski, Nick Steele, Rob Clarke, Robert Clarke

0.32.1 (2019-08-08)

uncrustify
Removed tf loop
made small edit to handle augmented gps fix
added a check for gps fix before setting origin for global_position/local odometry topic
Contributors: Eric, Lucas Hill

0.32.0 (2019-07-06)

use direclty radians in yaml files
A simple typo error has fixed. (#1260)
- fix: a typing error "alredy" to "already"
- Fix: typo error (helth -> health)
Contributors: Martina Rivizzigno, 강정석

0.31.0 (2019-06-07)

readme: fix udp-pb formatting
launch config: landing_target: fix and improve parameter list
remove duplicated landing_target parameters
enum_to_string: simplify landing_target_type_from_str
enum_to_string: update enumerations and checksum
extras: landing target: improve usability and flexibility
remove landing_target from blacklist
update to use pymavlink generator
px4_config: landing_target: minor correction
mav_frame: add frames of reference to wiki page; reference them on config
landing_target: removed child_frame_id
landing_target: minor code tweak/restructure
landing_target: uncrustify code
landing_target: updated to TF2 and Eigen math
landing_target: adapted to latest master code
landing_target: added timestamp and target size fields [!Won't compile unless a new mavlink release!]
landing_target: first commit
Switch to double-reflections instead of axes-reassignments
specialize transform_frame_ned_enu and transform_frame_enu_ned for type Vector3d such that input vectors containing a NAN can be correctly transformed
Update README.md update misspelling
Contributors: Julian Kent, Martina Rivizzigno, Shingo Matsuura, TSC21, Vladimir Ermakov

0.30.0 (2019-05-20)

Filter heartbeats by component id as well This addresses #1107 and #1227, by filtering incoming heartbeats by component ids before publishing the state.
mavros/src/plugins/command.cpp: log if command's wait ack timeout (#1222)
- mavros/src/plugins/command.cpp: log if command's wait ack timeout
- mavros/src/plugins/command.cpp: log timeout in wait_ack_for
local_position fix #1220: initialize flags
plugin waypoint: fix spelling
Fix leading space before setpoint_raw This causes an error when running `roslaunch`: ` error loading <rosparam> tag: file /opt/ros/kinetic/share/mavros/launch/apm_config.yaml contains invalid YAML: while parsing a block mapping in "<string>", line 4, column 1: startup_px4_usb_quirk: false ^ expected <block end>, but found '<block mapping start>' in "<string>", line 103, column 2: setpoint_raw: ^ XML is <rosparam command="load" file="$(arg config_yaml)"/> The traceback for the exception was written to the log file`
global_position.cpp: spell in comment
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Josh Veitch-Michaelis, Nico van Duijn, Sergey Zobov, Vladimir Ermakov

0.29.2 (2019-03-06)

0.29.1 (2019-03-03)

All: catkin lint files
Update apm_config.yaml Setting thrust_scaling in the setpoint_raw message (in my case, to use /mavros/setpoint_raw/attitude) Without it, when using Gazebo, get the following problem "Recieved thrust, but ignore_thrust is true: the most likely cause of this is a failure to specify the thrust_scaling parameters on px4/apm_config.yaml. Actuation will be ignored." from the function void attitude_cb in setpoint_raw.cpp (http://docs.ros.org/kinetic/api/mavros/html/setpoint__raw_8cpp_source.html)
cmake: fix #1174: add msg deps for package format 2
Issue #1174 Added dependency for mavros_msgs and mavros
Contributors: Adam Watkins, KiloNovemberDelta, Pierre Kancir, Vladimir Ermakov

0.29.0 (2019-02-02)

Fix broken documentation URLs
px4_config: set the thrust_scaling to one by default
local_position: add an aditional topic for velocity on the local frame
Merge pull request #1136 from angri/param-timeout Request timed up parameters as soon as possible
Merge branch 'master' into param-timeout
plugin:param added logging regarding rerequests
plugin:param fixed second and consequent timeouts in requesting list
mavros_extras: Wheel odometry plugin updated according to the final mavlink WHEEL_DISTANCE message.
mavros_extras: Wheel odometry plugin fixes after CR.
mavros_extras: Wheel odometry plugin added.
mavsys: add do_message_interval
sys_status: add set_message_interval service
lib: fix MAV_COMPONENT to_string
lib: update sensor orientations
plugin:param rerequest timed out parameters asap Avoid vaiting for the next timeout
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Pavlo Kolomiiets, Randy Mackay, TSC21, Vladimir Ermakov, angri

0.28.0 (2019-01-03)

plugin:param: publish new param value
Merge pull request #1148 from Kiwa21/pr-param-value param plugin : add msg and publisher to catch latest param value
sys_status: fix build
sys_state: Small cleanup of #1150
VehicleInfo : add srv into sys_status plugin to request basic info from vehicle
sys_status: Fix #1151 bug - incorrect hex print
plugins:sys_status: Update diag decoder
frame_tf: mavlink_urt_to_covariance_matrix: make matrix symetrical
uas_data: add comment on the reverse tf fcu_frd->fcu
odom: add ODOMETRY handler and publisher
Handle LOCAL_POSITION_NED_COV messages, add pose_cov, velocity_cov, accel topics
sys_status : add MAV_TYPE as a parameter
rc_io: extend handle_servo_output_raw to 16 channels
param plugin : add msg and publisher to catch latest param value
plugin:command: Update for C++11, style fix Signed-off-by: Vladimir Ermakov <<vooon341@gmail.com>>
Fixed NavSatFix bug in mavcmd takeoffcur and landcur
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940 Remove unnecessary functools
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940
Fix mavros/param.py to work in python2 and python3, #940
correct the to_string function
set value back to 30
add autogenerated to_string function
style clean up
Use component_id to determine message sender
change message name from COMPANION_STATUS to COMPANION_PROCESS_STATUS
change message to include pid
Change from specific avoidance status message to a more generic companion status message
add plugin to receive avoidance status message
Added RPYrT and uncrustified. Pushing version without spaces. Version with tabs? Fixed all? Finally fixed. Fixed requestes by \@vooon Fixed a def. Fixed log format. Fixed time for log.
apm_config: enable timesync and system for ardupilot
Contributors: Dan Nix, Gregoire Linard, Oleg Kalachev, Randy Mackay, TSC21, Vladimir Ermakov, baumanta, fnoop, pedro-roque

0.27.0 (2018-11-12)

fix: a typing error "alredy" to "already"
plugins #1110 #1111: add eigen aligment to plugins with eigen-typed members
plugins: fix style
with this fix ,it will avoid eigen error on 32 bits system
Add service to send mavlink TRIGG_INTERVAL commands Adapt trigger_control service to current mavlink cmd spec. Add a new service to change trigger interval and integration time
launch: fix #1080: APM now support mocap messages
Contributors: Gaogeolone, Moritz Zimmermann, Vladimir Ermakov, rapsealk

0.26.3 (2018-08-21)

test: Fix sensor orientation. RPY 315 was removed in recent mavlink. https://github.com/mavlink/mavlink/commit/3d94bccfedc5fc7f2ffad247adecff0c2dc03501
lib: update generated entries
Contributors: Vladimir Ermakov

0.26.2 (2018-08-08)

Moving gps_rtk to mavros_extras
Update copyright name
Updating the gps_rtk plugin to fit mavros guidelines:
- Updating max_frag_len to allow changes in size in MAVLink seamlessly
- Using std::copy instead of memset
- Zero fill with std::fill
- Preapply the sequence flags
- Use of std iterators
- Add the maximal data size in the mavros_msgs
uncrustify
Update comments for the renaming
Renaming the GPS RTK module, Adding fragmentation, Changing the RTCM message
RTK Plugin; to forward RTCM messages Signed-off-by: Alexis Paques <<alexis.paques@gmail.com>>
Contributors: Alexis Paques

0.26.1 (2018-07-19)

setpoint_velocity: fix yaw rate setpoint rotation
lib fix #1051: Add APM BOAT modes support. Currently SURFACE_BOAT uses same code as Rover2, just different vehicle type.
Contributors: TSC21, Vladimir Ermakov

0.26.0 (2018-06-06)

lib: add tunable timeout to gcs_quiet_mode
udp bridge: pass only HEARTBEATs when GCS is offline
sys_time : add advanced timesync algorithm
libmavconn: add scheme for permanent UDP broadcasting
GPS accuracy wo approximations (#1034)
- GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT.
* GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT if on mavlink v2.0, or on DOP values otherwise.
- GPS accuracy update.
Contributors: Mohammed Kabir, Oleg Kalachev, Pavlo Kolomiiets, Vladimir Ermakov

0.25.1 (2018-05-14)

0.25.0 (2018-05-11)

wind plugin: uncrustify
use eigen and tf conversions (fix conventions), sync timestamp, fix typos
add wind estimation plugin
launch: fix style and keep apm.launch consistent with px4.launch
Updated apm.launch to forward new fcu_protocol parameter
glob pos plugin: correct gps velocity convention (NEU->ENU)
Split temperature publisher.
setpoint_raw: correct yaw transform; remove yaw transform methods
extras: odom: improve way frame naming is handled
extras: update odom plugin to send ODOMETRY msgs
lib: enum_to_string: update enums
setpoint_attitude: rename topic from target_attitude to attitude
imu plugin: fix pressure units
imu plugin: publish differential pressure (#1001)
- imu plugin: publish differential pressure
- imu plugin: fix doxygen snippets
lib: add PX4 mode AUTO.PRECLAND
extras: add covariance parsing to vision_speed_estimate (#996)
Contributors: Anthony Lamping, Nuno Marques, Oleg Kalachev, Sondre Engebråten, TSC21, Thomas Stastny, Timo Hinzmann, Vladimir Ermakov

0.24.0 (2018-04-05)

frame_tf: add assertion over size of covariance matrix URT
extras: update vision_pose_estimate plugin so it can send the covariance matrix also
plugins fix #990: Explicitly cast boolean values. Else someone can shoot in his foot.
Update Readme for serial0: receive: End of file
launch : remove vision_pose_estimate from blacklist on ardupilot
plugin: ftp: fix typo
Add ability to send STATUSTEXT messages
Contributors: Anass Al, Andrei Korigodski, Pierre Kancir, TSC21, Vladimir Ermakov

0.23.3 (2018-03-09)

lib: simplify geolib cmake module, try to fix CI
Contributors: Vladimir Ermakov

0.23.2 (2018-03-07)

launch: add optional respawn_mavros arg
Contributors: Anthony Lamping

0.23.1 (2018-02-27)

lib: Update to_string
plugin fix #957: set MISSION_ITEM::mission_type
Contributors: Vladimir Ermakov

0.23.0 (2018-02-03)

launch fix #935: use orientation convention from message descr https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR
Blacklist HIL for APM since it is not relevent
add MAV_DISTANCE_SENSOR enum to_string
px4: add fcu_protocol argument to choose mavlink v1.0 or v2.0 to start mavros in node.launch
node: add fcu_protocol parameter to be able to choose mavlink v1.0 or v2.0 when starting mavros node
mavros: default fcu_protocol parameter to mavlink v2.0
manual_control: [send]{.title-ref} topic for sending MANUAL_CONTROL message to FCU
imu plugin: fix doxygen comments
imu plugin: change sufixes to match the body coordinate frame
Fix vision odom.
IMU plugin: add raw IMU conversion for PX4
mention rotation convention and fix NED to ENU description
Contributors: ChristophTobler, James Goppert, James Mare, Martina, Oleg Kalachev, TSC21, Vladimir Ermakov

0.22.0 (2017-12-11)

scripts: Use non global mavros-ns allow to work __ns parameter
update script to support cycle_time on cmd trigger_control
plugin: Fix setpoint_position code style
Global position setpoint plugin (#764)
- fix fake gps rate
- fix
- fix plugin_list
- fix
- add global position setpoint plugin
- add plugin to CMakeList
- fix bugs
- add altitude
- move GPS setpoints to setpoint_position plugin
- fix gps setpoint subscriber name
- move GeographicLib::Geocentric earth inside callback
- add warning msg if timestamp is not updates
- Fix ROS_WARN
doc: move contributing.md to root
tools: add cogall.sh
split contribuion guide to GH file
Readme: add help for cog (#876)
Setpoints: remove mav_frame string for local variable
Setpoints: add params for initial frame
Setpoint_velocity: uncrustify
Setpoint_position: uncrustify
Setpoints: add service to specify frame
Fix typo #867
Improve output of script, replace which with more reliable hash #867
Ensure dataset files exist, not just directories #867
Remove previous duplicated link
Fixed issue link.
Fixed section header. Ready for troubleshooting PR.
Pushing troubleshooting section for Mavros.
Contributors: Mohamed Abdelkader Zahana, Pierre Kancir, Vladimir Ermakov, andresR8, fnoop, khancyr, pedro-roque

0.21.5 (2017-11-16)

Yet another formatting.
px4_config.yaml updated. Minor formatting update.
global_position/raw/gps_vel should still be in earth fixed frame.
GPS fix's frame_id changed to body-fixed.
global_position/local angular twist changed from NANs to zeroes to be able to show in RViz.
readme: source install: add note on fetching all the deps
geolib_dataset: script: fix interpreter
Contributors: Pavlo Kolomiiets, TSC21

0.21.4 (2017-11-01)

lib ftf: update dox, uncrustify
ENU<->ECEF transforms fix. (#847)
- ENU<->ECEF transforms fix.
- Changes after review. Unit tests added.
test: fix copy-paste error in frame_tf
Contributors: Vladimir Ermakov, pavloblindnology

0.21.3 (2017-10-28)

Update geographiclib script to work with zsh
scripts: fix typos and improve help messages consistency commad -> command safty -> safety Start help messages with a capital letter.
uncrustify
plugin waypoints: Use stamped message
plugin waypoint: Add MISSION_ITEM_REACHED publisher * Changes to be committed: modified: mavros/src/plugins/waypoint.cpp modified: mavros_msgs/CMakeLists.txt new file: mavros_msgs/srv/WaypointReached.srv
- change reached service name to classic topic
- Changed reached service to topic
- removed unused file
- Removed WaypointReached service
- Change reached message type to std_msgs::UInt16
- Delete WaypointReached.srv
- Restore WaypointPush.srv
- Fix tipo
- Update waypoint.cpp
launch: sync APM and PX4 configs
add debug plugin
Contributors: Jonas Vautherin, Patrick Jose Pereira, TSC21, Vladimir Ermakov, gui2dev

0.21.2 (2017-09-25)

plugin: setpoint_attitude: Finish Andres fix
fix: attitude callback trigger
lib uas: remove inline on not inlined method
odom: general fixes and code tighting
Use tf2 for odom plugin and set reasoable defaults for local pos cov.
Contributors: Andres Rengifo, James Goppert, TSC21, Vladimir Ermakov

0.21.1 (2017-09-22)

mavsys: mode: add solutions for setting AUTO.MISSION and AUTO.LOITER modes (#814)
- mavsys: add notes on how to change mode to AUTO.MISSION on PX4 Pro
- enum_to_string: update enums
- mavsys: mode: move AUTO submodes info to argparser
- sys_status: leave note that MAV_TYPE_ONBOARD_CONTROLLER will be supported on PX4
- mavsys: mode: add note on changing to AUTO.LOITER
Solve the subscriber initialization
lib frame_tf: Add to_eigen() helper
Contributors: Alexis Paques, Nuno Marques, Vladimir Ermakov

0.21.0 (2017-09-14)

plugin waypoint: Uncrustify, update init list
lib: Add to_sting for MAV_MISSION_RESULT
plugin waypoint: Rename current seq in wp list message
waypoint: Publish current waypoint seq
waypoint partial: Check parameter first with hasParam
waypoint partial: Documentation updates
waypoint: Document mid level helpers and fix indenting on rx handlers
waypoint: Document rx handlers
waypoint partial: Move FCU detection to connection_cb
waypoint partial: recommended changes to mavwp
waypoint partial: code style cleanup
waypoint partial: enable only on apm but allow override with parameter
waypoint partial: Handle case when partial push is out of range with local list and uncrustify
waypoint partial: enable only on apm through yaml
waypoint partial: stopped partial push from clearing parts of local waypoint copy
waypoint partial: uncrustify
waypoint partial: extend mavwp cli tool to do partial updating in push
waypoint partial: extended push in waypoint plugin to implement push partial
waypoint: uncrustify
waypoint: handle invalid_sequence mission_ack to prevent TXWP failure
Partial waypoint: added wp_transfered to push partial service response
Partial waypoint: renamed mavwp partial load arguments for consistency
Partial waypoint: fixed end index and added partial tx state
Partial Waypoint: handle service call in waypoint plugin
Partial waypoint: added partial updating to mavwp
imu_plugin: remove documentation of override func
imu plugin: uncrustify
imu plugin: don't be so explicit about in/out params
imu plugin: fix indentation
imu plugin: update setup_covariance method to use Eigen capabilities
imu plugin: use simpler format for one line comments
imu plugin: add code snippets to Doxygen documentation
IMU and attitude: general clean-up
CMake: explicitly link the atomic library (#797) For arm & mips architecture, the linker must explicitly be asked to link the atomic library (with [-latomic]{.title-ref}). Otherwise, the linking fails with: ` | devel/lib/libmavros.so: undefined reference to `__atomic_load_8' | devel/lib/libmavros.so: undefined reference to `__atomic_store_8' | collect2: error: ld returned 1 exit status[ Linking `atomic]{.title-ref} unconditionally as library is strictly needed only for arm & mips, but it seems not to imply any further differences with other architectures. Hence, this commit simply adds [atomic]{.title-ref} unconditionally for a uniform handling of all machine architectures. This is an alternative solution to the proposed solution in #790. The issue was discovered cross-compiling mavros in meta-ros, the OpenEmbedded layer for ROS. Some further pointers are available at: https://github.com/bmwcarit/meta-ros/issues/525 Signed-off-by: Lukas Bulwahn <<lukas.bulwahn@gmail.com>>
setpoint_attitude: privatize message_filters subscribers
Updating comments for PX4Flow
Removing copter_visualization from the yaml files. Adding odometry to apm_config Changing frame_id to base_link for vibration
Update the apm_config and px4flow_config files
Update configuration from mavros_extras
Updating default settings from px4.yaml
- global_position/tf/send default to false
- imu, checked
- local_position/tf/send default to false
- local_position/tf/send_fcu default to false
- mission/pull_after_gcs default to true
Update time reference to fcu Adding global_frame_id: 'earth' to apm_config
fcu to base_link
Changing fcu_utm to fcu
Solving default frame consistency in config files
Contributors: Alexis Paques, James Mare, James Stewart, Lukas Bulwahn, TSC21, Vladimir Ermakov

0.20.1 (2017-08-28)

0.20.0 (2017-08-23)

update generated code in plugins
update generated code
geolib: datasets: warn when not installed; update install script; launch SIGINT when not installed (#778)
- geolib: make dataset install mandatory
- travis_ci: install python3; use geographiclib-datasets-download
- CMakeLists.txt: set datasets path
- travis_ci: create a path for the geoid dataset
- travis_ci: remove python3 install
- CMakeLists.txt: remove restriction regarding the geoid model
- CMakeLists.txt: only launch a warning if the geoid dataset is not installed
- CMakeLists.txt: simplify dataset path search and presentation
- scripts: install_geographiclib_datasets becomes version aware
- uas_data: dataset init: shutdown node if exception caught
- README: update GeographicLib info; geolib install script: check for more OS versions
- uas_data: small typo fix
- install_geolib_datasets: some fix
- CMakeLists.txt: be more clear on geoid dataset fault
- CMakeLists: push check geolib datasets to a cmake module
- travis_ci: update ppa repository
- uas_data: shutdown node and increase log level instead
- install_geographiclib_datasets: simplify script to only check download script version available
- uas_data: remove signal.h import
HIL Plugin
- add HilSensor.msg, HilStateQuaternion.msg, and add them in CMakeLists.txt
- Add hil_sensor.cpp plugin to send HIL_SENSOR mavlink message to FCU.
- fix HilSensor.msg. Make it more compact.
- Fix HilStateQuaternion.msg. Make it more compact.
- Add hil_state_quaternion plugin
- fix files: some variable names were wrong+some syntax problems
- fix syntax error in plugin .cpp files, make msg files match corresponding mavlink definitions
- fix plugin source files
- fix syntax
- fix function name. It was wrong.
- add HIL_GPS plugin
- add HilGPS.msg to CMakeList
- fix missing semicolon
- fix call of class name
- Add ACTUATOR_CONTROL_TARGET MAVLink message
- fix code
- increase number of fake satellites
- control sensor and control rates
- change control rate
- change control rate
- fix fake gps rate
- fix
- fix plugin_list
- fix
- remove unnecessary hil_sensor_mixin
- update HilSensor.msg and usage
- update HilStateQuaterion.msg and usage
- redo some changes; update HilGPS.msg and usage
- update hil_controls msg - use array of floats for aux channels
- merge actuator_control with actuator_control_target
- remove hil_sensor_mixin.h
- update actuator_control logic
- merge all plugins into a single one
- delete the remaining plugin files
- update description
- redo some changes; reduce LOC
- fix type cast on gps coord
- add HIL_OPTICAL_FLOW send based on OpticalFlowRad sub
- update authors list
- update subscribers names
- refactor gps coord convention
- add HIL_RC_INPUTS_RAW sender; cog protec msg structure and content
- apply correct rc_in translation; redo cog
- apply proper rotations and frame transforms
- remote throttle
- fix typo and msg api
- small changes
- refactor rcin_raw_cb
- new refactor to rcin_raw_cb arrays
- update velocity to meters
- readjust all the units so to match mavlink msg def
- update cog
- correct cog conversion
- refefine msg definitions to remove overhead
- hil: apply frame transform to body frame
apm_config.yaml: change prevent collision in distance_sensor id
Extras: add ardupilot rangefinder plugin
msgs fix #625: Rename SetMode.Response.success to mode_sent
[WIP] Plugins: setpoint_attitude: add sync between thrust and attitude (#700)
- plugins: setpoint_attitude: add sync between throttle and attitude topics to be sent together
- plugins: typo correction: replace throttle with thrust
- plugins: msgs: setpoint_attitude: replaces Float32Stamped for Thrust msg
- plugins: setpoint_attitude: add sync between twist and thrust (RPY+Thrust)
- setpoint_attitude: update the logic of thrust normalization verification
- setpoint_attitude: implement sync between tf listener and thrust subscriber
- TF sync listener: generalize topic type that can be syncronized with TF2
- TF2ListenerMixin: keep class template, use template for tf sync method only
- TF2ListenerMixin: fix and improve sync tf2_start method
- general update to yaml config files and parameters
- setpoint_attitude: add note on Thrust sub name
- setpoint_attitude: TF sync: pass subscriber pointer instead of binding it
apm_config: add mavros_extras/fake_gps plugin param config
px4_config: add gps_rate param
frame tf: move ENU<->ECEF transforms to ftf_frame_conversions.cpp
extras: mocap_fake_gps->fake_gps: generalize plugin and use GeographicLib possibilites
UAS: Share egm96_5 geoid via UAS class
Move FindGeographicLib.cmake to libmavconn, that simplify installation, simplify datasets instattator
Use GeographicLib tools to guarantee ROS msg def and enhance features (#693)
- first commit
- Check for GeographicLib first without having to install it from the beginning each compile time
- add necessary cmake files
- remove gps_conversions.h and use GeographicLib to obtain the UTM coordinates
- move conversion functions to utils.h
- geographic conversions: update CMakeLists and package.xml
- geographic conversions: force download of the datasets
- geographic conversions: remove unneeded cmake module
- dependencies: use SHARED libs of geographiclib
- dependencies: correct FindGeographicLib.cmake so it can work for common Debian platforms
- CMakeList: do not be so restrict about GeographicLib dependency
- global position: odometry-use ECEF instead of UTM; update other fields
- global position: make travis happy
- global position: fix ident
- global_position: apply correct frames and frame transforms given each coordinate frame
- global_position: convert rcvd global origin to ECEF
- global_position: be more explicit about the ecef-enu transform
- global position: use home position as origin of map frame
- global position: minor refactoring
- global position: shield code with exception catch
- fix identation
- move dataset install to script; update README with new functionalities
- update README with warning
- global_position: fix identation
- update HomePosition to be consistent with the conversions in global_position to ensure the correct transformation of height
- home|global_position: fix compile errors, logic and dependencies
- home position: add height conversion
- travis: update to get datasets
- install geo dataset: update to verify alternative dataset folders
- travis: remove dataset install to allow clean build
- hp and gp: initialize geoid dataset once and make it thread safe
- README: update description relative to GeographicLib; fix typos
- global position: improve doxygen references
- README: update with some tips on rosdep install
[WIP] Set framework to define offset between global origin and current local position (#691)
- add handlers for GPS_GLOBAL_ORIGIN and SET_GPS_GLOBAL_ORIGIN
- fix cast of encoding types
- refactor gps coord conversions
- uncrustify
- global_position: add LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET handler
- global_position: add trasform sender for offset
- global_origin: refactor covariance matrix
- global_position: update copyright
- global_position: add initial support to REP 105
- px4_config: global_position: update frame description
- global_position: correct identation
- global position: be consistent with frame and methods names (ecef!=wgs84, frame_id!=global_frame_id)
- global_position: updates to code structure
- global_position: fix identation
lib: frame_tf: Style fix
extras: odom: Minor fixes
extras: Add odom plugin
lib: frame_tf: Add support for 6d and 9d covariance matrices
Contributors: James Goppert, Nuno Marques, TSC21, Vladimir Ermakov, khancyr

0.19.0 (2017-05-05)

launch: remove setpoint-attitude from apm blacklist
lib: cleanup in enum_to_string
extras: Add ADSB plugin
plugin: home_position: Log poll
plugin: home_position: Log report
plugin #695: Fix plugin
plugin: Add home_position
Added SAFETY_ALLOWED_AREA rx handler (#689)
- Added SAFETY_ALLOWED_AREA rx handler and publish PolygonStamped msg with the 2 points
- add resize to array to avoid sigfault
lib: Fix millis timesync passthrough
Plugin: Add unstamped Twist subscriber for setpoint_velocity
uas: Move timesync_mode enum to utils.h + fixes That enum are used for utils too, but forward declaration of class internal enum is impossible.
sys_time: Add timesync mode selection parameter.
sys_time : add multi-mode timesync
uas : add multi-mode timesync
uas : add multi-mode timesync
launch fix #670: Add configuration of distance_sensor plugin for APM
Contributors: Kabir Mohammed, Nuno Marques, Pierre Kancir, Randy Mackay, Vladimir Ermakov

0.18.7 (2017-02-24)

readme: Add serial-hwfc:// proto
trigger interface : rename to cycle_time to be consistent with PX4
Contributors: Kabir Mohammed, Vladimir Ermakov

0.18.6 (2017-02-07)

lib #626: Porting of PR #650 - Fix OSX pthread set name.
uas fix #639: Remove Boost::signals2 from UAS
Plugins: system_status change status field to system_status Add comment to State.msg for system_status enum
Plugins: add system_status to state message
Contributors: Fadri Furrer, Pierre Kancir, Vladimir Ermakov

0.18.5 (2016-12-12)

lib: update ArduPilot modes
Contributors: Randy Mackay

0.18.4 (2016-11-11)

lib: Add ArduSub modes
readme: Fix mavlink rosinstall_generator call
mavros: README.md: its -> it's Here "it's" is a short form for "it is".
add hil_actuator_controls mavlink message
lib: Make cog.py scrips compatioble with Py3
plugin:sys_status: Add logging health report
Update README for all packages
Update README.md Fix instructions: Only the Kinetic distro actually works for MAVLink 2.0
Contributors: Beat Kung, Georgii Staroselskii, Lorenz Meier, Vladimir Ermakov

0.18.3 (2016-07-07)

plugin:param: Use mavlink::set_string() helper
Update README.md
Update README.md Fix very confusing instructions mixing steps.
Update README.md
Update README.md
python #569: convert_to_rosmsg() support for 2.0. NO SIGNING.
python #569: Update mavlink.convert_to_bytes()
Contributors: Lorenz Meier, Vladimir Ermakov

0.18.2 (2016-06-30)

plugin:sys_status: Fix STATUSTEXT log prefix
Contributors: Vladimir Ermakov

0.18.1 (2016-06-24)

lib: Fix base mode flag check
plugins: Move pluginlib macros.h to tail
plugin:param fix #559: Ignore PX4 _HASH_CHECK param
Contributors: Vladimir Ermakov

0.18.0 (2016-06-23)

lib #439: MAV_CMD to_string is not required.
plugin:sys_status #458: Hanlde BATTERY_STATUS (PX4)
plugin:sys_status fix #458: Use sensor_msgs/BatteryState message. Minimal data, for all other need to handle BATTERY_STATUS.
plugin:command fix #561: PX4 now sends COMMAND_ACK. And like APM do not check confirmation field. :)
readme #544: add udp-b://@ URL
plugin:hil_controls: Update plugin API
Merge branch 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros into pvechersky-feature/hil_controls_plugin * 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros: Adding anchor to the HIL_CONTROLS message reference link Ran uncrustify on hil_controls plugin Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation Added a plugin that publishes HIL_CONTROLS as ROS messages
node: fix subscription message type checks
plugin: use mavlink::to_string() for std::array<char, N>
readme: update CI, no more MAVLINK_DIALECT
plugin:waypoint: Fix target id's on MISSION_ITEM
node: Add ~fcu_protocol parameter
Ran uncrustify on hil_controls plugin
Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation
node: set gcs_url on internal GCS bridge diag hardware Id
plugins: Use UAS::msg_set_target()
Added a plugin that publishes HIL_CONTROLS as ROS messages
lib: PX4 add AUTO.FOLLOW_TARGET
mavros: Update tests
extras: Update UAS
UAS: Update plugins for FTF module
UAS: move enum stringify functions
lib: Generate MAV_SENSOR_ORIENTATION
UAS: move MAV_SENSOR_ORIENTATION out
UAS: Move transformation utilities to ftf module
plugin:rc_io: Fix log printf-format warning
make GCC 4.8 happy. (travis)
gcs_bridge: done
param:ftp: Update API
plugin:param: Works. Tested on APM
plugin:param: Update, almost work
plugin:waypoint: Fix Item - ROS binding
Message type mismatch code do not work
plugin:waypoint: Update API
plugin:sys_time: Update API
plugin:sys_status: Update API
plugin:setpoint_raw: Update API
plugin:setpoint_attitude: Update API
plugin:setpoint_accel: Update API
plugin:setpoint_velocity: Update API
plugin:setpoint_position: Update API
plugin:vfr_hud: Update API
plugin:safety_area: Update API
plugin:rc_io: Update API
plugin:manual_control: Update API, fix uas init
plugin:local_position: Update API
plugin:imu_pub: Update API
plugin:global_position: Update API
mavros: make_handle() this shouldn't be const
plugin:common: Update API
plugin:altitude: uncrustify
plugins: Rutine sed + fix misprint
plugin:altitude: Update API
plugins: Automatic replacement of routine API changes (sed)
plugin:actuator_control: Update API
plugin:3dr_radio: Update API
node: Update plugin loading and message routing
node: type_info -> SIGSEGV
node: prepare new plugin loading
node: Rename plugib base class - API incompatible to old class
labmavconn: finding sigsegv
Contributors: Pavel, Vladimir Ermakov

0.17.3 (2016-05-20)

libmavconn #543: support build with mavlink 2.0 capable mavgen
node: Remove warning about MAVLINK_VERSION redefine
Fix bug with orientation in setpoint_raw plugin Fixes a bug where the ned_desired_orientation was not actually passed into set_attitude_target. Instead, the desired_orientation (wrong frame) was passed.
Contributors: Justin Thomas, Vladimir Ermakov

0.17.2 (2016-04-29)

Update README.md
Update README.md Updated / completed examples.
Update README.md
Fix for kinetic std::isnan.
Contributors: James Goppert, Lorenz Meier

0.17.1 (2016-03-28)

lib: Add QLAND mode of APM:Plane https://github.com/mavlink/mavlink/commit/a0ed95c3a7d97a8f8d86ce3f95c4bf269f439c46
Update contributing guide We forgot to mention uncrustify commit.
Treat submarine vehicles like copter vehicles
Contributors: Josh Villbrandt, Vladimir Ermakov

0.17.0 (2016-02-09)

update README
rebased with master
Fixed ROS_BREAK
Updates for ROS_BREAK and code style
Nitpicks and uncrustify
Updated frame transformations and added odom publisher to local position plugin
Contributors: Eddy, Vladimir Ermakov, francois

0.16.6 (2016-02-04)

node fix #494: Report FCU firmware type in rosonsole log
scripts fix #478: Remove guided_enable garbage. I'm missed this when do #407.
Contributors: Vladimir Ermakov

0.16.5 (2016-01-11)

scripts: mavwp #465: Remove WaypointGOTO from scrips and python library
node: Report mavlink package version
lib: Add APM:Plane QuadPlane modes. Sync with: https://github.com/mavlink/mavlink/commit/1fc4aef08a54130f297943c246f95b8c7e37b1bf
readme: pixhawk dialect removed.
Contributors: Vladimir Ermakov

0.16.4 (2015-12-14)

scripts: checkid: be always verbose, add --follow
scripts: fix copyright indent
scripts: mavcmd: Fix bug: param7 not passed to service call!
scripts #382: Add ID checker script. It is not complete, but i hope it helps in current state.
scripts: mavcmd: Add support for broadcast requests
event_launcher: fix bug: Trigger service server is not saved in Launcher Also fixes: environment variables may contain ~ (user dir) in expansion.
using timestamp from mavlink message
Update mavlink message documentation links
lib: update MAV_TYPE stringify
lib: Add RATTITUDE PX4 mode
remove "altitude_" prefix from members
updated copyright
implemented altitude plugin
Contributors: Andreas Antener, Vladimir Ermakov

0.16.3 (2015-11-19)

use safe methods to get imu data in local_position plugin
Contributors: Andreas Antener

0.16.2 (2015-11-17)

transform yaw and yaw rate from enu to ned
Contributors: Andreas Antener

0.16.1 (2015-11-13)

python: fix import error of goto service
don't warn anymore about px4 not supporting rc_io
Contributors: Andreas Antener, Vladimir Ermakov

0.16.0 (2015-11-09)

lib: Update ArduCopter mode list
plugin: sys_status #423: set_mode set arming and HIL flags based on previous state
lib #423: Save base_mode in UAS.
Finalized local position topic names
readme: add link to catkin-tools docs
readme #409: merge mavlink and mavros installation instruction
Fixed redundant rotation of IMU data and redundant orientation data
plugin: setpoint_raw fix #418: add attitude raw setpoint Related #402.
Added velocity output of FCU's local position estimate to ROS node
plugin: sys_status fix #417: remove APM statustext quirk
plugin: waypoint fix #414: remove GOTO service. It is replaced with more standard global setpoint messages.
plugin: setpoint_raw fix #415: add global position target support Related to #402.
plugin: command fix #407: remove guided_enable sevice
plugin: setpoint_raw #402: implement loopback.
plugin: setpoint_raw #402: Initial import.
readme fix #410: use only catkin tool
readme: add defaults for URL
pass new extended state to ros
python: add util to convert pymavlink message to Mavlink.msg
python: convert input to bytearray
python: add payload convertion util
gcs_bridge #394: enable both UDPROS and TCPROS transports
EL: add try-except on handlers
event_launcher: show logfile path
event_launcher #386: expand shell vars for logfile
Mavros library depends on mavros_msgs headers Adding this dependency makes sure that mavros_msgs message headers are generated before the mavros library is built, since it needs those headers.
Contributors: Andreas Antener, Eddy, Jon Binney, Vladimir Ermakov

0.15.0 (2015-09-17)

lib: fix timesync uninit bug. Uninitialized variable caused wrong timestamps with APM.
python #286: use checksum - save ticks
script #385: output to log-file
script #385: remove RosrunHandler and RoslaunchHandler
script #385: attempt to implement rosrun fails. ROSLaunch class wants all node operations from main thread. That is not possible.
script #385: fix shell-killer, but logging are broken and removed
script #385: shell-launcher now works!
script #385: add example configuration
script #385: shell handler done. next - rosparam handling
script #385: starting work on simple shell launcher
scripts: starting event_launcher
python: Remove unneded slice operation. Fix copyright year. [list[:len(list)]]{.title-ref} is equal to [list]{.title-ref}, but creates new list with data from that slice.
updated mavlink byte buffer conversion
plugin: manual_control: Use shared pointer message Fix alphabetic order of msgs.
python: add helper for converting mavros_msgs/Mavlink to pymavlink
Add MANUAL_CONTROL handling with new plugin
Contributors: Andreas Antener, Vladimir Ermakov, v01d

0.14.2 (2015-08-20)

0.14.1 (2015-08-19)

package: Fix depend on rosconsole-bridge
Removed <remap>
Contributors: Vladimir Ermakov, devbharat

0.14.0 (2015-08-17)

python: call of mavros.set_namespace() is required.
scripts: mavftp fix #357: add verify command
scripts: mavftp #357: progressbar on download operation
scripts: mavftp #357: progress bar for upload operation.
scripts: mavftp: New command [cd]{.title-ref}. All path arguments now may handle relative paths.
readme: fix frame tansform section
mavros: readme: update info on frame conversions
mavros: readme: update contribution steps
node: Replace deprecated copy functions. Also allow mavlink to & from topics to be namespaced.
extras: scripts: use API from mavros module
scripts: fix for new message location
python: update mavros lib to new message location
package: remove not exist dependency
plugin: waypoint: Fix message include
plugin: vfr_hud: Fix message include
plugin: rc_io: Fix message include
plugin: param: Fix message include
plugin: ftp: Fix message include
plugin: sys_status: Fix message include
plugin: command: Fix message include
plugin: 3dr_radio: Fix message include
plugin: actuator_control: Fix message include.
msgs: update copyright year
msgs: deprecate mavros::Mavlink and copy utils.
msgs: change description, make catkin lint happy
msgs #354: move all messages to mavros_msgs package.
Minor typo fix.
node: increase diag timer to 2 Hz
node: move diagnostic to AsyncSpinner threads.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.13.1 (2015-08-05)

lib #358: cleanup. Replace UAS::getYaw() with UAS::quaternion_get_yaw().
lib #358: found correct getYaw(). Test for each degrees in -180..180.
test #358: test more different angles. Compare rotation result.
lib #358: try to implement algo from wikipedia.
lib #358: still failing. add recursive test for range -Pi..+Pi
lib #358: try solve issue using older eulerAngles()
lib #358: remove to_rpy test
Merge branch 'master' of github.com:mavlink/mavros * 'master' of github.com:mavlink/mavros: global_position: move relative_alt and compass_heading init back add nav_msgs to dependencies so to make Travis happy global_position: update pose and twist to odom msg
test fix #359: split out quaternion tests.
lib #359: move quaternion utils.
global_position: move relative_alt and compass_heading init back
add nav_msgs to dependencies so to make Travis happy
global_position: update pose and twist to odom msg
test #358: add tests for negative values and quaternion_to_rpy tf2 compatibility check Tests now fails!
sctipts: fix gps topic path
lib: fix input validation in UAS::orientation_from_str()
test: add case for num str->sensor orientation
package: fix CHANGELOG.rst
Contributors: TSC21, Vladimir Ermakov

0.13.0 (2015-08-01)

plugin: setpoint_attitude #352: use new helper.
plugin: sys: Fix cppcheck and YouCompleteMe warnings
plugin: ftp: Fix cppcheck errors.
lib #352: Add helper function UAS::quaternion_to_mavlink()
Fixed bug in send_attitude_target() The transformed quaternion wasn't being passed to set_attitude_target(), resulting in an incorrect attitude setpoint. I've now fixed this issue.
scripts: fix mavwp
test: add test cases for new sensor orientation functions
remove tf1 dep
lib #319: Remove TF types from UAS
plugin: param: new message type: ParamValue
msgs: Move MAV_CMD values to separate msg
plugin: command: fix build
fix whitespaces in python scripts
Merge pull request #312 from mhkabir/cam_imu_sync Camera IMU synchronisation support added
Added launch file for PX4 posix sitl to launch gcs_bridge node for bridging posix and gazebo
scripts: mavftp: little speed up by aligning access to payload length
launch: Add optional log_output arg
Merge branch 'orientation_enum_name' * orientation_enum_name: distance_sensor #342: correct orientation parameter handling. lib #342: try to convert numeric value too px4_config: adapt to distance_sensor params to new features distance_sensor: restructure orientation matching and verification lib #342: Added sensor orientation string repr.
lib #342: try to convert numeric value too
px4_config: adapt to distance_sensor params to new features
lib #342: Added sensor orientation string repr.
launch: update local_position conf
test: Add test for UAS::sensor_orientation_matching()
Update cmake Eigen3 finding rules. Migration described at: http://wiki.ros.org/jade/Migration#Eigen_CMake_Module_in_cmake_modules
lib #319, #341: preparation for str->MAV_SENSOR_ORIENTATION func
lib #319: Return quaternion from UAS::sensor_matching()
lib: Remove unneded NodeHandle
launch fix #340: update default component id of PX4.
plugin: sys_status: Add fallback to adressed version request.
Can not remove tf package before #319 is done. tf::Vector3 and other tf1-bullet still in use.
plugin: sys_status: Use broadcast for version request.
fix #71: replace depend tf to tf2_ros.
plugin: Use UAS::syncronized_header() for reduce LOC.
lib #319: use similar names for covariances as eigen vector
lib #319: transform_frame() for Covariance3x3
lib #319: remove unused bullet based transform_frame()
extras: vision_pose #71: Use TF2 listener. Also #319.
plugin #71: Implement TF2 listener. Change param names. Breaks extras.
uas #71: Use single TF2 objects for broadcasting and subscription.
launch: Update configs.
lib: Add UAS::quaternion_to_rpy()
plugin: safety_area #319: Change transform_frame()
plugin: local_position #71 #319: port to TF2 and Eigen
lib: Add UAS::synchonized_header()
plugin: command: Add command broadcasting support.
Perform the autopilot version request as broadcast
lib: Update PX4 mode list
plugin: global_position #325: port tf broadcaster to tf2 Also #71.
plugin: global_position #325: reenable UTM calc
plugin: gps #325: remove gps plugin.
plugin: global_position #325: merge gps_raw_int handler
plugin: setpoint_accel #319: use eigen frame transform. I don't think that PX4 support any other frame than LOCAL_NED. So i removed comment. Also style fix in setpoint_velocity.
plugin: setpoint_velocity #319: use eigen based frame transform.
plugin: setpoint_position #273: remove PX4 quirk, it is fixed.
plugin: ftp: Update command enum.
plugin: imu_pub fix #320: move constants outside class, else runtime linkage error.
plugin: imu_pub #320: first attempt
eigen #319: handy wrappers.
eigen #319: add euler-quat function. Also #321.
test #321: remove duplicated test cases, separate by library. Add test for checking compatibility of tf::quaternionFromRPY() and Eigen based math.
test #321: testing eigen-based transforms. We should check what convention used by tf::Matrix to be sure that our method is compatible.
mavros #319: Add Eigen dependency and cmake rule.
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
cam_imu_sync : fix running
imu_cam_sync : fix formatting
command handling in mavcmd for camera trigger
Camera IMU synchronisation support added
Contributors: Anurag Makineni, Lorenz Meier, Mohammed Kabir, TSC21, Vladimir Ermakov, devbharat

0.12.0 (2015-07-01)

plugin: sys_time, sys_status #266: check that rate is zero
test #321: disable tests for broken transforms.
lib #321: frame transform are broken. again! revert old math. RULE for me: do not accept patch without wide testing from author. That PR changes all plugins code, instead of do API, test and only after that touching working code. My bad.
unittest: added 6x6 Covariance conversion test
frame_conversions: update comments; filter covariance by value of element 0
unittests: corrected outputs from conversion tests
test: other quaternion transform tests
test: UAS::transform_frame_attitude_q()
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
coverity: make them happy
uncrustify: fix style on frame conversions
uncrustify: includes
plugin: sys_status #266: replace period with rate parameter
plugin: sys_time #266: Replace period with rate parameters
frame_conversion: last fix patch
frame_conversions: use inline functions to identify direction of conversion
changed frame conversion func name; add 3x3 cov matrix frame conversion; general doxygen comment cleanup
frame_conversions: added covariance frame conversion for full pose 6x6 matrix
frame_conversions: added frame_conversion specific lib file; applied correct frame conversion between ENU<->NED
sys_status #300: PX4 place in [0] lest significant byte of git hash.
sys_status fix #300: fix u8->hex func.
plugin: waypoint: cosmetics.
vibration_plugin: first commit
Changes some frames from world to body conversion for NED to ENU.
mavsys #293: add --wait option
mavsys: Fix arguments help
mavcmd #293: Add --wait option. New function: util.wait_fcu_connection(timeout=None) implement wait option.
sys_status #300: AUTOPILOT_VERSION APM quirk
mavros #302: fix style
mavros #302: split UAS impl by function blocks
mavros fix #301: move sensor orientation util to UAS
distance_sensor: typo; style fixe
sensor_orientation: list values correction
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: use MAX as last index macro
distance_sensor: changed to usable config
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: updated orientation enum; updated data type
sensor_orientation: included array type on utils.h
sensor_orientation: added sensor orientation matching helper func
distance_sensor: updated config file
distance_sensor: define sensor position through param config
distance_sensor: array limiting; cast correction; other minor correc
distance_sensor: small enhancements
sys_status #293: initialize state topic
sys_status #293: expose connection flag in mavros/State.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.11.2 (2015-04-26)

plugin: param fix #276: add check before reset request downcounter. If on MR request FCU responses param with different [param_index]{.title-ref} do not reset repeat counter to prevent endless loop.
gcs bridge fix #277: add link diagnostics
plugin: setpoint_position #273: add quirk for PX4.
readme: fir glossary misprint
readme: add notes about catkin tool
Contributors: Vladimir Ermakov

0.11.1 (2015-04-06)

scripts #262: update mavwp
scripts #262: mavsetp, new module mavros.setpoint
mavftpfuse #129: cache file attrs
mavparam #262: use get_topic()
mavsys #262: use get_topic()
mavcmd #262: use get_topic()
mavftp #263, #262: use crc32 checksums
python #262: add get_topic()
Update local_position.cpp removed irritating comment
readme: add short glossary
plugin: setpoint_attitude: remove unneded ns
Contributors: Marcel Stuettgen, Vladimir Ermakov

0.11.0 (2015-03-24)

plugin: setpoint_position #247: rename topic
launch #257: rename blacklist.yaml to pluginlists.yaml
node #257: implement while list.
plugin: actuator_control #247: update topic name.
mavros: Initialize UAS before connecting plugin routing. Inspired by #256.
plugin: sys_status: Check sender id. Inspired by #256.
plugin: sys_status: Use WARN severity for unknown levels
uas: Add [UAS::is_my_target()]{.title-ref} Inspired by #256.
plugin: global_position: Fill status and covariance if no raw_fix. Additional fix for #252.
launch: change apm target component id APM uses 1/1 (sys/comp) by default.
plugin: sys_status: publish state msg after updating uas Before this commit, the custom mode string published in the state message was computed using the autopilot type from the previous heartbeat message--not the autopilot type from the current hearbeat message. Normally that isn't a problem, but when running a GCS and mavros concurrently, both connected to an FCU that routes mavlink packets (such as APM), then this causes the custom mode to be computed incorrectly, because the mode string for the GCS's hearbeat packet will be computed using the FCU's autopilot type, and the mode string for the FCU's heartbeat packet will be computed using the GCS's autopilot type.
plugin: global_position: fix nullptr crash This fixes a crash in cases where a GLOBAL_POSITION_INT message is received before a GPS_RAW_INT message, causing the [gps_fix]{.title-ref} pointer member to be dereferenced before it has been set.
msgs: fix spelling, add version rq.
coverity: init ctor in 3dr_radio
launch fix #249: update apm blacklist
launch: rename APM2 to APM.
launch #211: update configs
plugin: gps: remove unused param
plugin: sys_time: remove unused param
launch fix #248: remove radio launch
plugin: 3dr_radio #248: add/remove diag conditionally
plugin: sys_status: move connection params to ns
plugin: sys_time: fix #206 (param ns)
node: Inform what dialect built-in node
plugin: sys_status: Conditionaly add APM diag
plugin: sys_status: fix #244
uas #244: add enum lookups
package: update lic
license #242: update mavros headers
plugin: local_positon: use auto
plugin: imu_pub: Update UAS store.
plugin: gps: remove diag class, change UAS storage API.
plugin api #241: move diag updater to UAS.
plugin api #241: remove global private node handle. Now all plugins should define their local node handle (see dummy.cpp). Also partially does #233 (unmerge setpoint topic namespace).
plugin api #241: remove [get_name()]{.title-ref}
package: mavros now has any-link proxy, not only UDP
Update years. I left gpl header, but it is BSD too.
Add BSD license option #220
plugin: sys_status: AUTOPILOT_VERSION support. Fix #96.
mavros fix #235: Use AsyncSpinner to allow plugins chat. Old single-threaded spinner have a dead-lock if you tried to call a service from for example timer callback. For now i hardcoded thread count (4).
uncrustify: actuator_control
Merge branch 'master' of github.com:mstuettgen/Mavros
fixed missing ;
code cosmetics
further removed unneeded white spaces and minor code cosmetics
fixed timestamp and commented in the not-working function call
code cosmetics, removed whitespaces and re-ordered function signatures
more code comment cosmetic
code comment cosmetic
uncrustify: fix style
readme: add contributing notes
uncrustify: mavros base plugins
uncrustify: mavros lib
uncrustify: mavros headers
tools: add uncrustify cfg for fixing codestyle Actually it different from my codestyle, but much closer than others.
added more const to function calls to ensure data consistency
modified code to fit new message
added group_mix to ActuatorControl.msg and a link to mixing-wiki
plugin: rc_io: Add override support warning
REALLY added ActuatorControl.msg
added ActuatorControl.msg
fixed latest compiler error
renamed cpp file to actuator_control.cpp and added the new plugin to mavros_plugins.xml
removed unneeded Mixinx and reverse_throttle, and unneeded variables in function signatures
inital draft for set_actuator_control plugin
launch: enable setpoint plugins for APM As of ArduCopter 3.2, APM supports position and velocity setpoints via SET_POSITION_TARGET_LOCAL_NED.
plugin: setpoint_velocity: Fix vx setpoint vz should have been vx.
Contributors: Clay McClure, Marcel Stuettgen, Vladimir Ermakov

0.10.2 (2015-02-25)

Document launch files
launch: Fix vim modelines #213
launch #210: blacklist image_pub by px4 default. Fix #210.
Contributors: Clay McClure, Vladimir Ermakov

0.10.1 (2015-02-02)

Fix \@mhkabir name in contributors.
uas #200: Add APM:Rover custom mode decoding. Fix #200.
uas #200: Update APM:Plane and APM:Copter modes.
Contributors: Vladimir Ermakov

0.10.0 (2015-01-24)

mavros #154: Add IO stats to diagnostics. Fix #154.
Add rosindex metadata
plugin: ftp: init ctor.
plugin: sts_time: Code cleanup and codestyle fix.
plugin: command: Quirk for older FCU's (component_id) Older FCU's expect that commands addtessed to MAV_COMP_ID_SYSTEM_CONTROL. Now there parameter: [~cmd/use_comp_id_system_control]{.title-ref}
plugin: rc_io: #185 Use synchronized timestamp.
plugin: gps: #185 use synchronized timestamp common.xml tells that GPS_RAW_INT have time_usec stamps.
uas: Fix ros timestamp calculation. Issues: #186, #185.
plugin: add synchronisation to most plugins (fixed) Closes #186.
readme: Add notes about coordinate frame conversions #49
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.4 (2015-01-06)

plugin: sys_time: enable EMA
Contributors: Mohammed Kabir

0.9.3 (2014-12-30)

plugin: visualization finshed
Restore EMA. Works better for low rates.
Update sys_time.cpp
plugin : add time offset field to dt_diag
Final fixes
minor
plugin : fixes timesync. FCU support checked.
Visualisation system import
param: Fix float copying too
param: Fix missing
param: Trynig to fix 'crosses initialization of XXX' error.
param: Try to fix #170.
Update units
New message, moving average compensation
Initial import new sync interface
plugin: sys_status: Enable TERRAIN health decoding.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.2 (2014-11-04)

0.9.1 (2014-11-03)

Update installation notes for #162
Contributors: Vladimir Ermakov

0.9.0 (2014-11-03)

0.8.2 (2014-11-03)

REP140: update package.xml format. Hydro don't accept this format correctly, but after split i can update.
Contributors: Vladimir Ermakov

0.8.1 (2014-11-02)

fix build deps for gcs_bridge
mavconn #161: Enable rosconsole bridge.
mavconn #161: Move mavconn tests.
mavconn #161: Fix headers used in mavros. Add readme.
mavconn #161: Fix mavros build.
mavconn #161: Move library to its own package Also rosconsole replaced by console_bridge, so now library can be used without ros infrastructure.
plugin: sys_time: Set right suffixes to uint64_t constants. Issue #156.
plugin: sys_time: Add time syncronization diag. Issue #156.
plugin: sys_time: Debug result. Issue #156.
plugin: Store time offset in UAS. TODO: implement fcu_time(). Issue #156.
plugin: sys_time: Fix code style. Also reduce class variables count (most not used outside the method). Issue #156.
Update repo links. Package moved to mavlink organization.
Nanosecond fix
Fix
Fixes
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update CMakeLists.txt
Update mavros_plugins.xml
Update sys_time.cpp
Fix build
sys_time import. Removed all time related stuff from gps and sys_status
Initial sys_time plugin import
plugin: ftp: Bytes written now transfered in payload.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.8.0 (2014-09-22)

plugin: ftp: Disable debugging and change level for some log messages. Issue #128.
plugin: ftp: Translate protocol errors to errno. Issue #128.
scripts: mavftp: Add upload subcommand. Issue #128.
python: Add more ftp utils. Issue #128.
plugin: ftp: Fix write offset calculation. Issue #128.
plugin: ftp: Add . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add support for . Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Add
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Move common mission classes to mavros.mission module. Issue #157.
python: Move useful utils to mavros.param module. Issue #157.
python: Move common utils to mavros.utils module. Issue #157.
python: Create python module for ftp utils. Issue #128, #157.
scripts: ftp: Implement file-like object for IO. Issue #128.
plugin: ftp: Implement write file. Issue #128.
scripts: mavftp: Add remove subcommand. Issue #128.
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add response errno from server.
plugin: ftp: Add support for 'Skip' list entries. Issue #128.
scripts: mavftp: Add mkdir/rmdir support. Issue #128.
plugin: ftp: Add mkdir/rmdir support. Issue #128.
plugins: ftp: Update protocol headers. Issue #128.
Revert "Update package.xml format to REP140 (2)." This reverts commit 81286eb84090a95759591cfab89dd9718ff35b7e. ROS Hydro don't fully support REP140: rospack can't find plugin descriptions. Fix #151.
scripts: mavwp: Fix --follow mode
plugin: imu_pub: Fix RAW_IMU/SCALED_IMU angular scale constant. Fix #152.
launch: remove px4_local_gcs.launch again. It removed in 826be386938c2735c9dab72283ba4ac1c68dc860, but accidentally returned.
extras: launch: Use includes. Fix #144.
launch: PX4: use node.launch in PX4 scripts. Also remove px4_local_gcs.launch: please use [roslaunch mavros px4.launch gcs_url:=udp://\@localhost]{.title-ref} instead. Issue #144.
launch: APM2: Add node.launch and update apm scripts to use it. Issue #144.
plugin: command: Fix CommandInt x,y types.
Update package.xml format to REP140 (2). Fix #104.
launch: Blacklist FTP for APM.
scripts: mavwp: Add decoding for some DO-* mission items.
scripts: mavwp: Add preserve home location option at load operation. Useful if FCU stores home location in WP0 (APM).
Added src location.
Updated README wstool instructions.
plugin: ftp: Init ctor
service: mavftp: Initial import. Issue #128.
plugin: ftp: Implemnet reset call. Sometimes kCmdReset can restore normal operation, but it might be dangerous. Issue #128.
plugin: ftp: Implement call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Fix open error. Issue #128.
plugin: ftp: Implement (read) and . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement method. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement list parsing Issue #128.
plugin: ftp: Fix CRC32 calculation. Issue #128.
plugin: ftp: Add plugin skeleton. Based on QGroundContol QGCUASFileManager.h/cc. Issue #128.
plugin: ftp: Add size info
plugin: ftp: Add plugin service API. Issue #128.
plugin: vfr_hud: Initial import. Also this plugin publish APM specific WIND estimation message. Fix #86.
node: coverity fails at UAS initilizer list
plugin: setpoint_attitude: Init ctor, remove code dup.
cmake: Add check MAVLINK_DIALECT value Fix #139.
Move common cmake rules to modules. Same mech as in [cmake_modules]{.title-ref} package. Issue #139.
launch: corrected launch for gcs bridge
scripts: mavsetp: Fix misprint.
launch files: added px4 launch files for connection with radio and gcs
scripts: mavsetp: Fix twist.angular vector construction. Small style fix.
Update doxygen documentation. Add split lines in UAS, and make UAS.connection atomic. Add rosdoc configuration for mavros_extras.
scripts: mavsetp: corrected API; added possibility of parse angles in dg or rad
scripts: mavsetp: corrected msg API; mavteleop: added prefix to rc override
scripts: mavsetp: added local accel; corrected how the OFFBOARD mode is swtch.
scripts: mavsetp: changed the way offboard mode is switched
node: init ctor (coverity)
nodelib: add std::array header
return msg generator deps for mavconn
scripts: mavsys: Implement set rate command.
scripts: Add mavsys tool. Implented only [mode]{.title-ref} operation. Issue #134.
plugin: sys_status: Implement set_mode service. Previous command shortcut removed. Issue #136, #134.
node: Implement reverse mode lookup. Issue #136.
plugin: sys_status: Move custom mode decoder to UAS. Issue #136.
node: Catch URL open exception. Also update connection pointer type.
nodelib: move sources to subdir
node: Move UAS to mavros namespace
node: Move node code to library.
node: Catch DeviceError; use C++11 foreach shugar.
plugin: command: Add COMMAND_INT suport. Fix #98.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov

0.7.1 (2014-08-25)

plugins: setpoint: Update SET_POSITION_TARGET_LOCAL_NED message. Fix #131.
scripts: mavsetp: Enable OFFBOARD mode. Issue #126.
plugin: command: Add guided_enable shortcut It enable PX4 OFFBOARD mode. Issue #126.
scripts: Add mavsetp script. Only local setpoint for now. Issue #126.
plugins: Change UAS FCU link name. Reduce smart pointer count, that hold fcu link object.
scripts: mavcmd: Add takeoffcur and landcur commands Fix #91, #92. Inspired by #125.
Closes #122, closes #123; plugins: move mocap & vision plugins to extras, change vision plugins name
plugins: UAS remove std::atomic<double> It don't work at some compilers. Issue #89.
plugin: global_position: Fill NavSatFix status filed. Issue #87, #118.
plugins: Add GPS data to UAS
plugins: Move setpoint_mixin.h Fix #120.
plugin: mocap: Fix load. Issue #121.
plugins: global_position: get pose orientation from the one stored in uas
plugins: global_position: use relative_alt on position.z; mavros_plugins.xml - corrected declaration of mocap_pose_estimate
plugin - global_position - changed parameter path / orientation source
launch: APM2 blacklist global_position plugin
plugin: global_position: Unit unification.
plugin: global_position: Move heaedr; Style fix.
added rel_pos and compass_hdg pub; minor corrections
Merge branch 'master' of https://github.com/vooon/mavros into global_position
global_position plugin - initial commit
launch: APM2 blacklist mocap plugin.
Updated mavros_plugins.xml
Fixed dual sources error warning.
Fixed styles.
Minor changes.
added time stamp to received msgs
Removed un-needed times.
Added mocap_pose_estimate plugin.
Code style update
setpoint attitude change - warning message
Update on setpoint_attitude plugin
- changed Twist to TwistStamped
- added reverse_throttle option for throttle control
- use cmd_vel as the same topic to control linear a angular velocities (it's commonly used by controllers)
- added normalization filter to thrust
node: Remove deprecated conn parameters. Fix #108
plugin: vision_speed: Update plugin API.
plugin: setpoint_attitude: Update plugin API.
plugin: setpoint_accel: Update plugin API.
plugin: setpoint_velocity: Update plugin API.
plugin: 3dr_radio: Update plugin API.
plugin: safety_area: Update plugin API.
plugin: setpoint_position: Update plugin API.
plugin: vision_position: Update plugin API.
plugin: local_position: Update plugin API.
plugin: command: Update plugin API.
plugin: rc_io: Update plugin API.
plugin: waypoint: Update plugin API.
plugin: param: Update plugin API.
plugin: gps: Update plugin API.
plugin: imu_pub: Update plugin API.
plugin: sys_status: Update plugin API.
plugin: Update plugin API.
plugins: disable most of plugins
plugin: setpoint_attitude: Add thrust topic. Fix #106.
Fix URLs in readme
mavros -> ros-message parameter fix only parameter1 was forwarded into the ros message
Switch travis to pixhawk dialect. Default dialect build by ros buildfarm. Also remove duplicate ci statuses from mavros readme.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov, mthz

0.7.0 (2014-08-11)

Add package index readme, Fix #101
move mavros to subdirectory, #101
Merge branch 'master' of github.com:vooon/mavros * 'master' of github.com:vooon/mavros: Add link to ros-*-mavlink package wiki page.
plugins: setpoint: Update setpoint message name. Issue #94, Fix #97.
plugin: setpoint_attitude: Update message name. Issues #94, #97.
Add link to ros-*-mavlink package wiki page.
plugin: gps: Fix gcc 4.6 build (atomic). Not recommended to use std::atomic with gcc 4.6. So i limited to prederined atomics for simple types like int, float etc.
plugin: sys_status: Implement PX4 mode decoding. Fix #84.
plugin: gps: Add EPH & EPV to diagnostic. Issue #95
plugin: gps: Move message processing to individual handlers. Issue #95.
plugin: rc_io: Replace override service with topic. (ROS API change). Fix #93.
Add dialect selection notes
plugins: Change severity for param & wp done messages.
plugins: Store raw autopilot & mav type values. This may fix or not issue #89.
plugins: init ctor (coverity)
plugin: imu_pub: Add ATTITUDE_QUATERNION support. Also reduce copy-paste and use mode readable bitmask check. Fix #85.
scriptis: mavcmd: Spelling
scripits: Add mavcmd tool
Add links to mavros_extras
param: sys_status: Option to disable diagnostics (except heartbeat)
plugin: command: Add takeoff and land aliases. Issue #68.
plugin: command: Add quirk for PX4. Fix #82.
plugin: Add UAS.is_px4() helper. Replace some locks with atomic. Issue #82.
launch: Clear PX4 blacklist. Issue #68.
launch: Add target ids. Also fix PX4 wrong ?ids usage (it set mavros ids, not target). Issue #68.
plugin: imu_pub: Fix HRIMU pressure calc. 1 mBar is 100 Pa. Fix #79.
plugins: C++11 chrono want time by ref, return *_DT Fix #80.
plugins: Replace boost threads with C++11. And remove boost thread library from build rules. Issue #80.
plugins: Replace Boost condition variables with C++11 Issue #80.
plugins: Replace boost mutexes with C++11. Issue #80.
travis clang to old, fails on boost signals2 library. disable.
travis: enable clang build.
node: Make project buildable by clang. Clang produce more readable errors and provide some static code analysis, so i want ability to build mavros with that compilator.
plugins: replace initial memset with c++ initializer list
launch: PX4 default ids=1,50. Also waypoint plugin works (with first_pos_control_flight-5273-gd3d5aa9). Issue #68.
launch: Use connection URL
plugin: vision_speed: Initial import. Fix #67.
plugin: sys_status: Add SYSTEM_TIME sync send. Fix #78.
plugin: sys_status: Decode sensor health field. Fix #75.
Add ci badges to readme
plugin: param: erase invalidates iterator. Real error found by coverity :)
plugins: Init ctor
plugins: Add ctor initialization. Coverity recommends init all data members.
test: trying travis-ci && coverity integration. Real ci doing by ros buildfarm.
plugins: Fix clang-check errors.
test: Add tcp client reconnect test. Issue #72.
test: Split open_url test to individual tests. Also removed tcp client deletion on close, heisenbug here. Issue #72.
mavconn: Emit port_closed after thread stop. Also use tx state flag, improve error messages and move io post out of critical section. Issue #72.
mavconn: Fix TCP server client deletion. Issue #72.
test: Remove not needed sleep.
mavconn: Remove new MsgBuffer dup. Message drop if closed. Issue #72.
mavconn: Fix TCP server. Issue #72.
launch: APM2: Blacklist extras.
mavconn: Add mutex to channel allocation.
mavconn: Fix TCP server for gcc 4.6 Fix #74.
Remove libev from package. Issue #72.
mavconn: GCC 4.6 does not support typedef like using. Issue #74.
Merge pull request #73 from vooon/mavconn-revert-asio mavconn: Revert to Boost.ASIO
mavconn: Cleanup boost threads. I will use C++11 standard libs. Issue #72.
mavconn: Remove libev default loop thread. Issue #72.
mavconn: Port MAVConnTCPServer to Boost.ASIO. TCP send test fails. Issue #72.
mavconn: Port MAVConnTCPClient to Boost.ASIO. Also it disables MAVConnTCPServer before i rewrite it. Issue #72.
mavconn: Revert MAConnSerial back to Boost.ASIO. Issue #72.
test: Fix send_message tests. Use C++11. Issue #72.
mavconn: Revert MAVConnUDP back to Boost.ASIO. Also starting to change boost threads and mutexes to C++11. Issue #72.
test: Enable send tests. Issue #72.
test: And hand test for mavconn hangs. Issue #72.
node: Remove anonimous flag from gcs_bridge. Rename node if you want start several copies.
install: Remove duplicate
node: Fix mavros_node termination message. Issue #58.
node: Use URL in mavros_node. Fix #58.
node: Use URL in gcs_bridge. Issue #58.
node: Rename ros_udp to gcs_bridge. Because now it's not UDP only. Issue #58.
Cleanup boost components
mavconn: Implement URL parsing. Supported shemas:
- Serial: [/path/to/serial/device[:baudrate]]{.title-ref}
- Serial: [serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]]{.title-ref}
- UDP: [udp://[bind_host[:port]]@[remote_host[:port]][/?ids=sysid,compid]]{.title-ref}
- TCP client: [tcp://[server_host][:port][/?ids=sysid,compid]]{.title-ref}
* TCP server: [tcp-l://[bind_port][:port][/?ids=sysid,compid]]{.title-ref} Note: ids from URL overrides ids given to open_url(). Issue #58.
test: Add tests for UDP, TCP, SERIAL. Send message testa are broken, need to find workaround. Fix #70.
plugin: vision_position: Add transform timestamp check. Issue #60.
mavconn: Implement TCP server mode. Fix #57.
mavconn: Initial support for TCP client mode. Issue #57.
mavconn: Boost::asio cleanup.
plugin: Remove TimerService from UAS. Fix #59.
plugin: param: Add state check to sheduled pull.
mavparam: Add force pull.
plugin: param: Use ros::Timer for timeouts Also new option for force pull parameters from FCU instead of cache. Fix #59.
Add mavsafety info to README.
launch: Add apm2_radio.launch (for use with 3DR Radio)
plugin: 3dr_radio: Fix build error. Issue #62.
plugin: 3dr_radio: Publish status data for rqt_plot Also tested with SiK 1.7. Fix #62.
plugin: setpoint_attitude: Fix ENU->NED conversion. Fix #64. Related #33, #49.
launch: Add setpoint plugins to APM2 blacklist
plugin: setpoint_attitude: Initial import. XXX: need frame conversion #49. Issue #33, #64.
plugin: Move common tf code to mixin. Remove copy-paste tf_listener. Issue #33.
plugin: setpoint_position: Generalize topic NS with other [setpoint_*]{.title-ref} Issue #33, #61.
plugin: setpoint_accel: Initial import. Issues: #33, #61.
plugin: position_velocity: Initial import. Also it fix ignore mask in setpoint_position. Issues #33, #61.
plugins: 3rd_radio: Initial import. Untested. Issue #61.
scripts: Add mavsafety tool. Also add safety_area to APM2 blacklist. Fix #51.
plugins: safty_area: Initial import. This plugin listen [~/safety_area/set]{.title-ref} and send it's data to FCU. Issue #51.
plugins: position: Add TF rate limit. Issue #33.
plugin: waypoint: Use ros::Timer for timeouts. Also add some debug messages for next debugging PX4. Issue #59.
plugin: sys_status: Use ros::Timer for timeouts Also move message rx to it's own handlers. Issue #59.
Remove rosdep.yaml and update readme
Add deb build notes to readme. Issue #55.
Add sudo notes to readme.
Merge pull request #56 from vooon/54_try_libev Switch to libev
Add libev to README
package: Add temporary rosdep for libev-dev. Issue #54.
mavconn: Move MAVConnUDP to libev. And fix docs in serial. Issue #54.
mavconn: Move MAVConnSerial to libev. Adds stub for open URL function. Issure #54.
Contributors: Vladimir Ermakov, Mohammed Kabir, Nuno Marques, Glenn Gregory

0.6.0 (2014-07-17)

plugin: local_position: Use same timestamp in topic and TF. Issue #33.
plugins: TF thread required, remove notes. Issue #33.
launch: Add example launch for PX4 Issue #45.
plugin: imu_pub: Fix attitude store in UAS Issue #33. Fix #53.
plugins: Disable position topics if tf_listen enabled Also change default frame names: [vision]{.title-ref} and [setpoint]{.title-ref}. Issue #33.
plugins: Fix typo in frame_id params. Issue #33.
plugins: Add vision and setpoint TF listeners Also change parameter names to same style. Issue #33.
plugin: vision_position: Add PositionWithCovarianceStamped option Issue #33.
Add boost filesystem lib to link On some platforms its absence breaks build by: undefined reference to [boost::filesystem::path::codecvt()]{.title-ref}
launch: Add example for APM2 Fix #45.
plugin: setpoint_position: Initial import And some small doc changes in other position plugins. Issue #33.
node: Add connection change message Fix #52.
plugins: vision_position: Initial import TODO: check ENU->NED maths. Issue #33.
plugins: Remove unneded 'FCU' from diag
plugin: local_position: Change plane conversion Bug: #49.
plugin: imu_pub: Fix magnetic vector convertions Bug: #49.
Use dialects list from package
plugin: local_position: Fix orientation source Part of #33.
node: Show target system on startup Fix #47.
plugin: local_position: Initial add Receive LOCAL_POSITION_NED message and publish it via TF and PoseStamped topic in ENU frame. Part of #33.
node: Use boost::make_shared for message allocation Fix #46.
plugins: Use boost::make_shared for message allocation Part of #46.
plugin: imu_pub: Fix misprint in fill function Fix magnetometer vector convertion (HR IMU). Related #33.
plugin: imu_pub: setup cleanup.
Update readme
plugin: gps: Fix gps_vel calculation Fix #42.
plugins: Make name and messages methods const. (breaking). WARNING: this change broke external plugins. Please add const to get_name() and get_supported_messages(). Part of #38.
plugins: Use mavlink_msg*_pack_chan() functions Fix #43.
mavconn: Reuse tx buffer (resize by extents) Part of #38.
mavconn: Do not finalize messages if id pair match mavlink*_pack also do finalize, so explicit finalization just recalculate crc and seq number (doubles work). Test later if we need check seq too.
mavconn: Documentation and cleanup Make MAVConn classes noncopyable. Remove copy-paste copy and following async_write calls. Reserve some space in tx queues. Replace auto_ptr with unique_ptr.
test: Fix header include
mavconn: Fix possible array overrun in channel alocation. Problem found by clang.
fix some roslint errors
mavconn: move headers to include
node: Implement plugin blacklist. New parameter: [~/plugin_blacklist]{.title-ref} lists plugin aliases with glob syntax. Fix #36.
plugins: Change constants to constexpr (for gcc 4.6)
mavconn: Add gencpp dependency (utils.h requiers generated header)
Move duplicate Mavlink.msg copy to utils.h
Remove tests that requires connection to FCU
plugins: imu_pub: Fix PX4 imu/data linear_accelerarion field Should fix: #39.
plugins: imu_pub: Add magnitic covariance Trying to move constants with constexpr. Related: #13.
Remove testing info Need to remove tests that could not run on build farm.
Contributors: Vladimir Ermakov

0.5.0 (2014-06-19)

Remove mavlink submodule and move it to package dependency Bloom release tool don't support git submodules, so i've ceate a package as described in http://wiki.ros.org/bloom/Tutorials/ReleaseThirdParty . Fix #35.
plugins: param: add missing gcc 4.6 fix.
plugins: fix const initializers for gcc 4.6
plugins: imu_pub: fix const initializers for gcc 4.6 Fix for build failure devel-hydro-mavros #4.
Add support for GCC 4.6 (C++0x, ubuntu 12.04) I don't use complete c++11, so we could switch to c++0x if it supported.
plugins: rc_io: Add override rcin service Fix: #22.
plugins: sys_status: fix timeouts Fix #26.
plugins: sys_status: add set stream rate service Some additional testing required. Fix #23.
Remove unused boost libarary: timer Build on jenkins for hydro failed on find boost_timer.
0.4.1
Add changelog for releasing via bloom

0.4.1 (2014-06-11)

node: Show serial link status in diag Now 'FCU connection' shows actual status of connection (HEARTBEATS).
Fix #29. Autostart mavlink via USB on PX4 Changes mavconn interface, adds new parameter.
Fix installation rules. Fix #31.
Setup UDP transport for /mavlink messages
Fix mavlink dialect selection Fix #28.
Add link to wiki.ros.org Part of #27.

0.4.0 (2014-06-07)

Release 0.4.0 And some docs for CommandPlugin.
plugins: command: Command shortcuts Fix #12.
plugins: command: Add ACK waiting list Part of #12.
plugins: command: Initial naive realization. Partial #12, #25.
mavconn: Fix build on Odroid with Ubuntu 13.10 Fix #24.
plugins: rc_io: initial add RC_IO plugin Topics:
- ~/rc/in -- FCU RC inputs in raw microseconds
* ~/rc/out -- FCU Servo outputs Fix #17. Partiall #22.
Fix installation wstool command. [wstool set]{.title-ref}, not [wstool add]{.title-ref}.
Add installation notes to README Installing pymavlink is not required, but try if errors.
Fix headers in README.md
ros_udp: New node for UDP proxing Add some examples to README.md. Fix #21.
sys_status: Add state publication Fix #16.
sys_status: Sent HEARTBEAT if conn_heartbeat > 0 Fix #20.
sys_status: add sensor diagnostic See #16.
sys_status: Add battery status monitoring Fix #19, partial #16.
sys_status: HWSTATUS support Fix #18, partial #20.
plugins: imu_pub: Add RAW_IMU, SCALED_IMU and SCALED_PRESSURE handlers Fix #13. Refactor message processing. Combination of used messages: On APM: ATTITUDE + RAW_IMU + SCALED_PRESSURE On PX4: ATTITUDE + HIGHRES_IMU On other: ATTITUDE + (RAW_IMUHIGHRES_IMU Published topics:
- ~imu/data - ATTITUDE + accel data from *_IMU
- ~imu/data_raw - HIGHRES_IMU or SCALED_IMU or RAW_IMU in that order
- ~imu/mag - magnetometer (same source as data_raw)
- ~imu/temperature - HIGHRES_IMU or SCALED_PRESSURE
- ~imu/atm_pressure - same as temperature
Update readme
mavwp: Add --pull option for 'show' operation. Reread waypoints before show.
MissionPlanner use format QGC WPL, Fix #15 Code cleanup;
Update mavlink version.
Update mavlink version
mavparam: fix #14 support for QGC param files
mavwp: Add mavwp to install

0.3.0 (2014-03-23)

Release 0.3.0
mavwp: Add MAV mission manipulation tool Uses WaypointPlugin ROS API for manipulations with FCU mission.
- show -- show current mission table
- pull -- update waypoint table
- dump -- update and save to file
- load -- loads mission from file
- clear -- delete all waypoints
- setcur -- change current waypoint
- goto -- execute guided goto command (only APM) Currently supports QGroundControl format only.
plugins: wp: Add GOTO, update documentation
plugins: wp: Auto pull
plugins: wp: SetCurrent & Clear now works
plugins: wp: Push service works
plugins: wp: push almost done
plugins: wp: Pull done
plugins: param: remove unused ptr
plugins: wp: mission pull almost done
plugins: wp: Add convertors & handlers
plugins: Waypoint plugin initial
Use C++11 feuture - auto type
plugins: refactor context & link to single UAS class UAS same functions as in QGC.
plugins: Add msgs and srvs for Waypoint plugin
Update mavlink library
Update mavlink version
mavparam: Fix for DroidPlanner param files & cleanup DroidPlanner adds some spaces, don't forget to strip it out. Cleanup unused code from Parameter class.

0.2.0 (2014-01-29)

mavparam: Add MAV parameter manipulation tool Uses ParamPlugin ROS API for manipulating with fcu params.
- load -- load parameter from file
- dump -- dump parameter to file
- get -- get parameter
- set -- set parameter Currently supports MissionPlanner format only. But DroidPlanner uses same format.
Update README and documentation
plugins: param: implement ~param/push service Also implement sync for rosparam:
- ~param/pull service pulls data to rosparam
- ~param/push service send data from rosparam
- ~param/set service update rosparam if success
plugins: param: implement ~param/set service
plugins: param: implement ~param/get service
plugins: param: Implement automatic param list requesting
plugins: use recursive_mutex everywhere
plugins: param now automaticly requests data after connect
plugins: Add common io_service for plugins, implement connection timeout Some plugin require some delayed processes. Now we can use boost::asio::*timer. New parameter:
- ~/conn_timeout connection timeout in seconds
plugins: add param services
mavconn: set thread names WARNING: pthread systems only (BSD/Linux)
plugins: implement parameters fetch service
plugins: fix string copying from mavlink msg
plugins: Setup target in mav_context New params:
- ~target_system_id - FCU System ID
- ~target_component_id - FCU Component ID
plugins: IMU Pub: add stdev parameters, change topic names. Add parameters:
- ~imu/linear_acceleration_stdev - for linear acceleration covariance
- ~imu/angular_velocity_stdev - for angular covariance
- ~imu/orientation_stdev - for orientation covariance Change topic names (as in other IMU drivers):
- ~imu -> ~/imu/data
- ~raw/imu -> ~/imu/data_raw
plugins: Params initial dirty plugin
Fix mavlink dialect choice.
plugins: Add context storage for automatic quirk handling ArduPlilot requires at least 2 quirks:
- STATUSTEXT severity levels
- parameter values is float
Implement MAVLink dialect selection ArduPilotMega is default choice.
doc: add configuration for rosdoc_lite

0.1.0 (2014-01-05)

Version 0.1.0 Milestone 1: all features from mavlink_ros package.xml was updated.
Fix typo and add copyright string NOTE: Please check typos before coping and pasting :)
plugins: gps: Add GPS_RAW_INT handler GPS_STATUS not supported by APM:Plane. ROS dosen't have standard message for satellites information.
mavconn: small debug changes Limit no GCS message to 10 sec.
node: Terminate node on serial port errors
plugins: Add GPS plugin SYSTEM_TIME to TimeReference support. TODO GPS fix.
Fix build and update MAVLink library
plugins: sys_status: Add SYSTEMTEXT handler Two modes:
- standard MAV_SEVERITY values
- APM:Plane (default) TODO: add mavlink dialect selection option
plugins: add some header doxygen tags Add license to Dummy.cpp (plugin template).
plugins: sys_status: Add MEMINFO handler MEMINFO from ardupilotmega.xml message definition. Optional.
update README
update TODO
plugins: Add imu_pub plugin. Publish ATTITUDE and HIGHRES_IMU data. HIGHRES__IMU not tested: Ardupilot sends ATTITUDE only :(
node: publish Mavlink.msg only if listners > 0
plugins: Add sys_status plugin. Initial.
plugins: implement loading & rx routing
plugins: initial
node: Add diagnostics for mavlink interfaces
mavconn: add information log wich serial device we use.
mavconn: fix overloaded MAVConn*::send_message(msg)
mavros: Add mavros_node (currently serial-ros-udp bridge) Message paths: Serial -+-> ROS /mavlink/from +-> UDP gcs_host:port ROS /mavlink/to -+-> Serial UDP bind_host:port -+
Add README and TODO files.
mavconn: fix MAVConnUDP, add mavudpproxy test mavudpproxy -- connection proxy for QGroundControl, also used as test for MAVConnUDP and MAVConnSerial.
mavconn: add UDP support class
mavconn: fix: should use virtual destructor in interface class
mavconn: add getters/setters for sys_id, comp_id; send_message return.
mavconn: simple test. tested with APM:Plane: works.
mavconn: fix linking
mavconn: serial interface
Add mavconn library prototype mavconn - handles MAVLink connections via Serial, UDP and TCP.
Add MAVLink library + build script
Initial Import Mavlink.msg from mavlink_ros package ( https://github.com/mavlink/mavlink_ros ).
Contributors: Vladimir Ermakov

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	mavlink
	angles
	ament_cmake
	ament_cmake_python
	eigen3_cmake_module
	rosidl_default_runtime
	rclpy
	ament_cmake_gtest
	ament_cmake_gmock
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	diagnostic_updater
	message_filters
	eigen_stl_containers
	libmavconn
	pluginlib
	tf2_ros
	tf2_eigen
	rclcpp
	rclcpp_components
	rcpputils
	diagnostic_msgs
	geometry_msgs
	mavros_msgs
	nav_msgs
	sensor_msgs
	geographic_msgs
	trajectory_msgs
	std_msgs
	std_srvs

System Dependencies

Name
eigen
geographiclib
geographiclib-tools
python3-click
gtest
google-mock
libconsole-bridge-dev

Dependant Packages

Name	Deps
mavros_extras
as2_platform_mavlink

Launch files

launch/multi_uas.launch
- - id [default: 0]
  - fcu_url [default: udp://:14540@127.0.0.1:14580]
  - id [default: 1]
  - fcu_url [default: udp://:14541@127.0.0.1:14581]
launch/px4.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]
launch/apm.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]
launch/node.launch
- - fcu_url
  - gcs_url
  - tgt_system
  - tgt_component
  - pluginlists_yaml
  - config_yaml
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]

Messages

No message files found.

Services

No service files found

Plugins

mavros

Recent questions tagged `mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs

API Docs
Browse Code
Wiki

Package Summary

Tags	uav mav mavlink plugin apm px4
Version	2.9.0
License	GPLv3
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	ros2
Last Updated	2024-10-23
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	uav mav mavlink plugin apm px4
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.

Additional Links

Maintainers

Vladimir Ermakov

Authors

Vladimir Ermakov

mavros/README.md

MAVROS

MAVLink extendable communication node for ROS2.

ROS API documentation moved to wiki.ros.org.

Features

Communication with autopilot via serial port, UDP or TCP (e.g. PX4 Pro or ArduPilot)
Internal proxy for Ground Control Station (serial, UDP, TCP)
Plugin system for ROS-MAVLink translation
Parameter manipulation tool
Waypoint manipulation tool
PX4Flow support (by mavros_extras)
OFFBOARD mode support
Geographic coordinates conversions.

Limitations

Only for Linux.

This package are dependent on ros-*-mavlink build from mavlink-gbp-release. It exists in ROS package index and usually updates each month.

Connection URL

Connection defined by URL, you can use any supported type for FCU and GCS.

Supported schemas:

Serial: /path/to/serial/device[:baudrate]
Serial: serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]
Serial with hardware flow control: serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid]
UDP: udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid]
UDP broadcast until GCS discovery: udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid]
UDP broadcast (permanent): udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid]
TCP client: tcp://[server_host][:port][/?ids=sysid,compid]
TCP server: tcp-l://[bind_host][:port][/?ids=sysid,compid]

Note:

Ids from URL overrides value given by system_id & component_id parameters.
bind_host - default 0.0.0.0 - i.e. IP4 ANY
UDP default ports: 14555 @ 14550
UDP remote address updated every time with incoming packet on bind port.
TCP default port: 5760

Coordinate frames

MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Please read documents from issue #473 for additional information.

All the conversions are handled in src/lib/ftf_frame_conversions.cpp and src/lib/ftf_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.

MAVROS also allows conversion of geodetic and geocentric coordinates through GeographicLib given that:

geographic_msgs and NatSatFix.msg require the LLA fields to be filled in WGS-84 datum, meaning that the altitude should be the height above the WGS-84 ellipsoid. For that, a conversion from the height above the geoid (AMSL, considering the egm96 geoid model) to height above the WGS-84 ellipsoid, and vice-versa, is available and used in several plugins;
According to ROS REP 105, the earth frame should be propagated in ECEF (Earth-Centered, Earth-Fixed) local coordinates. For that, the functionalities of GeographicLib are used in order to allow conversion from geodetic coordinates to geocentric coordinates;
The translation from GPS coordinates to local geocentric coordinates require the definition of a local origin on the map frame, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in the global_position plugin.

Composite nodes

See also: https://docs.ros.org/en/foxy/Tutorials/Composition.html

mavros::router::Router

This is router node required to support connections to FCU(s), GCS(es) and UAS nodes. The Router allows you to add/remove endpoints on the fly without node restart.

mavros::uas::UAS

This node is a plugin container which manages all protocol plugins. Each plugin is a subnode to this.

Programs

mavros_node – all-in-one container

That is a preconfigured composite node contaier, which provides similar parameters as ROS1 mavros_node. That container loads Router, UAS and configures them to work together (sets uas_link, etc.).

Main node. Allow disable GCS proxy by setting empty URL.

ros2 run mavros mavros_node --ros-args --params-file params.yaml

Launch Files

XXX TODO! #1564

Launch files are provided for use with common FCUs, in particular Pixhawk:

px4.launch – for use with the PX4 Autopilot (for VTOL, multicopters and planes)
apm.launch – for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)

Examples:

roslaunch mavros px4.launch
roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@

Installation

Required dependencies

Most of the ROS dependencies are supported and installed by rosdep, including external libraries as Eigen and Boost.

GeographicLib can be installed by apt-get and it is already included on the rosdep of MAVROS package. It is also possible to compile it and install it from src but be advised to have the proper install directories the same as the ones of the apt-get install, in order to make sure that the FindGeographicLib.cmake finds the required shared libraries (libGeographic.so).

Since GeographicLib requires certain datasets (mainly the geoid dataset) so to fulfill certain calculations, these need to be installed manually by the user using geographiclib-tools, which can be installed by apt-get in Debian systems. For a quicker procedure, just run the available script in the “mavros/scripts” folder, install_geographiclib_datasets.sh.

Note that if you are using an older MAVROS release source install and want to update to a new one, remember to run rosdep update before running rosdep install --from-paths ${ROS_WORKSPACE} --ignore-src --rosdistro=${ROSDISTRO}, with ROS_WORKSPACE your src folder of catkin workspace. This will allow updating the rosdep list and install the required dependencies when issuing rosdep install.

:bangbang: The geoid dataset is mandatory to allow the conversion between heights in order to respect ROS msg API. Not having the dataset available will shutdown the mavros_node :bangbang:

:heavy_exclamation_mark:Run install_geographiclib_datasets.sh to install all datasets or geographiclib-datasets-download egm96_5 (Debian 7, Ubuntu 14.04, 14.10), geographiclib-get-geoids egm96-5 (Debian 8, Fedora 22, Ubuntu 15.04 or later) to install the geoid dataset only:heavy_exclamation_mark:

Binary installation (deb)

ROS repository has binary packages for Ubuntu x86, amd64 (x86_64) and armhf (ARMv7). Kinetic also support Debian Jessie amd64 and arm64 (ARMv8).

Just use apt for installation:

sudo apt install ros-foxy-mavros

Then install GeographicLib datasets by running the install_geographiclib_datasets.sh script:

ros2 run mavros install_geographiclib_datasets.sh

# Alternative:
wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh

Source installation

Use vcs utility for retrieving sources and colcon tool for build.

NOTE: The source installation instructions are for the ROS Foxy release.

sudo apt install -y python3-vcstool python3-rosinstall-generator python3-osrf-pycommon

# 1. Create the workspace: unneeded if you already has workspace
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws

# 2. Install MAVLink
#    we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
rosinstall_generator --format repos mavlink | tee /tmp/mavlink.repos

# 3. Install MAVROS: get source (upstream - released)
rosinstall_generator --format repos --upstream mavros | tee -a /tmp/mavros.repos
# alternative: latest source
# rosinstall_generator --format repos --upstream-development mavros | tee -a /tmp/mavros.repos
# For fetching all the dependencies into your ros2_ws, just add '--deps' to the above scripts
# ex: rosinstall_generator --format repos --upstream mavros --deps | tee -a /tmp/mavros.repos

# 4. Create workspace & deps
vcs import src < /tmp/mavlink.repos
vcs import src < /tmp/mavros.repos
rosdep install --from-paths src --ignore-src -y

# 5. Install GeographicLib datasets:
./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

# 6. Build source
colcon build

# 7. Make sure that you use setup.bash or setup.zsh from workspace.
#    Else ros2 run can't find nodes from this workspace.
source install/setup.bash

Build error. if you has error with missing mavlink* then you need fresh mavlink package. You may update from ros-shadow-fixed (binary installation) or redo script steps 2 & 4.

Note. Since MAVLink 2.0 merged (0.18) all dialects supported by same binary. Unfortunately overlap of v1.0 message ID’s not fully handled, first loaded message forbid further changes. Load order always:

common
ardupilotmega
alphabetical ordered list
…

Note: MAVLINK_DIALECT not used anymore.

Troubleshooting

Error: serial0: receive: End of file

This issue should have been solve in mavros v0.23.2, it was found to be a Boost.ASIO error and should be fix in release > v1.12.0 ( >Boost 1.66).

Contributing

See CONTRIBUTING.md.

Glossary

GCS — Ground Control Station
FCU — Flight Control Unit (aka FC)
OBC — OnBoard Computer (your odroid or raspberry)

Links

MAVLink – The communication protocol for Drones, used by flight controllers, ground control stations, and peripherals
mavlink_ros – original ROS node (few messages, no proxy)
Pixhawk – Open Standards for drone hardware
PX4 Autopilot – Flight Controller with support for most vehicle types and hardened/tested MAVROS support
ArduPilot – tested autopilot APM:Plane (default command set)
QGroundControl – Ground Control Station for MAVLink autopilots, with tested support for Android, iOS, Mac OS, Linux, and Windows
mavros_extras – extra plugins & node for mavros

CHANGELOG

Changelog for package mavros

2.9.0 (2024-10-10)

py-mavros: fix flake8 errors
py-mavros: reconfigure flake8
py: isort
py: black
py-mavros: reformat with black
py-mavros: csv escapechar of empty string unsupported since py 3.11
apply ament_uncrustify --reformat (jazzy)
Merge pull request #2000 from leocencetti/fix-test-errors Fix test errors in 3x3 covariance test cases
fix: Patch test errors
Merge pull request #1998 from leocencetti/fix-wrong-covariance-rotation Fix 3x3 covariance matrix rotation/transformation
chore: Fix and reenable covariance rotation tests
fix: Correct 3x3 covariance matrix rotation
use GeographicLib::Geoid::ConvertHeight
fix -Wdeprecated-enum-float-conversion in GeographicLib
depcrecation errors
#1965: sync format of configs
Contributors: Jacob Dahl, Leonardo Cencetti, Vladimir Ermakov

2.8.0 (2024-06-07)

param: replace old rmw_qos usage
sys_status: replace rmw_qos too
command: fix humble condition
regenerate all using cogall.sh
command: keep support for humble
command: fix misprint
command: replace deprecated rmw_qos
reformat with jazzy's ament_uncrustify
Merge branch 'master' into ros2 * master: 1.19.0 update changelog gps_global_origin: remove LLA to ECEF conversion
1.19.0
update changelog
gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Update mavlink.py Kept #569 FIXME tag
Update mavlink.py Fixed bug #569 from mavros. Fixed another bug in the building of the ros mavlink message- the seq field was not added to the ros mavlink message.
Contributors: Beniamino Pozzan, Vladimir Ermakov, danielkalmanson

1.19.0 (2024-06-06)

gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Contributors: Beniamino Pozzan

2.7.0 (2024-03-03)

Merge branch 'master' into ros2 * master: 1.18.0 update changelog sys_status.cpp: improve timeout code sys_status.cpp: Add a SYS_STATUS message publisher [camera plugin] Fix image_index and capture_result not properly filled Fix missing semi-colon GPS_STATUS Plugin: Fill in available messages for ROS1 legacy
1.18.0
update changelog
move /conn parameters to /sys and /time
sys_status.cpp: improve timeout code # Conflicts: # mavros/src/plugins/sys_status.cpp
sys_status.cpp: Add a SYS_STATUS message publisher
Removed warning from geometry2 header
Fix PR 1922 regarding EVENT message
use synchronise_stamp to create stamp
new checksum for event enum
remove event_time_boot_ms, fill stamp instead
handle events
fix mav service call and wp load
Remove hardcoded namespace from px4_pluginlists
Remove hardcoded namespace from px4_config
Define _frd frames in odom plugin based on parent/child frame parametrs
Define parameters for base_link, odom, map frames
Contributors: Alejandro Hernández Cordero, Dr.-Ing. Amilcar do Carmo Lucas, Mattia Giurato, Mohamed Abdelkader, Vladimir Ermakov, elgarbe, sathak93, victor

1.18.0 (2024-03-03)

sys_status.cpp: improve timeout code
sys_status.cpp: Add a SYS_STATUS message publisher
Contributors: Dr.-Ing. Amilcar do Carmo Lucas

2.6.0 (2023-09-09)

fix build warnings tf2_eigen.h
switch to use tf2_eigen.hpp, but that drops support for EOL distros
fix ament_cpplint
reformat python code with black
msgs: move generator code
ament uncrustify
Merge branch 'master' into ros2 * master: 1.17.0 update changelog cog: regenerate all Bugfix/update map origin with home position (#1892) mavros: Remove extra ';' mavros_extras: Fix some init order warnings Suppress warnings from included headers 1.16.0 update changelog made it such that the gp_origin topic published latched. use hpp instead of deprecated .h pluginlib headers
1.17.0
update changelog
cog: regenerate all
local takeoff and land topics (#1890)
- local takeoff and land topics
- vector3 position type, rename to TOLLocal
- remove auto include line
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
1.16.0
update changelog
Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Ido Guzi, Lucas Walter, Morten Fyhn Amundsen, Shu-Nong Wu, Vladimir Ermakov, natmol

2.5.0 (2023-05-05)

Merge pull request #1852 from robobe/fix-mavlink-header-stamp Fix mavlink header stamp in convert_to_rosmsg method
Delete test_convert_to_rosmsg.py
fix flake8
fix flake8
fix conver_to_rosmsg method fix header stamp field move from rclpy.Time to builtin_interfaces Time message
Merge branch 'mavlink_payload64_fix' into ros2
Merge pull request #1851 from robobe/mavlink_payload64_fix cast payload_octest to int
cast payload_octest to int test script ,
Merge pull request #1838 from vacabun/launch_namespace_fix fix ROS2 launch parameters namespace and name.
fix plugin denylist allowlist name, and fix parameters namespace.
Merge pull request #1835 from vacabun/multi_uas_launch_fix Multi-UAS launch
Merge branch 'ros2' into multi_uas_launch_fix
Merge pull request #1836 from eMrazSVK/ros2 Fix apm_pluginlist.yaml and apm.launch
naming
Fix apm config and launch ROS2
Remove duplicate parameters
fix parameters name tgt_system and tgt_component and add multi-uas launch.
Merge pull request #1834 from vacabun/px4_launch_fix fix px4 launch file for ROS2
change plugin odom parameters in apm launch.
1.Change part of parameters to be flat In ROS2. 2.Remove plugin safety_area in launch parameters file.
remove event_launcher.yaml mavlink_bridge.launch
remove file 'apm2.lunch'.
fix apm launch files to ROS2.
fix plugin distance_sensor parses yaml from string parameter.
fix px4 launch file on ROS2.
Merge pull request #1833 from lopsided98/ftp-segfault plugins: ftp: fix null pointer dereference
plugins: ftp: fix null pointer dereference df4e529 mistakenly switched PayloadHeader::data from using a non-standards compliant (but accepted by most compilers) flexible array to a pointer. This resulted in an attempt to dereference the uninitialized contents of the array. This patch eliminates PayloadHeader::data and instead makes FTPRequest::data() use pointer arithmetic to get the data buffer from within the payload buffer.
Contributors: Ben Wolsieffer, Eduard Mraz, Vladimir Ermakov, robo, robobe, vacabun

2.4.0 (2022-12-30)

ci: ignore xml lib warn
Merge branch 'master' into ros2 * master: 1.15.0 update changelog ci: update actions Implement debug float array handler mavros_extras: Fix a sequence point warning mavros_extras: Fix a comparison that shouldn't be bitwise mavros: Fix some warnings mavros_extras: Fix buggy check for lat/lon ignored libmavconn: fix MAVLink v1.0 output selection
1.15.0
update changelog
Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

2.3.0 (2022-09-24)

extras: fix linter errors
mavros: remove custom find script, re-generate
Merge branch 'master' into ros2 * master: 1.14.0 update changelog scripts: waypoint and param files are text, not binary libmavconn: fix MAVLink v1.0 output selection plugins: add guided_target to accept offboard position targets add cmake module path for geographiclib on debian based systems use already installed FindGeographicLib.cmake
1.14.0
update changelog
scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1771 from alehed/fix/update_comment Put correct version in comment
Put correct version in comment Now that the change has been merged into master in pymavlink, it will be in the next tagged release.
Contributors: Alexander Hedges, Sanket Sharma, Vladimir Ermakov, acxz

2.2.0 (2022-06-27)

extras: fix build
Merge branch 'master' into ros2 * master: mount_control.cpp: detect MOUNT_ORIENTATION stale messages ESCTelemetryItem.msg: correct RPM units apm_config.yaml: add mount configuration sys_status.cpp fix free memory for values > 64KiB uncrustify cellular_status.cpp Add CellularStatus plugin and message *_config.yaml: document usage of multiple batteries diagnostics sys_status.cpp: fix compilation sys_status.cpp: support diagnostics on up-to 10 batteries sys_status.cpp: do not use harcoded constants sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). sys_status.cpp: ignore sys_status mavlink messages from gimbals mount_control.cpp: use mount_nh for params to keep similarities with other plugins set diag settings before add() sys_status.cpp: remove deprecated BATTERY2 mavlink message support Mount control plugin: add configurable diagnostics Bugfix: increment_f had no value asigned when input LaserScan was bigger than obstacle.distances.size() Bugfix: wrong interpolation when the reduction ratio (scale_factor) is not integer. Disable startup_px4_usb_quirk in px4_config.yaml
cmake: style fix
cmake: downgrade to C++17 as 20 breaks something in rclcpp
pylib: fix flake8 for checkid
cmake: hide -std=c++2a
Merge pull request #1752 from alehed/fix/make_compatible_with_mavlink_pr_666 Make compatible with pymavlink type annotations PR
Make compatible with pymavlink type annotations PR In that PR, the attribute name is changed to msgname due to conflicts with message instance variables.

1.17.0 (2023-09-09)

cog: regenerate all
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov, natmol

1.16.0 (2023-05-05)

Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Lucas Walter, Shu-Nong Wu, Vladimir Ermakov

1.15.0 (2022-12-30)

Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.14.0 (2022-09-24)

scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1744 from amilcarlucas/pr_gimbal_diagnostics_fixes mount_control.cpp: detect MOUNT_ORIENTATION stale messages
mount_control.cpp: detect MOUNT_ORIENTATION stale messages correct MountConfigure response success correct constructor initialization order some gimbals send negated/inverted angle measurements, correct that to obey the MAVLink frame convention using run-time parameters
Update global_position.py
Merge pull request #1745 from antonyramsy/ros2 fix subscribe_raw_salellites typo
fix subscribe_raw_salellites typo subscribe_raw_salellites -> subscribe_raw_satellites
Merge pull request #1743 from amilcarlucas/pr_apm_config apm_config.yaml: add mount configuration
apm_config.yaml: add mount configuration
Merge pull request #1732 from amilcarlucas/pr-meminfo-fix MEMINFO fixes
sys_status.cpp fix free memory for values > 64KiB
Merge pull request #1716 from amilcarlucas/avoid-harcoded-values sys_status.cpp: do not use harcoded constants
Merge pull request #1711 from amilcarlucas/diagnose-up-to-n-batteries Diagnose up-to 10 batteries
*_config.yaml: document usage of multiple batteries diagnostics
sys_status.cpp: fix compilation
sys_status.cpp: support diagnostics on up-to 10 batteries Uses as many battery monitors as the user specified in min_voltage parameter. Add myself as a contributor, this is not my first patch to this file
Merge pull request #1712 from amilcarlucas/fix-disabled-diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag
sys_status.cpp: do not use harcoded constants
sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics Use atomic variable to prevent potential threading problems
sys_status.cpp: fix enabling of mem_diag and hwst_diag
Merge pull request #1704 from amilcarlucas/correct-bat-voltages sys_status.cpp: Do not use battery1 voltage for all batteries.
sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). Support both cell and total voltages above 65V Support up-to 14S batteries If available, add cell voltage information to the battery diagnostic
Merge pull request #1707 from amilcarlucas/ignore-gimbal-sys-status sys_status.cpp: ignore sys_status mavlink messages from gimbals
sys_status.cpp: ignore sys_status mavlink messages from gimbals
Merge pull request #1703 from amilcarlucas/remove-deprecated-battery2 sys_status.cpp: remove deprecated BATTERY2 mavlink message support
sys_status.cpp: remove deprecated BATTERY2 mavlink message support
Merge pull request #1696 from okalachev/patch-2 Disable startup_px4_usb_quirk in px4_config.yaml
Disable startup_px4_usb_quirk in px4_config.yaml
Contributors: Alexander Hedges, Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Vladimir Ermakov, antonyramsy

2.1.1 (2022-03-02)

Merge pull request #1717 from rob-clarke/fix--sys-status-callbacks Maybe fix sys status callbacks
uncrustify
Cleanup for pr
Initialise common client
Add debug
Use common client Add debug
plugins: Fix misprint Fix #1709
Contributors: Rob Clarke, Vladimir Ermakov

2.1.0 (2022-02-02)

plugin: sys_status: Add temporary hack from \@Michel1968 https://github.com/mavlink/mavros/issues/1588#issuecomment-1027699924
py-lib: make linters happy again
py-lib: fix WPL loading
py-lib: reformat with black, fix WPL
py-lib: gracefull exiting - need to join to spinner thread
py-lib: debug shutdown call
py-lib: fix checkid
sys: place service servers to separate callback group
plugins: fix topic names to use prefix for namespaced ones
py-lib: fix import
uas: fix linter warnings
uas: set executor timeout to 1s
uas: use custom executor derived from MultiThreadedExecutor one
uas: fix lambda
ci: fix several lint warnings
uas: log amount of executor threads
command: add request header for possible future use
Merge branch 'master' into ros2 * master: 1.13.0 update changelog py-lib: fix compatibility with py3 for Noetic re-generate all coglets test: add checks for ROTATION_CUSTOM lib: Fix rotation search for CUSTOM Removed CamelCase for class members. Publish to "report" More explicitly state "TerrainReport" to allow for future extension of the plugin to support other terrain messages Fixed callback name to match [handle_{MESSAGE_NAME.lower()}]{.title-ref} convention Add extra MAV_FRAMES to waypoint message as defined in https://mavlink.io/en/messages/common.html Fixed topic names to match more closely what other plugins use. Fixed a typo. Add plugin for reporting terrain height estimate from FCU 1.12.2 update changelog Set time/publish_sim_time to false by default plugin: setpoint_raw: move getParam to initializer extras: trajectory: backport #1667
1.13.0
update changelog
Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
1.12.2
update changelog
Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Merge pull request #1670 from windelbouwman/fix-uninitialized-struct-member Fix spurious bug because class field was uninitialized.
Fix spurious bug because class field was uninitialized.
Merge branch 'master' into ros2 * master: 1.12.1 update changelog mavconn: fix connection issue introduced by #1658 mavros_extras: Fix some warnings mavros: Fix some warnings
1.12.1
update changelog
mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Oleg Kalachev, Vladimir Ermakov, Windel Bouwman, hs293go

2.0.5 (2021-11-28)

fix some build warnings; drop old copter vis
router: fix #1655: use MAVConnInterface::connect() from #1658
Merge branch 'master' into ros2 * master: 1.12.0 update changelog Fix multiple bugs lib: fix mission frame debug print extras: distance_sensor: revert back to zero quaternion
1.12.0
update changelog
Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
extras: fix some more lint warns
plugin: fix some compile warnings
cmake: require C++20 to build all modules
extras: port distance_sensor plugin
lib: ignore MAVPACKED-related warnings from mavlink
lib: fix mission frame debug print
msgs: update conversion header
Merge branch 'master' into ros2 * master: 1.11.1 update changelog lib: fix build
1.11.1
update changelog
lib: fix build
Merge branch 'master' into ros2 * master: 1.11.0 update changelog lib: fix ftf warnings msgs: use pragmas to ignore unaligned pointer warnings extras: landing_target: fix misprint msgs: fix convert const plugin: setpoint_raw: fix misprint msgs: try to hide 'unaligned pointer' warning plugin: sys: fix compillation error plugin: initialize quaternions with identity plugin: sys: Use wall timers for connection management Use meters for relative altitude distance_sensor: Initialize sensor orientation quaternion to zero Address review comments Add camera plugin for interfacing with mavlink camera protocol
1.11.0
update changelog
lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
extras: port log_transfer
Contributors: Alexander Sherikov, Jaeyoung-Lim, Vladimir Ermakov

2.0.4 (2021-11-04)

Merge branch 'master' into ros2 * master: 1.10.0 prepare release
1.10.0
prepare release
extras: port esc_status plugin
plugins: update metadata xml
mavros: port mav_controller_output plugin
Merge branch 'master' into ros2 * master: (25 commits) Remove reference Catch std::length_error in send_message Show ENOTCONN error instead of crash Tunnel: Check for invalid payload length Tunnel.msg: Generate enum with cog mavros_extras: Create tunnel plugin mavros_msgs: Add Tunnel message MountControl.msg: fix copy-paste sys_time.cpp: typo sys_time: publish /clock for simulation times 1.9.0 update changelog Spelling corrections Changed OverrideRCIn to 18 channels This adds functionality to erase all logs on the SD card via mavlink publish BATTERY2 message as /mavros/battery2 topic Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0 Added NAV_CONTROLLER_OUTPUT Plugin Added GPS_INPUT plugin Update esc_status plugin with datatype change on MAVLink. ...
Merge pull request #1631 from shubham-shahh/ros2 rectified spelling and gramatical errors
Update mission_protocol_base.cpp
Update test_uas.cpp
Update setpoint_raw.cpp
Update param.cpp
Update param.cpp
Update mission_protocol_base.cpp
Update ftp.cpp
Update command.cpp
Update param.py
Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
1.9.0
update changelog
Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: fix lint error
extras: fix build, add UAS::send_massage(msg, compid)
extras: port companion_process_status
style: apply ament_uncrustify --reformat
Merge branch 'master' into ros2 * master: extras: esc_telemetry: fix build extras: fix esc_telemetry centi-volt/amp conversion extras: uncrustify all plugins plugins: reformat xml extras: reformat plugins xml extras: fix apm esc_telemetry msgs: fix types for apm's esc telemetry actually allocate memory for the telemetry information fixed some compile errors added esc_telemetry plugin Reset calibration flag when re-calibrating. Prevent wrong data output. Exclude changes to launch files. Delete debug files. Apply uncrustify changes. Set progress array to global to prevent erasing data. Move Compass calibration report to extras. Rewrite code based on instructions. Remove extra message from CMakeLists. Add message and service definition. Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
plugins: reformat xml
mavros_extras: ported landing_target plugin to ros2
sanitized code
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Marcelino Almeida, Shubham Shah, Val Doroshchuk, Vladimir Ermakov

2.0.3 (2021-06-20)

param: fix Foxy build
Contributors: Vladimir Ermakov

2.0.2 (2021-06-20)

mavros: fix run on Galactic
plugin: param: #1579: fix cpplint warnings
plugin: param: #1579: implement std parameter events
plugin: param: #1579: rewrite plugin to implement standard parameter services
plugin: add ability to set node options
lib: fix lint error
plugin: fix build error
lib: fix reorder warnings
lib: fix ftf compilation warnings
Contributors: Vladimir Ermakov

2.0.1 (2021-06-06)

readme: update source build instruction
Merge branch 'master' into ros2 * master: readme: update 1.8.0 update changelog Create semgrep-analysis.yml Create codeql-analysis.yml
1.8.0
update changelog
Contributors: Vladimir Ermakov

2.0.0 (2021-05-28)

pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fix flake8
pylib: fixing lint erorrs
includes: include tf2 buffer
pylib: fix ftp, add flags to wp
pylib: port mavftp
test: fix ParamDict test, yapf
pylib: fix wp load/dump file
pylib: port mavwp
pylib: fix param plugin
pylib: port mavparam
pylib: add uas settings accessor
pylib: fix set_mode
plugin: fix sys_status ~/set_mode service
pylib: porting mavsys
pylib: fix checkid
pylib: port checkid
pylib: force-create mav script entry point, why console_scripts didn't work?
pylib: small fix for setup
pylib: fix mavcmd trigger
pylib: move cmd check to utils
pylib: move wait flag to global group
pylib: port mavsafety, drop safetyarea as it completely outdated
pylib: fix script path
pylib: wait for services by default
pylib: add local position plugin
pylib: port all mavcmd
pylib: port most of mavcmd
pylib: start porting mavcmd
pylib: fix loading
pylib: port ftp
pylib: port mavlink helpers
pylib: port setpoint plugin
pylib: remove event_lanucher, ros2 should have different way to do the same
pylib: test ParamFile
pylib: test ParamDict
pylib: port param
pylib: add system module
pylib: fix loading
pylib: apply yapf
tests: add simple plan file
msgs: update command codes
pylib: move to support ament_python
pylib: start porting
plugins: fix all cpplint errors
plugins: fix some cpplint errors
test: fix cpplint errors
lib: fix lint errors
lib: fixing cpplint
plugins: waypoint: fix parameter exception
plugins: geofence: port to ros2
plugins: rallypoint: port to ros2
plugins: waypoint: port to ros2
plugins: mission base ported to ros2
plugins: mission: noe step further
mission proto: start port
mavros: make cpplint happy about includes
tests: make cpplint happy
mavros: make cpplint happy
lib: uncrustify
Merge branch 'master' into ros2 * master: ci: github uses yaml parser which do not support anchors. surprise, surprise! ci: install geographiclib datasets extras: #1370: set obstacle aangle offset lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink() extras: distance_sensor: rename param for custom orientation, apply uncrustify px4_config: Add distance_sensor parameters distance_sensor: Add horizontal_fov_ratio, vertical_fov_ratio, sensor_orientation parameters distance_sensor: Fill horizontal_fov, vertical_fov, quaternion
lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
lib: fix misprint
plugins: param: #1567: use parameters qos
lib: more lint...
lib: fix more linter warnings
lib: fix some linter warnings
lib: fix some linter warnings
router: fix lint error, it invalidated after erase
plugins: ftp: disable ll debug
plugins: param: add use_sim_time to excluded ids
plugins: param: set only allowed posparam
plugins: param: ported to ros2
plugins: ftp: port to ros2
plugins: setpoint_position: port to ros2
plugins: setpoint_attitude: port to ros2
Merge branch 'master' into ros2 * master: convert whole expression to mm
convert whole expression to mm
plugins: setpoint_trajectory: port to ros2
plugins: setpoint_velocity: port to ros2
plugins: setpoint_accel: port to ros2
plugins: setpoint_raw: fix sefgault
plugins: setpoint_raw: port to ros2
plugins: imu: port to ros2
plugins: global_position: port to ros2
plugin: local_position: port to ros2
plugins: wind_estimation: port to ros2
plugins: rc_io: port to ros2
plugins: port manual_control
plugins: home_position: port to ros2
plugins: sys_status: update set_message_interval
plugins: sys_status: implement autopilot version request
plugins: port command to ros2
uas: add eigen aligned allocator
plugin: altitude: port to ros2
uas: add convinient helpers
plugins: actuator_control: port to ros2
uas: fix some more lint errors
uas: fix some lint errors
plugin: sys_status: fix some lint errors
plugins: port sys_time
Merge branch 'master' into ros2 * master: 1.7.1 update changelog re-generate all pymavlink enums 1.7.0 update changelog
plugins: sys_status: fix connection timeout
lib: update cog to match ament-uncrustify
plugins: sys_status: fixing mav_type
plugins: sys_state: declare parameters
plugins: sys_state: ported most of things
plugins: sys_status: port most of the parts
plugins: start porting sys_status
plugins: generate description xml
plugins: port dummy
mavros: generate plugin list
Merge branch 'master' into ros2 * master: msgs: re-generate the code lib: re-generate the code plugins: mission: re-generate the code MissionBase: correction to file information MissionBase: add copyright from origional waypoint.cpp uncrustify whitespace add rallypoint and geofence plugins to mavros plugins xml add rallypoint and geofence plugins to CMakeList Geofence: add geofence plugin Rallypoint: add rallypoint plugin Waypoint: inherit MissionBase class for mission protocol MissionBase: breakout mission protocol from waypoint.cpp README: Update PX4 Autopilot references Fix https://github.com/mavlink/mavros/issues/849
uas: test multiple handlers for same message
uas: implement test for plugin message router
uas: fix is_plugin_allowed truth table
uas: initial unittest
uas: implement tf helpers
uas: add parameters callback, testing helper
node: disable intra process messaging because it's throws errors
uas: it's compilling!
uas: still fixing build...
uas: split uas_data.cpp into smaller units
uas: fix misprints
uas: initial implementation porting
uas: style fixes in headers
uas: update plugin base class, add registration macro
uas: begin implementation
router: use common format for address
router: add source id to UAS frame_id
mavros_node: that binary would be similar to old mavros v1 node
router: fix conponent loading
router: add test for Endpoint::recv_message
router: rename mavlink to/from to source/sink, i think that terms more descriptive
router: add diagnostics updater
router: fix incorrect get_msg_byte
router: trying to deal with mock cleanup checks
router: initial import of the test
router: catch open erros on ROSEndpoint
router: catch DeviceError
router: remove debugging printf's
router: weak_ptr segfaults, replace with shared_ptr
router: implement routing, cleanup
tools: remove our custom uncrustify, would use amend-uncrustiry instead
mavros: ament-uncrustify all code. enen unused one
router: implement params handler
router: fix build
router: add handler for parameters and reconnection timer
router: add some code docs, ament-uncrustify
router: implement basic part of Endpoint
lib: add stub code for router
mavros: router decl done
mavros: prototyping router
mavros: update tests
lib: port most of utilities
mnavros: lib: apply ament_uncrustify
lib: port enum_to_string
lib: update sensor_orientation
mavros: add rcpputils
mavros: fix cmake to build libmavros
mavros: begin porting...
Merge pull request #1186 from PickNikRobotics/ros2 mavros_msgs Ros2
Merge branch 'ros2' into ros2
msgs: start porting to ROS2
disable all packages but messages
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Sanket Sharma, Vladimir Ermakov, acxz

1.13.0 (2022-01-13)

Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
Contributors: Vladimir Ermakov

1.12.2 (2021-12-12)

Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Contributors: Oleg Kalachev, Vladimir Ermakov, hs293go

1.12.1 (2021-11-29)

mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.12.0 (2021-11-27)

Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
lib: fix mission frame debug print
Contributors: Alexander Sherikov, Vladimir Ermakov

1.11.1 (2021-11-24)

lib: fix build
Contributors: Vladimir Ermakov

1.11.0 (2021-11-24)

lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
Contributors: Jaeyoung-Lim, Vladimir Ermakov

1.10.0 (2021-11-04)

Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
Contributors: David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Marcelino Almeida, Val Doroshchuk, Vladimir Ermakov

1.9.0 (2021-09-09)

Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: reformat xml
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, Karthik Desai, Vladimir Ermakov

1.8.0 (2021-05-05)

lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
convert whole expression to mm
Contributors: Alexey Rogachevskiy, Thomas, Vladimir Ermakov

1.7.1 (2021-04-05)

re-generate all pymavlink enums
Contributors: Vladimir Ermakov

1.7.0 (2021-04-05)

lib: re-generate the code
plugins: mission: re-generate the code
MissionBase: correction to file information
MissionBase: add copyright from origional waypoint.cpp
uncrustify
whitespace
add rallypoint and geofence plugins to mavros plugins xml
add rallypoint and geofence plugins to CMakeList
Geofence: add geofence plugin
Rallypoint: add rallypoint plugin
Waypoint: inherit MissionBase class for mission protocol
MissionBase: breakout mission protocol from waypoint.cpp
README: Update PX4 Autopilot references Much needed fixes to clarify the project is named correctly throughout the README for the PX4 Autopilot, QGroundControl, and MAVLink
Fix https://github.com/mavlink/mavros/issues/849
Contributors: Charlie-Burge, Ramon Roche, Tobias Fischer, Vladimir Ermakov

1.6.0 (2021-02-15)

fix inconsistency in direction of yaw when using set_position in BODY frames and fix problems with yaw in setponit_raw
Contributors: zhouzhiwen2000

1.5.2 (2021-02-02)

readme: add source install note for Noetic release
Contributors: Vladimir Ermakov

1.5.1 (2021-01-04)

Fix tests for renaming of ECEF cases Introduced in 6234af29
Initialise message structures Uninitialised Mavlink 2 extension fields were sent if the fields were not later set. Initialising the fields to zero is the default value for extension fields and appears to the receiver as though sender is unaware of Mavlink 2. Instances were found with regex below, more may exist: mavlink::[\^:]+::msg::[\^:={]+ ?[\^:={]*;
Contributors: Rob Clarke

1.5.0 (2020-11-11)

mavros/sys_status: Fill flight_custom_version field
mavros: Add override specifiers
mavros: Move ECEF tf enums to separate enum class This avoids a bunch of unhandled switch cases, and should improve type safety a bit.
Contributors: Morten Fyhn Amundsen

1.4.0 (2020-09-11)

mavros: use mavlink::minimal:: after incompatible changes in mavlink package Incompatible change: https://github.com/mavlink/mavlink/pull/1463 Fix: #1483, https://github.com/mavlink/mavlink/issues/1474
fixes based on vooon's review
fix issue what we couldn't set real parameters to 0.0 in mavros
Add error message
Fixed compilation error: publish std_msgs::String, not std::string for gcs_ip
Dispatch GCS IP address
Contributors: Artem Batalov, Marcelino, Morten Fyhn Amundsen, Vladimir Ermakov, Øystein Skotheim

1.3.0 (2020-08-08)

fake_gps.cpp: implement speed accuracy
fake_gps.cpp: Add mocap_withcovariance configuration parameter
fake_gps.cpp: add initial support for GPS_INPUT MAVLink message
apm.launch: Avoid warning: Warning: You are using <arg> inside an <include> tag with the default=XY attribute - which is superfluous. Use value=XY instead for less confusion. Attribute name: respawn_mavros
Added support for MavProxy parameter file format
Ignore read-only parameters and statistics parameters in push operations
fix indentation
transform based on coordinate_frame
wind plugin: fix ArduPilot wind transformation
Contributors: Ben Wolsieffer, Dr.-Ing. Amilcar do Carmo Lucas, Yuan, Yuan Xu

1.2.0 (2020-05-22)

has_capability only works for enums
Uncrustify
Reworked Waypoint plugin to use capabilities_cb Additionally added helper functions has_capability and has_capabilities so that people can use either ints or enums to check if the UAS has a capability. This might make accepting capabilities as a parameter moot though.
Added alias for capabilities enum to UAS
Added alias for capabilities enum to UAS
Added a capabilities change cb queue Plugins can now write functions that they add to the capabilities_cb_vec. These functions will be called only when there is a change to the capabilities themselves not whenever the known status of the fcu_capabilities change. These functions should have a parameter of type mavlink::common::MAV_PROTOCOL_CAPABILITY which is essentially just a uint64_t however being more opinionated is helpful when looking for what the canonical enum names are in the mavlink project header files.
Uncrustify
Fixed Removed Uncrustify Option I'm not sure why this didn't break when I ran uncrustify previously but it seems that the align_number_left option was removed a while ago with this merge request but I may be mistaken https://github.com/uncrustify/uncrustify/pull/1393 I replaced it which align_number_right=true since it seems to be the inverse of align_number_left=true.
Removed deprecated MAV_FRAME values
Removed use of variant in favor of templates Since ROS messages are now the storage type in the node, providing to and from conversion functions is sufficient and can be better expressed with function templates.
Encode factor returns double
Changed encoding factor cog code
Uncrustify changes
Added new parameter to config.yamls
Updated waypoint plugin to support MISSION_ITEM_INT These changes add a new parameter use_mission_item_int, which allows users to prefer the old behavior. These changes also verify that the flight controller supports _INT messages since APM only sends REQUEST_ITEM messages even though it accepts _INT items back. This commit is functional and tested with the APM stack only. PX4 sitl jmavsim threw: WP: upload failed: Command is not supported. FCU: IGN MISSION_ITEM: Busy
Removed x_lat, y_long, z_alt from WP These values seemed to be used due to the fact that double had a greater resolution than float and doubles are used in the ros msg. However they were only ever used for printing. Since the int version of these messages has a greater resolution I figure it is more useful to print the true value in the mavlink message rather than the ros message value
Replaced MISSION_ITEM
add yaw to CMD_DO_SET_HOME
fix local angular velocity
Contributors: Braedon, David Jablonski, Martina Rivizzigno

1.1.0 (2020-04-04)

fixed styling
fixed indent from using spaces
updates apmrover2 modes and allows for arduboat mode changes
mavsafety kill feature for emergency stop
Include trajectory_msgs in CMakeLists.txt This allows build to complete successfully.
Contributors: Anthony Goeckner, Matt Koos, aykutkabaoglu

1.0.0 (2020-01-01)

0.33.4 (2019-12-12)

Replaced estimator status hardcoded definition with cog.
Refactor.
Replaced bool with git add -u as already done.
Added a publisher for estimator status message received from mavlink in sys_status.
Contributors: saifullah3396

0.33.3 (2019-11-13)

package: fix 6fa58e59 - main package depends on trajectory_msgs, not extras
Contributors: Vladimir Ermakov

0.33.2 (2019-11-13)

0.33.1 (2019-11-11)

Add mutex
Initialize type mask
Handle frame with StaticTF
Handle different frames
Set yaw rate from message inputs
Add setpoint trajectory reset interface
Fix trajectory timestamp
Address comments
Pass reference with oneshot timers
Set typemasks correctly
Address more style comments
Address style comments
Visualize desired trajectory
Handle end of trajectory correctly
Remove message handlers
Add setpoint_trajectory plugin template
resolved merge conflict
Contributors: David Jablonski, Jaeyoung-Lim

0.33.0 (2019-10-10)

Add vtol transition service
CleanUp
Update frame name in px4_config to match ROS standards
Enable publishing multiple static tfs at once, publish standard static tfs
moving ACK_TIMEOUT_DEFAULT out of class
cog: Update all generated code
mavros/src/plugins/command.cpp: one more style fix
mavros/src/plugins/command.cpp: style fixes
mavros/src/plugins/command.cpp: command_ack_timeout ms -> s
mavros/src/plugins/command.cpp: command_ack_timeout_ms int -> double
mavros/src/plugins/command.cpp: uncrustify
mavros/src/plugins/command.cpp: parameter for command's ack timeout Sometimes commands take more time than default 5 seconds. Due to a low bandwidth of UART and a high rate of some mavlink streams. To eliminate this problem it's better to provide the parameter to configure the command's ack timeout.
added manual flag to mavros/state
Use GeoPoseStamped messages
Fix build
Add callback for SET_POSITION_TARGET_GLBOAL_INT
Contributors: David Jablonski, Jaeyoung-Lim, Sergei Zobov, Vladimir Ermakov, kamilritz

0.32.2 (2019-09-09)

uncrustify
Add boolean to check if IMU data has been received Follow sensor_msgs/Imu convention when data not present
Uncrustify the GPS_GLOBAL_ORIGIN handler in global_position
Fix global origin conversion to ecef (was using amsl where hae was required) Summary: Fix global origin conversion to ecef (was using amsl where hae was required)
moved code to end of function
added amount of satellites to global_position/raw/
Contributors: David Jablonski, Nick Steele, Rob Clarke, Robert Clarke

0.32.1 (2019-08-08)

uncrustify
Removed tf loop
made small edit to handle augmented gps fix
added a check for gps fix before setting origin for global_position/local odometry topic
Contributors: Eric, Lucas Hill

0.32.0 (2019-07-06)

use direclty radians in yaml files
A simple typo error has fixed. (#1260)
- fix: a typing error "alredy" to "already"
- Fix: typo error (helth -> health)
Contributors: Martina Rivizzigno, 강정석

0.31.0 (2019-06-07)

readme: fix udp-pb formatting
launch config: landing_target: fix and improve parameter list
remove duplicated landing_target parameters
enum_to_string: simplify landing_target_type_from_str
enum_to_string: update enumerations and checksum
extras: landing target: improve usability and flexibility
remove landing_target from blacklist
update to use pymavlink generator
px4_config: landing_target: minor correction
mav_frame: add frames of reference to wiki page; reference them on config
landing_target: removed child_frame_id
landing_target: minor code tweak/restructure
landing_target: uncrustify code
landing_target: updated to TF2 and Eigen math
landing_target: adapted to latest master code
landing_target: added timestamp and target size fields [!Won't compile unless a new mavlink release!]
landing_target: first commit
Switch to double-reflections instead of axes-reassignments
specialize transform_frame_ned_enu and transform_frame_enu_ned for type Vector3d such that input vectors containing a NAN can be correctly transformed
Update README.md update misspelling
Contributors: Julian Kent, Martina Rivizzigno, Shingo Matsuura, TSC21, Vladimir Ermakov

0.30.0 (2019-05-20)

Filter heartbeats by component id as well This addresses #1107 and #1227, by filtering incoming heartbeats by component ids before publishing the state.
mavros/src/plugins/command.cpp: log if command's wait ack timeout (#1222)
- mavros/src/plugins/command.cpp: log if command's wait ack timeout
- mavros/src/plugins/command.cpp: log timeout in wait_ack_for
local_position fix #1220: initialize flags
plugin waypoint: fix spelling
Fix leading space before setpoint_raw This causes an error when running `roslaunch`: ` error loading <rosparam> tag: file /opt/ros/kinetic/share/mavros/launch/apm_config.yaml contains invalid YAML: while parsing a block mapping in "<string>", line 4, column 1: startup_px4_usb_quirk: false ^ expected <block end>, but found '<block mapping start>' in "<string>", line 103, column 2: setpoint_raw: ^ XML is <rosparam command="load" file="$(arg config_yaml)"/> The traceback for the exception was written to the log file`
global_position.cpp: spell in comment
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Josh Veitch-Michaelis, Nico van Duijn, Sergey Zobov, Vladimir Ermakov

0.29.2 (2019-03-06)

0.29.1 (2019-03-03)

All: catkin lint files
Update apm_config.yaml Setting thrust_scaling in the setpoint_raw message (in my case, to use /mavros/setpoint_raw/attitude) Without it, when using Gazebo, get the following problem "Recieved thrust, but ignore_thrust is true: the most likely cause of this is a failure to specify the thrust_scaling parameters on px4/apm_config.yaml. Actuation will be ignored." from the function void attitude_cb in setpoint_raw.cpp (http://docs.ros.org/kinetic/api/mavros/html/setpoint__raw_8cpp_source.html)
cmake: fix #1174: add msg deps for package format 2
Issue #1174 Added dependency for mavros_msgs and mavros
Contributors: Adam Watkins, KiloNovemberDelta, Pierre Kancir, Vladimir Ermakov

0.29.0 (2019-02-02)

Fix broken documentation URLs
px4_config: set the thrust_scaling to one by default
local_position: add an aditional topic for velocity on the local frame
Merge pull request #1136 from angri/param-timeout Request timed up parameters as soon as possible
Merge branch 'master' into param-timeout
plugin:param added logging regarding rerequests
plugin:param fixed second and consequent timeouts in requesting list
mavros_extras: Wheel odometry plugin updated according to the final mavlink WHEEL_DISTANCE message.
mavros_extras: Wheel odometry plugin fixes after CR.
mavros_extras: Wheel odometry plugin added.
mavsys: add do_message_interval
sys_status: add set_message_interval service
lib: fix MAV_COMPONENT to_string
lib: update sensor orientations
plugin:param rerequest timed out parameters asap Avoid vaiting for the next timeout
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Pavlo Kolomiiets, Randy Mackay, TSC21, Vladimir Ermakov, angri

0.28.0 (2019-01-03)

plugin:param: publish new param value
Merge pull request #1148 from Kiwa21/pr-param-value param plugin : add msg and publisher to catch latest param value
sys_status: fix build
sys_state: Small cleanup of #1150
VehicleInfo : add srv into sys_status plugin to request basic info from vehicle
sys_status: Fix #1151 bug - incorrect hex print
plugins:sys_status: Update diag decoder
frame_tf: mavlink_urt_to_covariance_matrix: make matrix symetrical
uas_data: add comment on the reverse tf fcu_frd->fcu
odom: add ODOMETRY handler and publisher
Handle LOCAL_POSITION_NED_COV messages, add pose_cov, velocity_cov, accel topics
sys_status : add MAV_TYPE as a parameter
rc_io: extend handle_servo_output_raw to 16 channels
param plugin : add msg and publisher to catch latest param value
plugin:command: Update for C++11, style fix Signed-off-by: Vladimir Ermakov <<vooon341@gmail.com>>
Fixed NavSatFix bug in mavcmd takeoffcur and landcur
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940 Remove unnecessary functools
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940
Fix mavros/param.py to work in python2 and python3, #940
correct the to_string function
set value back to 30
add autogenerated to_string function
style clean up
Use component_id to determine message sender
change message name from COMPANION_STATUS to COMPANION_PROCESS_STATUS
change message to include pid
Change from specific avoidance status message to a more generic companion status message
add plugin to receive avoidance status message
Added RPYrT and uncrustified. Pushing version without spaces. Version with tabs? Fixed all? Finally fixed. Fixed requestes by \@vooon Fixed a def. Fixed log format. Fixed time for log.
apm_config: enable timesync and system for ardupilot
Contributors: Dan Nix, Gregoire Linard, Oleg Kalachev, Randy Mackay, TSC21, Vladimir Ermakov, baumanta, fnoop, pedro-roque

0.27.0 (2018-11-12)

fix: a typing error "alredy" to "already"
plugins #1110 #1111: add eigen aligment to plugins with eigen-typed members
plugins: fix style
with this fix ,it will avoid eigen error on 32 bits system
Add service to send mavlink TRIGG_INTERVAL commands Adapt trigger_control service to current mavlink cmd spec. Add a new service to change trigger interval and integration time
launch: fix #1080: APM now support mocap messages
Contributors: Gaogeolone, Moritz Zimmermann, Vladimir Ermakov, rapsealk

0.26.3 (2018-08-21)

test: Fix sensor orientation. RPY 315 was removed in recent mavlink. https://github.com/mavlink/mavlink/commit/3d94bccfedc5fc7f2ffad247adecff0c2dc03501
lib: update generated entries
Contributors: Vladimir Ermakov

0.26.2 (2018-08-08)

Moving gps_rtk to mavros_extras
Update copyright name
Updating the gps_rtk plugin to fit mavros guidelines:
- Updating max_frag_len to allow changes in size in MAVLink seamlessly
- Using std::copy instead of memset
- Zero fill with std::fill
- Preapply the sequence flags
- Use of std iterators
- Add the maximal data size in the mavros_msgs
uncrustify
Update comments for the renaming
Renaming the GPS RTK module, Adding fragmentation, Changing the RTCM message
RTK Plugin; to forward RTCM messages Signed-off-by: Alexis Paques <<alexis.paques@gmail.com>>
Contributors: Alexis Paques

0.26.1 (2018-07-19)

setpoint_velocity: fix yaw rate setpoint rotation
lib fix #1051: Add APM BOAT modes support. Currently SURFACE_BOAT uses same code as Rover2, just different vehicle type.
Contributors: TSC21, Vladimir Ermakov

0.26.0 (2018-06-06)

lib: add tunable timeout to gcs_quiet_mode
udp bridge: pass only HEARTBEATs when GCS is offline
sys_time : add advanced timesync algorithm
libmavconn: add scheme for permanent UDP broadcasting
GPS accuracy wo approximations (#1034)
- GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT.
* GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT if on mavlink v2.0, or on DOP values otherwise.
- GPS accuracy update.
Contributors: Mohammed Kabir, Oleg Kalachev, Pavlo Kolomiiets, Vladimir Ermakov

0.25.1 (2018-05-14)

0.25.0 (2018-05-11)

wind plugin: uncrustify
use eigen and tf conversions (fix conventions), sync timestamp, fix typos
add wind estimation plugin
launch: fix style and keep apm.launch consistent with px4.launch
Updated apm.launch to forward new fcu_protocol parameter
glob pos plugin: correct gps velocity convention (NEU->ENU)
Split temperature publisher.
setpoint_raw: correct yaw transform; remove yaw transform methods
extras: odom: improve way frame naming is handled
extras: update odom plugin to send ODOMETRY msgs
lib: enum_to_string: update enums
setpoint_attitude: rename topic from target_attitude to attitude
imu plugin: fix pressure units
imu plugin: publish differential pressure (#1001)
- imu plugin: publish differential pressure
- imu plugin: fix doxygen snippets
lib: add PX4 mode AUTO.PRECLAND
extras: add covariance parsing to vision_speed_estimate (#996)
Contributors: Anthony Lamping, Nuno Marques, Oleg Kalachev, Sondre Engebråten, TSC21, Thomas Stastny, Timo Hinzmann, Vladimir Ermakov

0.24.0 (2018-04-05)

frame_tf: add assertion over size of covariance matrix URT
extras: update vision_pose_estimate plugin so it can send the covariance matrix also
plugins fix #990: Explicitly cast boolean values. Else someone can shoot in his foot.
Update Readme for serial0: receive: End of file
launch : remove vision_pose_estimate from blacklist on ardupilot
plugin: ftp: fix typo
Add ability to send STATUSTEXT messages
Contributors: Anass Al, Andrei Korigodski, Pierre Kancir, TSC21, Vladimir Ermakov

0.23.3 (2018-03-09)

lib: simplify geolib cmake module, try to fix CI
Contributors: Vladimir Ermakov

0.23.2 (2018-03-07)

launch: add optional respawn_mavros arg
Contributors: Anthony Lamping

0.23.1 (2018-02-27)

lib: Update to_string
plugin fix #957: set MISSION_ITEM::mission_type
Contributors: Vladimir Ermakov

0.23.0 (2018-02-03)

launch fix #935: use orientation convention from message descr https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR
Blacklist HIL for APM since it is not relevent
add MAV_DISTANCE_SENSOR enum to_string
px4: add fcu_protocol argument to choose mavlink v1.0 or v2.0 to start mavros in node.launch
node: add fcu_protocol parameter to be able to choose mavlink v1.0 or v2.0 when starting mavros node
mavros: default fcu_protocol parameter to mavlink v2.0
manual_control: [send]{.title-ref} topic for sending MANUAL_CONTROL message to FCU
imu plugin: fix doxygen comments
imu plugin: change sufixes to match the body coordinate frame
Fix vision odom.
IMU plugin: add raw IMU conversion for PX4
mention rotation convention and fix NED to ENU description
Contributors: ChristophTobler, James Goppert, James Mare, Martina, Oleg Kalachev, TSC21, Vladimir Ermakov

0.22.0 (2017-12-11)

scripts: Use non global mavros-ns allow to work __ns parameter
update script to support cycle_time on cmd trigger_control
plugin: Fix setpoint_position code style
Global position setpoint plugin (#764)
- fix fake gps rate
- fix
- fix plugin_list
- fix
- add global position setpoint plugin
- add plugin to CMakeList
- fix bugs
- add altitude
- move GPS setpoints to setpoint_position plugin
- fix gps setpoint subscriber name
- move GeographicLib::Geocentric earth inside callback
- add warning msg if timestamp is not updates
- Fix ROS_WARN
doc: move contributing.md to root
tools: add cogall.sh
split contribuion guide to GH file
Readme: add help for cog (#876)
Setpoints: remove mav_frame string for local variable
Setpoints: add params for initial frame
Setpoint_velocity: uncrustify
Setpoint_position: uncrustify
Setpoints: add service to specify frame
Fix typo #867
Improve output of script, replace which with more reliable hash #867
Ensure dataset files exist, not just directories #867
Remove previous duplicated link
Fixed issue link.
Fixed section header. Ready for troubleshooting PR.
Pushing troubleshooting section for Mavros.
Contributors: Mohamed Abdelkader Zahana, Pierre Kancir, Vladimir Ermakov, andresR8, fnoop, khancyr, pedro-roque

0.21.5 (2017-11-16)

Yet another formatting.
px4_config.yaml updated. Minor formatting update.
global_position/raw/gps_vel should still be in earth fixed frame.
GPS fix's frame_id changed to body-fixed.
global_position/local angular twist changed from NANs to zeroes to be able to show in RViz.
readme: source install: add note on fetching all the deps
geolib_dataset: script: fix interpreter
Contributors: Pavlo Kolomiiets, TSC21

0.21.4 (2017-11-01)

lib ftf: update dox, uncrustify
ENU<->ECEF transforms fix. (#847)
- ENU<->ECEF transforms fix.
- Changes after review. Unit tests added.
test: fix copy-paste error in frame_tf
Contributors: Vladimir Ermakov, pavloblindnology

0.21.3 (2017-10-28)

Update geographiclib script to work with zsh
scripts: fix typos and improve help messages consistency commad -> command safty -> safety Start help messages with a capital letter.
uncrustify
plugin waypoints: Use stamped message
plugin waypoint: Add MISSION_ITEM_REACHED publisher * Changes to be committed: modified: mavros/src/plugins/waypoint.cpp modified: mavros_msgs/CMakeLists.txt new file: mavros_msgs/srv/WaypointReached.srv
- change reached service name to classic topic
- Changed reached service to topic
- removed unused file
- Removed WaypointReached service
- Change reached message type to std_msgs::UInt16
- Delete WaypointReached.srv
- Restore WaypointPush.srv
- Fix tipo
- Update waypoint.cpp
launch: sync APM and PX4 configs
add debug plugin
Contributors: Jonas Vautherin, Patrick Jose Pereira, TSC21, Vladimir Ermakov, gui2dev

0.21.2 (2017-09-25)

plugin: setpoint_attitude: Finish Andres fix
fix: attitude callback trigger
lib uas: remove inline on not inlined method
odom: general fixes and code tighting
Use tf2 for odom plugin and set reasoable defaults for local pos cov.
Contributors: Andres Rengifo, James Goppert, TSC21, Vladimir Ermakov

0.21.1 (2017-09-22)

mavsys: mode: add solutions for setting AUTO.MISSION and AUTO.LOITER modes (#814)
- mavsys: add notes on how to change mode to AUTO.MISSION on PX4 Pro
- enum_to_string: update enums
- mavsys: mode: move AUTO submodes info to argparser
- sys_status: leave note that MAV_TYPE_ONBOARD_CONTROLLER will be supported on PX4
- mavsys: mode: add note on changing to AUTO.LOITER
Solve the subscriber initialization
lib frame_tf: Add to_eigen() helper
Contributors: Alexis Paques, Nuno Marques, Vladimir Ermakov

0.21.0 (2017-09-14)

plugin waypoint: Uncrustify, update init list
lib: Add to_sting for MAV_MISSION_RESULT
plugin waypoint: Rename current seq in wp list message
waypoint: Publish current waypoint seq
waypoint partial: Check parameter first with hasParam
waypoint partial: Documentation updates
waypoint: Document mid level helpers and fix indenting on rx handlers
waypoint: Document rx handlers
waypoint partial: Move FCU detection to connection_cb
waypoint partial: recommended changes to mavwp
waypoint partial: code style cleanup
waypoint partial: enable only on apm but allow override with parameter
waypoint partial: Handle case when partial push is out of range with local list and uncrustify
waypoint partial: enable only on apm through yaml
waypoint partial: stopped partial push from clearing parts of local waypoint copy
waypoint partial: uncrustify
waypoint partial: extend mavwp cli tool to do partial updating in push
waypoint partial: extended push in waypoint plugin to implement push partial
waypoint: uncrustify
waypoint: handle invalid_sequence mission_ack to prevent TXWP failure
Partial waypoint: added wp_transfered to push partial service response
Partial waypoint: renamed mavwp partial load arguments for consistency
Partial waypoint: fixed end index and added partial tx state
Partial Waypoint: handle service call in waypoint plugin
Partial waypoint: added partial updating to mavwp
imu_plugin: remove documentation of override func
imu plugin: uncrustify
imu plugin: don't be so explicit about in/out params
imu plugin: fix indentation
imu plugin: update setup_covariance method to use Eigen capabilities
imu plugin: use simpler format for one line comments
imu plugin: add code snippets to Doxygen documentation
IMU and attitude: general clean-up
CMake: explicitly link the atomic library (#797) For arm & mips architecture, the linker must explicitly be asked to link the atomic library (with [-latomic]{.title-ref}). Otherwise, the linking fails with: ` | devel/lib/libmavros.so: undefined reference to `__atomic_load_8' | devel/lib/libmavros.so: undefined reference to `__atomic_store_8' | collect2: error: ld returned 1 exit status[ Linking `atomic]{.title-ref} unconditionally as library is strictly needed only for arm & mips, but it seems not to imply any further differences with other architectures. Hence, this commit simply adds [atomic]{.title-ref} unconditionally for a uniform handling of all machine architectures. This is an alternative solution to the proposed solution in #790. The issue was discovered cross-compiling mavros in meta-ros, the OpenEmbedded layer for ROS. Some further pointers are available at: https://github.com/bmwcarit/meta-ros/issues/525 Signed-off-by: Lukas Bulwahn <<lukas.bulwahn@gmail.com>>
setpoint_attitude: privatize message_filters subscribers
Updating comments for PX4Flow
Removing copter_visualization from the yaml files. Adding odometry to apm_config Changing frame_id to base_link for vibration
Update the apm_config and px4flow_config files
Update configuration from mavros_extras
Updating default settings from px4.yaml
- global_position/tf/send default to false
- imu, checked
- local_position/tf/send default to false
- local_position/tf/send_fcu default to false
- mission/pull_after_gcs default to true
Update time reference to fcu Adding global_frame_id: 'earth' to apm_config
fcu to base_link
Changing fcu_utm to fcu
Solving default frame consistency in config files
Contributors: Alexis Paques, James Mare, James Stewart, Lukas Bulwahn, TSC21, Vladimir Ermakov

0.20.1 (2017-08-28)

0.20.0 (2017-08-23)

update generated code in plugins
update generated code
geolib: datasets: warn when not installed; update install script; launch SIGINT when not installed (#778)
- geolib: make dataset install mandatory
- travis_ci: install python3; use geographiclib-datasets-download
- CMakeLists.txt: set datasets path
- travis_ci: create a path for the geoid dataset
- travis_ci: remove python3 install
- CMakeLists.txt: remove restriction regarding the geoid model
- CMakeLists.txt: only launch a warning if the geoid dataset is not installed
- CMakeLists.txt: simplify dataset path search and presentation
- scripts: install_geographiclib_datasets becomes version aware
- uas_data: dataset init: shutdown node if exception caught
- README: update GeographicLib info; geolib install script: check for more OS versions
- uas_data: small typo fix
- install_geolib_datasets: some fix
- CMakeLists.txt: be more clear on geoid dataset fault
- CMakeLists: push check geolib datasets to a cmake module
- travis_ci: update ppa repository
- uas_data: shutdown node and increase log level instead
- install_geographiclib_datasets: simplify script to only check download script version available
- uas_data: remove signal.h import
HIL Plugin
- add HilSensor.msg, HilStateQuaternion.msg, and add them in CMakeLists.txt
- Add hil_sensor.cpp plugin to send HIL_SENSOR mavlink message to FCU.
- fix HilSensor.msg. Make it more compact.
- Fix HilStateQuaternion.msg. Make it more compact.
- Add hil_state_quaternion plugin
- fix files: some variable names were wrong+some syntax problems
- fix syntax error in plugin .cpp files, make msg files match corresponding mavlink definitions
- fix plugin source files
- fix syntax
- fix function name. It was wrong.
- add HIL_GPS plugin
- add HilGPS.msg to CMakeList
- fix missing semicolon
- fix call of class name
- Add ACTUATOR_CONTROL_TARGET MAVLink message
- fix code
- increase number of fake satellites
- control sensor and control rates
- change control rate
- change control rate
- fix fake gps rate
- fix
- fix plugin_list
- fix
- remove unnecessary hil_sensor_mixin
- update HilSensor.msg and usage
- update HilStateQuaterion.msg and usage
- redo some changes; update HilGPS.msg and usage
- update hil_controls msg - use array of floats for aux channels
- merge actuator_control with actuator_control_target
- remove hil_sensor_mixin.h
- update actuator_control logic
- merge all plugins into a single one
- delete the remaining plugin files
- update description
- redo some changes; reduce LOC
- fix type cast on gps coord
- add HIL_OPTICAL_FLOW send based on OpticalFlowRad sub
- update authors list
- update subscribers names
- refactor gps coord convention
- add HIL_RC_INPUTS_RAW sender; cog protec msg structure and content
- apply correct rc_in translation; redo cog
- apply proper rotations and frame transforms
- remote throttle
- fix typo and msg api
- small changes
- refactor rcin_raw_cb
- new refactor to rcin_raw_cb arrays
- update velocity to meters
- readjust all the units so to match mavlink msg def
- update cog
- correct cog conversion
- refefine msg definitions to remove overhead
- hil: apply frame transform to body frame
apm_config.yaml: change prevent collision in distance_sensor id
Extras: add ardupilot rangefinder plugin
msgs fix #625: Rename SetMode.Response.success to mode_sent
[WIP] Plugins: setpoint_attitude: add sync between thrust and attitude (#700)
- plugins: setpoint_attitude: add sync between throttle and attitude topics to be sent together
- plugins: typo correction: replace throttle with thrust
- plugins: msgs: setpoint_attitude: replaces Float32Stamped for Thrust msg
- plugins: setpoint_attitude: add sync between twist and thrust (RPY+Thrust)
- setpoint_attitude: update the logic of thrust normalization verification
- setpoint_attitude: implement sync between tf listener and thrust subscriber
- TF sync listener: generalize topic type that can be syncronized with TF2
- TF2ListenerMixin: keep class template, use template for tf sync method only
- TF2ListenerMixin: fix and improve sync tf2_start method
- general update to yaml config files and parameters
- setpoint_attitude: add note on Thrust sub name
- setpoint_attitude: TF sync: pass subscriber pointer instead of binding it
apm_config: add mavros_extras/fake_gps plugin param config
px4_config: add gps_rate param
frame tf: move ENU<->ECEF transforms to ftf_frame_conversions.cpp
extras: mocap_fake_gps->fake_gps: generalize plugin and use GeographicLib possibilites
UAS: Share egm96_5 geoid via UAS class
Move FindGeographicLib.cmake to libmavconn, that simplify installation, simplify datasets instattator
Use GeographicLib tools to guarantee ROS msg def and enhance features (#693)
- first commit
- Check for GeographicLib first without having to install it from the beginning each compile time
- add necessary cmake files
- remove gps_conversions.h and use GeographicLib to obtain the UTM coordinates
- move conversion functions to utils.h
- geographic conversions: update CMakeLists and package.xml
- geographic conversions: force download of the datasets
- geographic conversions: remove unneeded cmake module
- dependencies: use SHARED libs of geographiclib
- dependencies: correct FindGeographicLib.cmake so it can work for common Debian platforms
- CMakeList: do not be so restrict about GeographicLib dependency
- global position: odometry-use ECEF instead of UTM; update other fields
- global position: make travis happy
- global position: fix ident
- global_position: apply correct frames and frame transforms given each coordinate frame
- global_position: convert rcvd global origin to ECEF
- global_position: be more explicit about the ecef-enu transform
- global position: use home position as origin of map frame
- global position: minor refactoring
- global position: shield code with exception catch
- fix identation
- move dataset install to script; update README with new functionalities
- update README with warning
- global_position: fix identation
- update HomePosition to be consistent with the conversions in global_position to ensure the correct transformation of height
- home|global_position: fix compile errors, logic and dependencies
- home position: add height conversion
- travis: update to get datasets
- install geo dataset: update to verify alternative dataset folders
- travis: remove dataset install to allow clean build
- hp and gp: initialize geoid dataset once and make it thread safe
- README: update description relative to GeographicLib; fix typos
- global position: improve doxygen references
- README: update with some tips on rosdep install
[WIP] Set framework to define offset between global origin and current local position (#691)
- add handlers for GPS_GLOBAL_ORIGIN and SET_GPS_GLOBAL_ORIGIN
- fix cast of encoding types
- refactor gps coord conversions
- uncrustify
- global_position: add LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET handler
- global_position: add trasform sender for offset
- global_origin: refactor covariance matrix
- global_position: update copyright
- global_position: add initial support to REP 105
- px4_config: global_position: update frame description
- global_position: correct identation
- global position: be consistent with frame and methods names (ecef!=wgs84, frame_id!=global_frame_id)
- global_position: updates to code structure
- global_position: fix identation
lib: frame_tf: Style fix
extras: odom: Minor fixes
extras: Add odom plugin
lib: frame_tf: Add support for 6d and 9d covariance matrices
Contributors: James Goppert, Nuno Marques, TSC21, Vladimir Ermakov, khancyr

0.19.0 (2017-05-05)

launch: remove setpoint-attitude from apm blacklist
lib: cleanup in enum_to_string
extras: Add ADSB plugin
plugin: home_position: Log poll
plugin: home_position: Log report
plugin #695: Fix plugin
plugin: Add home_position
Added SAFETY_ALLOWED_AREA rx handler (#689)
- Added SAFETY_ALLOWED_AREA rx handler and publish PolygonStamped msg with the 2 points
- add resize to array to avoid sigfault
lib: Fix millis timesync passthrough
Plugin: Add unstamped Twist subscriber for setpoint_velocity
uas: Move timesync_mode enum to utils.h + fixes That enum are used for utils too, but forward declaration of class internal enum is impossible.
sys_time: Add timesync mode selection parameter.
sys_time : add multi-mode timesync
uas : add multi-mode timesync
uas : add multi-mode timesync
launch fix #670: Add configuration of distance_sensor plugin for APM
Contributors: Kabir Mohammed, Nuno Marques, Pierre Kancir, Randy Mackay, Vladimir Ermakov

0.18.7 (2017-02-24)

readme: Add serial-hwfc:// proto
trigger interface : rename to cycle_time to be consistent with PX4
Contributors: Kabir Mohammed, Vladimir Ermakov

0.18.6 (2017-02-07)

lib #626: Porting of PR #650 - Fix OSX pthread set name.
uas fix #639: Remove Boost::signals2 from UAS
Plugins: system_status change status field to system_status Add comment to State.msg for system_status enum
Plugins: add system_status to state message
Contributors: Fadri Furrer, Pierre Kancir, Vladimir Ermakov

0.18.5 (2016-12-12)

lib: update ArduPilot modes
Contributors: Randy Mackay

0.18.4 (2016-11-11)

lib: Add ArduSub modes
readme: Fix mavlink rosinstall_generator call
mavros: README.md: its -> it's Here "it's" is a short form for "it is".
add hil_actuator_controls mavlink message
lib: Make cog.py scrips compatioble with Py3
plugin:sys_status: Add logging health report
Update README for all packages
Update README.md Fix instructions: Only the Kinetic distro actually works for MAVLink 2.0
Contributors: Beat Kung, Georgii Staroselskii, Lorenz Meier, Vladimir Ermakov

0.18.3 (2016-07-07)

plugin:param: Use mavlink::set_string() helper
Update README.md
Update README.md Fix very confusing instructions mixing steps.
Update README.md
Update README.md
python #569: convert_to_rosmsg() support for 2.0. NO SIGNING.
python #569: Update mavlink.convert_to_bytes()
Contributors: Lorenz Meier, Vladimir Ermakov

0.18.2 (2016-06-30)

plugin:sys_status: Fix STATUSTEXT log prefix
Contributors: Vladimir Ermakov

0.18.1 (2016-06-24)

lib: Fix base mode flag check
plugins: Move pluginlib macros.h to tail
plugin:param fix #559: Ignore PX4 _HASH_CHECK param
Contributors: Vladimir Ermakov

0.18.0 (2016-06-23)

lib #439: MAV_CMD to_string is not required.
plugin:sys_status #458: Hanlde BATTERY_STATUS (PX4)
plugin:sys_status fix #458: Use sensor_msgs/BatteryState message. Minimal data, for all other need to handle BATTERY_STATUS.
plugin:command fix #561: PX4 now sends COMMAND_ACK. And like APM do not check confirmation field. :)
readme #544: add udp-b://@ URL
plugin:hil_controls: Update plugin API
Merge branch 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros into pvechersky-feature/hil_controls_plugin * 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros: Adding anchor to the HIL_CONTROLS message reference link Ran uncrustify on hil_controls plugin Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation Added a plugin that publishes HIL_CONTROLS as ROS messages
node: fix subscription message type checks
plugin: use mavlink::to_string() for std::array<char, N>
readme: update CI, no more MAVLINK_DIALECT
plugin:waypoint: Fix target id's on MISSION_ITEM
node: Add ~fcu_protocol parameter
Ran uncrustify on hil_controls plugin
Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation
node: set gcs_url on internal GCS bridge diag hardware Id
plugins: Use UAS::msg_set_target()
Added a plugin that publishes HIL_CONTROLS as ROS messages
lib: PX4 add AUTO.FOLLOW_TARGET
mavros: Update tests
extras: Update UAS
UAS: Update plugins for FTF module
UAS: move enum stringify functions
lib: Generate MAV_SENSOR_ORIENTATION
UAS: move MAV_SENSOR_ORIENTATION out
UAS: Move transformation utilities to ftf module
plugin:rc_io: Fix log printf-format warning
make GCC 4.8 happy. (travis)
gcs_bridge: done
param:ftp: Update API
plugin:param: Works. Tested on APM
plugin:param: Update, almost work
plugin:waypoint: Fix Item - ROS binding
Message type mismatch code do not work
plugin:waypoint: Update API
plugin:sys_time: Update API
plugin:sys_status: Update API
plugin:setpoint_raw: Update API
plugin:setpoint_attitude: Update API
plugin:setpoint_accel: Update API
plugin:setpoint_velocity: Update API
plugin:setpoint_position: Update API
plugin:vfr_hud: Update API
plugin:safety_area: Update API
plugin:rc_io: Update API
plugin:manual_control: Update API, fix uas init
plugin:local_position: Update API
plugin:imu_pub: Update API
plugin:global_position: Update API
mavros: make_handle() this shouldn't be const
plugin:common: Update API
plugin:altitude: uncrustify
plugins: Rutine sed + fix misprint
plugin:altitude: Update API
plugins: Automatic replacement of routine API changes (sed)
plugin:actuator_control: Update API
plugin:3dr_radio: Update API
node: Update plugin loading and message routing
node: type_info -> SIGSEGV
node: prepare new plugin loading
node: Rename plugib base class - API incompatible to old class
labmavconn: finding sigsegv
Contributors: Pavel, Vladimir Ermakov

0.17.3 (2016-05-20)

libmavconn #543: support build with mavlink 2.0 capable mavgen
node: Remove warning about MAVLINK_VERSION redefine
Fix bug with orientation in setpoint_raw plugin Fixes a bug where the ned_desired_orientation was not actually passed into set_attitude_target. Instead, the desired_orientation (wrong frame) was passed.
Contributors: Justin Thomas, Vladimir Ermakov

0.17.2 (2016-04-29)

Update README.md
Update README.md Updated / completed examples.
Update README.md
Fix for kinetic std::isnan.
Contributors: James Goppert, Lorenz Meier

0.17.1 (2016-03-28)

lib: Add QLAND mode of APM:Plane https://github.com/mavlink/mavlink/commit/a0ed95c3a7d97a8f8d86ce3f95c4bf269f439c46
Update contributing guide We forgot to mention uncrustify commit.
Treat submarine vehicles like copter vehicles
Contributors: Josh Villbrandt, Vladimir Ermakov

0.17.0 (2016-02-09)

update README
rebased with master
Fixed ROS_BREAK
Updates for ROS_BREAK and code style
Nitpicks and uncrustify
Updated frame transformations and added odom publisher to local position plugin
Contributors: Eddy, Vladimir Ermakov, francois

0.16.6 (2016-02-04)

node fix #494: Report FCU firmware type in rosonsole log
scripts fix #478: Remove guided_enable garbage. I'm missed this when do #407.
Contributors: Vladimir Ermakov

0.16.5 (2016-01-11)

scripts: mavwp #465: Remove WaypointGOTO from scrips and python library
node: Report mavlink package version
lib: Add APM:Plane QuadPlane modes. Sync with: https://github.com/mavlink/mavlink/commit/1fc4aef08a54130f297943c246f95b8c7e37b1bf
readme: pixhawk dialect removed.
Contributors: Vladimir Ermakov

0.16.4 (2015-12-14)

scripts: checkid: be always verbose, add --follow
scripts: fix copyright indent
scripts: mavcmd: Fix bug: param7 not passed to service call!
scripts #382: Add ID checker script. It is not complete, but i hope it helps in current state.
scripts: mavcmd: Add support for broadcast requests
event_launcher: fix bug: Trigger service server is not saved in Launcher Also fixes: environment variables may contain ~ (user dir) in expansion.
using timestamp from mavlink message
Update mavlink message documentation links
lib: update MAV_TYPE stringify
lib: Add RATTITUDE PX4 mode
remove "altitude_" prefix from members
updated copyright
implemented altitude plugin
Contributors: Andreas Antener, Vladimir Ermakov

0.16.3 (2015-11-19)

use safe methods to get imu data in local_position plugin
Contributors: Andreas Antener

0.16.2 (2015-11-17)

transform yaw and yaw rate from enu to ned
Contributors: Andreas Antener

0.16.1 (2015-11-13)

python: fix import error of goto service
don't warn anymore about px4 not supporting rc_io
Contributors: Andreas Antener, Vladimir Ermakov

0.16.0 (2015-11-09)

lib: Update ArduCopter mode list
plugin: sys_status #423: set_mode set arming and HIL flags based on previous state
lib #423: Save base_mode in UAS.
Finalized local position topic names
readme: add link to catkin-tools docs
readme #409: merge mavlink and mavros installation instruction
Fixed redundant rotation of IMU data and redundant orientation data
plugin: setpoint_raw fix #418: add attitude raw setpoint Related #402.
Added velocity output of FCU's local position estimate to ROS node
plugin: sys_status fix #417: remove APM statustext quirk
plugin: waypoint fix #414: remove GOTO service. It is replaced with more standard global setpoint messages.
plugin: setpoint_raw fix #415: add global position target support Related to #402.
plugin: command fix #407: remove guided_enable sevice
plugin: setpoint_raw #402: implement loopback.
plugin: setpoint_raw #402: Initial import.
readme fix #410: use only catkin tool
readme: add defaults for URL
pass new extended state to ros
python: add util to convert pymavlink message to Mavlink.msg
python: convert input to bytearray
python: add payload convertion util
gcs_bridge #394: enable both UDPROS and TCPROS transports
EL: add try-except on handlers
event_launcher: show logfile path
event_launcher #386: expand shell vars for logfile
Mavros library depends on mavros_msgs headers Adding this dependency makes sure that mavros_msgs message headers are generated before the mavros library is built, since it needs those headers.
Contributors: Andreas Antener, Eddy, Jon Binney, Vladimir Ermakov

0.15.0 (2015-09-17)

lib: fix timesync uninit bug. Uninitialized variable caused wrong timestamps with APM.
python #286: use checksum - save ticks
script #385: output to log-file
script #385: remove RosrunHandler and RoslaunchHandler
script #385: attempt to implement rosrun fails. ROSLaunch class wants all node operations from main thread. That is not possible.
script #385: fix shell-killer, but logging are broken and removed
script #385: shell-launcher now works!
script #385: add example configuration
script #385: shell handler done. next - rosparam handling
script #385: starting work on simple shell launcher
scripts: starting event_launcher
python: Remove unneded slice operation. Fix copyright year. [list[:len(list)]]{.title-ref} is equal to [list]{.title-ref}, but creates new list with data from that slice.
updated mavlink byte buffer conversion
plugin: manual_control: Use shared pointer message Fix alphabetic order of msgs.
python: add helper for converting mavros_msgs/Mavlink to pymavlink
Add MANUAL_CONTROL handling with new plugin
Contributors: Andreas Antener, Vladimir Ermakov, v01d

0.14.2 (2015-08-20)

0.14.1 (2015-08-19)

package: Fix depend on rosconsole-bridge
Removed <remap>
Contributors: Vladimir Ermakov, devbharat

0.14.0 (2015-08-17)

python: call of mavros.set_namespace() is required.
scripts: mavftp fix #357: add verify command
scripts: mavftp #357: progressbar on download operation
scripts: mavftp #357: progress bar for upload operation.
scripts: mavftp: New command [cd]{.title-ref}. All path arguments now may handle relative paths.
readme: fix frame tansform section
mavros: readme: update info on frame conversions
mavros: readme: update contribution steps
node: Replace deprecated copy functions. Also allow mavlink to & from topics to be namespaced.
extras: scripts: use API from mavros module
scripts: fix for new message location
python: update mavros lib to new message location
package: remove not exist dependency
plugin: waypoint: Fix message include
plugin: vfr_hud: Fix message include
plugin: rc_io: Fix message include
plugin: param: Fix message include
plugin: ftp: Fix message include
plugin: sys_status: Fix message include
plugin: command: Fix message include
plugin: 3dr_radio: Fix message include
plugin: actuator_control: Fix message include.
msgs: update copyright year
msgs: deprecate mavros::Mavlink and copy utils.
msgs: change description, make catkin lint happy
msgs #354: move all messages to mavros_msgs package.
Minor typo fix.
node: increase diag timer to 2 Hz
node: move diagnostic to AsyncSpinner threads.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.13.1 (2015-08-05)

lib #358: cleanup. Replace UAS::getYaw() with UAS::quaternion_get_yaw().
lib #358: found correct getYaw(). Test for each degrees in -180..180.
test #358: test more different angles. Compare rotation result.
lib #358: try to implement algo from wikipedia.
lib #358: still failing. add recursive test for range -Pi..+Pi
lib #358: try solve issue using older eulerAngles()
lib #358: remove to_rpy test
Merge branch 'master' of github.com:mavlink/mavros * 'master' of github.com:mavlink/mavros: global_position: move relative_alt and compass_heading init back add nav_msgs to dependencies so to make Travis happy global_position: update pose and twist to odom msg
test fix #359: split out quaternion tests.
lib #359: move quaternion utils.
global_position: move relative_alt and compass_heading init back
add nav_msgs to dependencies so to make Travis happy
global_position: update pose and twist to odom msg
test #358: add tests for negative values and quaternion_to_rpy tf2 compatibility check Tests now fails!
sctipts: fix gps topic path
lib: fix input validation in UAS::orientation_from_str()
test: add case for num str->sensor orientation
package: fix CHANGELOG.rst
Contributors: TSC21, Vladimir Ermakov

0.13.0 (2015-08-01)

plugin: setpoint_attitude #352: use new helper.
plugin: sys: Fix cppcheck and YouCompleteMe warnings
plugin: ftp: Fix cppcheck errors.
lib #352: Add helper function UAS::quaternion_to_mavlink()
Fixed bug in send_attitude_target() The transformed quaternion wasn't being passed to set_attitude_target(), resulting in an incorrect attitude setpoint. I've now fixed this issue.
scripts: fix mavwp
test: add test cases for new sensor orientation functions
remove tf1 dep
lib #319: Remove TF types from UAS
plugin: param: new message type: ParamValue
msgs: Move MAV_CMD values to separate msg
plugin: command: fix build
fix whitespaces in python scripts
Merge pull request #312 from mhkabir/cam_imu_sync Camera IMU synchronisation support added
Added launch file for PX4 posix sitl to launch gcs_bridge node for bridging posix and gazebo
scripts: mavftp: little speed up by aligning access to payload length
launch: Add optional log_output arg
Merge branch 'orientation_enum_name' * orientation_enum_name: distance_sensor #342: correct orientation parameter handling. lib #342: try to convert numeric value too px4_config: adapt to distance_sensor params to new features distance_sensor: restructure orientation matching and verification lib #342: Added sensor orientation string repr.
lib #342: try to convert numeric value too
px4_config: adapt to distance_sensor params to new features
lib #342: Added sensor orientation string repr.
launch: update local_position conf
test: Add test for UAS::sensor_orientation_matching()
Update cmake Eigen3 finding rules. Migration described at: http://wiki.ros.org/jade/Migration#Eigen_CMake_Module_in_cmake_modules
lib #319, #341: preparation for str->MAV_SENSOR_ORIENTATION func
lib #319: Return quaternion from UAS::sensor_matching()
lib: Remove unneded NodeHandle
launch fix #340: update default component id of PX4.
plugin: sys_status: Add fallback to adressed version request.
Can not remove tf package before #319 is done. tf::Vector3 and other tf1-bullet still in use.
plugin: sys_status: Use broadcast for version request.
fix #71: replace depend tf to tf2_ros.
plugin: Use UAS::syncronized_header() for reduce LOC.
lib #319: use similar names for covariances as eigen vector
lib #319: transform_frame() for Covariance3x3
lib #319: remove unused bullet based transform_frame()
extras: vision_pose #71: Use TF2 listener. Also #319.
plugin #71: Implement TF2 listener. Change param names. Breaks extras.
uas #71: Use single TF2 objects for broadcasting and subscription.
launch: Update configs.
lib: Add UAS::quaternion_to_rpy()
plugin: safety_area #319: Change transform_frame()
plugin: local_position #71 #319: port to TF2 and Eigen
lib: Add UAS::synchonized_header()
plugin: command: Add command broadcasting support.
Perform the autopilot version request as broadcast
lib: Update PX4 mode list
plugin: global_position #325: port tf broadcaster to tf2 Also #71.
plugin: global_position #325: reenable UTM calc
plugin: gps #325: remove gps plugin.
plugin: global_position #325: merge gps_raw_int handler
plugin: setpoint_accel #319: use eigen frame transform. I don't think that PX4 support any other frame than LOCAL_NED. So i removed comment. Also style fix in setpoint_velocity.
plugin: setpoint_velocity #319: use eigen based frame transform.
plugin: setpoint_position #273: remove PX4 quirk, it is fixed.
plugin: ftp: Update command enum.
plugin: imu_pub fix #320: move constants outside class, else runtime linkage error.
plugin: imu_pub #320: first attempt
eigen #319: handy wrappers.
eigen #319: add euler-quat function. Also #321.
test #321: remove duplicated test cases, separate by library. Add test for checking compatibility of tf::quaternionFromRPY() and Eigen based math.
test #321: testing eigen-based transforms. We should check what convention used by tf::Matrix to be sure that our method is compatible.
mavros #319: Add Eigen dependency and cmake rule.
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
cam_imu_sync : fix running
imu_cam_sync : fix formatting
command handling in mavcmd for camera trigger
Camera IMU synchronisation support added
Contributors: Anurag Makineni, Lorenz Meier, Mohammed Kabir, TSC21, Vladimir Ermakov, devbharat

0.12.0 (2015-07-01)

plugin: sys_time, sys_status #266: check that rate is zero
test #321: disable tests for broken transforms.
lib #321: frame transform are broken. again! revert old math. RULE for me: do not accept patch without wide testing from author. That PR changes all plugins code, instead of do API, test and only after that touching working code. My bad.
unittest: added 6x6 Covariance conversion test
frame_conversions: update comments; filter covariance by value of element 0
unittests: corrected outputs from conversion tests
test: other quaternion transform tests
test: UAS::transform_frame_attitude_q()
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
coverity: make them happy
uncrustify: fix style on frame conversions
uncrustify: includes
plugin: sys_status #266: replace period with rate parameter
plugin: sys_time #266: Replace period with rate parameters
frame_conversion: last fix patch
frame_conversions: use inline functions to identify direction of conversion
changed frame conversion func name; add 3x3 cov matrix frame conversion; general doxygen comment cleanup
frame_conversions: added covariance frame conversion for full pose 6x6 matrix
frame_conversions: added frame_conversion specific lib file; applied correct frame conversion between ENU<->NED
sys_status #300: PX4 place in [0] lest significant byte of git hash.
sys_status fix #300: fix u8->hex func.
plugin: waypoint: cosmetics.
vibration_plugin: first commit
Changes some frames from world to body conversion for NED to ENU.
mavsys #293: add --wait option
mavsys: Fix arguments help
mavcmd #293: Add --wait option. New function: util.wait_fcu_connection(timeout=None) implement wait option.
sys_status #300: AUTOPILOT_VERSION APM quirk
mavros #302: fix style
mavros #302: split UAS impl by function blocks
mavros fix #301: move sensor orientation util to UAS
distance_sensor: typo; style fixe
sensor_orientation: list values correction
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: use MAX as last index macro
distance_sensor: changed to usable config
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: updated orientation enum; updated data type
sensor_orientation: included array type on utils.h
sensor_orientation: added sensor orientation matching helper func
distance_sensor: updated config file
distance_sensor: define sensor position through param config
distance_sensor: array limiting; cast correction; other minor correc
distance_sensor: small enhancements
sys_status #293: initialize state topic
sys_status #293: expose connection flag in mavros/State.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.11.2 (2015-04-26)

plugin: param fix #276: add check before reset request downcounter. If on MR request FCU responses param with different [param_index]{.title-ref} do not reset repeat counter to prevent endless loop.
gcs bridge fix #277: add link diagnostics
plugin: setpoint_position #273: add quirk for PX4.
readme: fir glossary misprint
readme: add notes about catkin tool
Contributors: Vladimir Ermakov

0.11.1 (2015-04-06)

scripts #262: update mavwp
scripts #262: mavsetp, new module mavros.setpoint
mavftpfuse #129: cache file attrs
mavparam #262: use get_topic()
mavsys #262: use get_topic()
mavcmd #262: use get_topic()
mavftp #263, #262: use crc32 checksums
python #262: add get_topic()
Update local_position.cpp removed irritating comment
readme: add short glossary
plugin: setpoint_attitude: remove unneded ns
Contributors: Marcel Stuettgen, Vladimir Ermakov

0.11.0 (2015-03-24)

plugin: setpoint_position #247: rename topic
launch #257: rename blacklist.yaml to pluginlists.yaml
node #257: implement while list.
plugin: actuator_control #247: update topic name.
mavros: Initialize UAS before connecting plugin routing. Inspired by #256.
plugin: sys_status: Check sender id. Inspired by #256.
plugin: sys_status: Use WARN severity for unknown levels
uas: Add [UAS::is_my_target()]{.title-ref} Inspired by #256.
plugin: global_position: Fill status and covariance if no raw_fix. Additional fix for #252.
launch: change apm target component id APM uses 1/1 (sys/comp) by default.
plugin: sys_status: publish state msg after updating uas Before this commit, the custom mode string published in the state message was computed using the autopilot type from the previous heartbeat message--not the autopilot type from the current hearbeat message. Normally that isn't a problem, but when running a GCS and mavros concurrently, both connected to an FCU that routes mavlink packets (such as APM), then this causes the custom mode to be computed incorrectly, because the mode string for the GCS's hearbeat packet will be computed using the FCU's autopilot type, and the mode string for the FCU's heartbeat packet will be computed using the GCS's autopilot type.
plugin: global_position: fix nullptr crash This fixes a crash in cases where a GLOBAL_POSITION_INT message is received before a GPS_RAW_INT message, causing the [gps_fix]{.title-ref} pointer member to be dereferenced before it has been set.
msgs: fix spelling, add version rq.
coverity: init ctor in 3dr_radio
launch fix #249: update apm blacklist
launch: rename APM2 to APM.
launch #211: update configs
plugin: gps: remove unused param
plugin: sys_time: remove unused param
launch fix #248: remove radio launch
plugin: 3dr_radio #248: add/remove diag conditionally
plugin: sys_status: move connection params to ns
plugin: sys_time: fix #206 (param ns)
node: Inform what dialect built-in node
plugin: sys_status: Conditionaly add APM diag
plugin: sys_status: fix #244
uas #244: add enum lookups
package: update lic
license #242: update mavros headers
plugin: local_positon: use auto
plugin: imu_pub: Update UAS store.
plugin: gps: remove diag class, change UAS storage API.
plugin api #241: move diag updater to UAS.
plugin api #241: remove global private node handle. Now all plugins should define their local node handle (see dummy.cpp). Also partially does #233 (unmerge setpoint topic namespace).
plugin api #241: remove [get_name()]{.title-ref}
package: mavros now has any-link proxy, not only UDP
Update years. I left gpl header, but it is BSD too.
Add BSD license option #220
plugin: sys_status: AUTOPILOT_VERSION support. Fix #96.
mavros fix #235: Use AsyncSpinner to allow plugins chat. Old single-threaded spinner have a dead-lock if you tried to call a service from for example timer callback. For now i hardcoded thread count (4).
uncrustify: actuator_control
Merge branch 'master' of github.com:mstuettgen/Mavros
fixed missing ;
code cosmetics
further removed unneeded white spaces and minor code cosmetics
fixed timestamp and commented in the not-working function call
code cosmetics, removed whitespaces and re-ordered function signatures
more code comment cosmetic
code comment cosmetic
uncrustify: fix style
readme: add contributing notes
uncrustify: mavros base plugins
uncrustify: mavros lib
uncrustify: mavros headers
tools: add uncrustify cfg for fixing codestyle Actually it different from my codestyle, but much closer than others.
added more const to function calls to ensure data consistency
modified code to fit new message
added group_mix to ActuatorControl.msg and a link to mixing-wiki
plugin: rc_io: Add override support warning
REALLY added ActuatorControl.msg
added ActuatorControl.msg
fixed latest compiler error
renamed cpp file to actuator_control.cpp and added the new plugin to mavros_plugins.xml
removed unneeded Mixinx and reverse_throttle, and unneeded variables in function signatures
inital draft for set_actuator_control plugin
launch: enable setpoint plugins for APM As of ArduCopter 3.2, APM supports position and velocity setpoints via SET_POSITION_TARGET_LOCAL_NED.
plugin: setpoint_velocity: Fix vx setpoint vz should have been vx.
Contributors: Clay McClure, Marcel Stuettgen, Vladimir Ermakov

0.10.2 (2015-02-25)

Document launch files
launch: Fix vim modelines #213
launch #210: blacklist image_pub by px4 default. Fix #210.
Contributors: Clay McClure, Vladimir Ermakov

0.10.1 (2015-02-02)

Fix \@mhkabir name in contributors.
uas #200: Add APM:Rover custom mode decoding. Fix #200.
uas #200: Update APM:Plane and APM:Copter modes.
Contributors: Vladimir Ermakov

0.10.0 (2015-01-24)

mavros #154: Add IO stats to diagnostics. Fix #154.
Add rosindex metadata
plugin: ftp: init ctor.
plugin: sts_time: Code cleanup and codestyle fix.
plugin: command: Quirk for older FCU's (component_id) Older FCU's expect that commands addtessed to MAV_COMP_ID_SYSTEM_CONTROL. Now there parameter: [~cmd/use_comp_id_system_control]{.title-ref}
plugin: rc_io: #185 Use synchronized timestamp.
plugin: gps: #185 use synchronized timestamp common.xml tells that GPS_RAW_INT have time_usec stamps.
uas: Fix ros timestamp calculation. Issues: #186, #185.
plugin: add synchronisation to most plugins (fixed) Closes #186.
readme: Add notes about coordinate frame conversions #49
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.4 (2015-01-06)

plugin: sys_time: enable EMA
Contributors: Mohammed Kabir

0.9.3 (2014-12-30)

plugin: visualization finshed
Restore EMA. Works better for low rates.
Update sys_time.cpp
plugin : add time offset field to dt_diag
Final fixes
minor
plugin : fixes timesync. FCU support checked.
Visualisation system import
param: Fix float copying too
param: Fix missing
param: Trynig to fix 'crosses initialization of XXX' error.
param: Try to fix #170.
Update units
New message, moving average compensation
Initial import new sync interface
plugin: sys_status: Enable TERRAIN health decoding.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.2 (2014-11-04)

0.9.1 (2014-11-03)

Update installation notes for #162
Contributors: Vladimir Ermakov

0.9.0 (2014-11-03)

0.8.2 (2014-11-03)

REP140: update package.xml format. Hydro don't accept this format correctly, but after split i can update.
Contributors: Vladimir Ermakov

0.8.1 (2014-11-02)

fix build deps for gcs_bridge
mavconn #161: Enable rosconsole bridge.
mavconn #161: Move mavconn tests.
mavconn #161: Fix headers used in mavros. Add readme.
mavconn #161: Fix mavros build.
mavconn #161: Move library to its own package Also rosconsole replaced by console_bridge, so now library can be used without ros infrastructure.
plugin: sys_time: Set right suffixes to uint64_t constants. Issue #156.
plugin: sys_time: Add time syncronization diag. Issue #156.
plugin: sys_time: Debug result. Issue #156.
plugin: Store time offset in UAS. TODO: implement fcu_time(). Issue #156.
plugin: sys_time: Fix code style. Also reduce class variables count (most not used outside the method). Issue #156.
Update repo links. Package moved to mavlink organization.
Nanosecond fix
Fix
Fixes
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update CMakeLists.txt
Update mavros_plugins.xml
Update sys_time.cpp
Fix build
sys_time import. Removed all time related stuff from gps and sys_status
Initial sys_time plugin import
plugin: ftp: Bytes written now transfered in payload.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.8.0 (2014-09-22)

plugin: ftp: Disable debugging and change level for some log messages. Issue #128.
plugin: ftp: Translate protocol errors to errno. Issue #128.
scripts: mavftp: Add upload subcommand. Issue #128.
python: Add more ftp utils. Issue #128.
plugin: ftp: Fix write offset calculation. Issue #128.
plugin: ftp: Add . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add support for . Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Add
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Move common mission classes to mavros.mission module. Issue #157.
python: Move useful utils to mavros.param module. Issue #157.
python: Move common utils to mavros.utils module. Issue #157.
python: Create python module for ftp utils. Issue #128, #157.
scripts: ftp: Implement file-like object for IO. Issue #128.
plugin: ftp: Implement write file. Issue #128.
scripts: mavftp: Add remove subcommand. Issue #128.
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add response errno from server.
plugin: ftp: Add support for 'Skip' list entries. Issue #128.
scripts: mavftp: Add mkdir/rmdir support. Issue #128.
plugin: ftp: Add mkdir/rmdir support. Issue #128.
plugins: ftp: Update protocol headers. Issue #128.
Revert "Update package.xml format to REP140 (2)." This reverts commit 81286eb84090a95759591cfab89dd9718ff35b7e. ROS Hydro don't fully support REP140: rospack can't find plugin descriptions. Fix #151.
scripts: mavwp: Fix --follow mode
plugin: imu_pub: Fix RAW_IMU/SCALED_IMU angular scale constant. Fix #152.
launch: remove px4_local_gcs.launch again. It removed in 826be386938c2735c9dab72283ba4ac1c68dc860, but accidentally returned.
extras: launch: Use includes. Fix #144.
launch: PX4: use node.launch in PX4 scripts. Also remove px4_local_gcs.launch: please use [roslaunch mavros px4.launch gcs_url:=udp://\@localhost]{.title-ref} instead. Issue #144.
launch: APM2: Add node.launch and update apm scripts to use it. Issue #144.
plugin: command: Fix CommandInt x,y types.
Update package.xml format to REP140 (2). Fix #104.
launch: Blacklist FTP for APM.
scripts: mavwp: Add decoding for some DO-* mission items.
scripts: mavwp: Add preserve home location option at load operation. Useful if FCU stores home location in WP0 (APM).
Added src location.
Updated README wstool instructions.
plugin: ftp: Init ctor
service: mavftp: Initial import. Issue #128.
plugin: ftp: Implemnet reset call. Sometimes kCmdReset can restore normal operation, but it might be dangerous. Issue #128.
plugin: ftp: Implement call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Fix open error. Issue #128.
plugin: ftp: Implement (read) and . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement method. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement list parsing Issue #128.
plugin: ftp: Fix CRC32 calculation. Issue #128.
plugin: ftp: Add plugin skeleton. Based on QGroundContol QGCUASFileManager.h/cc. Issue #128.
plugin: ftp: Add size info
plugin: ftp: Add plugin service API. Issue #128.
plugin: vfr_hud: Initial import. Also this plugin publish APM specific WIND estimation message. Fix #86.
node: coverity fails at UAS initilizer list
plugin: setpoint_attitude: Init ctor, remove code dup.
cmake: Add check MAVLINK_DIALECT value Fix #139.
Move common cmake rules to modules. Same mech as in [cmake_modules]{.title-ref} package. Issue #139.
launch: corrected launch for gcs bridge
scripts: mavsetp: Fix misprint.
launch files: added px4 launch files for connection with radio and gcs
scripts: mavsetp: Fix twist.angular vector construction. Small style fix.
Update doxygen documentation. Add split lines in UAS, and make UAS.connection atomic. Add rosdoc configuration for mavros_extras.
scripts: mavsetp: corrected API; added possibility of parse angles in dg or rad
scripts: mavsetp: corrected msg API; mavteleop: added prefix to rc override
scripts: mavsetp: added local accel; corrected how the OFFBOARD mode is swtch.
scripts: mavsetp: changed the way offboard mode is switched
node: init ctor (coverity)
nodelib: add std::array header
return msg generator deps for mavconn
scripts: mavsys: Implement set rate command.
scripts: Add mavsys tool. Implented only [mode]{.title-ref} operation. Issue #134.
plugin: sys_status: Implement set_mode service. Previous command shortcut removed. Issue #136, #134.
node: Implement reverse mode lookup. Issue #136.
plugin: sys_status: Move custom mode decoder to UAS. Issue #136.
node: Catch URL open exception. Also update connection pointer type.
nodelib: move sources to subdir
node: Move UAS to mavros namespace
node: Move node code to library.
node: Catch DeviceError; use C++11 foreach shugar.
plugin: command: Add COMMAND_INT suport. Fix #98.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov

0.7.1 (2014-08-25)

plugins: setpoint: Update SET_POSITION_TARGET_LOCAL_NED message. Fix #131.
scripts: mavsetp: Enable OFFBOARD mode. Issue #126.
plugin: command: Add guided_enable shortcut It enable PX4 OFFBOARD mode. Issue #126.
scripts: Add mavsetp script. Only local setpoint for now. Issue #126.
plugins: Change UAS FCU link name. Reduce smart pointer count, that hold fcu link object.
scripts: mavcmd: Add takeoffcur and landcur commands Fix #91, #92. Inspired by #125.
Closes #122, closes #123; plugins: move mocap & vision plugins to extras, change vision plugins name
plugins: UAS remove std::atomic<double> It don't work at some compilers. Issue #89.
plugin: global_position: Fill NavSatFix status filed. Issue #87, #118.
plugins: Add GPS data to UAS
plugins: Move setpoint_mixin.h Fix #120.
plugin: mocap: Fix load. Issue #121.
plugins: global_position: get pose orientation from the one stored in uas
plugins: global_position: use relative_alt on position.z; mavros_plugins.xml - corrected declaration of mocap_pose_estimate
plugin - global_position - changed parameter path / orientation source
launch: APM2 blacklist global_position plugin
plugin: global_position: Unit unification.
plugin: global_position: Move heaedr; Style fix.
added rel_pos and compass_hdg pub; minor corrections
Merge branch 'master' of https://github.com/vooon/mavros into global_position
global_position plugin - initial commit
launch: APM2 blacklist mocap plugin.
Updated mavros_plugins.xml
Fixed dual sources error warning.
Fixed styles.
Minor changes.
added time stamp to received msgs
Removed un-needed times.
Added mocap_pose_estimate plugin.
Code style update
setpoint attitude change - warning message
Update on setpoint_attitude plugin
- changed Twist to TwistStamped
- added reverse_throttle option for throttle control
- use cmd_vel as the same topic to control linear a angular velocities (it's commonly used by controllers)
- added normalization filter to thrust
node: Remove deprecated conn parameters. Fix #108
plugin: vision_speed: Update plugin API.
plugin: setpoint_attitude: Update plugin API.
plugin: setpoint_accel: Update plugin API.
plugin: setpoint_velocity: Update plugin API.
plugin: 3dr_radio: Update plugin API.
plugin: safety_area: Update plugin API.
plugin: setpoint_position: Update plugin API.
plugin: vision_position: Update plugin API.
plugin: local_position: Update plugin API.
plugin: command: Update plugin API.
plugin: rc_io: Update plugin API.
plugin: waypoint: Update plugin API.
plugin: param: Update plugin API.
plugin: gps: Update plugin API.
plugin: imu_pub: Update plugin API.
plugin: sys_status: Update plugin API.
plugin: Update plugin API.
plugins: disable most of plugins
plugin: setpoint_attitude: Add thrust topic. Fix #106.
Fix URLs in readme
mavros -> ros-message parameter fix only parameter1 was forwarded into the ros message
Switch travis to pixhawk dialect. Default dialect build by ros buildfarm. Also remove duplicate ci statuses from mavros readme.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov, mthz

0.7.0 (2014-08-11)

Add package index readme, Fix #101
move mavros to subdirectory, #101
Merge branch 'master' of github.com:vooon/mavros * 'master' of github.com:vooon/mavros: Add link to ros-*-mavlink package wiki page.
plugins: setpoint: Update setpoint message name. Issue #94, Fix #97.
plugin: setpoint_attitude: Update message name. Issues #94, #97.
Add link to ros-*-mavlink package wiki page.
plugin: gps: Fix gcc 4.6 build (atomic). Not recommended to use std::atomic with gcc 4.6. So i limited to prederined atomics for simple types like int, float etc.
plugin: sys_status: Implement PX4 mode decoding. Fix #84.
plugin: gps: Add EPH & EPV to diagnostic. Issue #95
plugin: gps: Move message processing to individual handlers. Issue #95.
plugin: rc_io: Replace override service with topic. (ROS API change). Fix #93.
Add dialect selection notes
plugins: Change severity for param & wp done messages.
plugins: Store raw autopilot & mav type values. This may fix or not issue #89.
plugins: init ctor (coverity)
plugin: imu_pub: Add ATTITUDE_QUATERNION support. Also reduce copy-paste and use mode readable bitmask check. Fix #85.
scriptis: mavcmd: Spelling
scripits: Add mavcmd tool
Add links to mavros_extras
param: sys_status: Option to disable diagnostics (except heartbeat)
plugin: command: Add takeoff and land aliases. Issue #68.
plugin: command: Add quirk for PX4. Fix #82.
plugin: Add UAS.is_px4() helper. Replace some locks with atomic. Issue #82.
launch: Clear PX4 blacklist. Issue #68.
launch: Add target ids. Also fix PX4 wrong ?ids usage (it set mavros ids, not target). Issue #68.
plugin: imu_pub: Fix HRIMU pressure calc. 1 mBar is 100 Pa. Fix #79.
plugins: C++11 chrono want time by ref, return *_DT Fix #80.
plugins: Replace boost threads with C++11. And remove boost thread library from build rules. Issue #80.
plugins: Replace Boost condition variables with C++11 Issue #80.
plugins: Replace boost mutexes with C++11. Issue #80.
travis clang to old, fails on boost signals2 library. disable.
travis: enable clang build.
node: Make project buildable by clang. Clang produce more readable errors and provide some static code analysis, so i want ability to build mavros with that compilator.
plugins: replace initial memset with c++ initializer list
launch: PX4 default ids=1,50. Also waypoint plugin works (with first_pos_control_flight-5273-gd3d5aa9). Issue #68.
launch: Use connection URL
plugin: vision_speed: Initial import. Fix #67.
plugin: sys_status: Add SYSTEM_TIME sync send. Fix #78.
plugin: sys_status: Decode sensor health field. Fix #75.
Add ci badges to readme
plugin: param: erase invalidates iterator. Real error found by coverity :)
plugins: Init ctor
plugins: Add ctor initialization. Coverity recommends init all data members.
test: trying travis-ci && coverity integration. Real ci doing by ros buildfarm.
plugins: Fix clang-check errors.
test: Add tcp client reconnect test. Issue #72.
test: Split open_url test to individual tests. Also removed tcp client deletion on close, heisenbug here. Issue #72.
mavconn: Emit port_closed after thread stop. Also use tx state flag, improve error messages and move io post out of critical section. Issue #72.
mavconn: Fix TCP server client deletion. Issue #72.
test: Remove not needed sleep.
mavconn: Remove new MsgBuffer dup. Message drop if closed. Issue #72.
mavconn: Fix TCP server. Issue #72.
launch: APM2: Blacklist extras.
mavconn: Add mutex to channel allocation.
mavconn: Fix TCP server for gcc 4.6 Fix #74.
Remove libev from package. Issue #72.
mavconn: GCC 4.6 does not support typedef like using. Issue #74.
Merge pull request #73 from vooon/mavconn-revert-asio mavconn: Revert to Boost.ASIO
mavconn: Cleanup boost threads. I will use C++11 standard libs. Issue #72.
mavconn: Remove libev default loop thread. Issue #72.
mavconn: Port MAVConnTCPServer to Boost.ASIO. TCP send test fails. Issue #72.
mavconn: Port MAVConnTCPClient to Boost.ASIO. Also it disables MAVConnTCPServer before i rewrite it. Issue #72.
mavconn: Revert MAConnSerial back to Boost.ASIO. Issue #72.
test: Fix send_message tests. Use C++11. Issue #72.
mavconn: Revert MAVConnUDP back to Boost.ASIO. Also starting to change boost threads and mutexes to C++11. Issue #72.
test: Enable send tests. Issue #72.
test: And hand test for mavconn hangs. Issue #72.
node: Remove anonimous flag from gcs_bridge. Rename node if you want start several copies.
install: Remove duplicate
node: Fix mavros_node termination message. Issue #58.
node: Use URL in mavros_node. Fix #58.
node: Use URL in gcs_bridge. Issue #58.
node: Rename ros_udp to gcs_bridge. Because now it's not UDP only. Issue #58.
Cleanup boost components
mavconn: Implement URL parsing. Supported shemas:
- Serial: [/path/to/serial/device[:baudrate]]{.title-ref}
- Serial: [serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]]{.title-ref}
- UDP: [udp://[bind_host[:port]]@[remote_host[:port]][/?ids=sysid,compid]]{.title-ref}
- TCP client: [tcp://[server_host][:port][/?ids=sysid,compid]]{.title-ref}
* TCP server: [tcp-l://[bind_port][:port][/?ids=sysid,compid]]{.title-ref} Note: ids from URL overrides ids given to open_url(). Issue #58.
test: Add tests for UDP, TCP, SERIAL. Send message testa are broken, need to find workaround. Fix #70.
plugin: vision_position: Add transform timestamp check. Issue #60.
mavconn: Implement TCP server mode. Fix #57.
mavconn: Initial support for TCP client mode. Issue #57.
mavconn: Boost::asio cleanup.
plugin: Remove TimerService from UAS. Fix #59.
plugin: param: Add state check to sheduled pull.
mavparam: Add force pull.
plugin: param: Use ros::Timer for timeouts Also new option for force pull parameters from FCU instead of cache. Fix #59.
Add mavsafety info to README.
launch: Add apm2_radio.launch (for use with 3DR Radio)
plugin: 3dr_radio: Fix build error. Issue #62.
plugin: 3dr_radio: Publish status data for rqt_plot Also tested with SiK 1.7. Fix #62.
plugin: setpoint_attitude: Fix ENU->NED conversion. Fix #64. Related #33, #49.
launch: Add setpoint plugins to APM2 blacklist
plugin: setpoint_attitude: Initial import. XXX: need frame conversion #49. Issue #33, #64.
plugin: Move common tf code to mixin. Remove copy-paste tf_listener. Issue #33.
plugin: setpoint_position: Generalize topic NS with other [setpoint_*]{.title-ref} Issue #33, #61.
plugin: setpoint_accel: Initial import. Issues: #33, #61.
plugin: position_velocity: Initial import. Also it fix ignore mask in setpoint_position. Issues #33, #61.
plugins: 3rd_radio: Initial import. Untested. Issue #61.
scripts: Add mavsafety tool. Also add safety_area to APM2 blacklist. Fix #51.
plugins: safty_area: Initial import. This plugin listen [~/safety_area/set]{.title-ref} and send it's data to FCU. Issue #51.
plugins: position: Add TF rate limit. Issue #33.
plugin: waypoint: Use ros::Timer for timeouts. Also add some debug messages for next debugging PX4. Issue #59.
plugin: sys_status: Use ros::Timer for timeouts Also move message rx to it's own handlers. Issue #59.
Remove rosdep.yaml and update readme
Add deb build notes to readme. Issue #55.
Add sudo notes to readme.
Merge pull request #56 from vooon/54_try_libev Switch to libev
Add libev to README
package: Add temporary rosdep for libev-dev. Issue #54.
mavconn: Move MAVConnUDP to libev. And fix docs in serial. Issue #54.
mavconn: Move MAVConnSerial to libev. Adds stub for open URL function. Issure #54.
Contributors: Vladimir Ermakov, Mohammed Kabir, Nuno Marques, Glenn Gregory

0.6.0 (2014-07-17)

plugin: local_position: Use same timestamp in topic and TF. Issue #33.
plugins: TF thread required, remove notes. Issue #33.
launch: Add example launch for PX4 Issue #45.
plugin: imu_pub: Fix attitude store in UAS Issue #33. Fix #53.
plugins: Disable position topics if tf_listen enabled Also change default frame names: [vision]{.title-ref} and [setpoint]{.title-ref}. Issue #33.
plugins: Fix typo in frame_id params. Issue #33.
plugins: Add vision and setpoint TF listeners Also change parameter names to same style. Issue #33.
plugin: vision_position: Add PositionWithCovarianceStamped option Issue #33.
Add boost filesystem lib to link On some platforms its absence breaks build by: undefined reference to [boost::filesystem::path::codecvt()]{.title-ref}
launch: Add example for APM2 Fix #45.
plugin: setpoint_position: Initial import And some small doc changes in other position plugins. Issue #33.
node: Add connection change message Fix #52.
plugins: vision_position: Initial import TODO: check ENU->NED maths. Issue #33.
plugins: Remove unneded 'FCU' from diag
plugin: local_position: Change plane conversion Bug: #49.
plugin: imu_pub: Fix magnetic vector convertions Bug: #49.
Use dialects list from package
plugin: local_position: Fix orientation source Part of #33.
node: Show target system on startup Fix #47.
plugin: local_position: Initial add Receive LOCAL_POSITION_NED message and publish it via TF and PoseStamped topic in ENU frame. Part of #33.
node: Use boost::make_shared for message allocation Fix #46.
plugins: Use boost::make_shared for message allocation Part of #46.
plugin: imu_pub: Fix misprint in fill function Fix magnetometer vector convertion (HR IMU). Related #33.
plugin: imu_pub: setup cleanup.
Update readme
plugin: gps: Fix gps_vel calculation Fix #42.
plugins: Make name and messages methods const. (breaking). WARNING: this change broke external plugins. Please add const to get_name() and get_supported_messages(). Part of #38.
plugins: Use mavlink_msg*_pack_chan() functions Fix #43.
mavconn: Reuse tx buffer (resize by extents) Part of #38.
mavconn: Do not finalize messages if id pair match mavlink*_pack also do finalize, so explicit finalization just recalculate crc and seq number (doubles work). Test later if we need check seq too.
mavconn: Documentation and cleanup Make MAVConn classes noncopyable. Remove copy-paste copy and following async_write calls. Reserve some space in tx queues. Replace auto_ptr with unique_ptr.
test: Fix header include
mavconn: Fix possible array overrun in channel alocation. Problem found by clang.
fix some roslint errors
mavconn: move headers to include
node: Implement plugin blacklist. New parameter: [~/plugin_blacklist]{.title-ref} lists plugin aliases with glob syntax. Fix #36.
plugins: Change constants to constexpr (for gcc 4.6)
mavconn: Add gencpp dependency (utils.h requiers generated header)
Move duplicate Mavlink.msg copy to utils.h
Remove tests that requires connection to FCU
plugins: imu_pub: Fix PX4 imu/data linear_accelerarion field Should fix: #39.
plugins: imu_pub: Add magnitic covariance Trying to move constants with constexpr. Related: #13.
Remove testing info Need to remove tests that could not run on build farm.
Contributors: Vladimir Ermakov

0.5.0 (2014-06-19)

Remove mavlink submodule and move it to package dependency Bloom release tool don't support git submodules, so i've ceate a package as described in http://wiki.ros.org/bloom/Tutorials/ReleaseThirdParty . Fix #35.
plugins: param: add missing gcc 4.6 fix.
plugins: fix const initializers for gcc 4.6
plugins: imu_pub: fix const initializers for gcc 4.6 Fix for build failure devel-hydro-mavros #4.
Add support for GCC 4.6 (C++0x, ubuntu 12.04) I don't use complete c++11, so we could switch to c++0x if it supported.
plugins: rc_io: Add override rcin service Fix: #22.
plugins: sys_status: fix timeouts Fix #26.
plugins: sys_status: add set stream rate service Some additional testing required. Fix #23.
Remove unused boost libarary: timer Build on jenkins for hydro failed on find boost_timer.
0.4.1
Add changelog for releasing via bloom

0.4.1 (2014-06-11)

node: Show serial link status in diag Now 'FCU connection' shows actual status of connection (HEARTBEATS).
Fix #29. Autostart mavlink via USB on PX4 Changes mavconn interface, adds new parameter.
Fix installation rules. Fix #31.
Setup UDP transport for /mavlink messages
Fix mavlink dialect selection Fix #28.
Add link to wiki.ros.org Part of #27.

0.4.0 (2014-06-07)

Release 0.4.0 And some docs for CommandPlugin.
plugins: command: Command shortcuts Fix #12.
plugins: command: Add ACK waiting list Part of #12.
plugins: command: Initial naive realization. Partial #12, #25.
mavconn: Fix build on Odroid with Ubuntu 13.10 Fix #24.
plugins: rc_io: initial add RC_IO plugin Topics:
- ~/rc/in -- FCU RC inputs in raw microseconds
* ~/rc/out -- FCU Servo outputs Fix #17. Partiall #22.
Fix installation wstool command. [wstool set]{.title-ref}, not [wstool add]{.title-ref}.
Add installation notes to README Installing pymavlink is not required, but try if errors.
Fix headers in README.md
ros_udp: New node for UDP proxing Add some examples to README.md. Fix #21.
sys_status: Add state publication Fix #16.
sys_status: Sent HEARTBEAT if conn_heartbeat > 0 Fix #20.
sys_status: add sensor diagnostic See #16.
sys_status: Add battery status monitoring Fix #19, partial #16.
sys_status: HWSTATUS support Fix #18, partial #20.
plugins: imu_pub: Add RAW_IMU, SCALED_IMU and SCALED_PRESSURE handlers Fix #13. Refactor message processing. Combination of used messages: On APM: ATTITUDE + RAW_IMU + SCALED_PRESSURE On PX4: ATTITUDE + HIGHRES_IMU On other: ATTITUDE + (RAW_IMUHIGHRES_IMU Published topics:
- ~imu/data - ATTITUDE + accel data from *_IMU
- ~imu/data_raw - HIGHRES_IMU or SCALED_IMU or RAW_IMU in that order
- ~imu/mag - magnetometer (same source as data_raw)
- ~imu/temperature - HIGHRES_IMU or SCALED_PRESSURE
- ~imu/atm_pressure - same as temperature
Update readme
mavwp: Add --pull option for 'show' operation. Reread waypoints before show.
MissionPlanner use format QGC WPL, Fix #15 Code cleanup;
Update mavlink version.
Update mavlink version
mavparam: fix #14 support for QGC param files
mavwp: Add mavwp to install

0.3.0 (2014-03-23)

Release 0.3.0
mavwp: Add MAV mission manipulation tool Uses WaypointPlugin ROS API for manipulations with FCU mission.
- show -- show current mission table
- pull -- update waypoint table
- dump -- update and save to file
- load -- loads mission from file
- clear -- delete all waypoints
- setcur -- change current waypoint
- goto -- execute guided goto command (only APM) Currently supports QGroundControl format only.
plugins: wp: Add GOTO, update documentation
plugins: wp: Auto pull
plugins: wp: SetCurrent & Clear now works
plugins: wp: Push service works
plugins: wp: push almost done
plugins: wp: Pull done
plugins: param: remove unused ptr
plugins: wp: mission pull almost done
plugins: wp: Add convertors & handlers
plugins: Waypoint plugin initial
Use C++11 feuture - auto type
plugins: refactor context & link to single UAS class UAS same functions as in QGC.
plugins: Add msgs and srvs for Waypoint plugin
Update mavlink library
Update mavlink version
mavparam: Fix for DroidPlanner param files & cleanup DroidPlanner adds some spaces, don't forget to strip it out. Cleanup unused code from Parameter class.

0.2.0 (2014-01-29)

mavparam: Add MAV parameter manipulation tool Uses ParamPlugin ROS API for manipulating with fcu params.
- load -- load parameter from file
- dump -- dump parameter to file
- get -- get parameter
- set -- set parameter Currently supports MissionPlanner format only. But DroidPlanner uses same format.
Update README and documentation
plugins: param: implement ~param/push service Also implement sync for rosparam:
- ~param/pull service pulls data to rosparam
- ~param/push service send data from rosparam
- ~param/set service update rosparam if success
plugins: param: implement ~param/set service
plugins: param: implement ~param/get service
plugins: param: Implement automatic param list requesting
plugins: use recursive_mutex everywhere
plugins: param now automaticly requests data after connect
plugins: Add common io_service for plugins, implement connection timeout Some plugin require some delayed processes. Now we can use boost::asio::*timer. New parameter:
- ~/conn_timeout connection timeout in seconds
plugins: add param services
mavconn: set thread names WARNING: pthread systems only (BSD/Linux)
plugins: implement parameters fetch service
plugins: fix string copying from mavlink msg
plugins: Setup target in mav_context New params:
- ~target_system_id - FCU System ID
- ~target_component_id - FCU Component ID
plugins: IMU Pub: add stdev parameters, change topic names. Add parameters:
- ~imu/linear_acceleration_stdev - for linear acceleration covariance
- ~imu/angular_velocity_stdev - for angular covariance
- ~imu/orientation_stdev - for orientation covariance Change topic names (as in other IMU drivers):
- ~imu -> ~/imu/data
- ~raw/imu -> ~/imu/data_raw
plugins: Params initial dirty plugin
Fix mavlink dialect choice.
plugins: Add context storage for automatic quirk handling ArduPlilot requires at least 2 quirks:
- STATUSTEXT severity levels
- parameter values is float
Implement MAVLink dialect selection ArduPilotMega is default choice.
doc: add configuration for rosdoc_lite

0.1.0 (2014-01-05)

Version 0.1.0 Milestone 1: all features from mavlink_ros package.xml was updated.
Fix typo and add copyright string NOTE: Please check typos before coping and pasting :)
plugins: gps: Add GPS_RAW_INT handler GPS_STATUS not supported by APM:Plane. ROS dosen't have standard message for satellites information.
mavconn: small debug changes Limit no GCS message to 10 sec.
node: Terminate node on serial port errors
plugins: Add GPS plugin SYSTEM_TIME to TimeReference support. TODO GPS fix.
Fix build and update MAVLink library
plugins: sys_status: Add SYSTEMTEXT handler Two modes:
- standard MAV_SEVERITY values
- APM:Plane (default) TODO: add mavlink dialect selection option
plugins: add some header doxygen tags Add license to Dummy.cpp (plugin template).
plugins: sys_status: Add MEMINFO handler MEMINFO from ardupilotmega.xml message definition. Optional.
update README
update TODO
plugins: Add imu_pub plugin. Publish ATTITUDE and HIGHRES_IMU data. HIGHRES__IMU not tested: Ardupilot sends ATTITUDE only :(
node: publish Mavlink.msg only if listners > 0
plugins: Add sys_status plugin. Initial.
plugins: implement loading & rx routing
plugins: initial
node: Add diagnostics for mavlink interfaces
mavconn: add information log wich serial device we use.
mavconn: fix overloaded MAVConn*::send_message(msg)
mavros: Add mavros_node (currently serial-ros-udp bridge) Message paths: Serial -+-> ROS /mavlink/from +-> UDP gcs_host:port ROS /mavlink/to -+-> Serial UDP bind_host:port -+
Add README and TODO files.
mavconn: fix MAVConnUDP, add mavudpproxy test mavudpproxy -- connection proxy for QGroundControl, also used as test for MAVConnUDP and MAVConnSerial.
mavconn: add UDP support class
mavconn: fix: should use virtual destructor in interface class
mavconn: add getters/setters for sys_id, comp_id; send_message return.
mavconn: simple test. tested with APM:Plane: works.
mavconn: fix linking
mavconn: serial interface
Add mavconn library prototype mavconn - handles MAVLink connections via Serial, UDP and TCP.
Add MAVLink library + build script
Initial Import Mavlink.msg from mavlink_ros package ( https://github.com/mavlink/mavlink_ros ).
Contributors: Vladimir Ermakov

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	mavlink
	angles
	ament_cmake
	ament_cmake_python
	eigen3_cmake_module
	rosidl_default_runtime
	rclpy
	ament_cmake_gtest
	ament_cmake_gmock
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	diagnostic_updater
	message_filters
	eigen_stl_containers
	libmavconn
	pluginlib
	tf2_ros
	tf2_eigen
	rclcpp
	rclcpp_components
	rcpputils
	diagnostic_msgs
	geometry_msgs
	mavros_msgs
	nav_msgs
	sensor_msgs
	geographic_msgs
	trajectory_msgs
	std_msgs
	std_srvs

System Dependencies

Name
eigen
geographiclib
geographiclib-tools
python3-click
gtest
google-mock
libconsole-bridge-dev

Dependant Packages

Name	Deps
mavros_extras

Launch files

launch/multi_uas.launch
- - id [default: 0]
  - fcu_url [default: udp://:14540@127.0.0.1:14580]
  - id [default: 1]
  - fcu_url [default: udp://:14541@127.0.0.1:14581]
launch/px4.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]
launch/apm.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]
launch/node.launch
- - fcu_url
  - gcs_url
  - tgt_system
  - tgt_component
  - pluginlists_yaml
  - config_yaml
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]

Messages

No message files found.

Services

No service files found

Plugins

mavros

Recent questions tagged `mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs

API Docs
Browse Code
Wiki

Package Summary

Tags	uav mav mavlink plugin apm px4
Version	2.9.0
License	GPLv3
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	ros2
Last Updated	2024-10-23
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	uav mav mavlink plugin apm px4
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.

Additional Links

Maintainers

Vladimir Ermakov

Authors

Vladimir Ermakov

mavros/README.md

MAVROS

MAVLink extendable communication node for ROS2.

ROS API documentation moved to wiki.ros.org.

Features

Communication with autopilot via serial port, UDP or TCP (e.g. PX4 Pro or ArduPilot)
Internal proxy for Ground Control Station (serial, UDP, TCP)
Plugin system for ROS-MAVLink translation
Parameter manipulation tool
Waypoint manipulation tool
PX4Flow support (by mavros_extras)
OFFBOARD mode support
Geographic coordinates conversions.

Limitations

Only for Linux.

This package are dependent on ros-*-mavlink build from mavlink-gbp-release. It exists in ROS package index and usually updates each month.

Connection URL

Connection defined by URL, you can use any supported type for FCU and GCS.

Supported schemas:

Serial: /path/to/serial/device[:baudrate]
Serial: serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]
Serial with hardware flow control: serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid]
UDP: udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid]
UDP broadcast until GCS discovery: udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid]
UDP broadcast (permanent): udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid]
TCP client: tcp://[server_host][:port][/?ids=sysid,compid]
TCP server: tcp-l://[bind_host][:port][/?ids=sysid,compid]

Note:

Ids from URL overrides value given by system_id & component_id parameters.
bind_host - default 0.0.0.0 - i.e. IP4 ANY
UDP default ports: 14555 @ 14550
UDP remote address updated every time with incoming packet on bind port.
TCP default port: 5760

Coordinate frames

MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Please read documents from issue #473 for additional information.

All the conversions are handled in src/lib/ftf_frame_conversions.cpp and src/lib/ftf_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.

MAVROS also allows conversion of geodetic and geocentric coordinates through GeographicLib given that:

geographic_msgs and NatSatFix.msg require the LLA fields to be filled in WGS-84 datum, meaning that the altitude should be the height above the WGS-84 ellipsoid. For that, a conversion from the height above the geoid (AMSL, considering the egm96 geoid model) to height above the WGS-84 ellipsoid, and vice-versa, is available and used in several plugins;
According to ROS REP 105, the earth frame should be propagated in ECEF (Earth-Centered, Earth-Fixed) local coordinates. For that, the functionalities of GeographicLib are used in order to allow conversion from geodetic coordinates to geocentric coordinates;
The translation from GPS coordinates to local geocentric coordinates require the definition of a local origin on the map frame, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in the global_position plugin.

Composite nodes

See also: https://docs.ros.org/en/foxy/Tutorials/Composition.html

mavros::router::Router

This is router node required to support connections to FCU(s), GCS(es) and UAS nodes. The Router allows you to add/remove endpoints on the fly without node restart.

mavros::uas::UAS

This node is a plugin container which manages all protocol plugins. Each plugin is a subnode to this.

Programs

mavros_node – all-in-one container

That is a preconfigured composite node contaier, which provides similar parameters as ROS1 mavros_node. That container loads Router, UAS and configures them to work together (sets uas_link, etc.).

Main node. Allow disable GCS proxy by setting empty URL.

ros2 run mavros mavros_node --ros-args --params-file params.yaml

Launch Files

XXX TODO! #1564

Launch files are provided for use with common FCUs, in particular Pixhawk:

px4.launch – for use with the PX4 Autopilot (for VTOL, multicopters and planes)
apm.launch – for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)

Examples:

roslaunch mavros px4.launch
roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@

Installation

Required dependencies

Most of the ROS dependencies are supported and installed by rosdep, including external libraries as Eigen and Boost.

GeographicLib can be installed by apt-get and it is already included on the rosdep of MAVROS package. It is also possible to compile it and install it from src but be advised to have the proper install directories the same as the ones of the apt-get install, in order to make sure that the FindGeographicLib.cmake finds the required shared libraries (libGeographic.so).

Since GeographicLib requires certain datasets (mainly the geoid dataset) so to fulfill certain calculations, these need to be installed manually by the user using geographiclib-tools, which can be installed by apt-get in Debian systems. For a quicker procedure, just run the available script in the “mavros/scripts” folder, install_geographiclib_datasets.sh.

Note that if you are using an older MAVROS release source install and want to update to a new one, remember to run rosdep update before running rosdep install --from-paths ${ROS_WORKSPACE} --ignore-src --rosdistro=${ROSDISTRO}, with ROS_WORKSPACE your src folder of catkin workspace. This will allow updating the rosdep list and install the required dependencies when issuing rosdep install.

:bangbang: The geoid dataset is mandatory to allow the conversion between heights in order to respect ROS msg API. Not having the dataset available will shutdown the mavros_node :bangbang:

:heavy_exclamation_mark:Run install_geographiclib_datasets.sh to install all datasets or geographiclib-datasets-download egm96_5 (Debian 7, Ubuntu 14.04, 14.10), geographiclib-get-geoids egm96-5 (Debian 8, Fedora 22, Ubuntu 15.04 or later) to install the geoid dataset only:heavy_exclamation_mark:

Binary installation (deb)

ROS repository has binary packages for Ubuntu x86, amd64 (x86_64) and armhf (ARMv7). Kinetic also support Debian Jessie amd64 and arm64 (ARMv8).

Just use apt for installation:

sudo apt install ros-foxy-mavros

Then install GeographicLib datasets by running the install_geographiclib_datasets.sh script:

ros2 run mavros install_geographiclib_datasets.sh

# Alternative:
wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh

Source installation

Use vcs utility for retrieving sources and colcon tool for build.

NOTE: The source installation instructions are for the ROS Foxy release.

sudo apt install -y python3-vcstool python3-rosinstall-generator python3-osrf-pycommon

# 1. Create the workspace: unneeded if you already has workspace
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws

# 2. Install MAVLink
#    we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
rosinstall_generator --format repos mavlink | tee /tmp/mavlink.repos

# 3. Install MAVROS: get source (upstream - released)
rosinstall_generator --format repos --upstream mavros | tee -a /tmp/mavros.repos
# alternative: latest source
# rosinstall_generator --format repos --upstream-development mavros | tee -a /tmp/mavros.repos
# For fetching all the dependencies into your ros2_ws, just add '--deps' to the above scripts
# ex: rosinstall_generator --format repos --upstream mavros --deps | tee -a /tmp/mavros.repos

# 4. Create workspace & deps
vcs import src < /tmp/mavlink.repos
vcs import src < /tmp/mavros.repos
rosdep install --from-paths src --ignore-src -y

# 5. Install GeographicLib datasets:
./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

# 6. Build source
colcon build

# 7. Make sure that you use setup.bash or setup.zsh from workspace.
#    Else ros2 run can't find nodes from this workspace.
source install/setup.bash

Build error. if you has error with missing mavlink* then you need fresh mavlink package. You may update from ros-shadow-fixed (binary installation) or redo script steps 2 & 4.

Note. Since MAVLink 2.0 merged (0.18) all dialects supported by same binary. Unfortunately overlap of v1.0 message ID’s not fully handled, first loaded message forbid further changes. Load order always:

common
ardupilotmega
alphabetical ordered list
…

Note: MAVLINK_DIALECT not used anymore.

Troubleshooting

Error: serial0: receive: End of file

This issue should have been solve in mavros v0.23.2, it was found to be a Boost.ASIO error and should be fix in release > v1.12.0 ( >Boost 1.66).

Contributing

See CONTRIBUTING.md.

Glossary

GCS — Ground Control Station
FCU — Flight Control Unit (aka FC)
OBC — OnBoard Computer (your odroid or raspberry)

Links

MAVLink – The communication protocol for Drones, used by flight controllers, ground control stations, and peripherals
mavlink_ros – original ROS node (few messages, no proxy)
Pixhawk – Open Standards for drone hardware
PX4 Autopilot – Flight Controller with support for most vehicle types and hardened/tested MAVROS support
ArduPilot – tested autopilot APM:Plane (default command set)
QGroundControl – Ground Control Station for MAVLink autopilots, with tested support for Android, iOS, Mac OS, Linux, and Windows
mavros_extras – extra plugins & node for mavros

CHANGELOG

Changelog for package mavros

2.9.0 (2024-10-10)

py-mavros: fix flake8 errors
py-mavros: reconfigure flake8
py: isort
py: black
py-mavros: reformat with black
py-mavros: csv escapechar of empty string unsupported since py 3.11
apply ament_uncrustify --reformat (jazzy)
Merge pull request #2000 from leocencetti/fix-test-errors Fix test errors in 3x3 covariance test cases
fix: Patch test errors
Merge pull request #1998 from leocencetti/fix-wrong-covariance-rotation Fix 3x3 covariance matrix rotation/transformation
chore: Fix and reenable covariance rotation tests
fix: Correct 3x3 covariance matrix rotation
use GeographicLib::Geoid::ConvertHeight
fix -Wdeprecated-enum-float-conversion in GeographicLib
depcrecation errors
#1965: sync format of configs
Contributors: Jacob Dahl, Leonardo Cencetti, Vladimir Ermakov

2.8.0 (2024-06-07)

param: replace old rmw_qos usage
sys_status: replace rmw_qos too
command: fix humble condition
regenerate all using cogall.sh
command: keep support for humble
command: fix misprint
command: replace deprecated rmw_qos
reformat with jazzy's ament_uncrustify
Merge branch 'master' into ros2 * master: 1.19.0 update changelog gps_global_origin: remove LLA to ECEF conversion
1.19.0
update changelog
gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Update mavlink.py Kept #569 FIXME tag
Update mavlink.py Fixed bug #569 from mavros. Fixed another bug in the building of the ros mavlink message- the seq field was not added to the ros mavlink message.
Contributors: Beniamino Pozzan, Vladimir Ermakov, danielkalmanson

1.19.0 (2024-06-06)

gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Contributors: Beniamino Pozzan

2.7.0 (2024-03-03)

Merge branch 'master' into ros2 * master: 1.18.0 update changelog sys_status.cpp: improve timeout code sys_status.cpp: Add a SYS_STATUS message publisher [camera plugin] Fix image_index and capture_result not properly filled Fix missing semi-colon GPS_STATUS Plugin: Fill in available messages for ROS1 legacy
1.18.0
update changelog
move /conn parameters to /sys and /time
sys_status.cpp: improve timeout code # Conflicts: # mavros/src/plugins/sys_status.cpp
sys_status.cpp: Add a SYS_STATUS message publisher
Removed warning from geometry2 header
Fix PR 1922 regarding EVENT message
use synchronise_stamp to create stamp
new checksum for event enum
remove event_time_boot_ms, fill stamp instead
handle events
fix mav service call and wp load
Remove hardcoded namespace from px4_pluginlists
Remove hardcoded namespace from px4_config
Define _frd frames in odom plugin based on parent/child frame parametrs
Define parameters for base_link, odom, map frames
Contributors: Alejandro Hernández Cordero, Dr.-Ing. Amilcar do Carmo Lucas, Mattia Giurato, Mohamed Abdelkader, Vladimir Ermakov, elgarbe, sathak93, victor

1.18.0 (2024-03-03)

sys_status.cpp: improve timeout code
sys_status.cpp: Add a SYS_STATUS message publisher
Contributors: Dr.-Ing. Amilcar do Carmo Lucas

2.6.0 (2023-09-09)

fix build warnings tf2_eigen.h
switch to use tf2_eigen.hpp, but that drops support for EOL distros
fix ament_cpplint
reformat python code with black
msgs: move generator code
ament uncrustify
Merge branch 'master' into ros2 * master: 1.17.0 update changelog cog: regenerate all Bugfix/update map origin with home position (#1892) mavros: Remove extra ';' mavros_extras: Fix some init order warnings Suppress warnings from included headers 1.16.0 update changelog made it such that the gp_origin topic published latched. use hpp instead of deprecated .h pluginlib headers
1.17.0
update changelog
cog: regenerate all
local takeoff and land topics (#1890)
- local takeoff and land topics
- vector3 position type, rename to TOLLocal
- remove auto include line
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
1.16.0
update changelog
Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Ido Guzi, Lucas Walter, Morten Fyhn Amundsen, Shu-Nong Wu, Vladimir Ermakov, natmol

2.5.0 (2023-05-05)

Merge pull request #1852 from robobe/fix-mavlink-header-stamp Fix mavlink header stamp in convert_to_rosmsg method
Delete test_convert_to_rosmsg.py
fix flake8
fix flake8
fix conver_to_rosmsg method fix header stamp field move from rclpy.Time to builtin_interfaces Time message
Merge branch 'mavlink_payload64_fix' into ros2
Merge pull request #1851 from robobe/mavlink_payload64_fix cast payload_octest to int
cast payload_octest to int test script ,
Merge pull request #1838 from vacabun/launch_namespace_fix fix ROS2 launch parameters namespace and name.
fix plugin denylist allowlist name, and fix parameters namespace.
Merge pull request #1835 from vacabun/multi_uas_launch_fix Multi-UAS launch
Merge branch 'ros2' into multi_uas_launch_fix
Merge pull request #1836 from eMrazSVK/ros2 Fix apm_pluginlist.yaml and apm.launch
naming
Fix apm config and launch ROS2
Remove duplicate parameters
fix parameters name tgt_system and tgt_component and add multi-uas launch.
Merge pull request #1834 from vacabun/px4_launch_fix fix px4 launch file for ROS2
change plugin odom parameters in apm launch.
1.Change part of parameters to be flat In ROS2. 2.Remove plugin safety_area in launch parameters file.
remove event_launcher.yaml mavlink_bridge.launch
remove file 'apm2.lunch'.
fix apm launch files to ROS2.
fix plugin distance_sensor parses yaml from string parameter.
fix px4 launch file on ROS2.
Merge pull request #1833 from lopsided98/ftp-segfault plugins: ftp: fix null pointer dereference
plugins: ftp: fix null pointer dereference df4e529 mistakenly switched PayloadHeader::data from using a non-standards compliant (but accepted by most compilers) flexible array to a pointer. This resulted in an attempt to dereference the uninitialized contents of the array. This patch eliminates PayloadHeader::data and instead makes FTPRequest::data() use pointer arithmetic to get the data buffer from within the payload buffer.
Contributors: Ben Wolsieffer, Eduard Mraz, Vladimir Ermakov, robo, robobe, vacabun

2.4.0 (2022-12-30)

ci: ignore xml lib warn
Merge branch 'master' into ros2 * master: 1.15.0 update changelog ci: update actions Implement debug float array handler mavros_extras: Fix a sequence point warning mavros_extras: Fix a comparison that shouldn't be bitwise mavros: Fix some warnings mavros_extras: Fix buggy check for lat/lon ignored libmavconn: fix MAVLink v1.0 output selection
1.15.0
update changelog
Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

2.3.0 (2022-09-24)

extras: fix linter errors
mavros: remove custom find script, re-generate
Merge branch 'master' into ros2 * master: 1.14.0 update changelog scripts: waypoint and param files are text, not binary libmavconn: fix MAVLink v1.0 output selection plugins: add guided_target to accept offboard position targets add cmake module path for geographiclib on debian based systems use already installed FindGeographicLib.cmake
1.14.0
update changelog
scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1771 from alehed/fix/update_comment Put correct version in comment
Put correct version in comment Now that the change has been merged into master in pymavlink, it will be in the next tagged release.
Contributors: Alexander Hedges, Sanket Sharma, Vladimir Ermakov, acxz

2.2.0 (2022-06-27)

extras: fix build
Merge branch 'master' into ros2 * master: mount_control.cpp: detect MOUNT_ORIENTATION stale messages ESCTelemetryItem.msg: correct RPM units apm_config.yaml: add mount configuration sys_status.cpp fix free memory for values > 64KiB uncrustify cellular_status.cpp Add CellularStatus plugin and message *_config.yaml: document usage of multiple batteries diagnostics sys_status.cpp: fix compilation sys_status.cpp: support diagnostics on up-to 10 batteries sys_status.cpp: do not use harcoded constants sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). sys_status.cpp: ignore sys_status mavlink messages from gimbals mount_control.cpp: use mount_nh for params to keep similarities with other plugins set diag settings before add() sys_status.cpp: remove deprecated BATTERY2 mavlink message support Mount control plugin: add configurable diagnostics Bugfix: increment_f had no value asigned when input LaserScan was bigger than obstacle.distances.size() Bugfix: wrong interpolation when the reduction ratio (scale_factor) is not integer. Disable startup_px4_usb_quirk in px4_config.yaml
cmake: style fix
cmake: downgrade to C++17 as 20 breaks something in rclcpp
pylib: fix flake8 for checkid
cmake: hide -std=c++2a
Merge pull request #1752 from alehed/fix/make_compatible_with_mavlink_pr_666 Make compatible with pymavlink type annotations PR
Make compatible with pymavlink type annotations PR In that PR, the attribute name is changed to msgname due to conflicts with message instance variables.

1.17.0 (2023-09-09)

cog: regenerate all
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov, natmol

1.16.0 (2023-05-05)

Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Lucas Walter, Shu-Nong Wu, Vladimir Ermakov

1.15.0 (2022-12-30)

Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.14.0 (2022-09-24)

scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1744 from amilcarlucas/pr_gimbal_diagnostics_fixes mount_control.cpp: detect MOUNT_ORIENTATION stale messages
mount_control.cpp: detect MOUNT_ORIENTATION stale messages correct MountConfigure response success correct constructor initialization order some gimbals send negated/inverted angle measurements, correct that to obey the MAVLink frame convention using run-time parameters
Update global_position.py
Merge pull request #1745 from antonyramsy/ros2 fix subscribe_raw_salellites typo
fix subscribe_raw_salellites typo subscribe_raw_salellites -> subscribe_raw_satellites
Merge pull request #1743 from amilcarlucas/pr_apm_config apm_config.yaml: add mount configuration
apm_config.yaml: add mount configuration
Merge pull request #1732 from amilcarlucas/pr-meminfo-fix MEMINFO fixes
sys_status.cpp fix free memory for values > 64KiB
Merge pull request #1716 from amilcarlucas/avoid-harcoded-values sys_status.cpp: do not use harcoded constants
Merge pull request #1711 from amilcarlucas/diagnose-up-to-n-batteries Diagnose up-to 10 batteries
*_config.yaml: document usage of multiple batteries diagnostics
sys_status.cpp: fix compilation
sys_status.cpp: support diagnostics on up-to 10 batteries Uses as many battery monitors as the user specified in min_voltage parameter. Add myself as a contributor, this is not my first patch to this file
Merge pull request #1712 from amilcarlucas/fix-disabled-diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag
sys_status.cpp: do not use harcoded constants
sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics Use atomic variable to prevent potential threading problems
sys_status.cpp: fix enabling of mem_diag and hwst_diag
Merge pull request #1704 from amilcarlucas/correct-bat-voltages sys_status.cpp: Do not use battery1 voltage for all batteries.
sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). Support both cell and total voltages above 65V Support up-to 14S batteries If available, add cell voltage information to the battery diagnostic
Merge pull request #1707 from amilcarlucas/ignore-gimbal-sys-status sys_status.cpp: ignore sys_status mavlink messages from gimbals
sys_status.cpp: ignore sys_status mavlink messages from gimbals
Merge pull request #1703 from amilcarlucas/remove-deprecated-battery2 sys_status.cpp: remove deprecated BATTERY2 mavlink message support
sys_status.cpp: remove deprecated BATTERY2 mavlink message support
Merge pull request #1696 from okalachev/patch-2 Disable startup_px4_usb_quirk in px4_config.yaml
Disable startup_px4_usb_quirk in px4_config.yaml
Contributors: Alexander Hedges, Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Vladimir Ermakov, antonyramsy

2.1.1 (2022-03-02)

Merge pull request #1717 from rob-clarke/fix--sys-status-callbacks Maybe fix sys status callbacks
uncrustify
Cleanup for pr
Initialise common client
Add debug
Use common client Add debug
plugins: Fix misprint Fix #1709
Contributors: Rob Clarke, Vladimir Ermakov

2.1.0 (2022-02-02)

plugin: sys_status: Add temporary hack from \@Michel1968 https://github.com/mavlink/mavros/issues/1588#issuecomment-1027699924
py-lib: make linters happy again
py-lib: fix WPL loading
py-lib: reformat with black, fix WPL
py-lib: gracefull exiting - need to join to spinner thread
py-lib: debug shutdown call
py-lib: fix checkid
sys: place service servers to separate callback group
plugins: fix topic names to use prefix for namespaced ones
py-lib: fix import
uas: fix linter warnings
uas: set executor timeout to 1s
uas: use custom executor derived from MultiThreadedExecutor one
uas: fix lambda
ci: fix several lint warnings
uas: log amount of executor threads
command: add request header for possible future use
Merge branch 'master' into ros2 * master: 1.13.0 update changelog py-lib: fix compatibility with py3 for Noetic re-generate all coglets test: add checks for ROTATION_CUSTOM lib: Fix rotation search for CUSTOM Removed CamelCase for class members. Publish to "report" More explicitly state "TerrainReport" to allow for future extension of the plugin to support other terrain messages Fixed callback name to match [handle_{MESSAGE_NAME.lower()}]{.title-ref} convention Add extra MAV_FRAMES to waypoint message as defined in https://mavlink.io/en/messages/common.html Fixed topic names to match more closely what other plugins use. Fixed a typo. Add plugin for reporting terrain height estimate from FCU 1.12.2 update changelog Set time/publish_sim_time to false by default plugin: setpoint_raw: move getParam to initializer extras: trajectory: backport #1667
1.13.0
update changelog
Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
1.12.2
update changelog
Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Merge pull request #1670 from windelbouwman/fix-uninitialized-struct-member Fix spurious bug because class field was uninitialized.
Fix spurious bug because class field was uninitialized.
Merge branch 'master' into ros2 * master: 1.12.1 update changelog mavconn: fix connection issue introduced by #1658 mavros_extras: Fix some warnings mavros: Fix some warnings
1.12.1
update changelog
mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Oleg Kalachev, Vladimir Ermakov, Windel Bouwman, hs293go

2.0.5 (2021-11-28)

fix some build warnings; drop old copter vis
router: fix #1655: use MAVConnInterface::connect() from #1658
Merge branch 'master' into ros2 * master: 1.12.0 update changelog Fix multiple bugs lib: fix mission frame debug print extras: distance_sensor: revert back to zero quaternion
1.12.0
update changelog
Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
extras: fix some more lint warns
plugin: fix some compile warnings
cmake: require C++20 to build all modules
extras: port distance_sensor plugin
lib: ignore MAVPACKED-related warnings from mavlink
lib: fix mission frame debug print
msgs: update conversion header
Merge branch 'master' into ros2 * master: 1.11.1 update changelog lib: fix build
1.11.1
update changelog
lib: fix build
Merge branch 'master' into ros2 * master: 1.11.0 update changelog lib: fix ftf warnings msgs: use pragmas to ignore unaligned pointer warnings extras: landing_target: fix misprint msgs: fix convert const plugin: setpoint_raw: fix misprint msgs: try to hide 'unaligned pointer' warning plugin: sys: fix compillation error plugin: initialize quaternions with identity plugin: sys: Use wall timers for connection management Use meters for relative altitude distance_sensor: Initialize sensor orientation quaternion to zero Address review comments Add camera plugin for interfacing with mavlink camera protocol
1.11.0
update changelog
lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
extras: port log_transfer
Contributors: Alexander Sherikov, Jaeyoung-Lim, Vladimir Ermakov

2.0.4 (2021-11-04)

Merge branch 'master' into ros2 * master: 1.10.0 prepare release
1.10.0
prepare release
extras: port esc_status plugin
plugins: update metadata xml
mavros: port mav_controller_output plugin
Merge branch 'master' into ros2 * master: (25 commits) Remove reference Catch std::length_error in send_message Show ENOTCONN error instead of crash Tunnel: Check for invalid payload length Tunnel.msg: Generate enum with cog mavros_extras: Create tunnel plugin mavros_msgs: Add Tunnel message MountControl.msg: fix copy-paste sys_time.cpp: typo sys_time: publish /clock for simulation times 1.9.0 update changelog Spelling corrections Changed OverrideRCIn to 18 channels This adds functionality to erase all logs on the SD card via mavlink publish BATTERY2 message as /mavros/battery2 topic Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0 Added NAV_CONTROLLER_OUTPUT Plugin Added GPS_INPUT plugin Update esc_status plugin with datatype change on MAVLink. ...
Merge pull request #1631 from shubham-shahh/ros2 rectified spelling and gramatical errors
Update mission_protocol_base.cpp
Update test_uas.cpp
Update setpoint_raw.cpp
Update param.cpp
Update param.cpp
Update mission_protocol_base.cpp
Update ftp.cpp
Update command.cpp
Update param.py
Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
1.9.0
update changelog
Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: fix lint error
extras: fix build, add UAS::send_massage(msg, compid)
extras: port companion_process_status
style: apply ament_uncrustify --reformat
Merge branch 'master' into ros2 * master: extras: esc_telemetry: fix build extras: fix esc_telemetry centi-volt/amp conversion extras: uncrustify all plugins plugins: reformat xml extras: reformat plugins xml extras: fix apm esc_telemetry msgs: fix types for apm's esc telemetry actually allocate memory for the telemetry information fixed some compile errors added esc_telemetry plugin Reset calibration flag when re-calibrating. Prevent wrong data output. Exclude changes to launch files. Delete debug files. Apply uncrustify changes. Set progress array to global to prevent erasing data. Move Compass calibration report to extras. Rewrite code based on instructions. Remove extra message from CMakeLists. Add message and service definition. Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
plugins: reformat xml
mavros_extras: ported landing_target plugin to ros2
sanitized code
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Marcelino Almeida, Shubham Shah, Val Doroshchuk, Vladimir Ermakov

2.0.3 (2021-06-20)

param: fix Foxy build
Contributors: Vladimir Ermakov

2.0.2 (2021-06-20)

mavros: fix run on Galactic
plugin: param: #1579: fix cpplint warnings
plugin: param: #1579: implement std parameter events
plugin: param: #1579: rewrite plugin to implement standard parameter services
plugin: add ability to set node options
lib: fix lint error
plugin: fix build error
lib: fix reorder warnings
lib: fix ftf compilation warnings
Contributors: Vladimir Ermakov

2.0.1 (2021-06-06)

readme: update source build instruction
Merge branch 'master' into ros2 * master: readme: update 1.8.0 update changelog Create semgrep-analysis.yml Create codeql-analysis.yml
1.8.0
update changelog
Contributors: Vladimir Ermakov

2.0.0 (2021-05-28)

pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fix flake8
pylib: fixing lint erorrs
includes: include tf2 buffer
pylib: fix ftp, add flags to wp
pylib: port mavftp
test: fix ParamDict test, yapf
pylib: fix wp load/dump file
pylib: port mavwp
pylib: fix param plugin
pylib: port mavparam
pylib: add uas settings accessor
pylib: fix set_mode
plugin: fix sys_status ~/set_mode service
pylib: porting mavsys
pylib: fix checkid
pylib: port checkid
pylib: force-create mav script entry point, why console_scripts didn't work?
pylib: small fix for setup
pylib: fix mavcmd trigger
pylib: move cmd check to utils
pylib: move wait flag to global group
pylib: port mavsafety, drop safetyarea as it completely outdated
pylib: fix script path
pylib: wait for services by default
pylib: add local position plugin
pylib: port all mavcmd
pylib: port most of mavcmd
pylib: start porting mavcmd
pylib: fix loading
pylib: port ftp
pylib: port mavlink helpers
pylib: port setpoint plugin
pylib: remove event_lanucher, ros2 should have different way to do the same
pylib: test ParamFile
pylib: test ParamDict
pylib: port param
pylib: add system module
pylib: fix loading
pylib: apply yapf
tests: add simple plan file
msgs: update command codes
pylib: move to support ament_python
pylib: start porting
plugins: fix all cpplint errors
plugins: fix some cpplint errors
test: fix cpplint errors
lib: fix lint errors
lib: fixing cpplint
plugins: waypoint: fix parameter exception
plugins: geofence: port to ros2
plugins: rallypoint: port to ros2
plugins: waypoint: port to ros2
plugins: mission base ported to ros2
plugins: mission: noe step further
mission proto: start port
mavros: make cpplint happy about includes
tests: make cpplint happy
mavros: make cpplint happy
lib: uncrustify
Merge branch 'master' into ros2 * master: ci: github uses yaml parser which do not support anchors. surprise, surprise! ci: install geographiclib datasets extras: #1370: set obstacle aangle offset lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink() extras: distance_sensor: rename param for custom orientation, apply uncrustify px4_config: Add distance_sensor parameters distance_sensor: Add horizontal_fov_ratio, vertical_fov_ratio, sensor_orientation parameters distance_sensor: Fill horizontal_fov, vertical_fov, quaternion
lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
lib: fix misprint
plugins: param: #1567: use parameters qos
lib: more lint...
lib: fix more linter warnings
lib: fix some linter warnings
lib: fix some linter warnings
router: fix lint error, it invalidated after erase
plugins: ftp: disable ll debug
plugins: param: add use_sim_time to excluded ids
plugins: param: set only allowed posparam
plugins: param: ported to ros2
plugins: ftp: port to ros2
plugins: setpoint_position: port to ros2
plugins: setpoint_attitude: port to ros2
Merge branch 'master' into ros2 * master: convert whole expression to mm
convert whole expression to mm
plugins: setpoint_trajectory: port to ros2
plugins: setpoint_velocity: port to ros2
plugins: setpoint_accel: port to ros2
plugins: setpoint_raw: fix sefgault
plugins: setpoint_raw: port to ros2
plugins: imu: port to ros2
plugins: global_position: port to ros2
plugin: local_position: port to ros2
plugins: wind_estimation: port to ros2
plugins: rc_io: port to ros2
plugins: port manual_control
plugins: home_position: port to ros2
plugins: sys_status: update set_message_interval
plugins: sys_status: implement autopilot version request
plugins: port command to ros2
uas: add eigen aligned allocator
plugin: altitude: port to ros2
uas: add convinient helpers
plugins: actuator_control: port to ros2
uas: fix some more lint errors
uas: fix some lint errors
plugin: sys_status: fix some lint errors
plugins: port sys_time
Merge branch 'master' into ros2 * master: 1.7.1 update changelog re-generate all pymavlink enums 1.7.0 update changelog
plugins: sys_status: fix connection timeout
lib: update cog to match ament-uncrustify
plugins: sys_status: fixing mav_type
plugins: sys_state: declare parameters
plugins: sys_state: ported most of things
plugins: sys_status: port most of the parts
plugins: start porting sys_status
plugins: generate description xml
plugins: port dummy
mavros: generate plugin list
Merge branch 'master' into ros2 * master: msgs: re-generate the code lib: re-generate the code plugins: mission: re-generate the code MissionBase: correction to file information MissionBase: add copyright from origional waypoint.cpp uncrustify whitespace add rallypoint and geofence plugins to mavros plugins xml add rallypoint and geofence plugins to CMakeList Geofence: add geofence plugin Rallypoint: add rallypoint plugin Waypoint: inherit MissionBase class for mission protocol MissionBase: breakout mission protocol from waypoint.cpp README: Update PX4 Autopilot references Fix https://github.com/mavlink/mavros/issues/849
uas: test multiple handlers for same message
uas: implement test for plugin message router
uas: fix is_plugin_allowed truth table
uas: initial unittest
uas: implement tf helpers
uas: add parameters callback, testing helper
node: disable intra process messaging because it's throws errors
uas: it's compilling!
uas: still fixing build...
uas: split uas_data.cpp into smaller units
uas: fix misprints
uas: initial implementation porting
uas: style fixes in headers
uas: update plugin base class, add registration macro
uas: begin implementation
router: use common format for address
router: add source id to UAS frame_id
mavros_node: that binary would be similar to old mavros v1 node
router: fix conponent loading
router: add test for Endpoint::recv_message
router: rename mavlink to/from to source/sink, i think that terms more descriptive
router: add diagnostics updater
router: fix incorrect get_msg_byte
router: trying to deal with mock cleanup checks
router: initial import of the test
router: catch open erros on ROSEndpoint
router: catch DeviceError
router: remove debugging printf's
router: weak_ptr segfaults, replace with shared_ptr
router: implement routing, cleanup
tools: remove our custom uncrustify, would use amend-uncrustiry instead
mavros: ament-uncrustify all code. enen unused one
router: implement params handler
router: fix build
router: add handler for parameters and reconnection timer
router: add some code docs, ament-uncrustify
router: implement basic part of Endpoint
lib: add stub code for router
mavros: router decl done
mavros: prototyping router
mavros: update tests
lib: port most of utilities
mnavros: lib: apply ament_uncrustify
lib: port enum_to_string
lib: update sensor_orientation
mavros: add rcpputils
mavros: fix cmake to build libmavros
mavros: begin porting...
Merge pull request #1186 from PickNikRobotics/ros2 mavros_msgs Ros2
Merge branch 'ros2' into ros2
msgs: start porting to ROS2
disable all packages but messages
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Sanket Sharma, Vladimir Ermakov, acxz

1.13.0 (2022-01-13)

Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
Contributors: Vladimir Ermakov

1.12.2 (2021-12-12)

Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Contributors: Oleg Kalachev, Vladimir Ermakov, hs293go

1.12.1 (2021-11-29)

mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.12.0 (2021-11-27)

Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
lib: fix mission frame debug print
Contributors: Alexander Sherikov, Vladimir Ermakov

1.11.1 (2021-11-24)

lib: fix build
Contributors: Vladimir Ermakov

1.11.0 (2021-11-24)

lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
Contributors: Jaeyoung-Lim, Vladimir Ermakov

1.10.0 (2021-11-04)

Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
Contributors: David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Marcelino Almeida, Val Doroshchuk, Vladimir Ermakov

1.9.0 (2021-09-09)

Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: reformat xml
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, Karthik Desai, Vladimir Ermakov

1.8.0 (2021-05-05)

lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
convert whole expression to mm
Contributors: Alexey Rogachevskiy, Thomas, Vladimir Ermakov

1.7.1 (2021-04-05)

re-generate all pymavlink enums
Contributors: Vladimir Ermakov

1.7.0 (2021-04-05)

lib: re-generate the code
plugins: mission: re-generate the code
MissionBase: correction to file information
MissionBase: add copyright from origional waypoint.cpp
uncrustify
whitespace
add rallypoint and geofence plugins to mavros plugins xml
add rallypoint and geofence plugins to CMakeList
Geofence: add geofence plugin
Rallypoint: add rallypoint plugin
Waypoint: inherit MissionBase class for mission protocol
MissionBase: breakout mission protocol from waypoint.cpp
README: Update PX4 Autopilot references Much needed fixes to clarify the project is named correctly throughout the README for the PX4 Autopilot, QGroundControl, and MAVLink
Fix https://github.com/mavlink/mavros/issues/849
Contributors: Charlie-Burge, Ramon Roche, Tobias Fischer, Vladimir Ermakov

1.6.0 (2021-02-15)

fix inconsistency in direction of yaw when using set_position in BODY frames and fix problems with yaw in setponit_raw
Contributors: zhouzhiwen2000

1.5.2 (2021-02-02)

readme: add source install note for Noetic release
Contributors: Vladimir Ermakov

1.5.1 (2021-01-04)

Fix tests for renaming of ECEF cases Introduced in 6234af29
Initialise message structures Uninitialised Mavlink 2 extension fields were sent if the fields were not later set. Initialising the fields to zero is the default value for extension fields and appears to the receiver as though sender is unaware of Mavlink 2. Instances were found with regex below, more may exist: mavlink::[\^:]+::msg::[\^:={]+ ?[\^:={]*;
Contributors: Rob Clarke

1.5.0 (2020-11-11)

mavros/sys_status: Fill flight_custom_version field
mavros: Add override specifiers
mavros: Move ECEF tf enums to separate enum class This avoids a bunch of unhandled switch cases, and should improve type safety a bit.
Contributors: Morten Fyhn Amundsen

1.4.0 (2020-09-11)

mavros: use mavlink::minimal:: after incompatible changes in mavlink package Incompatible change: https://github.com/mavlink/mavlink/pull/1463 Fix: #1483, https://github.com/mavlink/mavlink/issues/1474
fixes based on vooon's review
fix issue what we couldn't set real parameters to 0.0 in mavros
Add error message
Fixed compilation error: publish std_msgs::String, not std::string for gcs_ip
Dispatch GCS IP address
Contributors: Artem Batalov, Marcelino, Morten Fyhn Amundsen, Vladimir Ermakov, Øystein Skotheim

1.3.0 (2020-08-08)

fake_gps.cpp: implement speed accuracy
fake_gps.cpp: Add mocap_withcovariance configuration parameter
fake_gps.cpp: add initial support for GPS_INPUT MAVLink message
apm.launch: Avoid warning: Warning: You are using <arg> inside an <include> tag with the default=XY attribute - which is superfluous. Use value=XY instead for less confusion. Attribute name: respawn_mavros
Added support for MavProxy parameter file format
Ignore read-only parameters and statistics parameters in push operations
fix indentation
transform based on coordinate_frame
wind plugin: fix ArduPilot wind transformation
Contributors: Ben Wolsieffer, Dr.-Ing. Amilcar do Carmo Lucas, Yuan, Yuan Xu

1.2.0 (2020-05-22)

has_capability only works for enums
Uncrustify
Reworked Waypoint plugin to use capabilities_cb Additionally added helper functions has_capability and has_capabilities so that people can use either ints or enums to check if the UAS has a capability. This might make accepting capabilities as a parameter moot though.
Added alias for capabilities enum to UAS
Added alias for capabilities enum to UAS
Added a capabilities change cb queue Plugins can now write functions that they add to the capabilities_cb_vec. These functions will be called only when there is a change to the capabilities themselves not whenever the known status of the fcu_capabilities change. These functions should have a parameter of type mavlink::common::MAV_PROTOCOL_CAPABILITY which is essentially just a uint64_t however being more opinionated is helpful when looking for what the canonical enum names are in the mavlink project header files.
Uncrustify
Fixed Removed Uncrustify Option I'm not sure why this didn't break when I ran uncrustify previously but it seems that the align_number_left option was removed a while ago with this merge request but I may be mistaken https://github.com/uncrustify/uncrustify/pull/1393 I replaced it which align_number_right=true since it seems to be the inverse of align_number_left=true.
Removed deprecated MAV_FRAME values
Removed use of variant in favor of templates Since ROS messages are now the storage type in the node, providing to and from conversion functions is sufficient and can be better expressed with function templates.
Encode factor returns double
Changed encoding factor cog code
Uncrustify changes
Added new parameter to config.yamls
Updated waypoint plugin to support MISSION_ITEM_INT These changes add a new parameter use_mission_item_int, which allows users to prefer the old behavior. These changes also verify that the flight controller supports _INT messages since APM only sends REQUEST_ITEM messages even though it accepts _INT items back. This commit is functional and tested with the APM stack only. PX4 sitl jmavsim threw: WP: upload failed: Command is not supported. FCU: IGN MISSION_ITEM: Busy
Removed x_lat, y_long, z_alt from WP These values seemed to be used due to the fact that double had a greater resolution than float and doubles are used in the ros msg. However they were only ever used for printing. Since the int version of these messages has a greater resolution I figure it is more useful to print the true value in the mavlink message rather than the ros message value
Replaced MISSION_ITEM
add yaw to CMD_DO_SET_HOME
fix local angular velocity
Contributors: Braedon, David Jablonski, Martina Rivizzigno

1.1.0 (2020-04-04)

fixed styling
fixed indent from using spaces
updates apmrover2 modes and allows for arduboat mode changes
mavsafety kill feature for emergency stop
Include trajectory_msgs in CMakeLists.txt This allows build to complete successfully.
Contributors: Anthony Goeckner, Matt Koos, aykutkabaoglu

1.0.0 (2020-01-01)

0.33.4 (2019-12-12)

Replaced estimator status hardcoded definition with cog.
Refactor.
Replaced bool with git add -u as already done.
Added a publisher for estimator status message received from mavlink in sys_status.
Contributors: saifullah3396

0.33.3 (2019-11-13)

package: fix 6fa58e59 - main package depends on trajectory_msgs, not extras
Contributors: Vladimir Ermakov

0.33.2 (2019-11-13)

0.33.1 (2019-11-11)

Add mutex
Initialize type mask
Handle frame with StaticTF
Handle different frames
Set yaw rate from message inputs
Add setpoint trajectory reset interface
Fix trajectory timestamp
Address comments
Pass reference with oneshot timers
Set typemasks correctly
Address more style comments
Address style comments
Visualize desired trajectory
Handle end of trajectory correctly
Remove message handlers
Add setpoint_trajectory plugin template
resolved merge conflict
Contributors: David Jablonski, Jaeyoung-Lim

0.33.0 (2019-10-10)

Add vtol transition service
CleanUp
Update frame name in px4_config to match ROS standards
Enable publishing multiple static tfs at once, publish standard static tfs
moving ACK_TIMEOUT_DEFAULT out of class
cog: Update all generated code
mavros/src/plugins/command.cpp: one more style fix
mavros/src/plugins/command.cpp: style fixes
mavros/src/plugins/command.cpp: command_ack_timeout ms -> s
mavros/src/plugins/command.cpp: command_ack_timeout_ms int -> double
mavros/src/plugins/command.cpp: uncrustify
mavros/src/plugins/command.cpp: parameter for command's ack timeout Sometimes commands take more time than default 5 seconds. Due to a low bandwidth of UART and a high rate of some mavlink streams. To eliminate this problem it's better to provide the parameter to configure the command's ack timeout.
added manual flag to mavros/state
Use GeoPoseStamped messages
Fix build
Add callback for SET_POSITION_TARGET_GLBOAL_INT
Contributors: David Jablonski, Jaeyoung-Lim, Sergei Zobov, Vladimir Ermakov, kamilritz

0.32.2 (2019-09-09)

uncrustify
Add boolean to check if IMU data has been received Follow sensor_msgs/Imu convention when data not present
Uncrustify the GPS_GLOBAL_ORIGIN handler in global_position
Fix global origin conversion to ecef (was using amsl where hae was required) Summary: Fix global origin conversion to ecef (was using amsl where hae was required)
moved code to end of function
added amount of satellites to global_position/raw/
Contributors: David Jablonski, Nick Steele, Rob Clarke, Robert Clarke

0.32.1 (2019-08-08)

uncrustify
Removed tf loop
made small edit to handle augmented gps fix
added a check for gps fix before setting origin for global_position/local odometry topic
Contributors: Eric, Lucas Hill

0.32.0 (2019-07-06)

use direclty radians in yaml files
A simple typo error has fixed. (#1260)
- fix: a typing error "alredy" to "already"
- Fix: typo error (helth -> health)
Contributors: Martina Rivizzigno, 강정석

0.31.0 (2019-06-07)

readme: fix udp-pb formatting
launch config: landing_target: fix and improve parameter list
remove duplicated landing_target parameters
enum_to_string: simplify landing_target_type_from_str
enum_to_string: update enumerations and checksum
extras: landing target: improve usability and flexibility
remove landing_target from blacklist
update to use pymavlink generator
px4_config: landing_target: minor correction
mav_frame: add frames of reference to wiki page; reference them on config
landing_target: removed child_frame_id
landing_target: minor code tweak/restructure
landing_target: uncrustify code
landing_target: updated to TF2 and Eigen math
landing_target: adapted to latest master code
landing_target: added timestamp and target size fields [!Won't compile unless a new mavlink release!]
landing_target: first commit
Switch to double-reflections instead of axes-reassignments
specialize transform_frame_ned_enu and transform_frame_enu_ned for type Vector3d such that input vectors containing a NAN can be correctly transformed
Update README.md update misspelling
Contributors: Julian Kent, Martina Rivizzigno, Shingo Matsuura, TSC21, Vladimir Ermakov

0.30.0 (2019-05-20)

Filter heartbeats by component id as well This addresses #1107 and #1227, by filtering incoming heartbeats by component ids before publishing the state.
mavros/src/plugins/command.cpp: log if command's wait ack timeout (#1222)
- mavros/src/plugins/command.cpp: log if command's wait ack timeout
- mavros/src/plugins/command.cpp: log timeout in wait_ack_for
local_position fix #1220: initialize flags
plugin waypoint: fix spelling
Fix leading space before setpoint_raw This causes an error when running `roslaunch`: ` error loading <rosparam> tag: file /opt/ros/kinetic/share/mavros/launch/apm_config.yaml contains invalid YAML: while parsing a block mapping in "<string>", line 4, column 1: startup_px4_usb_quirk: false ^ expected <block end>, but found '<block mapping start>' in "<string>", line 103, column 2: setpoint_raw: ^ XML is <rosparam command="load" file="$(arg config_yaml)"/> The traceback for the exception was written to the log file`
global_position.cpp: spell in comment
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Josh Veitch-Michaelis, Nico van Duijn, Sergey Zobov, Vladimir Ermakov

0.29.2 (2019-03-06)

0.29.1 (2019-03-03)

All: catkin lint files
Update apm_config.yaml Setting thrust_scaling in the setpoint_raw message (in my case, to use /mavros/setpoint_raw/attitude) Without it, when using Gazebo, get the following problem "Recieved thrust, but ignore_thrust is true: the most likely cause of this is a failure to specify the thrust_scaling parameters on px4/apm_config.yaml. Actuation will be ignored." from the function void attitude_cb in setpoint_raw.cpp (http://docs.ros.org/kinetic/api/mavros/html/setpoint__raw_8cpp_source.html)
cmake: fix #1174: add msg deps for package format 2
Issue #1174 Added dependency for mavros_msgs and mavros
Contributors: Adam Watkins, KiloNovemberDelta, Pierre Kancir, Vladimir Ermakov

0.29.0 (2019-02-02)

Fix broken documentation URLs
px4_config: set the thrust_scaling to one by default
local_position: add an aditional topic for velocity on the local frame
Merge pull request #1136 from angri/param-timeout Request timed up parameters as soon as possible
Merge branch 'master' into param-timeout
plugin:param added logging regarding rerequests
plugin:param fixed second and consequent timeouts in requesting list
mavros_extras: Wheel odometry plugin updated according to the final mavlink WHEEL_DISTANCE message.
mavros_extras: Wheel odometry plugin fixes after CR.
mavros_extras: Wheel odometry plugin added.
mavsys: add do_message_interval
sys_status: add set_message_interval service
lib: fix MAV_COMPONENT to_string
lib: update sensor orientations
plugin:param rerequest timed out parameters asap Avoid vaiting for the next timeout
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Pavlo Kolomiiets, Randy Mackay, TSC21, Vladimir Ermakov, angri

0.28.0 (2019-01-03)

plugin:param: publish new param value
Merge pull request #1148 from Kiwa21/pr-param-value param plugin : add msg and publisher to catch latest param value
sys_status: fix build
sys_state: Small cleanup of #1150
VehicleInfo : add srv into sys_status plugin to request basic info from vehicle
sys_status: Fix #1151 bug - incorrect hex print
plugins:sys_status: Update diag decoder
frame_tf: mavlink_urt_to_covariance_matrix: make matrix symetrical
uas_data: add comment on the reverse tf fcu_frd->fcu
odom: add ODOMETRY handler and publisher
Handle LOCAL_POSITION_NED_COV messages, add pose_cov, velocity_cov, accel topics
sys_status : add MAV_TYPE as a parameter
rc_io: extend handle_servo_output_raw to 16 channels
param plugin : add msg and publisher to catch latest param value
plugin:command: Update for C++11, style fix Signed-off-by: Vladimir Ermakov <<vooon341@gmail.com>>
Fixed NavSatFix bug in mavcmd takeoffcur and landcur
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940 Remove unnecessary functools
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940
Fix mavros/param.py to work in python2 and python3, #940
correct the to_string function
set value back to 30
add autogenerated to_string function
style clean up
Use component_id to determine message sender
change message name from COMPANION_STATUS to COMPANION_PROCESS_STATUS
change message to include pid
Change from specific avoidance status message to a more generic companion status message
add plugin to receive avoidance status message
Added RPYrT and uncrustified. Pushing version without spaces. Version with tabs? Fixed all? Finally fixed. Fixed requestes by \@vooon Fixed a def. Fixed log format. Fixed time for log.
apm_config: enable timesync and system for ardupilot
Contributors: Dan Nix, Gregoire Linard, Oleg Kalachev, Randy Mackay, TSC21, Vladimir Ermakov, baumanta, fnoop, pedro-roque

0.27.0 (2018-11-12)

fix: a typing error "alredy" to "already"
plugins #1110 #1111: add eigen aligment to plugins with eigen-typed members
plugins: fix style
with this fix ,it will avoid eigen error on 32 bits system
Add service to send mavlink TRIGG_INTERVAL commands Adapt trigger_control service to current mavlink cmd spec. Add a new service to change trigger interval and integration time
launch: fix #1080: APM now support mocap messages
Contributors: Gaogeolone, Moritz Zimmermann, Vladimir Ermakov, rapsealk

0.26.3 (2018-08-21)

test: Fix sensor orientation. RPY 315 was removed in recent mavlink. https://github.com/mavlink/mavlink/commit/3d94bccfedc5fc7f2ffad247adecff0c2dc03501
lib: update generated entries
Contributors: Vladimir Ermakov

0.26.2 (2018-08-08)

Moving gps_rtk to mavros_extras
Update copyright name
Updating the gps_rtk plugin to fit mavros guidelines:
- Updating max_frag_len to allow changes in size in MAVLink seamlessly
- Using std::copy instead of memset
- Zero fill with std::fill
- Preapply the sequence flags
- Use of std iterators
- Add the maximal data size in the mavros_msgs
uncrustify
Update comments for the renaming
Renaming the GPS RTK module, Adding fragmentation, Changing the RTCM message
RTK Plugin; to forward RTCM messages Signed-off-by: Alexis Paques <<alexis.paques@gmail.com>>
Contributors: Alexis Paques

0.26.1 (2018-07-19)

setpoint_velocity: fix yaw rate setpoint rotation
lib fix #1051: Add APM BOAT modes support. Currently SURFACE_BOAT uses same code as Rover2, just different vehicle type.
Contributors: TSC21, Vladimir Ermakov

0.26.0 (2018-06-06)

lib: add tunable timeout to gcs_quiet_mode
udp bridge: pass only HEARTBEATs when GCS is offline
sys_time : add advanced timesync algorithm
libmavconn: add scheme for permanent UDP broadcasting
GPS accuracy wo approximations (#1034)
- GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT.
* GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT if on mavlink v2.0, or on DOP values otherwise.
- GPS accuracy update.
Contributors: Mohammed Kabir, Oleg Kalachev, Pavlo Kolomiiets, Vladimir Ermakov

0.25.1 (2018-05-14)

0.25.0 (2018-05-11)

wind plugin: uncrustify
use eigen and tf conversions (fix conventions), sync timestamp, fix typos
add wind estimation plugin
launch: fix style and keep apm.launch consistent with px4.launch
Updated apm.launch to forward new fcu_protocol parameter
glob pos plugin: correct gps velocity convention (NEU->ENU)
Split temperature publisher.
setpoint_raw: correct yaw transform; remove yaw transform methods
extras: odom: improve way frame naming is handled
extras: update odom plugin to send ODOMETRY msgs
lib: enum_to_string: update enums
setpoint_attitude: rename topic from target_attitude to attitude
imu plugin: fix pressure units
imu plugin: publish differential pressure (#1001)
- imu plugin: publish differential pressure
- imu plugin: fix doxygen snippets
lib: add PX4 mode AUTO.PRECLAND
extras: add covariance parsing to vision_speed_estimate (#996)
Contributors: Anthony Lamping, Nuno Marques, Oleg Kalachev, Sondre Engebråten, TSC21, Thomas Stastny, Timo Hinzmann, Vladimir Ermakov

0.24.0 (2018-04-05)

frame_tf: add assertion over size of covariance matrix URT
extras: update vision_pose_estimate plugin so it can send the covariance matrix also
plugins fix #990: Explicitly cast boolean values. Else someone can shoot in his foot.
Update Readme for serial0: receive: End of file
launch : remove vision_pose_estimate from blacklist on ardupilot
plugin: ftp: fix typo
Add ability to send STATUSTEXT messages
Contributors: Anass Al, Andrei Korigodski, Pierre Kancir, TSC21, Vladimir Ermakov

0.23.3 (2018-03-09)

lib: simplify geolib cmake module, try to fix CI
Contributors: Vladimir Ermakov

0.23.2 (2018-03-07)

launch: add optional respawn_mavros arg
Contributors: Anthony Lamping

0.23.1 (2018-02-27)

lib: Update to_string
plugin fix #957: set MISSION_ITEM::mission_type
Contributors: Vladimir Ermakov

0.23.0 (2018-02-03)

launch fix #935: use orientation convention from message descr https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR
Blacklist HIL for APM since it is not relevent
add MAV_DISTANCE_SENSOR enum to_string
px4: add fcu_protocol argument to choose mavlink v1.0 or v2.0 to start mavros in node.launch
node: add fcu_protocol parameter to be able to choose mavlink v1.0 or v2.0 when starting mavros node
mavros: default fcu_protocol parameter to mavlink v2.0
manual_control: [send]{.title-ref} topic for sending MANUAL_CONTROL message to FCU
imu plugin: fix doxygen comments
imu plugin: change sufixes to match the body coordinate frame
Fix vision odom.
IMU plugin: add raw IMU conversion for PX4
mention rotation convention and fix NED to ENU description
Contributors: ChristophTobler, James Goppert, James Mare, Martina, Oleg Kalachev, TSC21, Vladimir Ermakov

0.22.0 (2017-12-11)

scripts: Use non global mavros-ns allow to work __ns parameter
update script to support cycle_time on cmd trigger_control
plugin: Fix setpoint_position code style
Global position setpoint plugin (#764)
- fix fake gps rate
- fix
- fix plugin_list
- fix
- add global position setpoint plugin
- add plugin to CMakeList
- fix bugs
- add altitude
- move GPS setpoints to setpoint_position plugin
- fix gps setpoint subscriber name
- move GeographicLib::Geocentric earth inside callback
- add warning msg if timestamp is not updates
- Fix ROS_WARN
doc: move contributing.md to root
tools: add cogall.sh
split contribuion guide to GH file
Readme: add help for cog (#876)
Setpoints: remove mav_frame string for local variable
Setpoints: add params for initial frame
Setpoint_velocity: uncrustify
Setpoint_position: uncrustify
Setpoints: add service to specify frame
Fix typo #867
Improve output of script, replace which with more reliable hash #867
Ensure dataset files exist, not just directories #867
Remove previous duplicated link
Fixed issue link.
Fixed section header. Ready for troubleshooting PR.
Pushing troubleshooting section for Mavros.
Contributors: Mohamed Abdelkader Zahana, Pierre Kancir, Vladimir Ermakov, andresR8, fnoop, khancyr, pedro-roque

0.21.5 (2017-11-16)

Yet another formatting.
px4_config.yaml updated. Minor formatting update.
global_position/raw/gps_vel should still be in earth fixed frame.
GPS fix's frame_id changed to body-fixed.
global_position/local angular twist changed from NANs to zeroes to be able to show in RViz.
readme: source install: add note on fetching all the deps
geolib_dataset: script: fix interpreter
Contributors: Pavlo Kolomiiets, TSC21

0.21.4 (2017-11-01)

lib ftf: update dox, uncrustify
ENU<->ECEF transforms fix. (#847)
- ENU<->ECEF transforms fix.
- Changes after review. Unit tests added.
test: fix copy-paste error in frame_tf
Contributors: Vladimir Ermakov, pavloblindnology

0.21.3 (2017-10-28)

Update geographiclib script to work with zsh
scripts: fix typos and improve help messages consistency commad -> command safty -> safety Start help messages with a capital letter.
uncrustify
plugin waypoints: Use stamped message
plugin waypoint: Add MISSION_ITEM_REACHED publisher * Changes to be committed: modified: mavros/src/plugins/waypoint.cpp modified: mavros_msgs/CMakeLists.txt new file: mavros_msgs/srv/WaypointReached.srv
- change reached service name to classic topic
- Changed reached service to topic
- removed unused file
- Removed WaypointReached service
- Change reached message type to std_msgs::UInt16
- Delete WaypointReached.srv
- Restore WaypointPush.srv
- Fix tipo
- Update waypoint.cpp
launch: sync APM and PX4 configs
add debug plugin
Contributors: Jonas Vautherin, Patrick Jose Pereira, TSC21, Vladimir Ermakov, gui2dev

0.21.2 (2017-09-25)

plugin: setpoint_attitude: Finish Andres fix
fix: attitude callback trigger
lib uas: remove inline on not inlined method
odom: general fixes and code tighting
Use tf2 for odom plugin and set reasoable defaults for local pos cov.
Contributors: Andres Rengifo, James Goppert, TSC21, Vladimir Ermakov

0.21.1 (2017-09-22)

mavsys: mode: add solutions for setting AUTO.MISSION and AUTO.LOITER modes (#814)
- mavsys: add notes on how to change mode to AUTO.MISSION on PX4 Pro
- enum_to_string: update enums
- mavsys: mode: move AUTO submodes info to argparser
- sys_status: leave note that MAV_TYPE_ONBOARD_CONTROLLER will be supported on PX4
- mavsys: mode: add note on changing to AUTO.LOITER
Solve the subscriber initialization
lib frame_tf: Add to_eigen() helper
Contributors: Alexis Paques, Nuno Marques, Vladimir Ermakov

0.21.0 (2017-09-14)

plugin waypoint: Uncrustify, update init list
lib: Add to_sting for MAV_MISSION_RESULT
plugin waypoint: Rename current seq in wp list message
waypoint: Publish current waypoint seq
waypoint partial: Check parameter first with hasParam
waypoint partial: Documentation updates
waypoint: Document mid level helpers and fix indenting on rx handlers
waypoint: Document rx handlers
waypoint partial: Move FCU detection to connection_cb
waypoint partial: recommended changes to mavwp
waypoint partial: code style cleanup
waypoint partial: enable only on apm but allow override with parameter
waypoint partial: Handle case when partial push is out of range with local list and uncrustify
waypoint partial: enable only on apm through yaml
waypoint partial: stopped partial push from clearing parts of local waypoint copy
waypoint partial: uncrustify
waypoint partial: extend mavwp cli tool to do partial updating in push
waypoint partial: extended push in waypoint plugin to implement push partial
waypoint: uncrustify
waypoint: handle invalid_sequence mission_ack to prevent TXWP failure
Partial waypoint: added wp_transfered to push partial service response
Partial waypoint: renamed mavwp partial load arguments for consistency
Partial waypoint: fixed end index and added partial tx state
Partial Waypoint: handle service call in waypoint plugin
Partial waypoint: added partial updating to mavwp
imu_plugin: remove documentation of override func
imu plugin: uncrustify
imu plugin: don't be so explicit about in/out params
imu plugin: fix indentation
imu plugin: update setup_covariance method to use Eigen capabilities
imu plugin: use simpler format for one line comments
imu plugin: add code snippets to Doxygen documentation
IMU and attitude: general clean-up
CMake: explicitly link the atomic library (#797) For arm & mips architecture, the linker must explicitly be asked to link the atomic library (with [-latomic]{.title-ref}). Otherwise, the linking fails with: ` | devel/lib/libmavros.so: undefined reference to `__atomic_load_8' | devel/lib/libmavros.so: undefined reference to `__atomic_store_8' | collect2: error: ld returned 1 exit status[ Linking `atomic]{.title-ref} unconditionally as library is strictly needed only for arm & mips, but it seems not to imply any further differences with other architectures. Hence, this commit simply adds [atomic]{.title-ref} unconditionally for a uniform handling of all machine architectures. This is an alternative solution to the proposed solution in #790. The issue was discovered cross-compiling mavros in meta-ros, the OpenEmbedded layer for ROS. Some further pointers are available at: https://github.com/bmwcarit/meta-ros/issues/525 Signed-off-by: Lukas Bulwahn <<lukas.bulwahn@gmail.com>>
setpoint_attitude: privatize message_filters subscribers
Updating comments for PX4Flow
Removing copter_visualization from the yaml files. Adding odometry to apm_config Changing frame_id to base_link for vibration
Update the apm_config and px4flow_config files
Update configuration from mavros_extras
Updating default settings from px4.yaml
- global_position/tf/send default to false
- imu, checked
- local_position/tf/send default to false
- local_position/tf/send_fcu default to false
- mission/pull_after_gcs default to true
Update time reference to fcu Adding global_frame_id: 'earth' to apm_config
fcu to base_link
Changing fcu_utm to fcu
Solving default frame consistency in config files
Contributors: Alexis Paques, James Mare, James Stewart, Lukas Bulwahn, TSC21, Vladimir Ermakov

0.20.1 (2017-08-28)

0.20.0 (2017-08-23)

update generated code in plugins
update generated code
geolib: datasets: warn when not installed; update install script; launch SIGINT when not installed (#778)
- geolib: make dataset install mandatory
- travis_ci: install python3; use geographiclib-datasets-download
- CMakeLists.txt: set datasets path
- travis_ci: create a path for the geoid dataset
- travis_ci: remove python3 install
- CMakeLists.txt: remove restriction regarding the geoid model
- CMakeLists.txt: only launch a warning if the geoid dataset is not installed
- CMakeLists.txt: simplify dataset path search and presentation
- scripts: install_geographiclib_datasets becomes version aware
- uas_data: dataset init: shutdown node if exception caught
- README: update GeographicLib info; geolib install script: check for more OS versions
- uas_data: small typo fix
- install_geolib_datasets: some fix
- CMakeLists.txt: be more clear on geoid dataset fault
- CMakeLists: push check geolib datasets to a cmake module
- travis_ci: update ppa repository
- uas_data: shutdown node and increase log level instead
- install_geographiclib_datasets: simplify script to only check download script version available
- uas_data: remove signal.h import
HIL Plugin
- add HilSensor.msg, HilStateQuaternion.msg, and add them in CMakeLists.txt
- Add hil_sensor.cpp plugin to send HIL_SENSOR mavlink message to FCU.
- fix HilSensor.msg. Make it more compact.
- Fix HilStateQuaternion.msg. Make it more compact.
- Add hil_state_quaternion plugin
- fix files: some variable names were wrong+some syntax problems
- fix syntax error in plugin .cpp files, make msg files match corresponding mavlink definitions
- fix plugin source files
- fix syntax
- fix function name. It was wrong.
- add HIL_GPS plugin
- add HilGPS.msg to CMakeList
- fix missing semicolon
- fix call of class name
- Add ACTUATOR_CONTROL_TARGET MAVLink message
- fix code
- increase number of fake satellites
- control sensor and control rates
- change control rate
- change control rate
- fix fake gps rate
- fix
- fix plugin_list
- fix
- remove unnecessary hil_sensor_mixin
- update HilSensor.msg and usage
- update HilStateQuaterion.msg and usage
- redo some changes; update HilGPS.msg and usage
- update hil_controls msg - use array of floats for aux channels
- merge actuator_control with actuator_control_target
- remove hil_sensor_mixin.h
- update actuator_control logic
- merge all plugins into a single one
- delete the remaining plugin files
- update description
- redo some changes; reduce LOC
- fix type cast on gps coord
- add HIL_OPTICAL_FLOW send based on OpticalFlowRad sub
- update authors list
- update subscribers names
- refactor gps coord convention
- add HIL_RC_INPUTS_RAW sender; cog protec msg structure and content
- apply correct rc_in translation; redo cog
- apply proper rotations and frame transforms
- remote throttle
- fix typo and msg api
- small changes
- refactor rcin_raw_cb
- new refactor to rcin_raw_cb arrays
- update velocity to meters
- readjust all the units so to match mavlink msg def
- update cog
- correct cog conversion
- refefine msg definitions to remove overhead
- hil: apply frame transform to body frame
apm_config.yaml: change prevent collision in distance_sensor id
Extras: add ardupilot rangefinder plugin
msgs fix #625: Rename SetMode.Response.success to mode_sent
[WIP] Plugins: setpoint_attitude: add sync between thrust and attitude (#700)
- plugins: setpoint_attitude: add sync between throttle and attitude topics to be sent together
- plugins: typo correction: replace throttle with thrust
- plugins: msgs: setpoint_attitude: replaces Float32Stamped for Thrust msg
- plugins: setpoint_attitude: add sync between twist and thrust (RPY+Thrust)
- setpoint_attitude: update the logic of thrust normalization verification
- setpoint_attitude: implement sync between tf listener and thrust subscriber
- TF sync listener: generalize topic type that can be syncronized with TF2
- TF2ListenerMixin: keep class template, use template for tf sync method only
- TF2ListenerMixin: fix and improve sync tf2_start method
- general update to yaml config files and parameters
- setpoint_attitude: add note on Thrust sub name
- setpoint_attitude: TF sync: pass subscriber pointer instead of binding it
apm_config: add mavros_extras/fake_gps plugin param config
px4_config: add gps_rate param
frame tf: move ENU<->ECEF transforms to ftf_frame_conversions.cpp
extras: mocap_fake_gps->fake_gps: generalize plugin and use GeographicLib possibilites
UAS: Share egm96_5 geoid via UAS class
Move FindGeographicLib.cmake to libmavconn, that simplify installation, simplify datasets instattator
Use GeographicLib tools to guarantee ROS msg def and enhance features (#693)
- first commit
- Check for GeographicLib first without having to install it from the beginning each compile time
- add necessary cmake files
- remove gps_conversions.h and use GeographicLib to obtain the UTM coordinates
- move conversion functions to utils.h
- geographic conversions: update CMakeLists and package.xml
- geographic conversions: force download of the datasets
- geographic conversions: remove unneeded cmake module
- dependencies: use SHARED libs of geographiclib
- dependencies: correct FindGeographicLib.cmake so it can work for common Debian platforms
- CMakeList: do not be so restrict about GeographicLib dependency
- global position: odometry-use ECEF instead of UTM; update other fields
- global position: make travis happy
- global position: fix ident
- global_position: apply correct frames and frame transforms given each coordinate frame
- global_position: convert rcvd global origin to ECEF
- global_position: be more explicit about the ecef-enu transform
- global position: use home position as origin of map frame
- global position: minor refactoring
- global position: shield code with exception catch
- fix identation
- move dataset install to script; update README with new functionalities
- update README with warning
- global_position: fix identation
- update HomePosition to be consistent with the conversions in global_position to ensure the correct transformation of height
- home|global_position: fix compile errors, logic and dependencies
- home position: add height conversion
- travis: update to get datasets
- install geo dataset: update to verify alternative dataset folders
- travis: remove dataset install to allow clean build
- hp and gp: initialize geoid dataset once and make it thread safe
- README: update description relative to GeographicLib; fix typos
- global position: improve doxygen references
- README: update with some tips on rosdep install
[WIP] Set framework to define offset between global origin and current local position (#691)
- add handlers for GPS_GLOBAL_ORIGIN and SET_GPS_GLOBAL_ORIGIN
- fix cast of encoding types
- refactor gps coord conversions
- uncrustify
- global_position: add LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET handler
- global_position: add trasform sender for offset
- global_origin: refactor covariance matrix
- global_position: update copyright
- global_position: add initial support to REP 105
- px4_config: global_position: update frame description
- global_position: correct identation
- global position: be consistent with frame and methods names (ecef!=wgs84, frame_id!=global_frame_id)
- global_position: updates to code structure
- global_position: fix identation
lib: frame_tf: Style fix
extras: odom: Minor fixes
extras: Add odom plugin
lib: frame_tf: Add support for 6d and 9d covariance matrices
Contributors: James Goppert, Nuno Marques, TSC21, Vladimir Ermakov, khancyr

0.19.0 (2017-05-05)

launch: remove setpoint-attitude from apm blacklist
lib: cleanup in enum_to_string
extras: Add ADSB plugin
plugin: home_position: Log poll
plugin: home_position: Log report
plugin #695: Fix plugin
plugin: Add home_position
Added SAFETY_ALLOWED_AREA rx handler (#689)
- Added SAFETY_ALLOWED_AREA rx handler and publish PolygonStamped msg with the 2 points
- add resize to array to avoid sigfault
lib: Fix millis timesync passthrough
Plugin: Add unstamped Twist subscriber for setpoint_velocity
uas: Move timesync_mode enum to utils.h + fixes That enum are used for utils too, but forward declaration of class internal enum is impossible.
sys_time: Add timesync mode selection parameter.
sys_time : add multi-mode timesync
uas : add multi-mode timesync
uas : add multi-mode timesync
launch fix #670: Add configuration of distance_sensor plugin for APM
Contributors: Kabir Mohammed, Nuno Marques, Pierre Kancir, Randy Mackay, Vladimir Ermakov

0.18.7 (2017-02-24)

readme: Add serial-hwfc:// proto
trigger interface : rename to cycle_time to be consistent with PX4
Contributors: Kabir Mohammed, Vladimir Ermakov

0.18.6 (2017-02-07)

lib #626: Porting of PR #650 - Fix OSX pthread set name.
uas fix #639: Remove Boost::signals2 from UAS
Plugins: system_status change status field to system_status Add comment to State.msg for system_status enum
Plugins: add system_status to state message
Contributors: Fadri Furrer, Pierre Kancir, Vladimir Ermakov

0.18.5 (2016-12-12)

lib: update ArduPilot modes
Contributors: Randy Mackay

0.18.4 (2016-11-11)

lib: Add ArduSub modes
readme: Fix mavlink rosinstall_generator call
mavros: README.md: its -> it's Here "it's" is a short form for "it is".
add hil_actuator_controls mavlink message
lib: Make cog.py scrips compatioble with Py3
plugin:sys_status: Add logging health report
Update README for all packages
Update README.md Fix instructions: Only the Kinetic distro actually works for MAVLink 2.0
Contributors: Beat Kung, Georgii Staroselskii, Lorenz Meier, Vladimir Ermakov

0.18.3 (2016-07-07)

plugin:param: Use mavlink::set_string() helper
Update README.md
Update README.md Fix very confusing instructions mixing steps.
Update README.md
Update README.md
python #569: convert_to_rosmsg() support for 2.0. NO SIGNING.
python #569: Update mavlink.convert_to_bytes()
Contributors: Lorenz Meier, Vladimir Ermakov

0.18.2 (2016-06-30)

plugin:sys_status: Fix STATUSTEXT log prefix
Contributors: Vladimir Ermakov

0.18.1 (2016-06-24)

lib: Fix base mode flag check
plugins: Move pluginlib macros.h to tail
plugin:param fix #559: Ignore PX4 _HASH_CHECK param
Contributors: Vladimir Ermakov

0.18.0 (2016-06-23)

lib #439: MAV_CMD to_string is not required.
plugin:sys_status #458: Hanlde BATTERY_STATUS (PX4)
plugin:sys_status fix #458: Use sensor_msgs/BatteryState message. Minimal data, for all other need to handle BATTERY_STATUS.
plugin:command fix #561: PX4 now sends COMMAND_ACK. And like APM do not check confirmation field. :)
readme #544: add udp-b://@ URL
plugin:hil_controls: Update plugin API
Merge branch 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros into pvechersky-feature/hil_controls_plugin * 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros: Adding anchor to the HIL_CONTROLS message reference link Ran uncrustify on hil_controls plugin Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation Added a plugin that publishes HIL_CONTROLS as ROS messages
node: fix subscription message type checks
plugin: use mavlink::to_string() for std::array<char, N>
readme: update CI, no more MAVLINK_DIALECT
plugin:waypoint: Fix target id's on MISSION_ITEM
node: Add ~fcu_protocol parameter
Ran uncrustify on hil_controls plugin
Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation
node: set gcs_url on internal GCS bridge diag hardware Id
plugins: Use UAS::msg_set_target()
Added a plugin that publishes HIL_CONTROLS as ROS messages
lib: PX4 add AUTO.FOLLOW_TARGET
mavros: Update tests
extras: Update UAS
UAS: Update plugins for FTF module
UAS: move enum stringify functions
lib: Generate MAV_SENSOR_ORIENTATION
UAS: move MAV_SENSOR_ORIENTATION out
UAS: Move transformation utilities to ftf module
plugin:rc_io: Fix log printf-format warning
make GCC 4.8 happy. (travis)
gcs_bridge: done
param:ftp: Update API
plugin:param: Works. Tested on APM
plugin:param: Update, almost work
plugin:waypoint: Fix Item - ROS binding
Message type mismatch code do not work
plugin:waypoint: Update API
plugin:sys_time: Update API
plugin:sys_status: Update API
plugin:setpoint_raw: Update API
plugin:setpoint_attitude: Update API
plugin:setpoint_accel: Update API
plugin:setpoint_velocity: Update API
plugin:setpoint_position: Update API
plugin:vfr_hud: Update API
plugin:safety_area: Update API
plugin:rc_io: Update API
plugin:manual_control: Update API, fix uas init
plugin:local_position: Update API
plugin:imu_pub: Update API
plugin:global_position: Update API
mavros: make_handle() this shouldn't be const
plugin:common: Update API
plugin:altitude: uncrustify
plugins: Rutine sed + fix misprint
plugin:altitude: Update API
plugins: Automatic replacement of routine API changes (sed)
plugin:actuator_control: Update API
plugin:3dr_radio: Update API
node: Update plugin loading and message routing
node: type_info -> SIGSEGV
node: prepare new plugin loading
node: Rename plugib base class - API incompatible to old class
labmavconn: finding sigsegv
Contributors: Pavel, Vladimir Ermakov

0.17.3 (2016-05-20)

libmavconn #543: support build with mavlink 2.0 capable mavgen
node: Remove warning about MAVLINK_VERSION redefine
Fix bug with orientation in setpoint_raw plugin Fixes a bug where the ned_desired_orientation was not actually passed into set_attitude_target. Instead, the desired_orientation (wrong frame) was passed.
Contributors: Justin Thomas, Vladimir Ermakov

0.17.2 (2016-04-29)

Update README.md
Update README.md Updated / completed examples.
Update README.md
Fix for kinetic std::isnan.
Contributors: James Goppert, Lorenz Meier

0.17.1 (2016-03-28)

lib: Add QLAND mode of APM:Plane https://github.com/mavlink/mavlink/commit/a0ed95c3a7d97a8f8d86ce3f95c4bf269f439c46
Update contributing guide We forgot to mention uncrustify commit.
Treat submarine vehicles like copter vehicles
Contributors: Josh Villbrandt, Vladimir Ermakov

0.17.0 (2016-02-09)

update README
rebased with master
Fixed ROS_BREAK
Updates for ROS_BREAK and code style
Nitpicks and uncrustify
Updated frame transformations and added odom publisher to local position plugin
Contributors: Eddy, Vladimir Ermakov, francois

0.16.6 (2016-02-04)

node fix #494: Report FCU firmware type in rosonsole log
scripts fix #478: Remove guided_enable garbage. I'm missed this when do #407.
Contributors: Vladimir Ermakov

0.16.5 (2016-01-11)

scripts: mavwp #465: Remove WaypointGOTO from scrips and python library
node: Report mavlink package version
lib: Add APM:Plane QuadPlane modes. Sync with: https://github.com/mavlink/mavlink/commit/1fc4aef08a54130f297943c246f95b8c7e37b1bf
readme: pixhawk dialect removed.
Contributors: Vladimir Ermakov

0.16.4 (2015-12-14)

scripts: checkid: be always verbose, add --follow
scripts: fix copyright indent
scripts: mavcmd: Fix bug: param7 not passed to service call!
scripts #382: Add ID checker script. It is not complete, but i hope it helps in current state.
scripts: mavcmd: Add support for broadcast requests
event_launcher: fix bug: Trigger service server is not saved in Launcher Also fixes: environment variables may contain ~ (user dir) in expansion.
using timestamp from mavlink message
Update mavlink message documentation links
lib: update MAV_TYPE stringify
lib: Add RATTITUDE PX4 mode
remove "altitude_" prefix from members
updated copyright
implemented altitude plugin
Contributors: Andreas Antener, Vladimir Ermakov

0.16.3 (2015-11-19)

use safe methods to get imu data in local_position plugin
Contributors: Andreas Antener

0.16.2 (2015-11-17)

transform yaw and yaw rate from enu to ned
Contributors: Andreas Antener

0.16.1 (2015-11-13)

python: fix import error of goto service
don't warn anymore about px4 not supporting rc_io
Contributors: Andreas Antener, Vladimir Ermakov

0.16.0 (2015-11-09)

lib: Update ArduCopter mode list
plugin: sys_status #423: set_mode set arming and HIL flags based on previous state
lib #423: Save base_mode in UAS.
Finalized local position topic names
readme: add link to catkin-tools docs
readme #409: merge mavlink and mavros installation instruction
Fixed redundant rotation of IMU data and redundant orientation data
plugin: setpoint_raw fix #418: add attitude raw setpoint Related #402.
Added velocity output of FCU's local position estimate to ROS node
plugin: sys_status fix #417: remove APM statustext quirk
plugin: waypoint fix #414: remove GOTO service. It is replaced with more standard global setpoint messages.
plugin: setpoint_raw fix #415: add global position target support Related to #402.
plugin: command fix #407: remove guided_enable sevice
plugin: setpoint_raw #402: implement loopback.
plugin: setpoint_raw #402: Initial import.
readme fix #410: use only catkin tool
readme: add defaults for URL
pass new extended state to ros
python: add util to convert pymavlink message to Mavlink.msg
python: convert input to bytearray
python: add payload convertion util
gcs_bridge #394: enable both UDPROS and TCPROS transports
EL: add try-except on handlers
event_launcher: show logfile path
event_launcher #386: expand shell vars for logfile
Mavros library depends on mavros_msgs headers Adding this dependency makes sure that mavros_msgs message headers are generated before the mavros library is built, since it needs those headers.
Contributors: Andreas Antener, Eddy, Jon Binney, Vladimir Ermakov

0.15.0 (2015-09-17)

lib: fix timesync uninit bug. Uninitialized variable caused wrong timestamps with APM.
python #286: use checksum - save ticks
script #385: output to log-file
script #385: remove RosrunHandler and RoslaunchHandler
script #385: attempt to implement rosrun fails. ROSLaunch class wants all node operations from main thread. That is not possible.
script #385: fix shell-killer, but logging are broken and removed
script #385: shell-launcher now works!
script #385: add example configuration
script #385: shell handler done. next - rosparam handling
script #385: starting work on simple shell launcher
scripts: starting event_launcher
python: Remove unneded slice operation. Fix copyright year. [list[:len(list)]]{.title-ref} is equal to [list]{.title-ref}, but creates new list with data from that slice.
updated mavlink byte buffer conversion
plugin: manual_control: Use shared pointer message Fix alphabetic order of msgs.
python: add helper for converting mavros_msgs/Mavlink to pymavlink
Add MANUAL_CONTROL handling with new plugin
Contributors: Andreas Antener, Vladimir Ermakov, v01d

0.14.2 (2015-08-20)

0.14.1 (2015-08-19)

package: Fix depend on rosconsole-bridge
Removed <remap>
Contributors: Vladimir Ermakov, devbharat

0.14.0 (2015-08-17)

python: call of mavros.set_namespace() is required.
scripts: mavftp fix #357: add verify command
scripts: mavftp #357: progressbar on download operation
scripts: mavftp #357: progress bar for upload operation.
scripts: mavftp: New command [cd]{.title-ref}. All path arguments now may handle relative paths.
readme: fix frame tansform section
mavros: readme: update info on frame conversions
mavros: readme: update contribution steps
node: Replace deprecated copy functions. Also allow mavlink to & from topics to be namespaced.
extras: scripts: use API from mavros module
scripts: fix for new message location
python: update mavros lib to new message location
package: remove not exist dependency
plugin: waypoint: Fix message include
plugin: vfr_hud: Fix message include
plugin: rc_io: Fix message include
plugin: param: Fix message include
plugin: ftp: Fix message include
plugin: sys_status: Fix message include
plugin: command: Fix message include
plugin: 3dr_radio: Fix message include
plugin: actuator_control: Fix message include.
msgs: update copyright year
msgs: deprecate mavros::Mavlink and copy utils.
msgs: change description, make catkin lint happy
msgs #354: move all messages to mavros_msgs package.
Minor typo fix.
node: increase diag timer to 2 Hz
node: move diagnostic to AsyncSpinner threads.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.13.1 (2015-08-05)

lib #358: cleanup. Replace UAS::getYaw() with UAS::quaternion_get_yaw().
lib #358: found correct getYaw(). Test for each degrees in -180..180.
test #358: test more different angles. Compare rotation result.
lib #358: try to implement algo from wikipedia.
lib #358: still failing. add recursive test for range -Pi..+Pi
lib #358: try solve issue using older eulerAngles()
lib #358: remove to_rpy test
Merge branch 'master' of github.com:mavlink/mavros * 'master' of github.com:mavlink/mavros: global_position: move relative_alt and compass_heading init back add nav_msgs to dependencies so to make Travis happy global_position: update pose and twist to odom msg
test fix #359: split out quaternion tests.
lib #359: move quaternion utils.
global_position: move relative_alt and compass_heading init back
add nav_msgs to dependencies so to make Travis happy
global_position: update pose and twist to odom msg
test #358: add tests for negative values and quaternion_to_rpy tf2 compatibility check Tests now fails!
sctipts: fix gps topic path
lib: fix input validation in UAS::orientation_from_str()
test: add case for num str->sensor orientation
package: fix CHANGELOG.rst
Contributors: TSC21, Vladimir Ermakov

0.13.0 (2015-08-01)

plugin: setpoint_attitude #352: use new helper.
plugin: sys: Fix cppcheck and YouCompleteMe warnings
plugin: ftp: Fix cppcheck errors.
lib #352: Add helper function UAS::quaternion_to_mavlink()
Fixed bug in send_attitude_target() The transformed quaternion wasn't being passed to set_attitude_target(), resulting in an incorrect attitude setpoint. I've now fixed this issue.
scripts: fix mavwp
test: add test cases for new sensor orientation functions
remove tf1 dep
lib #319: Remove TF types from UAS
plugin: param: new message type: ParamValue
msgs: Move MAV_CMD values to separate msg
plugin: command: fix build
fix whitespaces in python scripts
Merge pull request #312 from mhkabir/cam_imu_sync Camera IMU synchronisation support added
Added launch file for PX4 posix sitl to launch gcs_bridge node for bridging posix and gazebo
scripts: mavftp: little speed up by aligning access to payload length
launch: Add optional log_output arg
Merge branch 'orientation_enum_name' * orientation_enum_name: distance_sensor #342: correct orientation parameter handling. lib #342: try to convert numeric value too px4_config: adapt to distance_sensor params to new features distance_sensor: restructure orientation matching and verification lib #342: Added sensor orientation string repr.
lib #342: try to convert numeric value too
px4_config: adapt to distance_sensor params to new features
lib #342: Added sensor orientation string repr.
launch: update local_position conf
test: Add test for UAS::sensor_orientation_matching()
Update cmake Eigen3 finding rules. Migration described at: http://wiki.ros.org/jade/Migration#Eigen_CMake_Module_in_cmake_modules
lib #319, #341: preparation for str->MAV_SENSOR_ORIENTATION func
lib #319: Return quaternion from UAS::sensor_matching()
lib: Remove unneded NodeHandle
launch fix #340: update default component id of PX4.
plugin: sys_status: Add fallback to adressed version request.
Can not remove tf package before #319 is done. tf::Vector3 and other tf1-bullet still in use.
plugin: sys_status: Use broadcast for version request.
fix #71: replace depend tf to tf2_ros.
plugin: Use UAS::syncronized_header() for reduce LOC.
lib #319: use similar names for covariances as eigen vector
lib #319: transform_frame() for Covariance3x3
lib #319: remove unused bullet based transform_frame()
extras: vision_pose #71: Use TF2 listener. Also #319.
plugin #71: Implement TF2 listener. Change param names. Breaks extras.
uas #71: Use single TF2 objects for broadcasting and subscription.
launch: Update configs.
lib: Add UAS::quaternion_to_rpy()
plugin: safety_area #319: Change transform_frame()
plugin: local_position #71 #319: port to TF2 and Eigen
lib: Add UAS::synchonized_header()
plugin: command: Add command broadcasting support.
Perform the autopilot version request as broadcast
lib: Update PX4 mode list
plugin: global_position #325: port tf broadcaster to tf2 Also #71.
plugin: global_position #325: reenable UTM calc
plugin: gps #325: remove gps plugin.
plugin: global_position #325: merge gps_raw_int handler
plugin: setpoint_accel #319: use eigen frame transform. I don't think that PX4 support any other frame than LOCAL_NED. So i removed comment. Also style fix in setpoint_velocity.
plugin: setpoint_velocity #319: use eigen based frame transform.
plugin: setpoint_position #273: remove PX4 quirk, it is fixed.
plugin: ftp: Update command enum.
plugin: imu_pub fix #320: move constants outside class, else runtime linkage error.
plugin: imu_pub #320: first attempt
eigen #319: handy wrappers.
eigen #319: add euler-quat function. Also #321.
test #321: remove duplicated test cases, separate by library. Add test for checking compatibility of tf::quaternionFromRPY() and Eigen based math.
test #321: testing eigen-based transforms. We should check what convention used by tf::Matrix to be sure that our method is compatible.
mavros #319: Add Eigen dependency and cmake rule.
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
cam_imu_sync : fix running
imu_cam_sync : fix formatting
command handling in mavcmd for camera trigger
Camera IMU synchronisation support added
Contributors: Anurag Makineni, Lorenz Meier, Mohammed Kabir, TSC21, Vladimir Ermakov, devbharat

0.12.0 (2015-07-01)

plugin: sys_time, sys_status #266: check that rate is zero
test #321: disable tests for broken transforms.
lib #321: frame transform are broken. again! revert old math. RULE for me: do not accept patch without wide testing from author. That PR changes all plugins code, instead of do API, test and only after that touching working code. My bad.
unittest: added 6x6 Covariance conversion test
frame_conversions: update comments; filter covariance by value of element 0
unittests: corrected outputs from conversion tests
test: other quaternion transform tests
test: UAS::transform_frame_attitude_q()
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
coverity: make them happy
uncrustify: fix style on frame conversions
uncrustify: includes
plugin: sys_status #266: replace period with rate parameter
plugin: sys_time #266: Replace period with rate parameters
frame_conversion: last fix patch
frame_conversions: use inline functions to identify direction of conversion
changed frame conversion func name; add 3x3 cov matrix frame conversion; general doxygen comment cleanup
frame_conversions: added covariance frame conversion for full pose 6x6 matrix
frame_conversions: added frame_conversion specific lib file; applied correct frame conversion between ENU<->NED
sys_status #300: PX4 place in [0] lest significant byte of git hash.
sys_status fix #300: fix u8->hex func.
plugin: waypoint: cosmetics.
vibration_plugin: first commit
Changes some frames from world to body conversion for NED to ENU.
mavsys #293: add --wait option
mavsys: Fix arguments help
mavcmd #293: Add --wait option. New function: util.wait_fcu_connection(timeout=None) implement wait option.
sys_status #300: AUTOPILOT_VERSION APM quirk
mavros #302: fix style
mavros #302: split UAS impl by function blocks
mavros fix #301: move sensor orientation util to UAS
distance_sensor: typo; style fixe
sensor_orientation: list values correction
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: use MAX as last index macro
distance_sensor: changed to usable config
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: updated orientation enum; updated data type
sensor_orientation: included array type on utils.h
sensor_orientation: added sensor orientation matching helper func
distance_sensor: updated config file
distance_sensor: define sensor position through param config
distance_sensor: array limiting; cast correction; other minor correc
distance_sensor: small enhancements
sys_status #293: initialize state topic
sys_status #293: expose connection flag in mavros/State.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.11.2 (2015-04-26)

plugin: param fix #276: add check before reset request downcounter. If on MR request FCU responses param with different [param_index]{.title-ref} do not reset repeat counter to prevent endless loop.
gcs bridge fix #277: add link diagnostics
plugin: setpoint_position #273: add quirk for PX4.
readme: fir glossary misprint
readme: add notes about catkin tool
Contributors: Vladimir Ermakov

0.11.1 (2015-04-06)

scripts #262: update mavwp
scripts #262: mavsetp, new module mavros.setpoint
mavftpfuse #129: cache file attrs
mavparam #262: use get_topic()
mavsys #262: use get_topic()
mavcmd #262: use get_topic()
mavftp #263, #262: use crc32 checksums
python #262: add get_topic()
Update local_position.cpp removed irritating comment
readme: add short glossary
plugin: setpoint_attitude: remove unneded ns
Contributors: Marcel Stuettgen, Vladimir Ermakov

0.11.0 (2015-03-24)

plugin: setpoint_position #247: rename topic
launch #257: rename blacklist.yaml to pluginlists.yaml
node #257: implement while list.
plugin: actuator_control #247: update topic name.
mavros: Initialize UAS before connecting plugin routing. Inspired by #256.
plugin: sys_status: Check sender id. Inspired by #256.
plugin: sys_status: Use WARN severity for unknown levels
uas: Add [UAS::is_my_target()]{.title-ref} Inspired by #256.
plugin: global_position: Fill status and covariance if no raw_fix. Additional fix for #252.
launch: change apm target component id APM uses 1/1 (sys/comp) by default.
plugin: sys_status: publish state msg after updating uas Before this commit, the custom mode string published in the state message was computed using the autopilot type from the previous heartbeat message--not the autopilot type from the current hearbeat message. Normally that isn't a problem, but when running a GCS and mavros concurrently, both connected to an FCU that routes mavlink packets (such as APM), then this causes the custom mode to be computed incorrectly, because the mode string for the GCS's hearbeat packet will be computed using the FCU's autopilot type, and the mode string for the FCU's heartbeat packet will be computed using the GCS's autopilot type.
plugin: global_position: fix nullptr crash This fixes a crash in cases where a GLOBAL_POSITION_INT message is received before a GPS_RAW_INT message, causing the [gps_fix]{.title-ref} pointer member to be dereferenced before it has been set.
msgs: fix spelling, add version rq.
coverity: init ctor in 3dr_radio
launch fix #249: update apm blacklist
launch: rename APM2 to APM.
launch #211: update configs
plugin: gps: remove unused param
plugin: sys_time: remove unused param
launch fix #248: remove radio launch
plugin: 3dr_radio #248: add/remove diag conditionally
plugin: sys_status: move connection params to ns
plugin: sys_time: fix #206 (param ns)
node: Inform what dialect built-in node
plugin: sys_status: Conditionaly add APM diag
plugin: sys_status: fix #244
uas #244: add enum lookups
package: update lic
license #242: update mavros headers
plugin: local_positon: use auto
plugin: imu_pub: Update UAS store.
plugin: gps: remove diag class, change UAS storage API.
plugin api #241: move diag updater to UAS.
plugin api #241: remove global private node handle. Now all plugins should define their local node handle (see dummy.cpp). Also partially does #233 (unmerge setpoint topic namespace).
plugin api #241: remove [get_name()]{.title-ref}
package: mavros now has any-link proxy, not only UDP
Update years. I left gpl header, but it is BSD too.
Add BSD license option #220
plugin: sys_status: AUTOPILOT_VERSION support. Fix #96.
mavros fix #235: Use AsyncSpinner to allow plugins chat. Old single-threaded spinner have a dead-lock if you tried to call a service from for example timer callback. For now i hardcoded thread count (4).
uncrustify: actuator_control
Merge branch 'master' of github.com:mstuettgen/Mavros
fixed missing ;
code cosmetics
further removed unneeded white spaces and minor code cosmetics
fixed timestamp and commented in the not-working function call
code cosmetics, removed whitespaces and re-ordered function signatures
more code comment cosmetic
code comment cosmetic
uncrustify: fix style
readme: add contributing notes
uncrustify: mavros base plugins
uncrustify: mavros lib
uncrustify: mavros headers
tools: add uncrustify cfg for fixing codestyle Actually it different from my codestyle, but much closer than others.
added more const to function calls to ensure data consistency
modified code to fit new message
added group_mix to ActuatorControl.msg and a link to mixing-wiki
plugin: rc_io: Add override support warning
REALLY added ActuatorControl.msg
added ActuatorControl.msg
fixed latest compiler error
renamed cpp file to actuator_control.cpp and added the new plugin to mavros_plugins.xml
removed unneeded Mixinx and reverse_throttle, and unneeded variables in function signatures
inital draft for set_actuator_control plugin
launch: enable setpoint plugins for APM As of ArduCopter 3.2, APM supports position and velocity setpoints via SET_POSITION_TARGET_LOCAL_NED.
plugin: setpoint_velocity: Fix vx setpoint vz should have been vx.
Contributors: Clay McClure, Marcel Stuettgen, Vladimir Ermakov

0.10.2 (2015-02-25)

Document launch files
launch: Fix vim modelines #213
launch #210: blacklist image_pub by px4 default. Fix #210.
Contributors: Clay McClure, Vladimir Ermakov

0.10.1 (2015-02-02)

Fix \@mhkabir name in contributors.
uas #200: Add APM:Rover custom mode decoding. Fix #200.
uas #200: Update APM:Plane and APM:Copter modes.
Contributors: Vladimir Ermakov

0.10.0 (2015-01-24)

mavros #154: Add IO stats to diagnostics. Fix #154.
Add rosindex metadata
plugin: ftp: init ctor.
plugin: sts_time: Code cleanup and codestyle fix.
plugin: command: Quirk for older FCU's (component_id) Older FCU's expect that commands addtessed to MAV_COMP_ID_SYSTEM_CONTROL. Now there parameter: [~cmd/use_comp_id_system_control]{.title-ref}
plugin: rc_io: #185 Use synchronized timestamp.
plugin: gps: #185 use synchronized timestamp common.xml tells that GPS_RAW_INT have time_usec stamps.
uas: Fix ros timestamp calculation. Issues: #186, #185.
plugin: add synchronisation to most plugins (fixed) Closes #186.
readme: Add notes about coordinate frame conversions #49
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.4 (2015-01-06)

plugin: sys_time: enable EMA
Contributors: Mohammed Kabir

0.9.3 (2014-12-30)

plugin: visualization finshed
Restore EMA. Works better for low rates.
Update sys_time.cpp
plugin : add time offset field to dt_diag
Final fixes
minor
plugin : fixes timesync. FCU support checked.
Visualisation system import
param: Fix float copying too
param: Fix missing
param: Trynig to fix 'crosses initialization of XXX' error.
param: Try to fix #170.
Update units
New message, moving average compensation
Initial import new sync interface
plugin: sys_status: Enable TERRAIN health decoding.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.2 (2014-11-04)

0.9.1 (2014-11-03)

Update installation notes for #162
Contributors: Vladimir Ermakov

0.9.0 (2014-11-03)

0.8.2 (2014-11-03)

REP140: update package.xml format. Hydro don't accept this format correctly, but after split i can update.
Contributors: Vladimir Ermakov

0.8.1 (2014-11-02)

fix build deps for gcs_bridge
mavconn #161: Enable rosconsole bridge.
mavconn #161: Move mavconn tests.
mavconn #161: Fix headers used in mavros. Add readme.
mavconn #161: Fix mavros build.
mavconn #161: Move library to its own package Also rosconsole replaced by console_bridge, so now library can be used without ros infrastructure.
plugin: sys_time: Set right suffixes to uint64_t constants. Issue #156.
plugin: sys_time: Add time syncronization diag. Issue #156.
plugin: sys_time: Debug result. Issue #156.
plugin: Store time offset in UAS. TODO: implement fcu_time(). Issue #156.
plugin: sys_time: Fix code style. Also reduce class variables count (most not used outside the method). Issue #156.
Update repo links. Package moved to mavlink organization.
Nanosecond fix
Fix
Fixes
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update CMakeLists.txt
Update mavros_plugins.xml
Update sys_time.cpp
Fix build
sys_time import. Removed all time related stuff from gps and sys_status
Initial sys_time plugin import
plugin: ftp: Bytes written now transfered in payload.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.8.0 (2014-09-22)

plugin: ftp: Disable debugging and change level for some log messages. Issue #128.
plugin: ftp: Translate protocol errors to errno. Issue #128.
scripts: mavftp: Add upload subcommand. Issue #128.
python: Add more ftp utils. Issue #128.
plugin: ftp: Fix write offset calculation. Issue #128.
plugin: ftp: Add . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add support for . Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Add
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Move common mission classes to mavros.mission module. Issue #157.
python: Move useful utils to mavros.param module. Issue #157.
python: Move common utils to mavros.utils module. Issue #157.
python: Create python module for ftp utils. Issue #128, #157.
scripts: ftp: Implement file-like object for IO. Issue #128.
plugin: ftp: Implement write file. Issue #128.
scripts: mavftp: Add remove subcommand. Issue #128.
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add response errno from server.
plugin: ftp: Add support for 'Skip' list entries. Issue #128.
scripts: mavftp: Add mkdir/rmdir support. Issue #128.
plugin: ftp: Add mkdir/rmdir support. Issue #128.
plugins: ftp: Update protocol headers. Issue #128.
Revert "Update package.xml format to REP140 (2)." This reverts commit 81286eb84090a95759591cfab89dd9718ff35b7e. ROS Hydro don't fully support REP140: rospack can't find plugin descriptions. Fix #151.
scripts: mavwp: Fix --follow mode
plugin: imu_pub: Fix RAW_IMU/SCALED_IMU angular scale constant. Fix #152.
launch: remove px4_local_gcs.launch again. It removed in 826be386938c2735c9dab72283ba4ac1c68dc860, but accidentally returned.
extras: launch: Use includes. Fix #144.
launch: PX4: use node.launch in PX4 scripts. Also remove px4_local_gcs.launch: please use [roslaunch mavros px4.launch gcs_url:=udp://\@localhost]{.title-ref} instead. Issue #144.
launch: APM2: Add node.launch and update apm scripts to use it. Issue #144.
plugin: command: Fix CommandInt x,y types.
Update package.xml format to REP140 (2). Fix #104.
launch: Blacklist FTP for APM.
scripts: mavwp: Add decoding for some DO-* mission items.
scripts: mavwp: Add preserve home location option at load operation. Useful if FCU stores home location in WP0 (APM).
Added src location.
Updated README wstool instructions.
plugin: ftp: Init ctor
service: mavftp: Initial import. Issue #128.
plugin: ftp: Implemnet reset call. Sometimes kCmdReset can restore normal operation, but it might be dangerous. Issue #128.
plugin: ftp: Implement call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Fix open error. Issue #128.
plugin: ftp: Implement (read) and . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement method. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement list parsing Issue #128.
plugin: ftp: Fix CRC32 calculation. Issue #128.
plugin: ftp: Add plugin skeleton. Based on QGroundContol QGCUASFileManager.h/cc. Issue #128.
plugin: ftp: Add size info
plugin: ftp: Add plugin service API. Issue #128.
plugin: vfr_hud: Initial import. Also this plugin publish APM specific WIND estimation message. Fix #86.
node: coverity fails at UAS initilizer list
plugin: setpoint_attitude: Init ctor, remove code dup.
cmake: Add check MAVLINK_DIALECT value Fix #139.
Move common cmake rules to modules. Same mech as in [cmake_modules]{.title-ref} package. Issue #139.
launch: corrected launch for gcs bridge
scripts: mavsetp: Fix misprint.
launch files: added px4 launch files for connection with radio and gcs
scripts: mavsetp: Fix twist.angular vector construction. Small style fix.
Update doxygen documentation. Add split lines in UAS, and make UAS.connection atomic. Add rosdoc configuration for mavros_extras.
scripts: mavsetp: corrected API; added possibility of parse angles in dg or rad
scripts: mavsetp: corrected msg API; mavteleop: added prefix to rc override
scripts: mavsetp: added local accel; corrected how the OFFBOARD mode is swtch.
scripts: mavsetp: changed the way offboard mode is switched
node: init ctor (coverity)
nodelib: add std::array header
return msg generator deps for mavconn
scripts: mavsys: Implement set rate command.
scripts: Add mavsys tool. Implented only [mode]{.title-ref} operation. Issue #134.
plugin: sys_status: Implement set_mode service. Previous command shortcut removed. Issue #136, #134.
node: Implement reverse mode lookup. Issue #136.
plugin: sys_status: Move custom mode decoder to UAS. Issue #136.
node: Catch URL open exception. Also update connection pointer type.
nodelib: move sources to subdir
node: Move UAS to mavros namespace
node: Move node code to library.
node: Catch DeviceError; use C++11 foreach shugar.
plugin: command: Add COMMAND_INT suport. Fix #98.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov

0.7.1 (2014-08-25)

plugins: setpoint: Update SET_POSITION_TARGET_LOCAL_NED message. Fix #131.
scripts: mavsetp: Enable OFFBOARD mode. Issue #126.
plugin: command: Add guided_enable shortcut It enable PX4 OFFBOARD mode. Issue #126.
scripts: Add mavsetp script. Only local setpoint for now. Issue #126.
plugins: Change UAS FCU link name. Reduce smart pointer count, that hold fcu link object.
scripts: mavcmd: Add takeoffcur and landcur commands Fix #91, #92. Inspired by #125.
Closes #122, closes #123; plugins: move mocap & vision plugins to extras, change vision plugins name
plugins: UAS remove std::atomic<double> It don't work at some compilers. Issue #89.
plugin: global_position: Fill NavSatFix status filed. Issue #87, #118.
plugins: Add GPS data to UAS
plugins: Move setpoint_mixin.h Fix #120.
plugin: mocap: Fix load. Issue #121.
plugins: global_position: get pose orientation from the one stored in uas
plugins: global_position: use relative_alt on position.z; mavros_plugins.xml - corrected declaration of mocap_pose_estimate
plugin - global_position - changed parameter path / orientation source
launch: APM2 blacklist global_position plugin
plugin: global_position: Unit unification.
plugin: global_position: Move heaedr; Style fix.
added rel_pos and compass_hdg pub; minor corrections
Merge branch 'master' of https://github.com/vooon/mavros into global_position
global_position plugin - initial commit
launch: APM2 blacklist mocap plugin.
Updated mavros_plugins.xml
Fixed dual sources error warning.
Fixed styles.
Minor changes.
added time stamp to received msgs
Removed un-needed times.
Added mocap_pose_estimate plugin.
Code style update
setpoint attitude change - warning message
Update on setpoint_attitude plugin
- changed Twist to TwistStamped
- added reverse_throttle option for throttle control
- use cmd_vel as the same topic to control linear a angular velocities (it's commonly used by controllers)
- added normalization filter to thrust
node: Remove deprecated conn parameters. Fix #108
plugin: vision_speed: Update plugin API.
plugin: setpoint_attitude: Update plugin API.
plugin: setpoint_accel: Update plugin API.
plugin: setpoint_velocity: Update plugin API.
plugin: 3dr_radio: Update plugin API.
plugin: safety_area: Update plugin API.
plugin: setpoint_position: Update plugin API.
plugin: vision_position: Update plugin API.
plugin: local_position: Update plugin API.
plugin: command: Update plugin API.
plugin: rc_io: Update plugin API.
plugin: waypoint: Update plugin API.
plugin: param: Update plugin API.
plugin: gps: Update plugin API.
plugin: imu_pub: Update plugin API.
plugin: sys_status: Update plugin API.
plugin: Update plugin API.
plugins: disable most of plugins
plugin: setpoint_attitude: Add thrust topic. Fix #106.
Fix URLs in readme
mavros -> ros-message parameter fix only parameter1 was forwarded into the ros message
Switch travis to pixhawk dialect. Default dialect build by ros buildfarm. Also remove duplicate ci statuses from mavros readme.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov, mthz

0.7.0 (2014-08-11)

Add package index readme, Fix #101
move mavros to subdirectory, #101
Merge branch 'master' of github.com:vooon/mavros * 'master' of github.com:vooon/mavros: Add link to ros-*-mavlink package wiki page.
plugins: setpoint: Update setpoint message name. Issue #94, Fix #97.
plugin: setpoint_attitude: Update message name. Issues #94, #97.
Add link to ros-*-mavlink package wiki page.
plugin: gps: Fix gcc 4.6 build (atomic). Not recommended to use std::atomic with gcc 4.6. So i limited to prederined atomics for simple types like int, float etc.
plugin: sys_status: Implement PX4 mode decoding. Fix #84.
plugin: gps: Add EPH & EPV to diagnostic. Issue #95
plugin: gps: Move message processing to individual handlers. Issue #95.
plugin: rc_io: Replace override service with topic. (ROS API change). Fix #93.
Add dialect selection notes
plugins: Change severity for param & wp done messages.
plugins: Store raw autopilot & mav type values. This may fix or not issue #89.
plugins: init ctor (coverity)
plugin: imu_pub: Add ATTITUDE_QUATERNION support. Also reduce copy-paste and use mode readable bitmask check. Fix #85.
scriptis: mavcmd: Spelling
scripits: Add mavcmd tool
Add links to mavros_extras
param: sys_status: Option to disable diagnostics (except heartbeat)
plugin: command: Add takeoff and land aliases. Issue #68.
plugin: command: Add quirk for PX4. Fix #82.
plugin: Add UAS.is_px4() helper. Replace some locks with atomic. Issue #82.
launch: Clear PX4 blacklist. Issue #68.
launch: Add target ids. Also fix PX4 wrong ?ids usage (it set mavros ids, not target). Issue #68.
plugin: imu_pub: Fix HRIMU pressure calc. 1 mBar is 100 Pa. Fix #79.
plugins: C++11 chrono want time by ref, return *_DT Fix #80.
plugins: Replace boost threads with C++11. And remove boost thread library from build rules. Issue #80.
plugins: Replace Boost condition variables with C++11 Issue #80.
plugins: Replace boost mutexes with C++11. Issue #80.
travis clang to old, fails on boost signals2 library. disable.
travis: enable clang build.
node: Make project buildable by clang. Clang produce more readable errors and provide some static code analysis, so i want ability to build mavros with that compilator.
plugins: replace initial memset with c++ initializer list
launch: PX4 default ids=1,50. Also waypoint plugin works (with first_pos_control_flight-5273-gd3d5aa9). Issue #68.
launch: Use connection URL
plugin: vision_speed: Initial import. Fix #67.
plugin: sys_status: Add SYSTEM_TIME sync send. Fix #78.
plugin: sys_status: Decode sensor health field. Fix #75.
Add ci badges to readme
plugin: param: erase invalidates iterator. Real error found by coverity :)
plugins: Init ctor
plugins: Add ctor initialization. Coverity recommends init all data members.
test: trying travis-ci && coverity integration. Real ci doing by ros buildfarm.
plugins: Fix clang-check errors.
test: Add tcp client reconnect test. Issue #72.
test: Split open_url test to individual tests. Also removed tcp client deletion on close, heisenbug here. Issue #72.
mavconn: Emit port_closed after thread stop. Also use tx state flag, improve error messages and move io post out of critical section. Issue #72.
mavconn: Fix TCP server client deletion. Issue #72.
test: Remove not needed sleep.
mavconn: Remove new MsgBuffer dup. Message drop if closed. Issue #72.
mavconn: Fix TCP server. Issue #72.
launch: APM2: Blacklist extras.
mavconn: Add mutex to channel allocation.
mavconn: Fix TCP server for gcc 4.6 Fix #74.
Remove libev from package. Issue #72.
mavconn: GCC 4.6 does not support typedef like using. Issue #74.
Merge pull request #73 from vooon/mavconn-revert-asio mavconn: Revert to Boost.ASIO
mavconn: Cleanup boost threads. I will use C++11 standard libs. Issue #72.
mavconn: Remove libev default loop thread. Issue #72.
mavconn: Port MAVConnTCPServer to Boost.ASIO. TCP send test fails. Issue #72.
mavconn: Port MAVConnTCPClient to Boost.ASIO. Also it disables MAVConnTCPServer before i rewrite it. Issue #72.
mavconn: Revert MAConnSerial back to Boost.ASIO. Issue #72.
test: Fix send_message tests. Use C++11. Issue #72.
mavconn: Revert MAVConnUDP back to Boost.ASIO. Also starting to change boost threads and mutexes to C++11. Issue #72.
test: Enable send tests. Issue #72.
test: And hand test for mavconn hangs. Issue #72.
node: Remove anonimous flag from gcs_bridge. Rename node if you want start several copies.
install: Remove duplicate
node: Fix mavros_node termination message. Issue #58.
node: Use URL in mavros_node. Fix #58.
node: Use URL in gcs_bridge. Issue #58.
node: Rename ros_udp to gcs_bridge. Because now it's not UDP only. Issue #58.
Cleanup boost components
mavconn: Implement URL parsing. Supported shemas:
- Serial: [/path/to/serial/device[:baudrate]]{.title-ref}
- Serial: [serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]]{.title-ref}
- UDP: [udp://[bind_host[:port]]@[remote_host[:port]][/?ids=sysid,compid]]{.title-ref}
- TCP client: [tcp://[server_host][:port][/?ids=sysid,compid]]{.title-ref}
* TCP server: [tcp-l://[bind_port][:port][/?ids=sysid,compid]]{.title-ref} Note: ids from URL overrides ids given to open_url(). Issue #58.
test: Add tests for UDP, TCP, SERIAL. Send message testa are broken, need to find workaround. Fix #70.
plugin: vision_position: Add transform timestamp check. Issue #60.
mavconn: Implement TCP server mode. Fix #57.
mavconn: Initial support for TCP client mode. Issue #57.
mavconn: Boost::asio cleanup.
plugin: Remove TimerService from UAS. Fix #59.
plugin: param: Add state check to sheduled pull.
mavparam: Add force pull.
plugin: param: Use ros::Timer for timeouts Also new option for force pull parameters from FCU instead of cache. Fix #59.
Add mavsafety info to README.
launch: Add apm2_radio.launch (for use with 3DR Radio)
plugin: 3dr_radio: Fix build error. Issue #62.
plugin: 3dr_radio: Publish status data for rqt_plot Also tested with SiK 1.7. Fix #62.
plugin: setpoint_attitude: Fix ENU->NED conversion. Fix #64. Related #33, #49.
launch: Add setpoint plugins to APM2 blacklist
plugin: setpoint_attitude: Initial import. XXX: need frame conversion #49. Issue #33, #64.
plugin: Move common tf code to mixin. Remove copy-paste tf_listener. Issue #33.
plugin: setpoint_position: Generalize topic NS with other [setpoint_*]{.title-ref} Issue #33, #61.
plugin: setpoint_accel: Initial import. Issues: #33, #61.
plugin: position_velocity: Initial import. Also it fix ignore mask in setpoint_position. Issues #33, #61.
plugins: 3rd_radio: Initial import. Untested. Issue #61.
scripts: Add mavsafety tool. Also add safety_area to APM2 blacklist. Fix #51.
plugins: safty_area: Initial import. This plugin listen [~/safety_area/set]{.title-ref} and send it's data to FCU. Issue #51.
plugins: position: Add TF rate limit. Issue #33.
plugin: waypoint: Use ros::Timer for timeouts. Also add some debug messages for next debugging PX4. Issue #59.
plugin: sys_status: Use ros::Timer for timeouts Also move message rx to it's own handlers. Issue #59.
Remove rosdep.yaml and update readme
Add deb build notes to readme. Issue #55.
Add sudo notes to readme.
Merge pull request #56 from vooon/54_try_libev Switch to libev
Add libev to README
package: Add temporary rosdep for libev-dev. Issue #54.
mavconn: Move MAVConnUDP to libev. And fix docs in serial. Issue #54.
mavconn: Move MAVConnSerial to libev. Adds stub for open URL function. Issure #54.
Contributors: Vladimir Ermakov, Mohammed Kabir, Nuno Marques, Glenn Gregory

0.6.0 (2014-07-17)

plugin: local_position: Use same timestamp in topic and TF. Issue #33.
plugins: TF thread required, remove notes. Issue #33.
launch: Add example launch for PX4 Issue #45.
plugin: imu_pub: Fix attitude store in UAS Issue #33. Fix #53.
plugins: Disable position topics if tf_listen enabled Also change default frame names: [vision]{.title-ref} and [setpoint]{.title-ref}. Issue #33.
plugins: Fix typo in frame_id params. Issue #33.
plugins: Add vision and setpoint TF listeners Also change parameter names to same style. Issue #33.
plugin: vision_position: Add PositionWithCovarianceStamped option Issue #33.
Add boost filesystem lib to link On some platforms its absence breaks build by: undefined reference to [boost::filesystem::path::codecvt()]{.title-ref}
launch: Add example for APM2 Fix #45.
plugin: setpoint_position: Initial import And some small doc changes in other position plugins. Issue #33.
node: Add connection change message Fix #52.
plugins: vision_position: Initial import TODO: check ENU->NED maths. Issue #33.
plugins: Remove unneded 'FCU' from diag
plugin: local_position: Change plane conversion Bug: #49.
plugin: imu_pub: Fix magnetic vector convertions Bug: #49.
Use dialects list from package
plugin: local_position: Fix orientation source Part of #33.
node: Show target system on startup Fix #47.
plugin: local_position: Initial add Receive LOCAL_POSITION_NED message and publish it via TF and PoseStamped topic in ENU frame. Part of #33.
node: Use boost::make_shared for message allocation Fix #46.
plugins: Use boost::make_shared for message allocation Part of #46.
plugin: imu_pub: Fix misprint in fill function Fix magnetometer vector convertion (HR IMU). Related #33.
plugin: imu_pub: setup cleanup.
Update readme
plugin: gps: Fix gps_vel calculation Fix #42.
plugins: Make name and messages methods const. (breaking). WARNING: this change broke external plugins. Please add const to get_name() and get_supported_messages(). Part of #38.
plugins: Use mavlink_msg*_pack_chan() functions Fix #43.
mavconn: Reuse tx buffer (resize by extents) Part of #38.
mavconn: Do not finalize messages if id pair match mavlink*_pack also do finalize, so explicit finalization just recalculate crc and seq number (doubles work). Test later if we need check seq too.
mavconn: Documentation and cleanup Make MAVConn classes noncopyable. Remove copy-paste copy and following async_write calls. Reserve some space in tx queues. Replace auto_ptr with unique_ptr.
test: Fix header include
mavconn: Fix possible array overrun in channel alocation. Problem found by clang.
fix some roslint errors
mavconn: move headers to include
node: Implement plugin blacklist. New parameter: [~/plugin_blacklist]{.title-ref} lists plugin aliases with glob syntax. Fix #36.
plugins: Change constants to constexpr (for gcc 4.6)
mavconn: Add gencpp dependency (utils.h requiers generated header)
Move duplicate Mavlink.msg copy to utils.h
Remove tests that requires connection to FCU
plugins: imu_pub: Fix PX4 imu/data linear_accelerarion field Should fix: #39.
plugins: imu_pub: Add magnitic covariance Trying to move constants with constexpr. Related: #13.
Remove testing info Need to remove tests that could not run on build farm.
Contributors: Vladimir Ermakov

0.5.0 (2014-06-19)

Remove mavlink submodule and move it to package dependency Bloom release tool don't support git submodules, so i've ceate a package as described in http://wiki.ros.org/bloom/Tutorials/ReleaseThirdParty . Fix #35.
plugins: param: add missing gcc 4.6 fix.
plugins: fix const initializers for gcc 4.6
plugins: imu_pub: fix const initializers for gcc 4.6 Fix for build failure devel-hydro-mavros #4.
Add support for GCC 4.6 (C++0x, ubuntu 12.04) I don't use complete c++11, so we could switch to c++0x if it supported.
plugins: rc_io: Add override rcin service Fix: #22.
plugins: sys_status: fix timeouts Fix #26.
plugins: sys_status: add set stream rate service Some additional testing required. Fix #23.
Remove unused boost libarary: timer Build on jenkins for hydro failed on find boost_timer.
0.4.1
Add changelog for releasing via bloom

0.4.1 (2014-06-11)

node: Show serial link status in diag Now 'FCU connection' shows actual status of connection (HEARTBEATS).
Fix #29. Autostart mavlink via USB on PX4 Changes mavconn interface, adds new parameter.
Fix installation rules. Fix #31.
Setup UDP transport for /mavlink messages
Fix mavlink dialect selection Fix #28.
Add link to wiki.ros.org Part of #27.

0.4.0 (2014-06-07)

Release 0.4.0 And some docs for CommandPlugin.
plugins: command: Command shortcuts Fix #12.
plugins: command: Add ACK waiting list Part of #12.
plugins: command: Initial naive realization. Partial #12, #25.
mavconn: Fix build on Odroid with Ubuntu 13.10 Fix #24.
plugins: rc_io: initial add RC_IO plugin Topics:
- ~/rc/in -- FCU RC inputs in raw microseconds
* ~/rc/out -- FCU Servo outputs Fix #17. Partiall #22.
Fix installation wstool command. [wstool set]{.title-ref}, not [wstool add]{.title-ref}.
Add installation notes to README Installing pymavlink is not required, but try if errors.
Fix headers in README.md
ros_udp: New node for UDP proxing Add some examples to README.md. Fix #21.
sys_status: Add state publication Fix #16.
sys_status: Sent HEARTBEAT if conn_heartbeat > 0 Fix #20.
sys_status: add sensor diagnostic See #16.
sys_status: Add battery status monitoring Fix #19, partial #16.
sys_status: HWSTATUS support Fix #18, partial #20.
plugins: imu_pub: Add RAW_IMU, SCALED_IMU and SCALED_PRESSURE handlers Fix #13. Refactor message processing. Combination of used messages: On APM: ATTITUDE + RAW_IMU + SCALED_PRESSURE On PX4: ATTITUDE + HIGHRES_IMU On other: ATTITUDE + (RAW_IMUHIGHRES_IMU Published topics:
- ~imu/data - ATTITUDE + accel data from *_IMU
- ~imu/data_raw - HIGHRES_IMU or SCALED_IMU or RAW_IMU in that order
- ~imu/mag - magnetometer (same source as data_raw)
- ~imu/temperature - HIGHRES_IMU or SCALED_PRESSURE
- ~imu/atm_pressure - same as temperature
Update readme
mavwp: Add --pull option for 'show' operation. Reread waypoints before show.
MissionPlanner use format QGC WPL, Fix #15 Code cleanup;
Update mavlink version.
Update mavlink version
mavparam: fix #14 support for QGC param files
mavwp: Add mavwp to install

0.3.0 (2014-03-23)

Release 0.3.0
mavwp: Add MAV mission manipulation tool Uses WaypointPlugin ROS API for manipulations with FCU mission.
- show -- show current mission table
- pull -- update waypoint table
- dump -- update and save to file
- load -- loads mission from file
- clear -- delete all waypoints
- setcur -- change current waypoint
- goto -- execute guided goto command (only APM) Currently supports QGroundControl format only.
plugins: wp: Add GOTO, update documentation
plugins: wp: Auto pull
plugins: wp: SetCurrent & Clear now works
plugins: wp: Push service works
plugins: wp: push almost done
plugins: wp: Pull done
plugins: param: remove unused ptr
plugins: wp: mission pull almost done
plugins: wp: Add convertors & handlers
plugins: Waypoint plugin initial
Use C++11 feuture - auto type
plugins: refactor context & link to single UAS class UAS same functions as in QGC.
plugins: Add msgs and srvs for Waypoint plugin
Update mavlink library
Update mavlink version
mavparam: Fix for DroidPlanner param files & cleanup DroidPlanner adds some spaces, don't forget to strip it out. Cleanup unused code from Parameter class.

0.2.0 (2014-01-29)

mavparam: Add MAV parameter manipulation tool Uses ParamPlugin ROS API for manipulating with fcu params.
- load -- load parameter from file
- dump -- dump parameter to file
- get -- get parameter
- set -- set parameter Currently supports MissionPlanner format only. But DroidPlanner uses same format.
Update README and documentation
plugins: param: implement ~param/push service Also implement sync for rosparam:
- ~param/pull service pulls data to rosparam
- ~param/push service send data from rosparam
- ~param/set service update rosparam if success
plugins: param: implement ~param/set service
plugins: param: implement ~param/get service
plugins: param: Implement automatic param list requesting
plugins: use recursive_mutex everywhere
plugins: param now automaticly requests data after connect
plugins: Add common io_service for plugins, implement connection timeout Some plugin require some delayed processes. Now we can use boost::asio::*timer. New parameter:
- ~/conn_timeout connection timeout in seconds
plugins: add param services
mavconn: set thread names WARNING: pthread systems only (BSD/Linux)
plugins: implement parameters fetch service
plugins: fix string copying from mavlink msg
plugins: Setup target in mav_context New params:
- ~target_system_id - FCU System ID
- ~target_component_id - FCU Component ID
plugins: IMU Pub: add stdev parameters, change topic names. Add parameters:
- ~imu/linear_acceleration_stdev - for linear acceleration covariance
- ~imu/angular_velocity_stdev - for angular covariance
- ~imu/orientation_stdev - for orientation covariance Change topic names (as in other IMU drivers):
- ~imu -> ~/imu/data
- ~raw/imu -> ~/imu/data_raw
plugins: Params initial dirty plugin
Fix mavlink dialect choice.
plugins: Add context storage for automatic quirk handling ArduPlilot requires at least 2 quirks:
- STATUSTEXT severity levels
- parameter values is float
Implement MAVLink dialect selection ArduPilotMega is default choice.
doc: add configuration for rosdoc_lite

0.1.0 (2014-01-05)

Version 0.1.0 Milestone 1: all features from mavlink_ros package.xml was updated.
Fix typo and add copyright string NOTE: Please check typos before coping and pasting :)
plugins: gps: Add GPS_RAW_INT handler GPS_STATUS not supported by APM:Plane. ROS dosen't have standard message for satellites information.
mavconn: small debug changes Limit no GCS message to 10 sec.
node: Terminate node on serial port errors
plugins: Add GPS plugin SYSTEM_TIME to TimeReference support. TODO GPS fix.
Fix build and update MAVLink library
plugins: sys_status: Add SYSTEMTEXT handler Two modes:
- standard MAV_SEVERITY values
- APM:Plane (default) TODO: add mavlink dialect selection option
plugins: add some header doxygen tags Add license to Dummy.cpp (plugin template).
plugins: sys_status: Add MEMINFO handler MEMINFO from ardupilotmega.xml message definition. Optional.
update README
update TODO
plugins: Add imu_pub plugin. Publish ATTITUDE and HIGHRES_IMU data. HIGHRES__IMU not tested: Ardupilot sends ATTITUDE only :(
node: publish Mavlink.msg only if listners > 0
plugins: Add sys_status plugin. Initial.
plugins: implement loading & rx routing
plugins: initial
node: Add diagnostics for mavlink interfaces
mavconn: add information log wich serial device we use.
mavconn: fix overloaded MAVConn*::send_message(msg)
mavros: Add mavros_node (currently serial-ros-udp bridge) Message paths: Serial -+-> ROS /mavlink/from +-> UDP gcs_host:port ROS /mavlink/to -+-> Serial UDP bind_host:port -+
Add README and TODO files.
mavconn: fix MAVConnUDP, add mavudpproxy test mavudpproxy -- connection proxy for QGroundControl, also used as test for MAVConnUDP and MAVConnSerial.
mavconn: add UDP support class
mavconn: fix: should use virtual destructor in interface class
mavconn: add getters/setters for sys_id, comp_id; send_message return.
mavconn: simple test. tested with APM:Plane: works.
mavconn: fix linking
mavconn: serial interface
Add mavconn library prototype mavconn - handles MAVLink connections via Serial, UDP and TCP.
Add MAVLink library + build script
Initial Import Mavlink.msg from mavlink_ros package ( https://github.com/mavlink/mavlink_ros ).
Contributors: Vladimir Ermakov

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	mavlink
	angles
	ament_cmake
	ament_cmake_python
	eigen3_cmake_module
	rosidl_default_runtime
	rclpy
	ament_cmake_gtest
	ament_cmake_gmock
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	diagnostic_updater
	message_filters
	eigen_stl_containers
	libmavconn
	pluginlib
	tf2_ros
	tf2_eigen
	rclcpp
	rclcpp_components
	rcpputils
	diagnostic_msgs
	geometry_msgs
	mavros_msgs
	nav_msgs
	sensor_msgs
	geographic_msgs
	trajectory_msgs
	std_msgs
	std_srvs

System Dependencies

Name
eigen
geographiclib
geographiclib-tools
python3-click
gtest
google-mock
libconsole-bridge-dev

Dependant Packages

Name	Deps
mavros_extras

Launch files

launch/multi_uas.launch
- - id [default: 0]
  - fcu_url [default: udp://:14540@127.0.0.1:14580]
  - id [default: 1]
  - fcu_url [default: udp://:14541@127.0.0.1:14581]
launch/px4.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]
launch/apm.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]
launch/node.launch
- - fcu_url
  - gcs_url
  - tgt_system
  - tgt_component
  - pluginlists_yaml
  - config_yaml
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]

Messages

No message files found.

Services

No service files found

Plugins

mavros

Recent questions tagged `mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

API Docs
Browse Code
Wiki

Package Summary

Tags	uav mav mavlink plugin apm px4
Version	1.20.0
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	master
Last Updated	2024-10-10
Dev Status	DEVELOPED
CI status	Latest build history: Tue, 14 Nov 2023 17:34:53 GMT (last 4 of 48 builds) #100 14-Nov-2023 17:06 40 / 40 #99 16-Oct-2023 13:06 40 / 40 #98 09-Sep-2023 11:07 32 / 33 #96 06-Sep-2023 12:06 40 / 40
Released	RELEASED
Tags	uav mav mavlink plugin apm px4
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.

Additional Links

Maintainers

Vladimir Ermakov

Authors

Vladimir Ermakov

mavros/README.md

MAVROS

MAVLink extendable communication node for ROS with proxy for Ground Control Station (e.g. QGroundControl).

ROS API documentation moved to wiki.ros.org.

Features

Communication with autopilot via serial port, UDP or TCP (e.g. PX4 Pro or ArduPilot)
Internal proxy for Ground Control Station (serial, UDP, TCP)
Plugin system for ROS-MAVLink translation
Parameter manipulation tool
Waypoint manipulation tool
PX4Flow support (by mavros_extras)
OFFBOARD mode support
Geographic coordinates conversions.

Limitations

Only for Linux. Depends on Boost library, GCC 4.8+ (C++11 support). Catkin build system required.

This package are dependent on ros-*-mavlink build from mavlink-gbp-release. It exists in ROS package index and usually updates each month.

Connection URL

Connection defined by URL, you can use any supported type for FCU and GCS.

Supported schemas:

Serial: /path/to/serial/device[:baudrate]
Serial: serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]
Serial with hardware flow control: serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid]
UDP: udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid]
UDP broadcast until GCS discovery: udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid]
UDP broadcast (permanent): udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid]
TCP client: tcp://[server_host][:port][/?ids=sysid,compid]
TCP server: tcp-l://[bind_host][:port][/?ids=sysid,compid]

Note:

Ids from URL overrides value given by system_id & component_id parameters.
bind_host - default 0.0.0.0 - i.e. IP4 ANY
UDP default ports: 14555 @ 14550
UDP remote address updated every time with incoming packet on bind port.
TCP default port: 5760

Coordinate frames

MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Please read documents from issue #473 for additional information.

All the conversions are handled in src/lib/ftf_frame_conversions.cpp and src/lib/ftf_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.

MAVROS also allows conversion of geodetic and geocentric coordinates through GeographicLib given that:

geographic_msgs and NatSatFix.msg require the LLA fields to be filled in WGS-84 datum, meaning that the altitude should be the height above the WGS-84 ellipsoid. For that, a conversion from the height above the geoid (AMSL, considering the egm96 geoid model) to height above the WGS-84 ellipsoid, and vice-versa, is available and used in several plugins;
According to ROS REP 105, the earth frame should be propagated in ECEF (Earth-Centered, Earth-Fixed) local coordinates. For that, the functionalities of GeographicLib are used in order to allow conversion from geodetic coordinates to geocentric coordinates;
The translation from GPS coordinates to local geocentric coordinates require the definition of a local origin on the map frame, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in the global_position plugin.

Programs

mavros_node – main communication node

Main node. Allow disable GCS proxy by setting empty URL.

Run example (autopilot connected via USB at 921600 baud, GCS running on the host with IP 172.16.254.1):

rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:921600 _gcs_url:=udp://@172.16.254.1

gcs_bridge – additional proxy

Allows you to add a channel for GCS. For example if you need to connect one GCS for HIL and the second on the tablet.

Example (SITL & QGroundControl):

rosrun mavros mavros_node _gcs_url:='udp://:14556@172.16.254.129:14551' &
rosrun mavros gcs_bridge _gcs_url:='udp://@172.16.254.129'

Launch Files

Launch files are provided for use with common FCUs, in particular Pixhawk:

px4.launch – for use with the PX4 Autopilot (for VTOL, multicopters and planes)
apm.launch – for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)

Examples:

roslaunch mavros px4.launch
roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@

Installation

Required dependencies

Most of the ROS dependencies are supported and installed by rosdep, including external libraries as Eigen and Boost.

GeographicLib can be installed by apt-get and it is already included on the rosdep of MAVROS package. It is also possible to compile it and install it from src but be advised to have the proper install directories the same as the ones of the apt-get install, in order to make sure that the FindGeographicLib.cmake finds the required shared libraries (libGeographic.so).

Since GeographicLib requires certain datasets (mainly the geoid dataset) so to fulfill certain calculations, these need to be installed manually by the user using geographiclib-tools, which can be installed by apt-get in Debian systems. For a quicker procedure, just run the available script in the “mavros/scripts” folder, install_geographiclib_datasets.sh.

Note that if you are using an older MAVROS release source install and want to update to a new one, remember to run rosdep update before running rosdep install --from-paths ${ROS_WORKSPACE} --ignore-src --rosdistro=${ROSDISTRO}, with ROS_WORKSPACE your src folder of catkin workspace. This will allow updating the rosdep list and install the required dependencies when issuing rosdep install.

:bangbang: The geoid dataset is mandatory to allow the conversion between heights in order to respect ROS msg API. Not having the dataset available will shutdown the mavros_node :bangbang:

:heavy_exclamation_mark:Run install_geographiclib_datasets.sh to install all datasets or geographiclib-datasets-download egm96_5 (Debian 7, Ubuntu 14.04, 14.10), geographiclib-get-geoids egm96-5 (Debian 8, Fedora 22, Ubuntu 15.04 or later) to install the geoid dataset only:heavy_exclamation_mark:

Binary installation (deb)

ROS repository has binary packages for Ubuntu x86, amd64 (x86_64) and armhf (ARMv7). Kinetic also support Debian Jessie amd64 and arm64 (ARMv8).

Just use apt-get for installation:

sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras

Then install GeographicLib datasets by running the install_geographiclib_datasets.sh script:

wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh

Source installation

Use wstool utility for retrieving sources and catkin tool for build.

NOTE: The source installation instructions are for the ROS Kinetic release.

sudo apt-get install python-catkin-tools python-rosinstall-generator -y
# For Noetic use that:
# sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y

# 1. Create the workspace: unneeded if you already has workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
wstool init src

# 2. Install MAVLink
#    we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall

# 3. Install MAVROS: get source (upstream - released)
rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
# alternative: latest source
# rosinstall_generator --upstream-development mavros | tee -a /tmp/mavros.rosinstall
# For fetching all the dependencies into your catkin_ws, just add '--deps' to the above scripts
# ex: rosinstall_generator --upstream mavros --deps | tee -a /tmp/mavros.rosinstall

# 4. Create workspace & deps
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y

# 5. Install GeographicLib datasets:
./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

# 6. Build source
catkin build

# 7. Make sure that you use setup.bash or setup.zsh from workspace.
#    Else rosrun can't find nodes from this workspace.
source devel/setup.bash

Build error. if you has error with missing mavlink* then you need fresh mavlink package. You may update from ros-shadow-fixed (binary installation) or redo script steps 2 & 4.

Note. Since MAVLink 2.0 merged (0.18) all dialects supported by same binary. Unfortunately overlap of v1.0 message ID’s not fully handled, first loaded message forbid further changes. Load order always:

common
ardupilotmega
alphabetical ordered list
…

Note: MAVLINK_DIALECT not used anymore.

Troubleshooting

Error: serial0: receive: End of file

This issue should have been solve in mavros v0.23.2, it was found to be a Boost.ASIO error and should be fix in release > v1.12.0 ( >Boost 1.66).

Contributing

See CONTRIBUTING.md.

Glossary

GCS — Ground Control Station
FCU — Flight Control Unit (aka FC)
OBC — OnBoard Computer (your odroid or raspberry)

Links

MAVLink – The communication protocol for Drones, used by flight controllers, ground control stations, and peripherals
mavlink_ros – original ROS node (few messages, no proxy)
Pixhawk – Open Standards for drone hardware
PX4 Autopilot – Flight Controller with support for most vehicle types and hardened/tested MAVROS support
ArduPilot – tested autopilot APM:Plane (default command set)
QGroundControl – Ground Control Station for MAVLink autopilots, with tested support for Android, iOS, Mac OS, Linux, and Windows
mavros_extras – extra plugins & node for mavros

CHANGELOG

Changelog for package mavros

1.20.0 (2024-10-10)

add param to odom plugin
add frame_id parameter
Contributors: EnderMandS

1.19.0 (2024-06-06)

gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Contributors: Beniamino Pozzan

1.18.0 (2024-03-03)

sys_status.cpp: improve timeout code
sys_status.cpp: Add a SYS_STATUS message publisher
Contributors: Dr.-Ing. Amilcar do Carmo Lucas

1.17.0 (2023-09-09)

cog: regenerate all
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov, natmol

1.16.0 (2023-05-05)

Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Lucas Walter, Shu-Nong Wu, Vladimir Ermakov

1.15.0 (2022-12-30)

Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.14.0 (2022-09-24)

scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1744 from amilcarlucas/pr_gimbal_diagnostics_fixes mount_control.cpp: detect MOUNT_ORIENTATION stale messages
mount_control.cpp: detect MOUNT_ORIENTATION stale messages correct MountConfigure response success correct constructor initialization order some gimbals send negated/inverted angle measurements, correct that to obey the MAVLink frame convention using run-time parameters
Merge pull request #1743 from amilcarlucas/pr_apm_config apm_config.yaml: add mount configuration
apm_config.yaml: add mount configuration
Merge pull request #1732 from amilcarlucas/pr-meminfo-fix MEMINFO fixes
sys_status.cpp fix free memory for values > 64KiB
Merge pull request #1716 from amilcarlucas/avoid-harcoded-values sys_status.cpp: do not use harcoded constants
Merge pull request #1711 from amilcarlucas/diagnose-up-to-n-batteries Diagnose up-to 10 batteries
*_config.yaml: document usage of multiple batteries diagnostics
sys_status.cpp: fix compilation
sys_status.cpp: support diagnostics on up-to 10 batteries Uses as many battery monitors as the user specified in min_voltage parameter. Add myself as a contributor, this is not my first patch to this file
Merge pull request #1712 from amilcarlucas/fix-disabled-diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag
sys_status.cpp: do not use harcoded constants
sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics Use atomic variable to prevent potential threading problems
sys_status.cpp: fix enabling of mem_diag and hwst_diag
Merge pull request #1704 from amilcarlucas/correct-bat-voltages sys_status.cpp: Do not use battery1 voltage for all batteries.
sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). Support both cell and total voltages above 65V Support up-to 14S batteries If available, add cell voltage information to the battery diagnostic
Merge pull request #1707 from amilcarlucas/ignore-gimbal-sys-status sys_status.cpp: ignore sys_status mavlink messages from gimbals
sys_status.cpp: ignore sys_status mavlink messages from gimbals
Merge pull request #1703 from amilcarlucas/remove-deprecated-battery2 sys_status.cpp: remove deprecated BATTERY2 mavlink message support
sys_status.cpp: remove deprecated BATTERY2 mavlink message support
Merge pull request #1696 from okalachev/patch-2 Disable startup_px4_usb_quirk in px4_config.yaml
Disable startup_px4_usb_quirk in px4_config.yaml
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Sanket Sharma, Vladimir Ermakov, acxz

1.13.0 (2022-01-13)

Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
Contributors: Vladimir Ermakov

1.12.2 (2021-12-12)

Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Contributors: Oleg Kalachev, Vladimir Ermakov, hs293go

1.12.1 (2021-11-29)

mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.12.0 (2021-11-27)

Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
lib: fix mission frame debug print
Contributors: Alexander Sherikov, Vladimir Ermakov

1.11.1 (2021-11-24)

lib: fix build
Contributors: Vladimir Ermakov

1.11.0 (2021-11-24)

lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
Contributors: Jaeyoung-Lim, Vladimir Ermakov

1.10.0 (2021-11-04)

Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
Contributors: David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Marcelino Almeida, Val Doroshchuk, Vladimir Ermakov

1.9.0 (2021-09-09)

Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: reformat xml
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, Karthik Desai, Vladimir Ermakov

1.8.0 (2021-05-05)

lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
convert whole expression to mm
Contributors: Alexey Rogachevskiy, Thomas, Vladimir Ermakov

1.7.1 (2021-04-05)

re-generate all pymavlink enums
Contributors: Vladimir Ermakov

1.7.0 (2021-04-05)

lib: re-generate the code
plugins: mission: re-generate the code
MissionBase: correction to file information
MissionBase: add copyright from origional waypoint.cpp
uncrustify
whitespace
add rallypoint and geofence plugins to mavros plugins xml
add rallypoint and geofence plugins to CMakeList
Geofence: add geofence plugin
Rallypoint: add rallypoint plugin
Waypoint: inherit MissionBase class for mission protocol
MissionBase: breakout mission protocol from waypoint.cpp
README: Update PX4 Autopilot references Much needed fixes to clarify the project is named correctly throughout the README for the PX4 Autopilot, QGroundControl, and MAVLink
Fix https://github.com/mavlink/mavros/issues/849
Contributors: Charlie-Burge, Ramon Roche, Tobias Fischer, Vladimir Ermakov

1.6.0 (2021-02-15)

fix inconsistency in direction of yaw when using set_position in BODY frames and fix problems with yaw in setponit_raw
Contributors: zhouzhiwen2000

1.5.2 (2021-02-02)

readme: add source install note for Noetic release
Contributors: Vladimir Ermakov

1.5.1 (2021-01-04)

Fix tests for renaming of ECEF cases Introduced in 6234af29
Initialise message structures Uninitialised Mavlink 2 extension fields were sent if the fields were not later set. Initialising the fields to zero is the default value for extension fields and appears to the receiver as though sender is unaware of Mavlink 2. Instances were found with regex below, more may exist: mavlink::[\^:]+::msg::[\^:={]+ ?[\^:={]*;
Contributors: Rob Clarke

1.5.0 (2020-11-11)

mavros/sys_status: Fill flight_custom_version field
mavros: Add override specifiers
mavros: Move ECEF tf enums to separate enum class This avoids a bunch of unhandled switch cases, and should improve type safety a bit.
Contributors: Morten Fyhn Amundsen

1.4.0 (2020-09-11)

mavros: use mavlink::minimal:: after incompatible changes in mavlink package Incompatible change: https://github.com/mavlink/mavlink/pull/1463 Fix: #1483, https://github.com/mavlink/mavlink/issues/1474
fixes based on vooon's review
fix issue what we couldn't set real parameters to 0.0 in mavros
Add error message
Fixed compilation error: publish std_msgs::String, not std::string for gcs_ip
Dispatch GCS IP address
Contributors: Artem Batalov, Marcelino, Morten Fyhn Amundsen, Vladimir Ermakov, Øystein Skotheim

1.3.0 (2020-08-08)

fake_gps.cpp: implement speed accuracy
fake_gps.cpp: Add mocap_withcovariance configuration parameter
fake_gps.cpp: add initial support for GPS_INPUT MAVLink message
apm.launch: Avoid warning: Warning: You are using <arg> inside an <include> tag with the default=XY attribute - which is superfluous. Use value=XY instead for less confusion. Attribute name: respawn_mavros
Added support for MavProxy parameter file format
Ignore read-only parameters and statistics parameters in push operations
fix indentation
transform based on coordinate_frame
wind plugin: fix ArduPilot wind transformation
Contributors: Ben Wolsieffer, Dr.-Ing. Amilcar do Carmo Lucas, Yuan, Yuan Xu

1.2.0 (2020-05-22)

has_capability only works for enums
Uncrustify
Reworked Waypoint plugin to use capabilities_cb Additionally added helper functions has_capability and has_capabilities so that people can use either ints or enums to check if the UAS has a capability. This might make accepting capabilities as a parameter moot though.
Added alias for capabilities enum to UAS
Added alias for capabilities enum to UAS
Added a capabilities change cb queue Plugins can now write functions that they add to the capabilities_cb_vec. These functions will be called only when there is a change to the capabilities themselves not whenever the known status of the fcu_capabilities change. These functions should have a parameter of type mavlink::common::MAV_PROTOCOL_CAPABILITY which is essentially just a uint64_t however being more opinionated is helpful when looking for what the canonical enum names are in the mavlink project header files.
Uncrustify
Fixed Removed Uncrustify Option I'm not sure why this didn't break when I ran uncrustify previously but it seems that the align_number_left option was removed a while ago with this merge request but I may be mistaken https://github.com/uncrustify/uncrustify/pull/1393 I replaced it which align_number_right=true since it seems to be the inverse of align_number_left=true.
Removed deprecated MAV_FRAME values
Removed use of variant in favor of templates Since ROS messages are now the storage type in the node, providing to and from conversion functions is sufficient and can be better expressed with function templates.
Encode factor returns double
Changed encoding factor cog code
Uncrustify changes
Added new parameter to config.yamls
Updated waypoint plugin to support MISSION_ITEM_INT These changes add a new parameter use_mission_item_int, which allows users to prefer the old behavior. These changes also verify that the flight controller supports _INT messages since APM only sends REQUEST_ITEM messages even though it accepts _INT items back. This commit is functional and tested with the APM stack only. PX4 sitl jmavsim threw: WP: upload failed: Command is not supported. FCU: IGN MISSION_ITEM: Busy
Removed x_lat, y_long, z_alt from WP These values seemed to be used due to the fact that double had a greater resolution than float and doubles are used in the ros msg. However they were only ever used for printing. Since the int version of these messages has a greater resolution I figure it is more useful to print the true value in the mavlink message rather than the ros message value
Replaced MISSION_ITEM
add yaw to CMD_DO_SET_HOME
fix local angular velocity
Contributors: Braedon, David Jablonski, Martina Rivizzigno

1.1.0 (2020-04-04)

fixed styling
fixed indent from using spaces
updates apmrover2 modes and allows for arduboat mode changes
mavsafety kill feature for emergency stop
Include trajectory_msgs in CMakeLists.txt This allows build to complete successfully.
Contributors: Anthony Goeckner, Matt Koos, aykutkabaoglu

1.0.0 (2020-01-01)

0.33.4 (2019-12-12)

Replaced estimator status hardcoded definition with cog.
Refactor.
Replaced bool with git add -u as already done.
Added a publisher for estimator status message received from mavlink in sys_status.
Contributors: saifullah3396

0.33.3 (2019-11-13)

package: fix 6fa58e59 - main package depends on trajectory_msgs, not extras
Contributors: Vladimir Ermakov

0.33.2 (2019-11-13)

0.33.1 (2019-11-11)

Add mutex
Initialize type mask
Handle frame with StaticTF
Handle different frames
Set yaw rate from message inputs
Add setpoint trajectory reset interface
Fix trajectory timestamp
Address comments
Pass reference with oneshot timers
Set typemasks correctly
Address more style comments
Address style comments
Visualize desired trajectory
Handle end of trajectory correctly
Remove message handlers
Add setpoint_trajectory plugin template
resolved merge conflict
Contributors: David Jablonski, Jaeyoung-Lim

0.33.0 (2019-10-10)

Add vtol transition service
CleanUp
Update frame name in px4_config to match ROS standards
Enable publishing multiple static tfs at once, publish standard static tfs
moving ACK_TIMEOUT_DEFAULT out of class
cog: Update all generated code
mavros/src/plugins/command.cpp: one more style fix
mavros/src/plugins/command.cpp: style fixes
mavros/src/plugins/command.cpp: command_ack_timeout ms -> s
mavros/src/plugins/command.cpp: command_ack_timeout_ms int -> double
mavros/src/plugins/command.cpp: uncrustify
mavros/src/plugins/command.cpp: parameter for command's ack timeout Sometimes commands take more time than default 5 seconds. Due to a low bandwidth of UART and a high rate of some mavlink streams. To eliminate this problem it's better to provide the parameter to configure the command's ack timeout.
added manual flag to mavros/state
Use GeoPoseStamped messages
Fix build
Add callback for SET_POSITION_TARGET_GLBOAL_INT
Contributors: David Jablonski, Jaeyoung-Lim, Sergei Zobov, Vladimir Ermakov, kamilritz

0.32.2 (2019-09-09)

uncrustify
Add boolean to check if IMU data has been received Follow sensor_msgs/Imu convention when data not present
Uncrustify the GPS_GLOBAL_ORIGIN handler in global_position
Fix global origin conversion to ecef (was using amsl where hae was required) Summary: Fix global origin conversion to ecef (was using amsl where hae was required)
moved code to end of function
added amount of satellites to global_position/raw/
Contributors: David Jablonski, Nick Steele, Rob Clarke, Robert Clarke

0.32.1 (2019-08-08)

uncrustify
Removed tf loop
made small edit to handle augmented gps fix
added a check for gps fix before setting origin for global_position/local odometry topic
Contributors: Eric, Lucas Hill

0.32.0 (2019-07-06)

use direclty radians in yaml files
A simple typo error has fixed. (#1260)
- fix: a typing error "alredy" to "already"
- Fix: typo error (helth -> health)
Contributors: Martina Rivizzigno, 강정석

0.31.0 (2019-06-07)

readme: fix udp-pb formatting
launch config: landing_target: fix and improve parameter list
remove duplicated landing_target parameters
enum_to_string: simplify landing_target_type_from_str
enum_to_string: update enumerations and checksum
extras: landing target: improve usability and flexibility
remove landing_target from blacklist
update to use pymavlink generator
px4_config: landing_target: minor correction
mav_frame: add frames of reference to wiki page; reference them on config
landing_target: removed child_frame_id
landing_target: minor code tweak/restructure
landing_target: uncrustify code
landing_target: updated to TF2 and Eigen math
landing_target: adapted to latest master code
landing_target: added timestamp and target size fields [!Won't compile unless a new mavlink release!]
landing_target: first commit
Switch to double-reflections instead of axes-reassignments
specialize transform_frame_ned_enu and transform_frame_enu_ned for type Vector3d such that input vectors containing a NAN can be correctly transformed
Update README.md update misspelling
Contributors: Julian Kent, Martina Rivizzigno, Shingo Matsuura, TSC21, Vladimir Ermakov

0.30.0 (2019-05-20)

Filter heartbeats by component id as well This addresses #1107 and #1227, by filtering incoming heartbeats by component ids before publishing the state.
mavros/src/plugins/command.cpp: log if command's wait ack timeout (#1222)
- mavros/src/plugins/command.cpp: log if command's wait ack timeout
- mavros/src/plugins/command.cpp: log timeout in wait_ack_for
local_position fix #1220: initialize flags
plugin waypoint: fix spelling
Fix leading space before setpoint_raw This causes an error when running `roslaunch`: ` error loading <rosparam> tag: file /opt/ros/kinetic/share/mavros/launch/apm_config.yaml contains invalid YAML: while parsing a block mapping in "<string>", line 4, column 1: startup_px4_usb_quirk: false ^ expected <block end>, but found '<block mapping start>' in "<string>", line 103, column 2: setpoint_raw: ^ XML is <rosparam command="load" file="$(arg config_yaml)"/> The traceback for the exception was written to the log file`
global_position.cpp: spell in comment
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Josh Veitch-Michaelis, Nico van Duijn, Sergey Zobov, Vladimir Ermakov

0.29.2 (2019-03-06)

0.29.1 (2019-03-03)

All: catkin lint files
Update apm_config.yaml Setting thrust_scaling in the setpoint_raw message (in my case, to use /mavros/setpoint_raw/attitude) Without it, when using Gazebo, get the following problem "Recieved thrust, but ignore_thrust is true: the most likely cause of this is a failure to specify the thrust_scaling parameters on px4/apm_config.yaml. Actuation will be ignored." from the function void attitude_cb in setpoint_raw.cpp (http://docs.ros.org/kinetic/api/mavros/html/setpoint__raw_8cpp_source.html)
cmake: fix #1174: add msg deps for package format 2
Issue #1174 Added dependency for mavros_msgs and mavros
Contributors: Adam Watkins, KiloNovemberDelta, Pierre Kancir, Vladimir Ermakov

0.29.0 (2019-02-02)

Fix broken documentation URLs
px4_config: set the thrust_scaling to one by default
local_position: add an aditional topic for velocity on the local frame
Merge pull request #1136 from angri/param-timeout Request timed up parameters as soon as possible
Merge branch 'master' into param-timeout
plugin:param added logging regarding rerequests
plugin:param fixed second and consequent timeouts in requesting list
mavros_extras: Wheel odometry plugin updated according to the final mavlink WHEEL_DISTANCE message.
mavros_extras: Wheel odometry plugin fixes after CR.
mavros_extras: Wheel odometry plugin added.
mavsys: add do_message_interval
sys_status: add set_message_interval service
lib: fix MAV_COMPONENT to_string
lib: update sensor orientations
plugin:param rerequest timed out parameters asap Avoid vaiting for the next timeout
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Pavlo Kolomiiets, Randy Mackay, TSC21, Vladimir Ermakov, angri

0.28.0 (2019-01-03)

plugin:param: publish new param value
Merge pull request #1148 from Kiwa21/pr-param-value param plugin : add msg and publisher to catch latest param value
sys_status: fix build
sys_state: Small cleanup of #1150
VehicleInfo : add srv into sys_status plugin to request basic info from vehicle
sys_status: Fix #1151 bug - incorrect hex print
plugins:sys_status: Update diag decoder
frame_tf: mavlink_urt_to_covariance_matrix: make matrix symetrical
uas_data: add comment on the reverse tf fcu_frd->fcu
odom: add ODOMETRY handler and publisher
Handle LOCAL_POSITION_NED_COV messages, add pose_cov, velocity_cov, accel topics
sys_status : add MAV_TYPE as a parameter
rc_io: extend handle_servo_output_raw to 16 channels
param plugin : add msg and publisher to catch latest param value
plugin:command: Update for C++11, style fix Signed-off-by: Vladimir Ermakov <<vooon341@gmail.com>>
Fixed NavSatFix bug in mavcmd takeoffcur and landcur
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940 Remove unnecessary functools
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940
Fix mavros/param.py to work in python2 and python3, #940
correct the to_string function
set value back to 30
add autogenerated to_string function
style clean up
Use component_id to determine message sender
change message name from COMPANION_STATUS to COMPANION_PROCESS_STATUS
change message to include pid
Change from specific avoidance status message to a more generic companion status message
add plugin to receive avoidance status message
Added RPYrT and uncrustified. Pushing version without spaces. Version with tabs? Fixed all? Finally fixed. Fixed requestes by \@vooon Fixed a def. Fixed log format. Fixed time for log.
apm_config: enable timesync and system for ardupilot
Contributors: Dan Nix, Gregoire Linard, Oleg Kalachev, Randy Mackay, TSC21, Vladimir Ermakov, baumanta, fnoop, pedro-roque

0.27.0 (2018-11-12)

fix: a typing error "alredy" to "already"
plugins #1110 #1111: add eigen aligment to plugins with eigen-typed members
plugins: fix style
with this fix ,it will avoid eigen error on 32 bits system
Add service to send mavlink TRIGG_INTERVAL commands Adapt trigger_control service to current mavlink cmd spec. Add a new service to change trigger interval and integration time
launch: fix #1080: APM now support mocap messages
Contributors: Gaogeolone, Moritz Zimmermann, Vladimir Ermakov, rapsealk

0.26.3 (2018-08-21)

test: Fix sensor orientation. RPY 315 was removed in recent mavlink. https://github.com/mavlink/mavlink/commit/3d94bccfedc5fc7f2ffad247adecff0c2dc03501
lib: update generated entries
Contributors: Vladimir Ermakov

0.26.2 (2018-08-08)

Moving gps_rtk to mavros_extras
Update copyright name
Updating the gps_rtk plugin to fit mavros guidelines:
- Updating max_frag_len to allow changes in size in MAVLink seamlessly
- Using std::copy instead of memset
- Zero fill with std::fill
- Preapply the sequence flags
- Use of std iterators
- Add the maximal data size in the mavros_msgs
uncrustify
Update comments for the renaming
Renaming the GPS RTK module, Adding fragmentation, Changing the RTCM message
RTK Plugin; to forward RTCM messages Signed-off-by: Alexis Paques <<alexis.paques@gmail.com>>
Contributors: Alexis Paques

0.26.1 (2018-07-19)

setpoint_velocity: fix yaw rate setpoint rotation
lib fix #1051: Add APM BOAT modes support. Currently SURFACE_BOAT uses same code as Rover2, just different vehicle type.
Contributors: TSC21, Vladimir Ermakov

0.26.0 (2018-06-06)

lib: add tunable timeout to gcs_quiet_mode
udp bridge: pass only HEARTBEATs when GCS is offline
sys_time : add advanced timesync algorithm
libmavconn: add scheme for permanent UDP broadcasting
GPS accuracy wo approximations (#1034)
- GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT.
* GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT if on mavlink v2.0, or on DOP values otherwise.
- GPS accuracy update.
Contributors: Mohammed Kabir, Oleg Kalachev, Pavlo Kolomiiets, Vladimir Ermakov

0.25.1 (2018-05-14)

0.25.0 (2018-05-11)

wind plugin: uncrustify
use eigen and tf conversions (fix conventions), sync timestamp, fix typos
add wind estimation plugin
launch: fix style and keep apm.launch consistent with px4.launch
Updated apm.launch to forward new fcu_protocol parameter
glob pos plugin: correct gps velocity convention (NEU->ENU)
Split temperature publisher.
setpoint_raw: correct yaw transform; remove yaw transform methods
extras: odom: improve way frame naming is handled
extras: update odom plugin to send ODOMETRY msgs
lib: enum_to_string: update enums
setpoint_attitude: rename topic from target_attitude to attitude
imu plugin: fix pressure units
imu plugin: publish differential pressure (#1001)
- imu plugin: publish differential pressure
- imu plugin: fix doxygen snippets
lib: add PX4 mode AUTO.PRECLAND
extras: add covariance parsing to vision_speed_estimate (#996)
Contributors: Anthony Lamping, Nuno Marques, Oleg Kalachev, Sondre Engebråten, TSC21, Thomas Stastny, Timo Hinzmann, Vladimir Ermakov

0.24.0 (2018-04-05)

frame_tf: add assertion over size of covariance matrix URT
extras: update vision_pose_estimate plugin so it can send the covariance matrix also
plugins fix #990: Explicitly cast boolean values. Else someone can shoot in his foot.
Update Readme for serial0: receive: End of file
launch : remove vision_pose_estimate from blacklist on ardupilot
plugin: ftp: fix typo
Add ability to send STATUSTEXT messages
Contributors: Anass Al, Andrei Korigodski, Pierre Kancir, TSC21, Vladimir Ermakov

0.23.3 (2018-03-09)

lib: simplify geolib cmake module, try to fix CI
Contributors: Vladimir Ermakov

0.23.2 (2018-03-07)

launch: add optional respawn_mavros arg
Contributors: Anthony Lamping

0.23.1 (2018-02-27)

lib: Update to_string
plugin fix #957: set MISSION_ITEM::mission_type
Contributors: Vladimir Ermakov

0.23.0 (2018-02-03)

launch fix #935: use orientation convention from message descr https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR
Blacklist HIL for APM since it is not relevent
add MAV_DISTANCE_SENSOR enum to_string
px4: add fcu_protocol argument to choose mavlink v1.0 or v2.0 to start mavros in node.launch
node: add fcu_protocol parameter to be able to choose mavlink v1.0 or v2.0 when starting mavros node
mavros: default fcu_protocol parameter to mavlink v2.0
manual_control: [send]{.title-ref} topic for sending MANUAL_CONTROL message to FCU
imu plugin: fix doxygen comments
imu plugin: change sufixes to match the body coordinate frame
Fix vision odom.
IMU plugin: add raw IMU conversion for PX4
mention rotation convention and fix NED to ENU description
Contributors: ChristophTobler, James Goppert, James Mare, Martina, Oleg Kalachev, TSC21, Vladimir Ermakov

0.22.0 (2017-12-11)

scripts: Use non global mavros-ns allow to work __ns parameter
update script to support cycle_time on cmd trigger_control
plugin: Fix setpoint_position code style
Global position setpoint plugin (#764)
- fix fake gps rate
- fix
- fix plugin_list
- fix
- add global position setpoint plugin
- add plugin to CMakeList
- fix bugs
- add altitude
- move GPS setpoints to setpoint_position plugin
- fix gps setpoint subscriber name
- move GeographicLib::Geocentric earth inside callback
- add warning msg if timestamp is not updates
- Fix ROS_WARN
doc: move contributing.md to root
tools: add cogall.sh
split contribuion guide to GH file
Readme: add help for cog (#876)
Setpoints: remove mav_frame string for local variable
Setpoints: add params for initial frame
Setpoint_velocity: uncrustify
Setpoint_position: uncrustify
Setpoints: add service to specify frame
Fix typo #867
Improve output of script, replace which with more reliable hash #867
Ensure dataset files exist, not just directories #867
Remove previous duplicated link
Fixed issue link.
Fixed section header. Ready for troubleshooting PR.
Pushing troubleshooting section for Mavros.
Contributors: Mohamed Abdelkader Zahana, Pierre Kancir, Vladimir Ermakov, andresR8, fnoop, khancyr, pedro-roque

0.21.5 (2017-11-16)

Yet another formatting.
px4_config.yaml updated. Minor formatting update.
global_position/raw/gps_vel should still be in earth fixed frame.
GPS fix's frame_id changed to body-fixed.
global_position/local angular twist changed from NANs to zeroes to be able to show in RViz.
readme: source install: add note on fetching all the deps
geolib_dataset: script: fix interpreter
Contributors: Pavlo Kolomiiets, TSC21

0.21.4 (2017-11-01)

lib ftf: update dox, uncrustify
ENU<->ECEF transforms fix. (#847)
- ENU<->ECEF transforms fix.
- Changes after review. Unit tests added.
test: fix copy-paste error in frame_tf
Contributors: Vladimir Ermakov, pavloblindnology

0.21.3 (2017-10-28)

Update geographiclib script to work with zsh
scripts: fix typos and improve help messages consistency commad -> command safty -> safety Start help messages with a capital letter.
uncrustify
plugin waypoints: Use stamped message
plugin waypoint: Add MISSION_ITEM_REACHED publisher * Changes to be committed: modified: mavros/src/plugins/waypoint.cpp modified: mavros_msgs/CMakeLists.txt new file: mavros_msgs/srv/WaypointReached.srv
- change reached service name to classic topic
- Changed reached service to topic
- removed unused file
- Removed WaypointReached service
- Change reached message type to std_msgs::UInt16
- Delete WaypointReached.srv
- Restore WaypointPush.srv
- Fix tipo
- Update waypoint.cpp
launch: sync APM and PX4 configs
add debug plugin
Contributors: Jonas Vautherin, Patrick Jose Pereira, TSC21, Vladimir Ermakov, gui2dev

0.21.2 (2017-09-25)

plugin: setpoint_attitude: Finish Andres fix
fix: attitude callback trigger
lib uas: remove inline on not inlined method
odom: general fixes and code tighting
Use tf2 for odom plugin and set reasoable defaults for local pos cov.
Contributors: Andres Rengifo, James Goppert, TSC21, Vladimir Ermakov

0.21.1 (2017-09-22)

mavsys: mode: add solutions for setting AUTO.MISSION and AUTO.LOITER modes (#814)
- mavsys: add notes on how to change mode to AUTO.MISSION on PX4 Pro
- enum_to_string: update enums
- mavsys: mode: move AUTO submodes info to argparser
- sys_status: leave note that MAV_TYPE_ONBOARD_CONTROLLER will be supported on PX4
- mavsys: mode: add note on changing to AUTO.LOITER
Solve the subscriber initialization
lib frame_tf: Add to_eigen() helper
Contributors: Alexis Paques, Nuno Marques, Vladimir Ermakov

0.21.0 (2017-09-14)

plugin waypoint: Uncrustify, update init list
lib: Add to_sting for MAV_MISSION_RESULT
plugin waypoint: Rename current seq in wp list message
waypoint: Publish current waypoint seq
waypoint partial: Check parameter first with hasParam
waypoint partial: Documentation updates
waypoint: Document mid level helpers and fix indenting on rx handlers
waypoint: Document rx handlers
waypoint partial: Move FCU detection to connection_cb
waypoint partial: recommended changes to mavwp
waypoint partial: code style cleanup
waypoint partial: enable only on apm but allow override with parameter
waypoint partial: Handle case when partial push is out of range with local list and uncrustify
waypoint partial: enable only on apm through yaml
waypoint partial: stopped partial push from clearing parts of local waypoint copy
waypoint partial: uncrustify
waypoint partial: extend mavwp cli tool to do partial updating in push
waypoint partial: extended push in waypoint plugin to implement push partial
waypoint: uncrustify
waypoint: handle invalid_sequence mission_ack to prevent TXWP failure
Partial waypoint: added wp_transfered to push partial service response
Partial waypoint: renamed mavwp partial load arguments for consistency
Partial waypoint: fixed end index and added partial tx state
Partial Waypoint: handle service call in waypoint plugin
Partial waypoint: added partial updating to mavwp
imu_plugin: remove documentation of override func
imu plugin: uncrustify
imu plugin: don't be so explicit about in/out params
imu plugin: fix indentation
imu plugin: update setup_covariance method to use Eigen capabilities
imu plugin: use simpler format for one line comments
imu plugin: add code snippets to Doxygen documentation
IMU and attitude: general clean-up
CMake: explicitly link the atomic library (#797) For arm & mips architecture, the linker must explicitly be asked to link the atomic library (with [-latomic]{.title-ref}). Otherwise, the linking fails with: ` | devel/lib/libmavros.so: undefined reference to `__atomic_load_8' | devel/lib/libmavros.so: undefined reference to `__atomic_store_8' | collect2: error: ld returned 1 exit status[ Linking `atomic]{.title-ref} unconditionally as library is strictly needed only for arm & mips, but it seems not to imply any further differences with other architectures. Hence, this commit simply adds [atomic]{.title-ref} unconditionally for a uniform handling of all machine architectures. This is an alternative solution to the proposed solution in #790. The issue was discovered cross-compiling mavros in meta-ros, the OpenEmbedded layer for ROS. Some further pointers are available at: https://github.com/bmwcarit/meta-ros/issues/525 Signed-off-by: Lukas Bulwahn <<lukas.bulwahn@gmail.com>>
setpoint_attitude: privatize message_filters subscribers
Updating comments for PX4Flow
Removing copter_visualization from the yaml files. Adding odometry to apm_config Changing frame_id to base_link for vibration
Update the apm_config and px4flow_config files
Update configuration from mavros_extras
Updating default settings from px4.yaml
- global_position/tf/send default to false
- imu, checked
- local_position/tf/send default to false
- local_position/tf/send_fcu default to false
- mission/pull_after_gcs default to true
Update time reference to fcu Adding global_frame_id: 'earth' to apm_config
fcu to base_link
Changing fcu_utm to fcu
Solving default frame consistency in config files
Contributors: Alexis Paques, James Mare, James Stewart, Lukas Bulwahn, TSC21, Vladimir Ermakov

0.20.1 (2017-08-28)

0.20.0 (2017-08-23)

update generated code in plugins
update generated code
geolib: datasets: warn when not installed; update install script; launch SIGINT when not installed (#778)
- geolib: make dataset install mandatory
- travis_ci: install python3; use geographiclib-datasets-download
- CMakeLists.txt: set datasets path
- travis_ci: create a path for the geoid dataset
- travis_ci: remove python3 install
- CMakeLists.txt: remove restriction regarding the geoid model
- CMakeLists.txt: only launch a warning if the geoid dataset is not installed
- CMakeLists.txt: simplify dataset path search and presentation
- scripts: install_geographiclib_datasets becomes version aware
- uas_data: dataset init: shutdown node if exception caught
- README: update GeographicLib info; geolib install script: check for more OS versions
- uas_data: small typo fix
- install_geolib_datasets: some fix
- CMakeLists.txt: be more clear on geoid dataset fault
- CMakeLists: push check geolib datasets to a cmake module
- travis_ci: update ppa repository
- uas_data: shutdown node and increase log level instead
- install_geographiclib_datasets: simplify script to only check download script version available
- uas_data: remove signal.h import
HIL Plugin
- add HilSensor.msg, HilStateQuaternion.msg, and add them in CMakeLists.txt
- Add hil_sensor.cpp plugin to send HIL_SENSOR mavlink message to FCU.
- fix HilSensor.msg. Make it more compact.
- Fix HilStateQuaternion.msg. Make it more compact.
- Add hil_state_quaternion plugin
- fix files: some variable names were wrong+some syntax problems
- fix syntax error in plugin .cpp files, make msg files match corresponding mavlink definitions
- fix plugin source files
- fix syntax
- fix function name. It was wrong.
- add HIL_GPS plugin
- add HilGPS.msg to CMakeList
- fix missing semicolon
- fix call of class name
- Add ACTUATOR_CONTROL_TARGET MAVLink message
- fix code
- increase number of fake satellites
- control sensor and control rates
- change control rate
- change control rate
- fix fake gps rate
- fix
- fix plugin_list
- fix
- remove unnecessary hil_sensor_mixin
- update HilSensor.msg and usage
- update HilStateQuaterion.msg and usage
- redo some changes; update HilGPS.msg and usage
- update hil_controls msg - use array of floats for aux channels
- merge actuator_control with actuator_control_target
- remove hil_sensor_mixin.h
- update actuator_control logic
- merge all plugins into a single one
- delete the remaining plugin files
- update description
- redo some changes; reduce LOC
- fix type cast on gps coord
- add HIL_OPTICAL_FLOW send based on OpticalFlowRad sub
- update authors list
- update subscribers names
- refactor gps coord convention
- add HIL_RC_INPUTS_RAW sender; cog protec msg structure and content
- apply correct rc_in translation; redo cog
- apply proper rotations and frame transforms
- remote throttle
- fix typo and msg api
- small changes
- refactor rcin_raw_cb
- new refactor to rcin_raw_cb arrays
- update velocity to meters
- readjust all the units so to match mavlink msg def
- update cog
- correct cog conversion
- refefine msg definitions to remove overhead
- hil: apply frame transform to body frame
apm_config.yaml: change prevent collision in distance_sensor id
Extras: add ardupilot rangefinder plugin
msgs fix #625: Rename SetMode.Response.success to mode_sent
[WIP] Plugins: setpoint_attitude: add sync between thrust and attitude (#700)
- plugins: setpoint_attitude: add sync between throttle and attitude topics to be sent together
- plugins: typo correction: replace throttle with thrust
- plugins: msgs: setpoint_attitude: replaces Float32Stamped for Thrust msg
- plugins: setpoint_attitude: add sync between twist and thrust (RPY+Thrust)
- setpoint_attitude: update the logic of thrust normalization verification
- setpoint_attitude: implement sync between tf listener and thrust subscriber
- TF sync listener: generalize topic type that can be syncronized with TF2
- TF2ListenerMixin: keep class template, use template for tf sync method only
- TF2ListenerMixin: fix and improve sync tf2_start method
- general update to yaml config files and parameters
- setpoint_attitude: add note on Thrust sub name
- setpoint_attitude: TF sync: pass subscriber pointer instead of binding it
apm_config: add mavros_extras/fake_gps plugin param config
px4_config: add gps_rate param
frame tf: move ENU<->ECEF transforms to ftf_frame_conversions.cpp
extras: mocap_fake_gps->fake_gps: generalize plugin and use GeographicLib possibilites
UAS: Share egm96_5 geoid via UAS class
Move FindGeographicLib.cmake to libmavconn, that simplify installation, simplify datasets instattator
Use GeographicLib tools to guarantee ROS msg def and enhance features (#693)
- first commit
- Check for GeographicLib first without having to install it from the beginning each compile time
- add necessary cmake files
- remove gps_conversions.h and use GeographicLib to obtain the UTM coordinates
- move conversion functions to utils.h
- geographic conversions: update CMakeLists and package.xml
- geographic conversions: force download of the datasets
- geographic conversions: remove unneeded cmake module
- dependencies: use SHARED libs of geographiclib
- dependencies: correct FindGeographicLib.cmake so it can work for common Debian platforms
- CMakeList: do not be so restrict about GeographicLib dependency
- global position: odometry-use ECEF instead of UTM; update other fields
- global position: make travis happy
- global position: fix ident
- global_position: apply correct frames and frame transforms given each coordinate frame
- global_position: convert rcvd global origin to ECEF
- global_position: be more explicit about the ecef-enu transform
- global position: use home position as origin of map frame
- global position: minor refactoring
- global position: shield code with exception catch
- fix identation
- move dataset install to script; update README with new functionalities
- update README with warning
- global_position: fix identation
- update HomePosition to be consistent with the conversions in global_position to ensure the correct transformation of height
- home|global_position: fix compile errors, logic and dependencies
- home position: add height conversion
- travis: update to get datasets
- install geo dataset: update to verify alternative dataset folders
- travis: remove dataset install to allow clean build
- hp and gp: initialize geoid dataset once and make it thread safe
- README: update description relative to GeographicLib; fix typos
- global position: improve doxygen references
- README: update with some tips on rosdep install
[WIP] Set framework to define offset between global origin and current local position (#691)
- add handlers for GPS_GLOBAL_ORIGIN and SET_GPS_GLOBAL_ORIGIN
- fix cast of encoding types
- refactor gps coord conversions
- uncrustify
- global_position: add LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET handler
- global_position: add trasform sender for offset
- global_origin: refactor covariance matrix
- global_position: update copyright
- global_position: add initial support to REP 105
- px4_config: global_position: update frame description
- global_position: correct identation
- global position: be consistent with frame and methods names (ecef!=wgs84, frame_id!=global_frame_id)
- global_position: updates to code structure
- global_position: fix identation
lib: frame_tf: Style fix
extras: odom: Minor fixes
extras: Add odom plugin
lib: frame_tf: Add support for 6d and 9d covariance matrices
Contributors: James Goppert, Nuno Marques, TSC21, Vladimir Ermakov, khancyr

0.19.0 (2017-05-05)

launch: remove setpoint-attitude from apm blacklist
lib: cleanup in enum_to_string
extras: Add ADSB plugin
plugin: home_position: Log poll
plugin: home_position: Log report
plugin #695: Fix plugin
plugin: Add home_position
Added SAFETY_ALLOWED_AREA rx handler (#689)
- Added SAFETY_ALLOWED_AREA rx handler and publish PolygonStamped msg with the 2 points
- add resize to array to avoid sigfault
lib: Fix millis timesync passthrough
Plugin: Add unstamped Twist subscriber for setpoint_velocity
uas: Move timesync_mode enum to utils.h + fixes That enum are used for utils too, but forward declaration of class internal enum is impossible.
sys_time: Add timesync mode selection parameter.
sys_time : add multi-mode timesync
uas : add multi-mode timesync
uas : add multi-mode timesync
launch fix #670: Add configuration of distance_sensor plugin for APM
Contributors: Kabir Mohammed, Nuno Marques, Pierre Kancir, Randy Mackay, Vladimir Ermakov

0.18.7 (2017-02-24)

readme: Add serial-hwfc:// proto
trigger interface : rename to cycle_time to be consistent with PX4
Contributors: Kabir Mohammed, Vladimir Ermakov

0.18.6 (2017-02-07)

lib #626: Porting of PR #650 - Fix OSX pthread set name.
uas fix #639: Remove Boost::signals2 from UAS
Plugins: system_status change status field to system_status Add comment to State.msg for system_status enum
Plugins: add system_status to state message
Contributors: Fadri Furrer, Pierre Kancir, Vladimir Ermakov

0.18.5 (2016-12-12)

lib: update ArduPilot modes
Contributors: Randy Mackay

0.18.4 (2016-11-11)

lib: Add ArduSub modes
readme: Fix mavlink rosinstall_generator call
mavros: README.md: its -> it's Here "it's" is a short form for "it is".
add hil_actuator_controls mavlink message
lib: Make cog.py scrips compatioble with Py3
plugin:sys_status: Add logging health report
Update README for all packages
Update README.md Fix instructions: Only the Kinetic distro actually works for MAVLink 2.0
Contributors: Beat Kung, Georgii Staroselskii, Lorenz Meier, Vladimir Ermakov

0.18.3 (2016-07-07)

plugin:param: Use mavlink::set_string() helper
Update README.md
Update README.md Fix very confusing instructions mixing steps.
Update README.md
Update README.md
python #569: convert_to_rosmsg() support for 2.0. NO SIGNING.
python #569: Update mavlink.convert_to_bytes()
Contributors: Lorenz Meier, Vladimir Ermakov

0.18.2 (2016-06-30)

plugin:sys_status: Fix STATUSTEXT log prefix
Contributors: Vladimir Ermakov

0.18.1 (2016-06-24)

lib: Fix base mode flag check
plugins: Move pluginlib macros.h to tail
plugin:param fix #559: Ignore PX4 _HASH_CHECK param
Contributors: Vladimir Ermakov

0.18.0 (2016-06-23)

lib #439: MAV_CMD to_string is not required.
plugin:sys_status #458: Hanlde BATTERY_STATUS (PX4)
plugin:sys_status fix #458: Use sensor_msgs/BatteryState message. Minimal data, for all other need to handle BATTERY_STATUS.
plugin:command fix #561: PX4 now sends COMMAND_ACK. And like APM do not check confirmation field. :)
readme #544: add udp-b://@ URL
plugin:hil_controls: Update plugin API
Merge branch 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros into pvechersky-feature/hil_controls_plugin * 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros: Adding anchor to the HIL_CONTROLS message reference link Ran uncrustify on hil_controls plugin Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation Added a plugin that publishes HIL_CONTROLS as ROS messages
node: fix subscription message type checks
plugin: use mavlink::to_string() for std::array<char, N>
readme: update CI, no more MAVLINK_DIALECT
plugin:waypoint: Fix target id's on MISSION_ITEM
node: Add ~fcu_protocol parameter
Ran uncrustify on hil_controls plugin
Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation
node: set gcs_url on internal GCS bridge diag hardware Id
plugins: Use UAS::msg_set_target()
Added a plugin that publishes HIL_CONTROLS as ROS messages
lib: PX4 add AUTO.FOLLOW_TARGET
mavros: Update tests
extras: Update UAS
UAS: Update plugins for FTF module
UAS: move enum stringify functions
lib: Generate MAV_SENSOR_ORIENTATION
UAS: move MAV_SENSOR_ORIENTATION out
UAS: Move transformation utilities to ftf module
plugin:rc_io: Fix log printf-format warning
make GCC 4.8 happy. (travis)
gcs_bridge: done
param:ftp: Update API
plugin:param: Works. Tested on APM
plugin:param: Update, almost work
plugin:waypoint: Fix Item - ROS binding
Message type mismatch code do not work
plugin:waypoint: Update API
plugin:sys_time: Update API
plugin:sys_status: Update API
plugin:setpoint_raw: Update API
plugin:setpoint_attitude: Update API
plugin:setpoint_accel: Update API
plugin:setpoint_velocity: Update API
plugin:setpoint_position: Update API
plugin:vfr_hud: Update API
plugin:safety_area: Update API
plugin:rc_io: Update API
plugin:manual_control: Update API, fix uas init
plugin:local_position: Update API
plugin:imu_pub: Update API
plugin:global_position: Update API
mavros: make_handle() this shouldn't be const
plugin:common: Update API
plugin:altitude: uncrustify
plugins: Rutine sed + fix misprint
plugin:altitude: Update API
plugins: Automatic replacement of routine API changes (sed)
plugin:actuator_control: Update API
plugin:3dr_radio: Update API
node: Update plugin loading and message routing
node: type_info -> SIGSEGV
node: prepare new plugin loading
node: Rename plugib base class - API incompatible to old class
labmavconn: finding sigsegv
Contributors: Pavel, Vladimir Ermakov

0.17.3 (2016-05-20)

libmavconn #543: support build with mavlink 2.0 capable mavgen
node: Remove warning about MAVLINK_VERSION redefine
Fix bug with orientation in setpoint_raw plugin Fixes a bug where the ned_desired_orientation was not actually passed into set_attitude_target. Instead, the desired_orientation (wrong frame) was passed.
Contributors: Justin Thomas, Vladimir Ermakov

0.17.2 (2016-04-29)

Update README.md
Update README.md Updated / completed examples.
Update README.md
Fix for kinetic std::isnan.
Contributors: James Goppert, Lorenz Meier

0.17.1 (2016-03-28)

lib: Add QLAND mode of APM:Plane https://github.com/mavlink/mavlink/commit/a0ed95c3a7d97a8f8d86ce3f95c4bf269f439c46
Update contributing guide We forgot to mention uncrustify commit.
Treat submarine vehicles like copter vehicles
Contributors: Josh Villbrandt, Vladimir Ermakov

0.17.0 (2016-02-09)

update README
rebased with master
Fixed ROS_BREAK
Updates for ROS_BREAK and code style
Nitpicks and uncrustify
Updated frame transformations and added odom publisher to local position plugin
Contributors: Eddy, Vladimir Ermakov, francois

0.16.6 (2016-02-04)

node fix #494: Report FCU firmware type in rosonsole log
scripts fix #478: Remove guided_enable garbage. I'm missed this when do #407.
Contributors: Vladimir Ermakov

0.16.5 (2016-01-11)

scripts: mavwp #465: Remove WaypointGOTO from scrips and python library
node: Report mavlink package version
lib: Add APM:Plane QuadPlane modes. Sync with: https://github.com/mavlink/mavlink/commit/1fc4aef08a54130f297943c246f95b8c7e37b1bf
readme: pixhawk dialect removed.
Contributors: Vladimir Ermakov

0.16.4 (2015-12-14)

scripts: checkid: be always verbose, add --follow
scripts: fix copyright indent
scripts: mavcmd: Fix bug: param7 not passed to service call!
scripts #382: Add ID checker script. It is not complete, but i hope it helps in current state.
scripts: mavcmd: Add support for broadcast requests
event_launcher: fix bug: Trigger service server is not saved in Launcher Also fixes: environment variables may contain ~ (user dir) in expansion.
using timestamp from mavlink message
Update mavlink message documentation links
lib: update MAV_TYPE stringify
lib: Add RATTITUDE PX4 mode
remove "altitude_" prefix from members
updated copyright
implemented altitude plugin
Contributors: Andreas Antener, Vladimir Ermakov

0.16.3 (2015-11-19)

use safe methods to get imu data in local_position plugin
Contributors: Andreas Antener

0.16.2 (2015-11-17)

transform yaw and yaw rate from enu to ned
Contributors: Andreas Antener

0.16.1 (2015-11-13)

python: fix import error of goto service
don't warn anymore about px4 not supporting rc_io
Contributors: Andreas Antener, Vladimir Ermakov

0.16.0 (2015-11-09)

lib: Update ArduCopter mode list
plugin: sys_status #423: set_mode set arming and HIL flags based on previous state
lib #423: Save base_mode in UAS.
Finalized local position topic names
readme: add link to catkin-tools docs
readme #409: merge mavlink and mavros installation instruction
Fixed redundant rotation of IMU data and redundant orientation data
plugin: setpoint_raw fix #418: add attitude raw setpoint Related #402.
Added velocity output of FCU's local position estimate to ROS node
plugin: sys_status fix #417: remove APM statustext quirk
plugin: waypoint fix #414: remove GOTO service. It is replaced with more standard global setpoint messages.
plugin: setpoint_raw fix #415: add global position target support Related to #402.
plugin: command fix #407: remove guided_enable sevice
plugin: setpoint_raw #402: implement loopback.
plugin: setpoint_raw #402: Initial import.
readme fix #410: use only catkin tool
readme: add defaults for URL
pass new extended state to ros
python: add util to convert pymavlink message to Mavlink.msg
python: convert input to bytearray
python: add payload convertion util
gcs_bridge #394: enable both UDPROS and TCPROS transports
EL: add try-except on handlers
event_launcher: show logfile path
event_launcher #386: expand shell vars for logfile
Mavros library depends on mavros_msgs headers Adding this dependency makes sure that mavros_msgs message headers are generated before the mavros library is built, since it needs those headers.
Contributors: Andreas Antener, Eddy, Jon Binney, Vladimir Ermakov

0.15.0 (2015-09-17)

lib: fix timesync uninit bug. Uninitialized variable caused wrong timestamps with APM.
python #286: use checksum - save ticks
script #385: output to log-file
script #385: remove RosrunHandler and RoslaunchHandler
script #385: attempt to implement rosrun fails. ROSLaunch class wants all node operations from main thread. That is not possible.
script #385: fix shell-killer, but logging are broken and removed
script #385: shell-launcher now works!
script #385: add example configuration
script #385: shell handler done. next - rosparam handling
script #385: starting work on simple shell launcher
scripts: starting event_launcher
python: Remove unneded slice operation. Fix copyright year. [list[:len(list)]]{.title-ref} is equal to [list]{.title-ref}, but creates new list with data from that slice.
updated mavlink byte buffer conversion
plugin: manual_control: Use shared pointer message Fix alphabetic order of msgs.
python: add helper for converting mavros_msgs/Mavlink to pymavlink
Add MANUAL_CONTROL handling with new plugin
Contributors: Andreas Antener, Vladimir Ermakov, v01d

0.14.2 (2015-08-20)

0.14.1 (2015-08-19)

package: Fix depend on rosconsole-bridge
Removed <remap>
Contributors: Vladimir Ermakov, devbharat

0.14.0 (2015-08-17)

python: call of mavros.set_namespace() is required.
scripts: mavftp fix #357: add verify command
scripts: mavftp #357: progressbar on download operation
scripts: mavftp #357: progress bar for upload operation.
scripts: mavftp: New command [cd]{.title-ref}. All path arguments now may handle relative paths.
readme: fix frame tansform section
mavros: readme: update info on frame conversions
mavros: readme: update contribution steps
node: Replace deprecated copy functions. Also allow mavlink to & from topics to be namespaced.
extras: scripts: use API from mavros module
scripts: fix for new message location
python: update mavros lib to new message location
package: remove not exist dependency
plugin: waypoint: Fix message include
plugin: vfr_hud: Fix message include
plugin: rc_io: Fix message include
plugin: param: Fix message include
plugin: ftp: Fix message include
plugin: sys_status: Fix message include
plugin: command: Fix message include
plugin: 3dr_radio: Fix message include
plugin: actuator_control: Fix message include.
msgs: update copyright year
msgs: deprecate mavros::Mavlink and copy utils.
msgs: change description, make catkin lint happy
msgs #354: move all messages to mavros_msgs package.
Minor typo fix.
node: increase diag timer to 2 Hz
node: move diagnostic to AsyncSpinner threads.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.13.1 (2015-08-05)

lib #358: cleanup. Replace UAS::getYaw() with UAS::quaternion_get_yaw().
lib #358: found correct getYaw(). Test for each degrees in -180..180.
test #358: test more different angles. Compare rotation result.
lib #358: try to implement algo from wikipedia.
lib #358: still failing. add recursive test for range -Pi..+Pi
lib #358: try solve issue using older eulerAngles()
lib #358: remove to_rpy test
Merge branch 'master' of github.com:mavlink/mavros * 'master' of github.com:mavlink/mavros: global_position: move relative_alt and compass_heading init back add nav_msgs to dependencies so to make Travis happy global_position: update pose and twist to odom msg
test fix #359: split out quaternion tests.
lib #359: move quaternion utils.
global_position: move relative_alt and compass_heading init back
add nav_msgs to dependencies so to make Travis happy
global_position: update pose and twist to odom msg
test #358: add tests for negative values and quaternion_to_rpy tf2 compatibility check Tests now fails!
sctipts: fix gps topic path
lib: fix input validation in UAS::orientation_from_str()
test: add case for num str->sensor orientation
package: fix CHANGELOG.rst
Contributors: TSC21, Vladimir Ermakov

0.13.0 (2015-08-01)

plugin: setpoint_attitude #352: use new helper.
plugin: sys: Fix cppcheck and YouCompleteMe warnings
plugin: ftp: Fix cppcheck errors.
lib #352: Add helper function UAS::quaternion_to_mavlink()
Fixed bug in send_attitude_target() The transformed quaternion wasn't being passed to set_attitude_target(), resulting in an incorrect attitude setpoint. I've now fixed this issue.
scripts: fix mavwp
test: add test cases for new sensor orientation functions
remove tf1 dep
lib #319: Remove TF types from UAS
plugin: param: new message type: ParamValue
msgs: Move MAV_CMD values to separate msg
plugin: command: fix build
fix whitespaces in python scripts
Merge pull request #312 from mhkabir/cam_imu_sync Camera IMU synchronisation support added
Added launch file for PX4 posix sitl to launch gcs_bridge node for bridging posix and gazebo
scripts: mavftp: little speed up by aligning access to payload length
launch: Add optional log_output arg
Merge branch 'orientation_enum_name' * orientation_enum_name: distance_sensor #342: correct orientation parameter handling. lib #342: try to convert numeric value too px4_config: adapt to distance_sensor params to new features distance_sensor: restructure orientation matching and verification lib #342: Added sensor orientation string repr.
lib #342: try to convert numeric value too
px4_config: adapt to distance_sensor params to new features
lib #342: Added sensor orientation string repr.
launch: update local_position conf
test: Add test for UAS::sensor_orientation_matching()
Update cmake Eigen3 finding rules. Migration described at: http://wiki.ros.org/jade/Migration#Eigen_CMake_Module_in_cmake_modules
lib #319, #341: preparation for str->MAV_SENSOR_ORIENTATION func
lib #319: Return quaternion from UAS::sensor_matching()
lib: Remove unneded NodeHandle
launch fix #340: update default component id of PX4.
plugin: sys_status: Add fallback to adressed version request.
Can not remove tf package before #319 is done. tf::Vector3 and other tf1-bullet still in use.
plugin: sys_status: Use broadcast for version request.
fix #71: replace depend tf to tf2_ros.
plugin: Use UAS::syncronized_header() for reduce LOC.
lib #319: use similar names for covariances as eigen vector
lib #319: transform_frame() for Covariance3x3
lib #319: remove unused bullet based transform_frame()
extras: vision_pose #71: Use TF2 listener. Also #319.
plugin #71: Implement TF2 listener. Change param names. Breaks extras.
uas #71: Use single TF2 objects for broadcasting and subscription.
launch: Update configs.
lib: Add UAS::quaternion_to_rpy()
plugin: safety_area #319: Change transform_frame()
plugin: local_position #71 #319: port to TF2 and Eigen
lib: Add UAS::synchonized_header()
plugin: command: Add command broadcasting support.
Perform the autopilot version request as broadcast
lib: Update PX4 mode list
plugin: global_position #325: port tf broadcaster to tf2 Also #71.
plugin: global_position #325: reenable UTM calc
plugin: gps #325: remove gps plugin.
plugin: global_position #325: merge gps_raw_int handler
plugin: setpoint_accel #319: use eigen frame transform. I don't think that PX4 support any other frame than LOCAL_NED. So i removed comment. Also style fix in setpoint_velocity.
plugin: setpoint_velocity #319: use eigen based frame transform.
plugin: setpoint_position #273: remove PX4 quirk, it is fixed.
plugin: ftp: Update command enum.
plugin: imu_pub fix #320: move constants outside class, else runtime linkage error.
plugin: imu_pub #320: first attempt
eigen #319: handy wrappers.
eigen #319: add euler-quat function. Also #321.
test #321: remove duplicated test cases, separate by library. Add test for checking compatibility of tf::quaternionFromRPY() and Eigen based math.
test #321: testing eigen-based transforms. We should check what convention used by tf::Matrix to be sure that our method is compatible.
mavros #319: Add Eigen dependency and cmake rule.
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
cam_imu_sync : fix running
imu_cam_sync : fix formatting
command handling in mavcmd for camera trigger
Camera IMU synchronisation support added
Contributors: Anurag Makineni, Lorenz Meier, Mohammed Kabir, TSC21, Vladimir Ermakov, devbharat

0.12.0 (2015-07-01)

plugin: sys_time, sys_status #266: check that rate is zero
test #321: disable tests for broken transforms.
lib #321: frame transform are broken. again! revert old math. RULE for me: do not accept patch without wide testing from author. That PR changes all plugins code, instead of do API, test and only after that touching working code. My bad.
unittest: added 6x6 Covariance conversion test
frame_conversions: update comments; filter covariance by value of element 0
unittests: corrected outputs from conversion tests
test: other quaternion transform tests
test: UAS::transform_frame_attitude_q()
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
coverity: make them happy
uncrustify: fix style on frame conversions
uncrustify: includes
plugin: sys_status #266: replace period with rate parameter
plugin: sys_time #266: Replace period with rate parameters
frame_conversion: last fix patch
frame_conversions: use inline functions to identify direction of conversion
changed frame conversion func name; add 3x3 cov matrix frame conversion; general doxygen comment cleanup
frame_conversions: added covariance frame conversion for full pose 6x6 matrix
frame_conversions: added frame_conversion specific lib file; applied correct frame conversion between ENU<->NED
sys_status #300: PX4 place in [0] lest significant byte of git hash.
sys_status fix #300: fix u8->hex func.
plugin: waypoint: cosmetics.
vibration_plugin: first commit
Changes some frames from world to body conversion for NED to ENU.
mavsys #293: add --wait option
mavsys: Fix arguments help
mavcmd #293: Add --wait option. New function: util.wait_fcu_connection(timeout=None) implement wait option.
sys_status #300: AUTOPILOT_VERSION APM quirk
mavros #302: fix style
mavros #302: split UAS impl by function blocks
mavros fix #301: move sensor orientation util to UAS
distance_sensor: typo; style fixe
sensor_orientation: list values correction
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: use MAX as last index macro
distance_sensor: changed to usable config
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: updated orientation enum; updated data type
sensor_orientation: included array type on utils.h
sensor_orientation: added sensor orientation matching helper func
distance_sensor: updated config file
distance_sensor: define sensor position through param config
distance_sensor: array limiting; cast correction; other minor correc
distance_sensor: small enhancements
sys_status #293: initialize state topic
sys_status #293: expose connection flag in mavros/State.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.11.2 (2015-04-26)

plugin: param fix #276: add check before reset request downcounter. If on MR request FCU responses param with different [param_index]{.title-ref} do not reset repeat counter to prevent endless loop.
gcs bridge fix #277: add link diagnostics
plugin: setpoint_position #273: add quirk for PX4.
readme: fir glossary misprint
readme: add notes about catkin tool
Contributors: Vladimir Ermakov

0.11.1 (2015-04-06)

scripts #262: update mavwp
scripts #262: mavsetp, new module mavros.setpoint
mavftpfuse #129: cache file attrs
mavparam #262: use get_topic()
mavsys #262: use get_topic()
mavcmd #262: use get_topic()
mavftp #263, #262: use crc32 checksums
python #262: add get_topic()
Update local_position.cpp removed irritating comment
readme: add short glossary
plugin: setpoint_attitude: remove unneded ns
Contributors: Marcel Stuettgen, Vladimir Ermakov

0.11.0 (2015-03-24)

plugin: setpoint_position #247: rename topic
launch #257: rename blacklist.yaml to pluginlists.yaml
node #257: implement while list.
plugin: actuator_control #247: update topic name.
mavros: Initialize UAS before connecting plugin routing. Inspired by #256.
plugin: sys_status: Check sender id. Inspired by #256.
plugin: sys_status: Use WARN severity for unknown levels
uas: Add [UAS::is_my_target()]{.title-ref} Inspired by #256.
plugin: global_position: Fill status and covariance if no raw_fix. Additional fix for #252.
launch: change apm target component id APM uses 1/1 (sys/comp) by default.
plugin: sys_status: publish state msg after updating uas Before this commit, the custom mode string published in the state message was computed using the autopilot type from the previous heartbeat message--not the autopilot type from the current hearbeat message. Normally that isn't a problem, but when running a GCS and mavros concurrently, both connected to an FCU that routes mavlink packets (such as APM), then this causes the custom mode to be computed incorrectly, because the mode string for the GCS's hearbeat packet will be computed using the FCU's autopilot type, and the mode string for the FCU's heartbeat packet will be computed using the GCS's autopilot type.
plugin: global_position: fix nullptr crash This fixes a crash in cases where a GLOBAL_POSITION_INT message is received before a GPS_RAW_INT message, causing the [gps_fix]{.title-ref} pointer member to be dereferenced before it has been set.
msgs: fix spelling, add version rq.
coverity: init ctor in 3dr_radio
launch fix #249: update apm blacklist
launch: rename APM2 to APM.
launch #211: update configs
plugin: gps: remove unused param
plugin: sys_time: remove unused param
launch fix #248: remove radio launch
plugin: 3dr_radio #248: add/remove diag conditionally
plugin: sys_status: move connection params to ns
plugin: sys_time: fix #206 (param ns)
node: Inform what dialect built-in node
plugin: sys_status: Conditionaly add APM diag
plugin: sys_status: fix #244
uas #244: add enum lookups
package: update lic
license #242: update mavros headers
plugin: local_positon: use auto
plugin: imu_pub: Update UAS store.
plugin: gps: remove diag class, change UAS storage API.
plugin api #241: move diag updater to UAS.
plugin api #241: remove global private node handle. Now all plugins should define their local node handle (see dummy.cpp). Also partially does #233 (unmerge setpoint topic namespace).
plugin api #241: remove [get_name()]{.title-ref}
package: mavros now has any-link proxy, not only UDP
Update years. I left gpl header, but it is BSD too.
Add BSD license option #220
plugin: sys_status: AUTOPILOT_VERSION support. Fix #96.
mavros fix #235: Use AsyncSpinner to allow plugins chat. Old single-threaded spinner have a dead-lock if you tried to call a service from for example timer callback. For now i hardcoded thread count (4).
uncrustify: actuator_control
Merge branch 'master' of github.com:mstuettgen/Mavros
fixed missing ;
code cosmetics
further removed unneeded white spaces and minor code cosmetics
fixed timestamp and commented in the not-working function call
code cosmetics, removed whitespaces and re-ordered function signatures
more code comment cosmetic
code comment cosmetic
uncrustify: fix style
readme: add contributing notes
uncrustify: mavros base plugins
uncrustify: mavros lib
uncrustify: mavros headers
tools: add uncrustify cfg for fixing codestyle Actually it different from my codestyle, but much closer than others.
added more const to function calls to ensure data consistency
modified code to fit new message
added group_mix to ActuatorControl.msg and a link to mixing-wiki
plugin: rc_io: Add override support warning
REALLY added ActuatorControl.msg
added ActuatorControl.msg
fixed latest compiler error
renamed cpp file to actuator_control.cpp and added the new plugin to mavros_plugins.xml
removed unneeded Mixinx and reverse_throttle, and unneeded variables in function signatures
inital draft for set_actuator_control plugin
launch: enable setpoint plugins for APM As of ArduCopter 3.2, APM supports position and velocity setpoints via SET_POSITION_TARGET_LOCAL_NED.
plugin: setpoint_velocity: Fix vx setpoint vz should have been vx.
Contributors: Clay McClure, Marcel Stuettgen, Vladimir Ermakov

0.10.2 (2015-02-25)

Document launch files
launch: Fix vim modelines #213
launch #210: blacklist image_pub by px4 default. Fix #210.
Contributors: Clay McClure, Vladimir Ermakov

0.10.1 (2015-02-02)

Fix \@mhkabir name in contributors.
uas #200: Add APM:Rover custom mode decoding. Fix #200.
uas #200: Update APM:Plane and APM:Copter modes.
Contributors: Vladimir Ermakov

0.10.0 (2015-01-24)

mavros #154: Add IO stats to diagnostics. Fix #154.
Add rosindex metadata
plugin: ftp: init ctor.
plugin: sts_time: Code cleanup and codestyle fix.
plugin: command: Quirk for older FCU's (component_id) Older FCU's expect that commands addtessed to MAV_COMP_ID_SYSTEM_CONTROL. Now there parameter: [~cmd/use_comp_id_system_control]{.title-ref}
plugin: rc_io: #185 Use synchronized timestamp.
plugin: gps: #185 use synchronized timestamp common.xml tells that GPS_RAW_INT have time_usec stamps.
uas: Fix ros timestamp calculation. Issues: #186, #185.
plugin: add synchronisation to most plugins (fixed) Closes #186.
readme: Add notes about coordinate frame conversions #49
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.4 (2015-01-06)

plugin: sys_time: enable EMA
Contributors: Mohammed Kabir

0.9.3 (2014-12-30)

plugin: visualization finshed
Restore EMA. Works better for low rates.
Update sys_time.cpp
plugin : add time offset field to dt_diag
Final fixes
minor
plugin : fixes timesync. FCU support checked.
Visualisation system import
param: Fix float copying too
param: Fix missing
param: Trynig to fix 'crosses initialization of XXX' error.
param: Try to fix #170.
Update units
New message, moving average compensation
Initial import new sync interface
plugin: sys_status: Enable TERRAIN health decoding.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.2 (2014-11-04)

0.9.1 (2014-11-03)

Update installation notes for #162
Contributors: Vladimir Ermakov

0.9.0 (2014-11-03)

0.8.2 (2014-11-03)

REP140: update package.xml format. Hydro don't accept this format correctly, but after split i can update.
Contributors: Vladimir Ermakov

0.8.1 (2014-11-02)

fix build deps for gcs_bridge
mavconn #161: Enable rosconsole bridge.
mavconn #161: Move mavconn tests.
mavconn #161: Fix headers used in mavros. Add readme.
mavconn #161: Fix mavros build.
mavconn #161: Move library to its own package Also rosconsole replaced by console_bridge, so now library can be used without ros infrastructure.
plugin: sys_time: Set right suffixes to uint64_t constants. Issue #156.
plugin: sys_time: Add time syncronization diag. Issue #156.
plugin: sys_time: Debug result. Issue #156.
plugin: Store time offset in UAS. TODO: implement fcu_time(). Issue #156.
plugin: sys_time: Fix code style. Also reduce class variables count (most not used outside the method). Issue #156.
Update repo links. Package moved to mavlink organization.
Nanosecond fix
Fix
Fixes
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update CMakeLists.txt
Update mavros_plugins.xml
Update sys_time.cpp
Fix build
sys_time import. Removed all time related stuff from gps and sys_status
Initial sys_time plugin import
plugin: ftp: Bytes written now transfered in payload.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.8.0 (2014-09-22)

plugin: ftp: Disable debugging and change level for some log messages. Issue #128.
plugin: ftp: Translate protocol errors to errno. Issue #128.
scripts: mavftp: Add upload subcommand. Issue #128.
python: Add more ftp utils. Issue #128.
plugin: ftp: Fix write offset calculation. Issue #128.
plugin: ftp: Add . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add support for . Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Add
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Move common mission classes to mavros.mission module. Issue #157.
python: Move useful utils to mavros.param module. Issue #157.
python: Move common utils to mavros.utils module. Issue #157.
python: Create python module for ftp utils. Issue #128, #157.
scripts: ftp: Implement file-like object for IO. Issue #128.
plugin: ftp: Implement write file. Issue #128.
scripts: mavftp: Add remove subcommand. Issue #128.
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add response errno from server.
plugin: ftp: Add support for 'Skip' list entries. Issue #128.
scripts: mavftp: Add mkdir/rmdir support. Issue #128.
plugin: ftp: Add mkdir/rmdir support. Issue #128.
plugins: ftp: Update protocol headers. Issue #128.
Revert "Update package.xml format to REP140 (2)." This reverts commit 81286eb84090a95759591cfab89dd9718ff35b7e. ROS Hydro don't fully support REP140: rospack can't find plugin descriptions. Fix #151.
scripts: mavwp: Fix --follow mode
plugin: imu_pub: Fix RAW_IMU/SCALED_IMU angular scale constant. Fix #152.
launch: remove px4_local_gcs.launch again. It removed in 826be386938c2735c9dab72283ba4ac1c68dc860, but accidentally returned.
extras: launch: Use includes. Fix #144.
launch: PX4: use node.launch in PX4 scripts. Also remove px4_local_gcs.launch: please use [roslaunch mavros px4.launch gcs_url:=udp://\@localhost]{.title-ref} instead. Issue #144.
launch: APM2: Add node.launch and update apm scripts to use it. Issue #144.
plugin: command: Fix CommandInt x,y types.
Update package.xml format to REP140 (2). Fix #104.
launch: Blacklist FTP for APM.
scripts: mavwp: Add decoding for some DO-* mission items.
scripts: mavwp: Add preserve home location option at load operation. Useful if FCU stores home location in WP0 (APM).
Added src location.
Updated README wstool instructions.
plugin: ftp: Init ctor
service: mavftp: Initial import. Issue #128.
plugin: ftp: Implemnet reset call. Sometimes kCmdReset can restore normal operation, but it might be dangerous. Issue #128.
plugin: ftp: Implement call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Fix open error. Issue #128.
plugin: ftp: Implement (read) and . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement method. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement list parsing Issue #128.
plugin: ftp: Fix CRC32 calculation. Issue #128.
plugin: ftp: Add plugin skeleton. Based on QGroundContol QGCUASFileManager.h/cc. Issue #128.
plugin: ftp: Add size info
plugin: ftp: Add plugin service API. Issue #128.
plugin: vfr_hud: Initial import. Also this plugin publish APM specific WIND estimation message. Fix #86.
node: coverity fails at UAS initilizer list
plugin: setpoint_attitude: Init ctor, remove code dup.
cmake: Add check MAVLINK_DIALECT value Fix #139.
Move common cmake rules to modules. Same mech as in [cmake_modules]{.title-ref} package. Issue #139.
launch: corrected launch for gcs bridge
scripts: mavsetp: Fix misprint.
launch files: added px4 launch files for connection with radio and gcs
scripts: mavsetp: Fix twist.angular vector construction. Small style fix.
Update doxygen documentation. Add split lines in UAS, and make UAS.connection atomic. Add rosdoc configuration for mavros_extras.
scripts: mavsetp: corrected API; added possibility of parse angles in dg or rad
scripts: mavsetp: corrected msg API; mavteleop: added prefix to rc override
scripts: mavsetp: added local accel; corrected how the OFFBOARD mode is swtch.
scripts: mavsetp: changed the way offboard mode is switched
node: init ctor (coverity)
nodelib: add std::array header
return msg generator deps for mavconn
scripts: mavsys: Implement set rate command.
scripts: Add mavsys tool. Implented only [mode]{.title-ref} operation. Issue #134.
plugin: sys_status: Implement set_mode service. Previous command shortcut removed. Issue #136, #134.
node: Implement reverse mode lookup. Issue #136.
plugin: sys_status: Move custom mode decoder to UAS. Issue #136.
node: Catch URL open exception. Also update connection pointer type.
nodelib: move sources to subdir
node: Move UAS to mavros namespace
node: Move node code to library.
node: Catch DeviceError; use C++11 foreach shugar.
plugin: command: Add COMMAND_INT suport. Fix #98.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov

0.7.1 (2014-08-25)

plugins: setpoint: Update SET_POSITION_TARGET_LOCAL_NED message. Fix #131.
scripts: mavsetp: Enable OFFBOARD mode. Issue #126.
plugin: command: Add guided_enable shortcut It enable PX4 OFFBOARD mode. Issue #126.
scripts: Add mavsetp script. Only local setpoint for now. Issue #126.
plugins: Change UAS FCU link name. Reduce smart pointer count, that hold fcu link object.
scripts: mavcmd: Add takeoffcur and landcur commands Fix #91, #92. Inspired by #125.
Closes #122, closes #123; plugins: move mocap & vision plugins to extras, change vision plugins name
plugins: UAS remove std::atomic<double> It don't work at some compilers. Issue #89.
plugin: global_position: Fill NavSatFix status filed. Issue #87, #118.
plugins: Add GPS data to UAS
plugins: Move setpoint_mixin.h Fix #120.
plugin: mocap: Fix load. Issue #121.
plugins: global_position: get pose orientation from the one stored in uas
plugins: global_position: use relative_alt on position.z; mavros_plugins.xml - corrected declaration of mocap_pose_estimate
plugin - global_position - changed parameter path / orientation source
launch: APM2 blacklist global_position plugin
plugin: global_position: Unit unification.
plugin: global_position: Move heaedr; Style fix.
added rel_pos and compass_hdg pub; minor corrections
Merge branch 'master' of https://github.com/vooon/mavros into global_position
global_position plugin - initial commit
launch: APM2 blacklist mocap plugin.
Updated mavros_plugins.xml
Fixed dual sources error warning.
Fixed styles.
Minor changes.
added time stamp to received msgs
Removed un-needed times.
Added mocap_pose_estimate plugin.
Code style update
setpoint attitude change - warning message
Update on setpoint_attitude plugin
- changed Twist to TwistStamped
- added reverse_throttle option for throttle control
- use cmd_vel as the same topic to control linear a angular velocities (it's commonly used by controllers)
- added normalization filter to thrust
node: Remove deprecated conn parameters. Fix #108
plugin: vision_speed: Update plugin API.
plugin: setpoint_attitude: Update plugin API.
plugin: setpoint_accel: Update plugin API.
plugin: setpoint_velocity: Update plugin API.
plugin: 3dr_radio: Update plugin API.
plugin: safety_area: Update plugin API.
plugin: setpoint_position: Update plugin API.
plugin: vision_position: Update plugin API.
plugin: local_position: Update plugin API.
plugin: command: Update plugin API.
plugin: rc_io: Update plugin API.
plugin: waypoint: Update plugin API.
plugin: param: Update plugin API.
plugin: gps: Update plugin API.
plugin: imu_pub: Update plugin API.
plugin: sys_status: Update plugin API.
plugin: Update plugin API.
plugins: disable most of plugins
plugin: setpoint_attitude: Add thrust topic. Fix #106.
Fix URLs in readme
mavros -> ros-message parameter fix only parameter1 was forwarded into the ros message
Switch travis to pixhawk dialect. Default dialect build by ros buildfarm. Also remove duplicate ci statuses from mavros readme.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov, mthz

0.7.0 (2014-08-11)

Add package index readme, Fix #101
move mavros to subdirectory, #101
Merge branch 'master' of github.com:vooon/mavros * 'master' of github.com:vooon/mavros: Add link to ros-*-mavlink package wiki page.
plugins: setpoint: Update setpoint message name. Issue #94, Fix #97.
plugin: setpoint_attitude: Update message name. Issues #94, #97.
Add link to ros-*-mavlink package wiki page.
plugin: gps: Fix gcc 4.6 build (atomic). Not recommended to use std::atomic with gcc 4.6. So i limited to prederined atomics for simple types like int, float etc.
plugin: sys_status: Implement PX4 mode decoding. Fix #84.
plugin: gps: Add EPH & EPV to diagnostic. Issue #95
plugin: gps: Move message processing to individual handlers. Issue #95.
plugin: rc_io: Replace override service with topic. (ROS API change). Fix #93.
Add dialect selection notes
plugins: Change severity for param & wp done messages.
plugins: Store raw autopilot & mav type values. This may fix or not issue #89.
plugins: init ctor (coverity)
plugin: imu_pub: Add ATTITUDE_QUATERNION support. Also reduce copy-paste and use mode readable bitmask check. Fix #85.
scriptis: mavcmd: Spelling
scripits: Add mavcmd tool
Add links to mavros_extras
param: sys_status: Option to disable diagnostics (except heartbeat)
plugin: command: Add takeoff and land aliases. Issue #68.
plugin: command: Add quirk for PX4. Fix #82.
plugin: Add UAS.is_px4() helper. Replace some locks with atomic. Issue #82.
launch: Clear PX4 blacklist. Issue #68.
launch: Add target ids. Also fix PX4 wrong ?ids usage (it set mavros ids, not target). Issue #68.
plugin: imu_pub: Fix HRIMU pressure calc. 1 mBar is 100 Pa. Fix #79.
plugins: C++11 chrono want time by ref, return *_DT Fix #80.
plugins: Replace boost threads with C++11. And remove boost thread library from build rules. Issue #80.
plugins: Replace Boost condition variables with C++11 Issue #80.
plugins: Replace boost mutexes with C++11. Issue #80.
travis clang to old, fails on boost signals2 library. disable.
travis: enable clang build.
node: Make project buildable by clang. Clang produce more readable errors and provide some static code analysis, so i want ability to build mavros with that compilator.
plugins: replace initial memset with c++ initializer list
launch: PX4 default ids=1,50. Also waypoint plugin works (with first_pos_control_flight-5273-gd3d5aa9). Issue #68.
launch: Use connection URL
plugin: vision_speed: Initial import. Fix #67.
plugin: sys_status: Add SYSTEM_TIME sync send. Fix #78.
plugin: sys_status: Decode sensor health field. Fix #75.
Add ci badges to readme
plugin: param: erase invalidates iterator. Real error found by coverity :)
plugins: Init ctor
plugins: Add ctor initialization. Coverity recommends init all data members.
test: trying travis-ci && coverity integration. Real ci doing by ros buildfarm.
plugins: Fix clang-check errors.
test: Add tcp client reconnect test. Issue #72.
test: Split open_url test to individual tests. Also removed tcp client deletion on close, heisenbug here. Issue #72.
mavconn: Emit port_closed after thread stop. Also use tx state flag, improve error messages and move io post out of critical section. Issue #72.
mavconn: Fix TCP server client deletion. Issue #72.
test: Remove not needed sleep.
mavconn: Remove new MsgBuffer dup. Message drop if closed. Issue #72.
mavconn: Fix TCP server. Issue #72.
launch: APM2: Blacklist extras.
mavconn: Add mutex to channel allocation.
mavconn: Fix TCP server for gcc 4.6 Fix #74.
Remove libev from package. Issue #72.
mavconn: GCC 4.6 does not support typedef like using. Issue #74.
Merge pull request #73 from vooon/mavconn-revert-asio mavconn: Revert to Boost.ASIO
mavconn: Cleanup boost threads. I will use C++11 standard libs. Issue #72.
mavconn: Remove libev default loop thread. Issue #72.
mavconn: Port MAVConnTCPServer to Boost.ASIO. TCP send test fails. Issue #72.
mavconn: Port MAVConnTCPClient to Boost.ASIO. Also it disables MAVConnTCPServer before i rewrite it. Issue #72.
mavconn: Revert MAConnSerial back to Boost.ASIO. Issue #72.
test: Fix send_message tests. Use C++11. Issue #72.
mavconn: Revert MAVConnUDP back to Boost.ASIO. Also starting to change boost threads and mutexes to C++11. Issue #72.
test: Enable send tests. Issue #72.
test: And hand test for mavconn hangs. Issue #72.
node: Remove anonimous flag from gcs_bridge. Rename node if you want start several copies.
install: Remove duplicate
node: Fix mavros_node termination message. Issue #58.
node: Use URL in mavros_node. Fix #58.
node: Use URL in gcs_bridge. Issue #58.
node: Rename ros_udp to gcs_bridge. Because now it's not UDP only. Issue #58.
Cleanup boost components
mavconn: Implement URL parsing. Supported shemas:
- Serial: [/path/to/serial/device[:baudrate]]{.title-ref}
- Serial: [serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]]{.title-ref}
- UDP: [udp://[bind_host[:port]]@[remote_host[:port]][/?ids=sysid,compid]]{.title-ref}
- TCP client: [tcp://[server_host][:port][/?ids=sysid,compid]]{.title-ref}
* TCP server: [tcp-l://[bind_port][:port][/?ids=sysid,compid]]{.title-ref} Note: ids from URL overrides ids given to open_url(). Issue #58.
test: Add tests for UDP, TCP, SERIAL. Send message testa are broken, need to find workaround. Fix #70.
plugin: vision_position: Add transform timestamp check. Issue #60.
mavconn: Implement TCP server mode. Fix #57.
mavconn: Initial support for TCP client mode. Issue #57.
mavconn: Boost::asio cleanup.
plugin: Remove TimerService from UAS. Fix #59.
plugin: param: Add state check to sheduled pull.
mavparam: Add force pull.
plugin: param: Use ros::Timer for timeouts Also new option for force pull parameters from FCU instead of cache. Fix #59.
Add mavsafety info to README.
launch: Add apm2_radio.launch (for use with 3DR Radio)
plugin: 3dr_radio: Fix build error. Issue #62.
plugin: 3dr_radio: Publish status data for rqt_plot Also tested with SiK 1.7. Fix #62.
plugin: setpoint_attitude: Fix ENU->NED conversion. Fix #64. Related #33, #49.
launch: Add setpoint plugins to APM2 blacklist
plugin: setpoint_attitude: Initial import. XXX: need frame conversion #49. Issue #33, #64.
plugin: Move common tf code to mixin. Remove copy-paste tf_listener. Issue #33.
plugin: setpoint_position: Generalize topic NS with other [setpoint_*]{.title-ref} Issue #33, #61.
plugin: setpoint_accel: Initial import. Issues: #33, #61.
plugin: position_velocity: Initial import. Also it fix ignore mask in setpoint_position. Issues #33, #61.
plugins: 3rd_radio: Initial import. Untested. Issue #61.
scripts: Add mavsafety tool. Also add safety_area to APM2 blacklist. Fix #51.
plugins: safty_area: Initial import. This plugin listen [~/safety_area/set]{.title-ref} and send it's data to FCU. Issue #51.
plugins: position: Add TF rate limit. Issue #33.
plugin: waypoint: Use ros::Timer for timeouts. Also add some debug messages for next debugging PX4. Issue #59.
plugin: sys_status: Use ros::Timer for timeouts Also move message rx to it's own handlers. Issue #59.
Remove rosdep.yaml and update readme
Add deb build notes to readme. Issue #55.
Add sudo notes to readme.
Merge pull request #56 from vooon/54_try_libev Switch to libev
Add libev to README
package: Add temporary rosdep for libev-dev. Issue #54.
mavconn: Move MAVConnUDP to libev. And fix docs in serial. Issue #54.
mavconn: Move MAVConnSerial to libev. Adds stub for open URL function. Issure #54.
Contributors: Vladimir Ermakov, Mohammed Kabir, Nuno Marques, Glenn Gregory

0.6.0 (2014-07-17)

plugin: local_position: Use same timestamp in topic and TF. Issue #33.
plugins: TF thread required, remove notes. Issue #33.
launch: Add example launch for PX4 Issue #45.
plugin: imu_pub: Fix attitude store in UAS Issue #33. Fix #53.
plugins: Disable position topics if tf_listen enabled Also change default frame names: [vision]{.title-ref} and [setpoint]{.title-ref}. Issue #33.
plugins: Fix typo in frame_id params. Issue #33.
plugins: Add vision and setpoint TF listeners Also change parameter names to same style. Issue #33.
plugin: vision_position: Add PositionWithCovarianceStamped option Issue #33.
Add boost filesystem lib to link On some platforms its absence breaks build by: undefined reference to [boost::filesystem::path::codecvt()]{.title-ref}
launch: Add example for APM2 Fix #45.
plugin: setpoint_position: Initial import And some small doc changes in other position plugins. Issue #33.
node: Add connection change message Fix #52.
plugins: vision_position: Initial import TODO: check ENU->NED maths. Issue #33.
plugins: Remove unneded 'FCU' from diag
plugin: local_position: Change plane conversion Bug: #49.
plugin: imu_pub: Fix magnetic vector convertions Bug: #49.
Use dialects list from package
plugin: local_position: Fix orientation source Part of #33.
node: Show target system on startup Fix #47.
plugin: local_position: Initial add Receive LOCAL_POSITION_NED message and publish it via TF and PoseStamped topic in ENU frame. Part of #33.
node: Use boost::make_shared for message allocation Fix #46.
plugins: Use boost::make_shared for message allocation Part of #46.
plugin: imu_pub: Fix misprint in fill function Fix magnetometer vector convertion (HR IMU). Related #33.
plugin: imu_pub: setup cleanup.
Update readme
plugin: gps: Fix gps_vel calculation Fix #42.
plugins: Make name and messages methods const. (breaking). WARNING: this change broke external plugins. Please add const to get_name() and get_supported_messages(). Part of #38.
plugins: Use mavlink_msg*_pack_chan() functions Fix #43.
mavconn: Reuse tx buffer (resize by extents) Part of #38.
mavconn: Do not finalize messages if id pair match mavlink*_pack also do finalize, so explicit finalization just recalculate crc and seq number (doubles work). Test later if we need check seq too.
mavconn: Documentation and cleanup Make MAVConn classes noncopyable. Remove copy-paste copy and following async_write calls. Reserve some space in tx queues. Replace auto_ptr with unique_ptr.
test: Fix header include
mavconn: Fix possible array overrun in channel alocation. Problem found by clang.
fix some roslint errors
mavconn: move headers to include
node: Implement plugin blacklist. New parameter: [~/plugin_blacklist]{.title-ref} lists plugin aliases with glob syntax. Fix #36.
plugins: Change constants to constexpr (for gcc 4.6)
mavconn: Add gencpp dependency (utils.h requiers generated header)
Move duplicate Mavlink.msg copy to utils.h
Remove tests that requires connection to FCU
plugins: imu_pub: Fix PX4 imu/data linear_accelerarion field Should fix: #39.
plugins: imu_pub: Add magnitic covariance Trying to move constants with constexpr. Related: #13.
Remove testing info Need to remove tests that could not run on build farm.
Contributors: Vladimir Ermakov

0.5.0 (2014-06-19)

Remove mavlink submodule and move it to package dependency Bloom release tool don't support git submodules, so i've ceate a package as described in http://wiki.ros.org/bloom/Tutorials/ReleaseThirdParty . Fix #35.
plugins: param: add missing gcc 4.6 fix.
plugins: fix const initializers for gcc 4.6
plugins: imu_pub: fix const initializers for gcc 4.6 Fix for build failure devel-hydro-mavros #4.
Add support for GCC 4.6 (C++0x, ubuntu 12.04) I don't use complete c++11, so we could switch to c++0x if it supported.
plugins: rc_io: Add override rcin service Fix: #22.
plugins: sys_status: fix timeouts Fix #26.
plugins: sys_status: add set stream rate service Some additional testing required. Fix #23.
Remove unused boost libarary: timer Build on jenkins for hydro failed on find boost_timer.
0.4.1
Add changelog for releasing via bloom

0.4.1 (2014-06-11)

node: Show serial link status in diag Now 'FCU connection' shows actual status of connection (HEARTBEATS).
Fix #29. Autostart mavlink via USB on PX4 Changes mavconn interface, adds new parameter.
Fix installation rules. Fix #31.
Setup UDP transport for /mavlink messages
Fix mavlink dialect selection Fix #28.
Add link to wiki.ros.org Part of #27.

0.4.0 (2014-06-07)

Release 0.4.0 And some docs for CommandPlugin.
plugins: command: Command shortcuts Fix #12.
plugins: command: Add ACK waiting list Part of #12.
plugins: command: Initial naive realization. Partial #12, #25.
mavconn: Fix build on Odroid with Ubuntu 13.10 Fix #24.
plugins: rc_io: initial add RC_IO plugin Topics:
- ~/rc/in -- FCU RC inputs in raw microseconds
* ~/rc/out -- FCU Servo outputs Fix #17. Partiall #22.
Fix installation wstool command. [wstool set]{.title-ref}, not [wstool add]{.title-ref}.
Add installation notes to README Installing pymavlink is not required, but try if errors.
Fix headers in README.md
ros_udp: New node for UDP proxing Add some examples to README.md. Fix #21.
sys_status: Add state publication Fix #16.
sys_status: Sent HEARTBEAT if conn_heartbeat > 0 Fix #20.
sys_status: add sensor diagnostic See #16.
sys_status: Add battery status monitoring Fix #19, partial #16.
sys_status: HWSTATUS support Fix #18, partial #20.
plugins: imu_pub: Add RAW_IMU, SCALED_IMU and SCALED_PRESSURE handlers Fix #13. Refactor message processing. Combination of used messages: On APM: ATTITUDE + RAW_IMU + SCALED_PRESSURE On PX4: ATTITUDE + HIGHRES_IMU On other: ATTITUDE + (RAW_IMUHIGHRES_IMU Published topics:
- ~imu/data - ATTITUDE + accel data from *_IMU
- ~imu/data_raw - HIGHRES_IMU or SCALED_IMU or RAW_IMU in that order
- ~imu/mag - magnetometer (same source as data_raw)
- ~imu/temperature - HIGHRES_IMU or SCALED_PRESSURE
- ~imu/atm_pressure - same as temperature
Update readme
mavwp: Add --pull option for 'show' operation. Reread waypoints before show.
MissionPlanner use format QGC WPL, Fix #15 Code cleanup;
Update mavlink version.
Update mavlink version
mavparam: fix #14 support for QGC param files
mavwp: Add mavwp to install

0.3.0 (2014-03-23)

Release 0.3.0
mavwp: Add MAV mission manipulation tool Uses WaypointPlugin ROS API for manipulations with FCU mission.
- show -- show current mission table
- pull -- update waypoint table
- dump -- update and save to file
- load -- loads mission from file
- clear -- delete all waypoints
- setcur -- change current waypoint
- goto -- execute guided goto command (only APM) Currently supports QGroundControl format only.
plugins: wp: Add GOTO, update documentation
plugins: wp: Auto pull
plugins: wp: SetCurrent & Clear now works
plugins: wp: Push service works
plugins: wp: push almost done
plugins: wp: Pull done
plugins: param: remove unused ptr
plugins: wp: mission pull almost done
plugins: wp: Add convertors & handlers
plugins: Waypoint plugin initial
Use C++11 feuture - auto type
plugins: refactor context & link to single UAS class UAS same functions as in QGC.
plugins: Add msgs and srvs for Waypoint plugin
Update mavlink library
Update mavlink version
mavparam: Fix for DroidPlanner param files & cleanup DroidPlanner adds some spaces, don't forget to strip it out. Cleanup unused code from Parameter class.

0.2.0 (2014-01-29)

mavparam: Add MAV parameter manipulation tool Uses ParamPlugin ROS API for manipulating with fcu params.
- load -- load parameter from file
- dump -- dump parameter to file
- get -- get parameter
- set -- set parameter Currently supports MissionPlanner format only. But DroidPlanner uses same format.
Update README and documentation
plugins: param: implement ~param/push service Also implement sync for rosparam:
- ~param/pull service pulls data to rosparam
- ~param/push service send data from rosparam
- ~param/set service update rosparam if success
plugins: param: implement ~param/set service
plugins: param: implement ~param/get service
plugins: param: Implement automatic param list requesting
plugins: use recursive_mutex everywhere
plugins: param now automaticly requests data after connect
plugins: Add common io_service for plugins, implement connection timeout Some plugin require some delayed processes. Now we can use boost::asio::*timer. New parameter:
- ~/conn_timeout connection timeout in seconds
plugins: add param services
mavconn: set thread names WARNING: pthread systems only (BSD/Linux)
plugins: implement parameters fetch service
plugins: fix string copying from mavlink msg
plugins: Setup target in mav_context New params:
- ~target_system_id - FCU System ID
- ~target_component_id - FCU Component ID
plugins: IMU Pub: add stdev parameters, change topic names. Add parameters:
- ~imu/linear_acceleration_stdev - for linear acceleration covariance
- ~imu/angular_velocity_stdev - for angular covariance
- ~imu/orientation_stdev - for orientation covariance Change topic names (as in other IMU drivers):
- ~imu -> ~/imu/data
- ~raw/imu -> ~/imu/data_raw
plugins: Params initial dirty plugin
Fix mavlink dialect choice.
plugins: Add context storage for automatic quirk handling ArduPlilot requires at least 2 quirks:
- STATUSTEXT severity levels
- parameter values is float
Implement MAVLink dialect selection ArduPilotMega is default choice.
doc: add configuration for rosdoc_lite

0.1.0 (2014-01-05)

Version 0.1.0 Milestone 1: all features from mavlink_ros package.xml was updated.
Fix typo and add copyright string NOTE: Please check typos before coping and pasting :)
plugins: gps: Add GPS_RAW_INT handler GPS_STATUS not supported by APM:Plane. ROS dosen't have standard message for satellites information.
mavconn: small debug changes Limit no GCS message to 10 sec.
node: Terminate node on serial port errors
plugins: Add GPS plugin SYSTEM_TIME to TimeReference support. TODO GPS fix.
Fix build and update MAVLink library
plugins: sys_status: Add SYSTEMTEXT handler Two modes:
- standard MAV_SEVERITY values
- APM:Plane (default) TODO: add mavlink dialect selection option
plugins: add some header doxygen tags Add license to Dummy.cpp (plugin template).
plugins: sys_status: Add MEMINFO handler MEMINFO from ardupilotmega.xml message definition. Optional.
update README
update TODO
plugins: Add imu_pub plugin. Publish ATTITUDE and HIGHRES_IMU data. HIGHRES__IMU not tested: Ardupilot sends ATTITUDE only :(
node: publish Mavlink.msg only if listners > 0
plugins: Add sys_status plugin. Initial.
plugins: implement loading & rx routing
plugins: initial
node: Add diagnostics for mavlink interfaces
mavconn: add information log wich serial device we use.
mavconn: fix overloaded MAVConn*::send_message(msg)
mavros: Add mavros_node (currently serial-ros-udp bridge) Message paths: Serial -+-> ROS /mavlink/from +-> UDP gcs_host:port ROS /mavlink/to -+-> Serial UDP bind_host:port -+
Add README and TODO files.
mavconn: fix MAVConnUDP, add mavudpproxy test mavudpproxy -- connection proxy for QGroundControl, also used as test for MAVConnUDP and MAVConnSerial.
mavconn: add UDP support class
mavconn: fix: should use virtual destructor in interface class
mavconn: add getters/setters for sys_id, comp_id; send_message return.
mavconn: simple test. tested with APM:Plane: works.
mavconn: fix linking
mavconn: serial interface
Add mavconn library prototype mavconn - handles MAVLink connections via Serial, UDP and TCP.
Add MAVLink library + build script
Initial Import Mavlink.msg from mavlink_ros package ( https://github.com/mavlink/mavlink_ros ).
Contributors: Vladimir Ermakov

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	mavlink
	angles
	cmake_modules
	catkin
	message_runtime
	rospy
	rosunit
	diagnostic_updater
	eigen_conversions
	libmavconn
	pluginlib
	rosconsole_bridge
	roscpp
	tf2_ros
	tf2_eigen
	diagnostic_msgs
	geometry_msgs
	mavros_msgs
	nav_msgs
	sensor_msgs
	geographic_msgs
	trajectory_msgs
	std_msgs
	std_srvs

System Dependencies

Name
eigen
geographiclib
geographiclib-tools
gtest
boost

Dependant Packages

Name	Deps
drone_wrapper
rotors_driver
tello_driver
mavros_extras
test_mavros

Launch files

launch/px4.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - respawn_mavros [default: $(arg respawn_mavros)]
launch/apm.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
launch/node.launch
- - fcu_url
  - gcs_url
  - tgt_system
  - tgt_component
  - pluginlists_yaml
  - config_yaml
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
launch/apm2.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
launch/mavlink_bridge.launch
- - ns [default: iris]
  - mavlink_bridge_url [default: udp://127.0.0.1:14553@127.0.0.1:14560]

Messages

No message files found.

Services

No service files found

Plugins

mavros

Recent questions tagged `mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

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mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs

API Docs
Browse Code
Wiki

Package Summary

Tags	uav mav mavlink plugin apm px4
Version	2.9.0
License	GPLv3
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	ros2
Last Updated	2024-10-23
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	uav mav mavlink plugin apm px4
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.

Additional Links

Maintainers

Vladimir Ermakov

Authors

Vladimir Ermakov

mavros/README.md

MAVROS

MAVLink extendable communication node for ROS2.

ROS API documentation moved to wiki.ros.org.

Features

Communication with autopilot via serial port, UDP or TCP (e.g. PX4 Pro or ArduPilot)
Internal proxy for Ground Control Station (serial, UDP, TCP)
Plugin system for ROS-MAVLink translation
Parameter manipulation tool
Waypoint manipulation tool
PX4Flow support (by mavros_extras)
OFFBOARD mode support
Geographic coordinates conversions.

Limitations

Only for Linux.

This package are dependent on ros-*-mavlink build from mavlink-gbp-release. It exists in ROS package index and usually updates each month.

Connection URL

Connection defined by URL, you can use any supported type for FCU and GCS.

Supported schemas:

Serial: /path/to/serial/device[:baudrate]
Serial: serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]
Serial with hardware flow control: serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid]
UDP: udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid]
UDP broadcast until GCS discovery: udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid]
UDP broadcast (permanent): udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid]
TCP client: tcp://[server_host][:port][/?ids=sysid,compid]
TCP server: tcp-l://[bind_host][:port][/?ids=sysid,compid]

Note:

Ids from URL overrides value given by system_id & component_id parameters.
bind_host - default 0.0.0.0 - i.e. IP4 ANY
UDP default ports: 14555 @ 14550
UDP remote address updated every time with incoming packet on bind port.
TCP default port: 5760

Coordinate frames

MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Please read documents from issue #473 for additional information.

All the conversions are handled in src/lib/ftf_frame_conversions.cpp and src/lib/ftf_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.

MAVROS also allows conversion of geodetic and geocentric coordinates through GeographicLib given that:

geographic_msgs and NatSatFix.msg require the LLA fields to be filled in WGS-84 datum, meaning that the altitude should be the height above the WGS-84 ellipsoid. For that, a conversion from the height above the geoid (AMSL, considering the egm96 geoid model) to height above the WGS-84 ellipsoid, and vice-versa, is available and used in several plugins;
According to ROS REP 105, the earth frame should be propagated in ECEF (Earth-Centered, Earth-Fixed) local coordinates. For that, the functionalities of GeographicLib are used in order to allow conversion from geodetic coordinates to geocentric coordinates;
The translation from GPS coordinates to local geocentric coordinates require the definition of a local origin on the map frame, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in the global_position plugin.

Composite nodes

See also: https://docs.ros.org/en/foxy/Tutorials/Composition.html

mavros::router::Router

This is router node required to support connections to FCU(s), GCS(es) and UAS nodes. The Router allows you to add/remove endpoints on the fly without node restart.

mavros::uas::UAS

This node is a plugin container which manages all protocol plugins. Each plugin is a subnode to this.

Programs

mavros_node – all-in-one container

That is a preconfigured composite node contaier, which provides similar parameters as ROS1 mavros_node. That container loads Router, UAS and configures them to work together (sets uas_link, etc.).

Main node. Allow disable GCS proxy by setting empty URL.

ros2 run mavros mavros_node --ros-args --params-file params.yaml

Launch Files

XXX TODO! #1564

Launch files are provided for use with common FCUs, in particular Pixhawk:

px4.launch – for use with the PX4 Autopilot (for VTOL, multicopters and planes)
apm.launch – for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)

Examples:

roslaunch mavros px4.launch
roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@

Installation

Required dependencies

Most of the ROS dependencies are supported and installed by rosdep, including external libraries as Eigen and Boost.

GeographicLib can be installed by apt-get and it is already included on the rosdep of MAVROS package. It is also possible to compile it and install it from src but be advised to have the proper install directories the same as the ones of the apt-get install, in order to make sure that the FindGeographicLib.cmake finds the required shared libraries (libGeographic.so).

Since GeographicLib requires certain datasets (mainly the geoid dataset) so to fulfill certain calculations, these need to be installed manually by the user using geographiclib-tools, which can be installed by apt-get in Debian systems. For a quicker procedure, just run the available script in the “mavros/scripts” folder, install_geographiclib_datasets.sh.

Note that if you are using an older MAVROS release source install and want to update to a new one, remember to run rosdep update before running rosdep install --from-paths ${ROS_WORKSPACE} --ignore-src --rosdistro=${ROSDISTRO}, with ROS_WORKSPACE your src folder of catkin workspace. This will allow updating the rosdep list and install the required dependencies when issuing rosdep install.

:bangbang: The geoid dataset is mandatory to allow the conversion between heights in order to respect ROS msg API. Not having the dataset available will shutdown the mavros_node :bangbang:

:heavy_exclamation_mark:Run install_geographiclib_datasets.sh to install all datasets or geographiclib-datasets-download egm96_5 (Debian 7, Ubuntu 14.04, 14.10), geographiclib-get-geoids egm96-5 (Debian 8, Fedora 22, Ubuntu 15.04 or later) to install the geoid dataset only:heavy_exclamation_mark:

Binary installation (deb)

ROS repository has binary packages for Ubuntu x86, amd64 (x86_64) and armhf (ARMv7). Kinetic also support Debian Jessie amd64 and arm64 (ARMv8).

Just use apt for installation:

sudo apt install ros-foxy-mavros

Then install GeographicLib datasets by running the install_geographiclib_datasets.sh script:

ros2 run mavros install_geographiclib_datasets.sh

# Alternative:
wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh

Source installation

Use vcs utility for retrieving sources and colcon tool for build.

NOTE: The source installation instructions are for the ROS Foxy release.

sudo apt install -y python3-vcstool python3-rosinstall-generator python3-osrf-pycommon

# 1. Create the workspace: unneeded if you already has workspace
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws

# 2. Install MAVLink
#    we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
rosinstall_generator --format repos mavlink | tee /tmp/mavlink.repos

# 3. Install MAVROS: get source (upstream - released)
rosinstall_generator --format repos --upstream mavros | tee -a /tmp/mavros.repos
# alternative: latest source
# rosinstall_generator --format repos --upstream-development mavros | tee -a /tmp/mavros.repos
# For fetching all the dependencies into your ros2_ws, just add '--deps' to the above scripts
# ex: rosinstall_generator --format repos --upstream mavros --deps | tee -a /tmp/mavros.repos

# 4. Create workspace & deps
vcs import src < /tmp/mavlink.repos
vcs import src < /tmp/mavros.repos
rosdep install --from-paths src --ignore-src -y

# 5. Install GeographicLib datasets:
./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

# 6. Build source
colcon build

# 7. Make sure that you use setup.bash or setup.zsh from workspace.
#    Else ros2 run can't find nodes from this workspace.
source install/setup.bash

Build error. if you has error with missing mavlink* then you need fresh mavlink package. You may update from ros-shadow-fixed (binary installation) or redo script steps 2 & 4.

Note. Since MAVLink 2.0 merged (0.18) all dialects supported by same binary. Unfortunately overlap of v1.0 message ID’s not fully handled, first loaded message forbid further changes. Load order always:

common
ardupilotmega
alphabetical ordered list
…

Note: MAVLINK_DIALECT not used anymore.

Troubleshooting

Error: serial0: receive: End of file

This issue should have been solve in mavros v0.23.2, it was found to be a Boost.ASIO error and should be fix in release > v1.12.0 ( >Boost 1.66).

Contributing

See CONTRIBUTING.md.

Glossary

GCS — Ground Control Station
FCU — Flight Control Unit (aka FC)
OBC — OnBoard Computer (your odroid or raspberry)

Links

MAVLink – The communication protocol for Drones, used by flight controllers, ground control stations, and peripherals
mavlink_ros – original ROS node (few messages, no proxy)
Pixhawk – Open Standards for drone hardware
PX4 Autopilot – Flight Controller with support for most vehicle types and hardened/tested MAVROS support
ArduPilot – tested autopilot APM:Plane (default command set)
QGroundControl – Ground Control Station for MAVLink autopilots, with tested support for Android, iOS, Mac OS, Linux, and Windows
mavros_extras – extra plugins & node for mavros

CHANGELOG

Changelog for package mavros

2.9.0 (2024-10-10)

py-mavros: fix flake8 errors
py-mavros: reconfigure flake8
py: isort
py: black
py-mavros: reformat with black
py-mavros: csv escapechar of empty string unsupported since py 3.11
apply ament_uncrustify --reformat (jazzy)
Merge pull request #2000 from leocencetti/fix-test-errors Fix test errors in 3x3 covariance test cases
fix: Patch test errors
Merge pull request #1998 from leocencetti/fix-wrong-covariance-rotation Fix 3x3 covariance matrix rotation/transformation
chore: Fix and reenable covariance rotation tests
fix: Correct 3x3 covariance matrix rotation
use GeographicLib::Geoid::ConvertHeight
fix -Wdeprecated-enum-float-conversion in GeographicLib
depcrecation errors
#1965: sync format of configs
Contributors: Jacob Dahl, Leonardo Cencetti, Vladimir Ermakov

2.8.0 (2024-06-07)

param: replace old rmw_qos usage
sys_status: replace rmw_qos too
command: fix humble condition
regenerate all using cogall.sh
command: keep support for humble
command: fix misprint
command: replace deprecated rmw_qos
reformat with jazzy's ament_uncrustify
Merge branch 'master' into ros2 * master: 1.19.0 update changelog gps_global_origin: remove LLA to ECEF conversion
1.19.0
update changelog
gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Update mavlink.py Kept #569 FIXME tag
Update mavlink.py Fixed bug #569 from mavros. Fixed another bug in the building of the ros mavlink message- the seq field was not added to the ros mavlink message.
Contributors: Beniamino Pozzan, Vladimir Ermakov, danielkalmanson

1.19.0 (2024-06-06)

gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Contributors: Beniamino Pozzan

2.7.0 (2024-03-03)

Merge branch 'master' into ros2 * master: 1.18.0 update changelog sys_status.cpp: improve timeout code sys_status.cpp: Add a SYS_STATUS message publisher [camera plugin] Fix image_index and capture_result not properly filled Fix missing semi-colon GPS_STATUS Plugin: Fill in available messages for ROS1 legacy
1.18.0
update changelog
move /conn parameters to /sys and /time
sys_status.cpp: improve timeout code # Conflicts: # mavros/src/plugins/sys_status.cpp
sys_status.cpp: Add a SYS_STATUS message publisher
Removed warning from geometry2 header
Fix PR 1922 regarding EVENT message
use synchronise_stamp to create stamp
new checksum for event enum
remove event_time_boot_ms, fill stamp instead
handle events
fix mav service call and wp load
Remove hardcoded namespace from px4_pluginlists
Remove hardcoded namespace from px4_config
Define _frd frames in odom plugin based on parent/child frame parametrs
Define parameters for base_link, odom, map frames
Contributors: Alejandro Hernández Cordero, Dr.-Ing. Amilcar do Carmo Lucas, Mattia Giurato, Mohamed Abdelkader, Vladimir Ermakov, elgarbe, sathak93, victor

1.18.0 (2024-03-03)

sys_status.cpp: improve timeout code
sys_status.cpp: Add a SYS_STATUS message publisher
Contributors: Dr.-Ing. Amilcar do Carmo Lucas

2.6.0 (2023-09-09)

fix build warnings tf2_eigen.h
switch to use tf2_eigen.hpp, but that drops support for EOL distros
fix ament_cpplint
reformat python code with black
msgs: move generator code
ament uncrustify
Merge branch 'master' into ros2 * master: 1.17.0 update changelog cog: regenerate all Bugfix/update map origin with home position (#1892) mavros: Remove extra ';' mavros_extras: Fix some init order warnings Suppress warnings from included headers 1.16.0 update changelog made it such that the gp_origin topic published latched. use hpp instead of deprecated .h pluginlib headers
1.17.0
update changelog
cog: regenerate all
local takeoff and land topics (#1890)
- local takeoff and land topics
- vector3 position type, rename to TOLLocal
- remove auto include line
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
1.16.0
update changelog
Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Ido Guzi, Lucas Walter, Morten Fyhn Amundsen, Shu-Nong Wu, Vladimir Ermakov, natmol

2.5.0 (2023-05-05)

Merge pull request #1852 from robobe/fix-mavlink-header-stamp Fix mavlink header stamp in convert_to_rosmsg method
Delete test_convert_to_rosmsg.py
fix flake8
fix flake8
fix conver_to_rosmsg method fix header stamp field move from rclpy.Time to builtin_interfaces Time message
Merge branch 'mavlink_payload64_fix' into ros2
Merge pull request #1851 from robobe/mavlink_payload64_fix cast payload_octest to int
cast payload_octest to int test script ,
Merge pull request #1838 from vacabun/launch_namespace_fix fix ROS2 launch parameters namespace and name.
fix plugin denylist allowlist name, and fix parameters namespace.
Merge pull request #1835 from vacabun/multi_uas_launch_fix Multi-UAS launch
Merge branch 'ros2' into multi_uas_launch_fix
Merge pull request #1836 from eMrazSVK/ros2 Fix apm_pluginlist.yaml and apm.launch
naming
Fix apm config and launch ROS2
Remove duplicate parameters
fix parameters name tgt_system and tgt_component and add multi-uas launch.
Merge pull request #1834 from vacabun/px4_launch_fix fix px4 launch file for ROS2
change plugin odom parameters in apm launch.
1.Change part of parameters to be flat In ROS2. 2.Remove plugin safety_area in launch parameters file.
remove event_launcher.yaml mavlink_bridge.launch
remove file 'apm2.lunch'.
fix apm launch files to ROS2.
fix plugin distance_sensor parses yaml from string parameter.
fix px4 launch file on ROS2.
Merge pull request #1833 from lopsided98/ftp-segfault plugins: ftp: fix null pointer dereference
plugins: ftp: fix null pointer dereference df4e529 mistakenly switched PayloadHeader::data from using a non-standards compliant (but accepted by most compilers) flexible array to a pointer. This resulted in an attempt to dereference the uninitialized contents of the array. This patch eliminates PayloadHeader::data and instead makes FTPRequest::data() use pointer arithmetic to get the data buffer from within the payload buffer.
Contributors: Ben Wolsieffer, Eduard Mraz, Vladimir Ermakov, robo, robobe, vacabun

2.4.0 (2022-12-30)

ci: ignore xml lib warn
Merge branch 'master' into ros2 * master: 1.15.0 update changelog ci: update actions Implement debug float array handler mavros_extras: Fix a sequence point warning mavros_extras: Fix a comparison that shouldn't be bitwise mavros: Fix some warnings mavros_extras: Fix buggy check for lat/lon ignored libmavconn: fix MAVLink v1.0 output selection
1.15.0
update changelog
Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

2.3.0 (2022-09-24)

extras: fix linter errors
mavros: remove custom find script, re-generate
Merge branch 'master' into ros2 * master: 1.14.0 update changelog scripts: waypoint and param files are text, not binary libmavconn: fix MAVLink v1.0 output selection plugins: add guided_target to accept offboard position targets add cmake module path for geographiclib on debian based systems use already installed FindGeographicLib.cmake
1.14.0
update changelog
scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1771 from alehed/fix/update_comment Put correct version in comment
Put correct version in comment Now that the change has been merged into master in pymavlink, it will be in the next tagged release.
Contributors: Alexander Hedges, Sanket Sharma, Vladimir Ermakov, acxz

2.2.0 (2022-06-27)

extras: fix build
Merge branch 'master' into ros2 * master: mount_control.cpp: detect MOUNT_ORIENTATION stale messages ESCTelemetryItem.msg: correct RPM units apm_config.yaml: add mount configuration sys_status.cpp fix free memory for values > 64KiB uncrustify cellular_status.cpp Add CellularStatus plugin and message *_config.yaml: document usage of multiple batteries diagnostics sys_status.cpp: fix compilation sys_status.cpp: support diagnostics on up-to 10 batteries sys_status.cpp: do not use harcoded constants sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). sys_status.cpp: ignore sys_status mavlink messages from gimbals mount_control.cpp: use mount_nh for params to keep similarities with other plugins set diag settings before add() sys_status.cpp: remove deprecated BATTERY2 mavlink message support Mount control plugin: add configurable diagnostics Bugfix: increment_f had no value asigned when input LaserScan was bigger than obstacle.distances.size() Bugfix: wrong interpolation when the reduction ratio (scale_factor) is not integer. Disable startup_px4_usb_quirk in px4_config.yaml
cmake: style fix
cmake: downgrade to C++17 as 20 breaks something in rclcpp
pylib: fix flake8 for checkid
cmake: hide -std=c++2a
Merge pull request #1752 from alehed/fix/make_compatible_with_mavlink_pr_666 Make compatible with pymavlink type annotations PR
Make compatible with pymavlink type annotations PR In that PR, the attribute name is changed to msgname due to conflicts with message instance variables.

1.17.0 (2023-09-09)

cog: regenerate all
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov, natmol

1.16.0 (2023-05-05)

Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Lucas Walter, Shu-Nong Wu, Vladimir Ermakov

1.15.0 (2022-12-30)

Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.14.0 (2022-09-24)

scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1744 from amilcarlucas/pr_gimbal_diagnostics_fixes mount_control.cpp: detect MOUNT_ORIENTATION stale messages
mount_control.cpp: detect MOUNT_ORIENTATION stale messages correct MountConfigure response success correct constructor initialization order some gimbals send negated/inverted angle measurements, correct that to obey the MAVLink frame convention using run-time parameters
Update global_position.py
Merge pull request #1745 from antonyramsy/ros2 fix subscribe_raw_salellites typo
fix subscribe_raw_salellites typo subscribe_raw_salellites -> subscribe_raw_satellites
Merge pull request #1743 from amilcarlucas/pr_apm_config apm_config.yaml: add mount configuration
apm_config.yaml: add mount configuration
Merge pull request #1732 from amilcarlucas/pr-meminfo-fix MEMINFO fixes
sys_status.cpp fix free memory for values > 64KiB
Merge pull request #1716 from amilcarlucas/avoid-harcoded-values sys_status.cpp: do not use harcoded constants
Merge pull request #1711 from amilcarlucas/diagnose-up-to-n-batteries Diagnose up-to 10 batteries
*_config.yaml: document usage of multiple batteries diagnostics
sys_status.cpp: fix compilation
sys_status.cpp: support diagnostics on up-to 10 batteries Uses as many battery monitors as the user specified in min_voltage parameter. Add myself as a contributor, this is not my first patch to this file
Merge pull request #1712 from amilcarlucas/fix-disabled-diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag
sys_status.cpp: do not use harcoded constants
sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics Use atomic variable to prevent potential threading problems
sys_status.cpp: fix enabling of mem_diag and hwst_diag
Merge pull request #1704 from amilcarlucas/correct-bat-voltages sys_status.cpp: Do not use battery1 voltage for all batteries.
sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). Support both cell and total voltages above 65V Support up-to 14S batteries If available, add cell voltage information to the battery diagnostic
Merge pull request #1707 from amilcarlucas/ignore-gimbal-sys-status sys_status.cpp: ignore sys_status mavlink messages from gimbals
sys_status.cpp: ignore sys_status mavlink messages from gimbals
Merge pull request #1703 from amilcarlucas/remove-deprecated-battery2 sys_status.cpp: remove deprecated BATTERY2 mavlink message support
sys_status.cpp: remove deprecated BATTERY2 mavlink message support
Merge pull request #1696 from okalachev/patch-2 Disable startup_px4_usb_quirk in px4_config.yaml
Disable startup_px4_usb_quirk in px4_config.yaml
Contributors: Alexander Hedges, Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Vladimir Ermakov, antonyramsy

2.1.1 (2022-03-02)

Merge pull request #1717 from rob-clarke/fix--sys-status-callbacks Maybe fix sys status callbacks
uncrustify
Cleanup for pr
Initialise common client
Add debug
Use common client Add debug
plugins: Fix misprint Fix #1709
Contributors: Rob Clarke, Vladimir Ermakov

2.1.0 (2022-02-02)

plugin: sys_status: Add temporary hack from \@Michel1968 https://github.com/mavlink/mavros/issues/1588#issuecomment-1027699924
py-lib: make linters happy again
py-lib: fix WPL loading
py-lib: reformat with black, fix WPL
py-lib: gracefull exiting - need to join to spinner thread
py-lib: debug shutdown call
py-lib: fix checkid
sys: place service servers to separate callback group
plugins: fix topic names to use prefix for namespaced ones
py-lib: fix import
uas: fix linter warnings
uas: set executor timeout to 1s
uas: use custom executor derived from MultiThreadedExecutor one
uas: fix lambda
ci: fix several lint warnings
uas: log amount of executor threads
command: add request header for possible future use
Merge branch 'master' into ros2 * master: 1.13.0 update changelog py-lib: fix compatibility with py3 for Noetic re-generate all coglets test: add checks for ROTATION_CUSTOM lib: Fix rotation search for CUSTOM Removed CamelCase for class members. Publish to "report" More explicitly state "TerrainReport" to allow for future extension of the plugin to support other terrain messages Fixed callback name to match [handle_{MESSAGE_NAME.lower()}]{.title-ref} convention Add extra MAV_FRAMES to waypoint message as defined in https://mavlink.io/en/messages/common.html Fixed topic names to match more closely what other plugins use. Fixed a typo. Add plugin for reporting terrain height estimate from FCU 1.12.2 update changelog Set time/publish_sim_time to false by default plugin: setpoint_raw: move getParam to initializer extras: trajectory: backport #1667
1.13.0
update changelog
Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
1.12.2
update changelog
Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Merge pull request #1670 from windelbouwman/fix-uninitialized-struct-member Fix spurious bug because class field was uninitialized.
Fix spurious bug because class field was uninitialized.
Merge branch 'master' into ros2 * master: 1.12.1 update changelog mavconn: fix connection issue introduced by #1658 mavros_extras: Fix some warnings mavros: Fix some warnings
1.12.1
update changelog
mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Oleg Kalachev, Vladimir Ermakov, Windel Bouwman, hs293go

2.0.5 (2021-11-28)

fix some build warnings; drop old copter vis
router: fix #1655: use MAVConnInterface::connect() from #1658
Merge branch 'master' into ros2 * master: 1.12.0 update changelog Fix multiple bugs lib: fix mission frame debug print extras: distance_sensor: revert back to zero quaternion
1.12.0
update changelog
Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
extras: fix some more lint warns
plugin: fix some compile warnings
cmake: require C++20 to build all modules
extras: port distance_sensor plugin
lib: ignore MAVPACKED-related warnings from mavlink
lib: fix mission frame debug print
msgs: update conversion header
Merge branch 'master' into ros2 * master: 1.11.1 update changelog lib: fix build
1.11.1
update changelog
lib: fix build
Merge branch 'master' into ros2 * master: 1.11.0 update changelog lib: fix ftf warnings msgs: use pragmas to ignore unaligned pointer warnings extras: landing_target: fix misprint msgs: fix convert const plugin: setpoint_raw: fix misprint msgs: try to hide 'unaligned pointer' warning plugin: sys: fix compillation error plugin: initialize quaternions with identity plugin: sys: Use wall timers for connection management Use meters for relative altitude distance_sensor: Initialize sensor orientation quaternion to zero Address review comments Add camera plugin for interfacing with mavlink camera protocol
1.11.0
update changelog
lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
extras: port log_transfer
Contributors: Alexander Sherikov, Jaeyoung-Lim, Vladimir Ermakov

2.0.4 (2021-11-04)

Merge branch 'master' into ros2 * master: 1.10.0 prepare release
1.10.0
prepare release
extras: port esc_status plugin
plugins: update metadata xml
mavros: port mav_controller_output plugin
Merge branch 'master' into ros2 * master: (25 commits) Remove reference Catch std::length_error in send_message Show ENOTCONN error instead of crash Tunnel: Check for invalid payload length Tunnel.msg: Generate enum with cog mavros_extras: Create tunnel plugin mavros_msgs: Add Tunnel message MountControl.msg: fix copy-paste sys_time.cpp: typo sys_time: publish /clock for simulation times 1.9.0 update changelog Spelling corrections Changed OverrideRCIn to 18 channels This adds functionality to erase all logs on the SD card via mavlink publish BATTERY2 message as /mavros/battery2 topic Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0 Added NAV_CONTROLLER_OUTPUT Plugin Added GPS_INPUT plugin Update esc_status plugin with datatype change on MAVLink. ...
Merge pull request #1631 from shubham-shahh/ros2 rectified spelling and gramatical errors
Update mission_protocol_base.cpp
Update test_uas.cpp
Update setpoint_raw.cpp
Update param.cpp
Update param.cpp
Update mission_protocol_base.cpp
Update ftp.cpp
Update command.cpp
Update param.py
Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
1.9.0
update changelog
Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: fix lint error
extras: fix build, add UAS::send_massage(msg, compid)
extras: port companion_process_status
style: apply ament_uncrustify --reformat
Merge branch 'master' into ros2 * master: extras: esc_telemetry: fix build extras: fix esc_telemetry centi-volt/amp conversion extras: uncrustify all plugins plugins: reformat xml extras: reformat plugins xml extras: fix apm esc_telemetry msgs: fix types for apm's esc telemetry actually allocate memory for the telemetry information fixed some compile errors added esc_telemetry plugin Reset calibration flag when re-calibrating. Prevent wrong data output. Exclude changes to launch files. Delete debug files. Apply uncrustify changes. Set progress array to global to prevent erasing data. Move Compass calibration report to extras. Rewrite code based on instructions. Remove extra message from CMakeLists. Add message and service definition. Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
plugins: reformat xml
mavros_extras: ported landing_target plugin to ros2
sanitized code
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Marcelino Almeida, Shubham Shah, Val Doroshchuk, Vladimir Ermakov

2.0.3 (2021-06-20)

param: fix Foxy build
Contributors: Vladimir Ermakov

2.0.2 (2021-06-20)

mavros: fix run on Galactic
plugin: param: #1579: fix cpplint warnings
plugin: param: #1579: implement std parameter events
plugin: param: #1579: rewrite plugin to implement standard parameter services
plugin: add ability to set node options
lib: fix lint error
plugin: fix build error
lib: fix reorder warnings
lib: fix ftf compilation warnings
Contributors: Vladimir Ermakov

2.0.1 (2021-06-06)

readme: update source build instruction
Merge branch 'master' into ros2 * master: readme: update 1.8.0 update changelog Create semgrep-analysis.yml Create codeql-analysis.yml
1.8.0
update changelog
Contributors: Vladimir Ermakov

2.0.0 (2021-05-28)

pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fix flake8
pylib: fixing lint erorrs
includes: include tf2 buffer
pylib: fix ftp, add flags to wp
pylib: port mavftp
test: fix ParamDict test, yapf
pylib: fix wp load/dump file
pylib: port mavwp
pylib: fix param plugin
pylib: port mavparam
pylib: add uas settings accessor
pylib: fix set_mode
plugin: fix sys_status ~/set_mode service
pylib: porting mavsys
pylib: fix checkid
pylib: port checkid
pylib: force-create mav script entry point, why console_scripts didn't work?
pylib: small fix for setup
pylib: fix mavcmd trigger
pylib: move cmd check to utils
pylib: move wait flag to global group
pylib: port mavsafety, drop safetyarea as it completely outdated
pylib: fix script path
pylib: wait for services by default
pylib: add local position plugin
pylib: port all mavcmd
pylib: port most of mavcmd
pylib: start porting mavcmd
pylib: fix loading
pylib: port ftp
pylib: port mavlink helpers
pylib: port setpoint plugin
pylib: remove event_lanucher, ros2 should have different way to do the same
pylib: test ParamFile
pylib: test ParamDict
pylib: port param
pylib: add system module
pylib: fix loading
pylib: apply yapf
tests: add simple plan file
msgs: update command codes
pylib: move to support ament_python
pylib: start porting
plugins: fix all cpplint errors
plugins: fix some cpplint errors
test: fix cpplint errors
lib: fix lint errors
lib: fixing cpplint
plugins: waypoint: fix parameter exception
plugins: geofence: port to ros2
plugins: rallypoint: port to ros2
plugins: waypoint: port to ros2
plugins: mission base ported to ros2
plugins: mission: noe step further
mission proto: start port
mavros: make cpplint happy about includes
tests: make cpplint happy
mavros: make cpplint happy
lib: uncrustify
Merge branch 'master' into ros2 * master: ci: github uses yaml parser which do not support anchors. surprise, surprise! ci: install geographiclib datasets extras: #1370: set obstacle aangle offset lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink() extras: distance_sensor: rename param for custom orientation, apply uncrustify px4_config: Add distance_sensor parameters distance_sensor: Add horizontal_fov_ratio, vertical_fov_ratio, sensor_orientation parameters distance_sensor: Fill horizontal_fov, vertical_fov, quaternion
lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
lib: fix misprint
plugins: param: #1567: use parameters qos
lib: more lint...
lib: fix more linter warnings
lib: fix some linter warnings
lib: fix some linter warnings
router: fix lint error, it invalidated after erase
plugins: ftp: disable ll debug
plugins: param: add use_sim_time to excluded ids
plugins: param: set only allowed posparam
plugins: param: ported to ros2
plugins: ftp: port to ros2
plugins: setpoint_position: port to ros2
plugins: setpoint_attitude: port to ros2
Merge branch 'master' into ros2 * master: convert whole expression to mm
convert whole expression to mm
plugins: setpoint_trajectory: port to ros2
plugins: setpoint_velocity: port to ros2
plugins: setpoint_accel: port to ros2
plugins: setpoint_raw: fix sefgault
plugins: setpoint_raw: port to ros2
plugins: imu: port to ros2
plugins: global_position: port to ros2
plugin: local_position: port to ros2
plugins: wind_estimation: port to ros2
plugins: rc_io: port to ros2
plugins: port manual_control
plugins: home_position: port to ros2
plugins: sys_status: update set_message_interval
plugins: sys_status: implement autopilot version request
plugins: port command to ros2
uas: add eigen aligned allocator
plugin: altitude: port to ros2
uas: add convinient helpers
plugins: actuator_control: port to ros2
uas: fix some more lint errors
uas: fix some lint errors
plugin: sys_status: fix some lint errors
plugins: port sys_time
Merge branch 'master' into ros2 * master: 1.7.1 update changelog re-generate all pymavlink enums 1.7.0 update changelog
plugins: sys_status: fix connection timeout
lib: update cog to match ament-uncrustify
plugins: sys_status: fixing mav_type
plugins: sys_state: declare parameters
plugins: sys_state: ported most of things
plugins: sys_status: port most of the parts
plugins: start porting sys_status
plugins: generate description xml
plugins: port dummy
mavros: generate plugin list
Merge branch 'master' into ros2 * master: msgs: re-generate the code lib: re-generate the code plugins: mission: re-generate the code MissionBase: correction to file information MissionBase: add copyright from origional waypoint.cpp uncrustify whitespace add rallypoint and geofence plugins to mavros plugins xml add rallypoint and geofence plugins to CMakeList Geofence: add geofence plugin Rallypoint: add rallypoint plugin Waypoint: inherit MissionBase class for mission protocol MissionBase: breakout mission protocol from waypoint.cpp README: Update PX4 Autopilot references Fix https://github.com/mavlink/mavros/issues/849
uas: test multiple handlers for same message
uas: implement test for plugin message router
uas: fix is_plugin_allowed truth table
uas: initial unittest
uas: implement tf helpers
uas: add parameters callback, testing helper
node: disable intra process messaging because it's throws errors
uas: it's compilling!
uas: still fixing build...
uas: split uas_data.cpp into smaller units
uas: fix misprints
uas: initial implementation porting
uas: style fixes in headers
uas: update plugin base class, add registration macro
uas: begin implementation
router: use common format for address
router: add source id to UAS frame_id
mavros_node: that binary would be similar to old mavros v1 node
router: fix conponent loading
router: add test for Endpoint::recv_message
router: rename mavlink to/from to source/sink, i think that terms more descriptive
router: add diagnostics updater
router: fix incorrect get_msg_byte
router: trying to deal with mock cleanup checks
router: initial import of the test
router: catch open erros on ROSEndpoint
router: catch DeviceError
router: remove debugging printf's
router: weak_ptr segfaults, replace with shared_ptr
router: implement routing, cleanup
tools: remove our custom uncrustify, would use amend-uncrustiry instead
mavros: ament-uncrustify all code. enen unused one
router: implement params handler
router: fix build
router: add handler for parameters and reconnection timer
router: add some code docs, ament-uncrustify
router: implement basic part of Endpoint
lib: add stub code for router
mavros: router decl done
mavros: prototyping router
mavros: update tests
lib: port most of utilities
mnavros: lib: apply ament_uncrustify
lib: port enum_to_string
lib: update sensor_orientation
mavros: add rcpputils
mavros: fix cmake to build libmavros
mavros: begin porting...
Merge pull request #1186 from PickNikRobotics/ros2 mavros_msgs Ros2
Merge branch 'ros2' into ros2
msgs: start porting to ROS2
disable all packages but messages
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Sanket Sharma, Vladimir Ermakov, acxz

1.13.0 (2022-01-13)

Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
Contributors: Vladimir Ermakov

1.12.2 (2021-12-12)

Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Contributors: Oleg Kalachev, Vladimir Ermakov, hs293go

1.12.1 (2021-11-29)

mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.12.0 (2021-11-27)

Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
lib: fix mission frame debug print
Contributors: Alexander Sherikov, Vladimir Ermakov

1.11.1 (2021-11-24)

lib: fix build
Contributors: Vladimir Ermakov

1.11.0 (2021-11-24)

lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
Contributors: Jaeyoung-Lim, Vladimir Ermakov

1.10.0 (2021-11-04)

Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
Contributors: David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Marcelino Almeida, Val Doroshchuk, Vladimir Ermakov

1.9.0 (2021-09-09)

Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: reformat xml
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, Karthik Desai, Vladimir Ermakov

1.8.0 (2021-05-05)

lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
convert whole expression to mm
Contributors: Alexey Rogachevskiy, Thomas, Vladimir Ermakov

1.7.1 (2021-04-05)

re-generate all pymavlink enums
Contributors: Vladimir Ermakov

1.7.0 (2021-04-05)

lib: re-generate the code
plugins: mission: re-generate the code
MissionBase: correction to file information
MissionBase: add copyright from origional waypoint.cpp
uncrustify
whitespace
add rallypoint and geofence plugins to mavros plugins xml
add rallypoint and geofence plugins to CMakeList
Geofence: add geofence plugin
Rallypoint: add rallypoint plugin
Waypoint: inherit MissionBase class for mission protocol
MissionBase: breakout mission protocol from waypoint.cpp
README: Update PX4 Autopilot references Much needed fixes to clarify the project is named correctly throughout the README for the PX4 Autopilot, QGroundControl, and MAVLink
Fix https://github.com/mavlink/mavros/issues/849
Contributors: Charlie-Burge, Ramon Roche, Tobias Fischer, Vladimir Ermakov

1.6.0 (2021-02-15)

fix inconsistency in direction of yaw when using set_position in BODY frames and fix problems with yaw in setponit_raw
Contributors: zhouzhiwen2000

1.5.2 (2021-02-02)

readme: add source install note for Noetic release
Contributors: Vladimir Ermakov

1.5.1 (2021-01-04)

Fix tests for renaming of ECEF cases Introduced in 6234af29
Initialise message structures Uninitialised Mavlink 2 extension fields were sent if the fields were not later set. Initialising the fields to zero is the default value for extension fields and appears to the receiver as though sender is unaware of Mavlink 2. Instances were found with regex below, more may exist: mavlink::[\^:]+::msg::[\^:={]+ ?[\^:={]*;
Contributors: Rob Clarke

1.5.0 (2020-11-11)

mavros/sys_status: Fill flight_custom_version field
mavros: Add override specifiers
mavros: Move ECEF tf enums to separate enum class This avoids a bunch of unhandled switch cases, and should improve type safety a bit.
Contributors: Morten Fyhn Amundsen

1.4.0 (2020-09-11)

mavros: use mavlink::minimal:: after incompatible changes in mavlink package Incompatible change: https://github.com/mavlink/mavlink/pull/1463 Fix: #1483, https://github.com/mavlink/mavlink/issues/1474
fixes based on vooon's review
fix issue what we couldn't set real parameters to 0.0 in mavros
Add error message
Fixed compilation error: publish std_msgs::String, not std::string for gcs_ip
Dispatch GCS IP address
Contributors: Artem Batalov, Marcelino, Morten Fyhn Amundsen, Vladimir Ermakov, Øystein Skotheim

1.3.0 (2020-08-08)

fake_gps.cpp: implement speed accuracy
fake_gps.cpp: Add mocap_withcovariance configuration parameter
fake_gps.cpp: add initial support for GPS_INPUT MAVLink message
apm.launch: Avoid warning: Warning: You are using <arg> inside an <include> tag with the default=XY attribute - which is superfluous. Use value=XY instead for less confusion. Attribute name: respawn_mavros
Added support for MavProxy parameter file format
Ignore read-only parameters and statistics parameters in push operations
fix indentation
transform based on coordinate_frame
wind plugin: fix ArduPilot wind transformation
Contributors: Ben Wolsieffer, Dr.-Ing. Amilcar do Carmo Lucas, Yuan, Yuan Xu

1.2.0 (2020-05-22)

has_capability only works for enums
Uncrustify
Reworked Waypoint plugin to use capabilities_cb Additionally added helper functions has_capability and has_capabilities so that people can use either ints or enums to check if the UAS has a capability. This might make accepting capabilities as a parameter moot though.
Added alias for capabilities enum to UAS
Added alias for capabilities enum to UAS
Added a capabilities change cb queue Plugins can now write functions that they add to the capabilities_cb_vec. These functions will be called only when there is a change to the capabilities themselves not whenever the known status of the fcu_capabilities change. These functions should have a parameter of type mavlink::common::MAV_PROTOCOL_CAPABILITY which is essentially just a uint64_t however being more opinionated is helpful when looking for what the canonical enum names are in the mavlink project header files.
Uncrustify
Fixed Removed Uncrustify Option I'm not sure why this didn't break when I ran uncrustify previously but it seems that the align_number_left option was removed a while ago with this merge request but I may be mistaken https://github.com/uncrustify/uncrustify/pull/1393 I replaced it which align_number_right=true since it seems to be the inverse of align_number_left=true.
Removed deprecated MAV_FRAME values
Removed use of variant in favor of templates Since ROS messages are now the storage type in the node, providing to and from conversion functions is sufficient and can be better expressed with function templates.
Encode factor returns double
Changed encoding factor cog code
Uncrustify changes
Added new parameter to config.yamls
Updated waypoint plugin to support MISSION_ITEM_INT These changes add a new parameter use_mission_item_int, which allows users to prefer the old behavior. These changes also verify that the flight controller supports _INT messages since APM only sends REQUEST_ITEM messages even though it accepts _INT items back. This commit is functional and tested with the APM stack only. PX4 sitl jmavsim threw: WP: upload failed: Command is not supported. FCU: IGN MISSION_ITEM: Busy
Removed x_lat, y_long, z_alt from WP These values seemed to be used due to the fact that double had a greater resolution than float and doubles are used in the ros msg. However they were only ever used for printing. Since the int version of these messages has a greater resolution I figure it is more useful to print the true value in the mavlink message rather than the ros message value
Replaced MISSION_ITEM
add yaw to CMD_DO_SET_HOME
fix local angular velocity
Contributors: Braedon, David Jablonski, Martina Rivizzigno

1.1.0 (2020-04-04)

fixed styling
fixed indent from using spaces
updates apmrover2 modes and allows for arduboat mode changes
mavsafety kill feature for emergency stop
Include trajectory_msgs in CMakeLists.txt This allows build to complete successfully.
Contributors: Anthony Goeckner, Matt Koos, aykutkabaoglu

1.0.0 (2020-01-01)

0.33.4 (2019-12-12)

Replaced estimator status hardcoded definition with cog.
Refactor.
Replaced bool with git add -u as already done.
Added a publisher for estimator status message received from mavlink in sys_status.
Contributors: saifullah3396

0.33.3 (2019-11-13)

package: fix 6fa58e59 - main package depends on trajectory_msgs, not extras
Contributors: Vladimir Ermakov

0.33.2 (2019-11-13)

0.33.1 (2019-11-11)

Add mutex
Initialize type mask
Handle frame with StaticTF
Handle different frames
Set yaw rate from message inputs
Add setpoint trajectory reset interface
Fix trajectory timestamp
Address comments
Pass reference with oneshot timers
Set typemasks correctly
Address more style comments
Address style comments
Visualize desired trajectory
Handle end of trajectory correctly
Remove message handlers
Add setpoint_trajectory plugin template
resolved merge conflict
Contributors: David Jablonski, Jaeyoung-Lim

0.33.0 (2019-10-10)

Add vtol transition service
CleanUp
Update frame name in px4_config to match ROS standards
Enable publishing multiple static tfs at once, publish standard static tfs
moving ACK_TIMEOUT_DEFAULT out of class
cog: Update all generated code
mavros/src/plugins/command.cpp: one more style fix
mavros/src/plugins/command.cpp: style fixes
mavros/src/plugins/command.cpp: command_ack_timeout ms -> s
mavros/src/plugins/command.cpp: command_ack_timeout_ms int -> double
mavros/src/plugins/command.cpp: uncrustify
mavros/src/plugins/command.cpp: parameter for command's ack timeout Sometimes commands take more time than default 5 seconds. Due to a low bandwidth of UART and a high rate of some mavlink streams. To eliminate this problem it's better to provide the parameter to configure the command's ack timeout.
added manual flag to mavros/state
Use GeoPoseStamped messages
Fix build
Add callback for SET_POSITION_TARGET_GLBOAL_INT
Contributors: David Jablonski, Jaeyoung-Lim, Sergei Zobov, Vladimir Ermakov, kamilritz

0.32.2 (2019-09-09)

uncrustify
Add boolean to check if IMU data has been received Follow sensor_msgs/Imu convention when data not present
Uncrustify the GPS_GLOBAL_ORIGIN handler in global_position
Fix global origin conversion to ecef (was using amsl where hae was required) Summary: Fix global origin conversion to ecef (was using amsl where hae was required)
moved code to end of function
added amount of satellites to global_position/raw/
Contributors: David Jablonski, Nick Steele, Rob Clarke, Robert Clarke

0.32.1 (2019-08-08)

uncrustify
Removed tf loop
made small edit to handle augmented gps fix
added a check for gps fix before setting origin for global_position/local odometry topic
Contributors: Eric, Lucas Hill

0.32.0 (2019-07-06)

use direclty radians in yaml files
A simple typo error has fixed. (#1260)
- fix: a typing error "alredy" to "already"
- Fix: typo error (helth -> health)
Contributors: Martina Rivizzigno, 강정석

0.31.0 (2019-06-07)

readme: fix udp-pb formatting
launch config: landing_target: fix and improve parameter list
remove duplicated landing_target parameters
enum_to_string: simplify landing_target_type_from_str
enum_to_string: update enumerations and checksum
extras: landing target: improve usability and flexibility
remove landing_target from blacklist
update to use pymavlink generator
px4_config: landing_target: minor correction
mav_frame: add frames of reference to wiki page; reference them on config
landing_target: removed child_frame_id
landing_target: minor code tweak/restructure
landing_target: uncrustify code
landing_target: updated to TF2 and Eigen math
landing_target: adapted to latest master code
landing_target: added timestamp and target size fields [!Won't compile unless a new mavlink release!]
landing_target: first commit
Switch to double-reflections instead of axes-reassignments
specialize transform_frame_ned_enu and transform_frame_enu_ned for type Vector3d such that input vectors containing a NAN can be correctly transformed
Update README.md update misspelling
Contributors: Julian Kent, Martina Rivizzigno, Shingo Matsuura, TSC21, Vladimir Ermakov

0.30.0 (2019-05-20)

Filter heartbeats by component id as well This addresses #1107 and #1227, by filtering incoming heartbeats by component ids before publishing the state.
mavros/src/plugins/command.cpp: log if command's wait ack timeout (#1222)
- mavros/src/plugins/command.cpp: log if command's wait ack timeout
- mavros/src/plugins/command.cpp: log timeout in wait_ack_for
local_position fix #1220: initialize flags
plugin waypoint: fix spelling
Fix leading space before setpoint_raw This causes an error when running `roslaunch`: ` error loading <rosparam> tag: file /opt/ros/kinetic/share/mavros/launch/apm_config.yaml contains invalid YAML: while parsing a block mapping in "<string>", line 4, column 1: startup_px4_usb_quirk: false ^ expected <block end>, but found '<block mapping start>' in "<string>", line 103, column 2: setpoint_raw: ^ XML is <rosparam command="load" file="$(arg config_yaml)"/> The traceback for the exception was written to the log file`
global_position.cpp: spell in comment
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Josh Veitch-Michaelis, Nico van Duijn, Sergey Zobov, Vladimir Ermakov

0.29.2 (2019-03-06)

0.29.1 (2019-03-03)

All: catkin lint files
Update apm_config.yaml Setting thrust_scaling in the setpoint_raw message (in my case, to use /mavros/setpoint_raw/attitude) Without it, when using Gazebo, get the following problem "Recieved thrust, but ignore_thrust is true: the most likely cause of this is a failure to specify the thrust_scaling parameters on px4/apm_config.yaml. Actuation will be ignored." from the function void attitude_cb in setpoint_raw.cpp (http://docs.ros.org/kinetic/api/mavros/html/setpoint__raw_8cpp_source.html)
cmake: fix #1174: add msg deps for package format 2
Issue #1174 Added dependency for mavros_msgs and mavros
Contributors: Adam Watkins, KiloNovemberDelta, Pierre Kancir, Vladimir Ermakov

0.29.0 (2019-02-02)

Fix broken documentation URLs
px4_config: set the thrust_scaling to one by default
local_position: add an aditional topic for velocity on the local frame
Merge pull request #1136 from angri/param-timeout Request timed up parameters as soon as possible
Merge branch 'master' into param-timeout
plugin:param added logging regarding rerequests
plugin:param fixed second and consequent timeouts in requesting list
mavros_extras: Wheel odometry plugin updated according to the final mavlink WHEEL_DISTANCE message.
mavros_extras: Wheel odometry plugin fixes after CR.
mavros_extras: Wheel odometry plugin added.
mavsys: add do_message_interval
sys_status: add set_message_interval service
lib: fix MAV_COMPONENT to_string
lib: update sensor orientations
plugin:param rerequest timed out parameters asap Avoid vaiting for the next timeout
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Pavlo Kolomiiets, Randy Mackay, TSC21, Vladimir Ermakov, angri

0.28.0 (2019-01-03)

plugin:param: publish new param value
Merge pull request #1148 from Kiwa21/pr-param-value param plugin : add msg and publisher to catch latest param value
sys_status: fix build
sys_state: Small cleanup of #1150
VehicleInfo : add srv into sys_status plugin to request basic info from vehicle
sys_status: Fix #1151 bug - incorrect hex print
plugins:sys_status: Update diag decoder
frame_tf: mavlink_urt_to_covariance_matrix: make matrix symetrical
uas_data: add comment on the reverse tf fcu_frd->fcu
odom: add ODOMETRY handler and publisher
Handle LOCAL_POSITION_NED_COV messages, add pose_cov, velocity_cov, accel topics
sys_status : add MAV_TYPE as a parameter
rc_io: extend handle_servo_output_raw to 16 channels
param plugin : add msg and publisher to catch latest param value
plugin:command: Update for C++11, style fix Signed-off-by: Vladimir Ermakov <<vooon341@gmail.com>>
Fixed NavSatFix bug in mavcmd takeoffcur and landcur
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940 Remove unnecessary functools
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940
Fix mavros/param.py to work in python2 and python3, #940
correct the to_string function
set value back to 30
add autogenerated to_string function
style clean up
Use component_id to determine message sender
change message name from COMPANION_STATUS to COMPANION_PROCESS_STATUS
change message to include pid
Change from specific avoidance status message to a more generic companion status message
add plugin to receive avoidance status message
Added RPYrT and uncrustified. Pushing version without spaces. Version with tabs? Fixed all? Finally fixed. Fixed requestes by \@vooon Fixed a def. Fixed log format. Fixed time for log.
apm_config: enable timesync and system for ardupilot
Contributors: Dan Nix, Gregoire Linard, Oleg Kalachev, Randy Mackay, TSC21, Vladimir Ermakov, baumanta, fnoop, pedro-roque

0.27.0 (2018-11-12)

fix: a typing error "alredy" to "already"
plugins #1110 #1111: add eigen aligment to plugins with eigen-typed members
plugins: fix style
with this fix ,it will avoid eigen error on 32 bits system
Add service to send mavlink TRIGG_INTERVAL commands Adapt trigger_control service to current mavlink cmd spec. Add a new service to change trigger interval and integration time
launch: fix #1080: APM now support mocap messages
Contributors: Gaogeolone, Moritz Zimmermann, Vladimir Ermakov, rapsealk

0.26.3 (2018-08-21)

test: Fix sensor orientation. RPY 315 was removed in recent mavlink. https://github.com/mavlink/mavlink/commit/3d94bccfedc5fc7f2ffad247adecff0c2dc03501
lib: update generated entries
Contributors: Vladimir Ermakov

0.26.2 (2018-08-08)

Moving gps_rtk to mavros_extras
Update copyright name
Updating the gps_rtk plugin to fit mavros guidelines:
- Updating max_frag_len to allow changes in size in MAVLink seamlessly
- Using std::copy instead of memset
- Zero fill with std::fill
- Preapply the sequence flags
- Use of std iterators
- Add the maximal data size in the mavros_msgs
uncrustify
Update comments for the renaming
Renaming the GPS RTK module, Adding fragmentation, Changing the RTCM message
RTK Plugin; to forward RTCM messages Signed-off-by: Alexis Paques <<alexis.paques@gmail.com>>
Contributors: Alexis Paques

0.26.1 (2018-07-19)

setpoint_velocity: fix yaw rate setpoint rotation
lib fix #1051: Add APM BOAT modes support. Currently SURFACE_BOAT uses same code as Rover2, just different vehicle type.
Contributors: TSC21, Vladimir Ermakov

0.26.0 (2018-06-06)

lib: add tunable timeout to gcs_quiet_mode
udp bridge: pass only HEARTBEATs when GCS is offline
sys_time : add advanced timesync algorithm
libmavconn: add scheme for permanent UDP broadcasting
GPS accuracy wo approximations (#1034)
- GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT.
* GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT if on mavlink v2.0, or on DOP values otherwise.
- GPS accuracy update.
Contributors: Mohammed Kabir, Oleg Kalachev, Pavlo Kolomiiets, Vladimir Ermakov

0.25.1 (2018-05-14)

0.25.0 (2018-05-11)

wind plugin: uncrustify
use eigen and tf conversions (fix conventions), sync timestamp, fix typos
add wind estimation plugin
launch: fix style and keep apm.launch consistent with px4.launch
Updated apm.launch to forward new fcu_protocol parameter
glob pos plugin: correct gps velocity convention (NEU->ENU)
Split temperature publisher.
setpoint_raw: correct yaw transform; remove yaw transform methods
extras: odom: improve way frame naming is handled
extras: update odom plugin to send ODOMETRY msgs
lib: enum_to_string: update enums
setpoint_attitude: rename topic from target_attitude to attitude
imu plugin: fix pressure units
imu plugin: publish differential pressure (#1001)
- imu plugin: publish differential pressure
- imu plugin: fix doxygen snippets
lib: add PX4 mode AUTO.PRECLAND
extras: add covariance parsing to vision_speed_estimate (#996)
Contributors: Anthony Lamping, Nuno Marques, Oleg Kalachev, Sondre Engebråten, TSC21, Thomas Stastny, Timo Hinzmann, Vladimir Ermakov

0.24.0 (2018-04-05)

frame_tf: add assertion over size of covariance matrix URT
extras: update vision_pose_estimate plugin so it can send the covariance matrix also
plugins fix #990: Explicitly cast boolean values. Else someone can shoot in his foot.
Update Readme for serial0: receive: End of file
launch : remove vision_pose_estimate from blacklist on ardupilot
plugin: ftp: fix typo
Add ability to send STATUSTEXT messages
Contributors: Anass Al, Andrei Korigodski, Pierre Kancir, TSC21, Vladimir Ermakov

0.23.3 (2018-03-09)

lib: simplify geolib cmake module, try to fix CI
Contributors: Vladimir Ermakov

0.23.2 (2018-03-07)

launch: add optional respawn_mavros arg
Contributors: Anthony Lamping

0.23.1 (2018-02-27)

lib: Update to_string
plugin fix #957: set MISSION_ITEM::mission_type
Contributors: Vladimir Ermakov

0.23.0 (2018-02-03)

launch fix #935: use orientation convention from message descr https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR
Blacklist HIL for APM since it is not relevent
add MAV_DISTANCE_SENSOR enum to_string
px4: add fcu_protocol argument to choose mavlink v1.0 or v2.0 to start mavros in node.launch
node: add fcu_protocol parameter to be able to choose mavlink v1.0 or v2.0 when starting mavros node
mavros: default fcu_protocol parameter to mavlink v2.0
manual_control: [send]{.title-ref} topic for sending MANUAL_CONTROL message to FCU
imu plugin: fix doxygen comments
imu plugin: change sufixes to match the body coordinate frame
Fix vision odom.
IMU plugin: add raw IMU conversion for PX4
mention rotation convention and fix NED to ENU description
Contributors: ChristophTobler, James Goppert, James Mare, Martina, Oleg Kalachev, TSC21, Vladimir Ermakov

0.22.0 (2017-12-11)

scripts: Use non global mavros-ns allow to work __ns parameter
update script to support cycle_time on cmd trigger_control
plugin: Fix setpoint_position code style
Global position setpoint plugin (#764)
- fix fake gps rate
- fix
- fix plugin_list
- fix
- add global position setpoint plugin
- add plugin to CMakeList
- fix bugs
- add altitude
- move GPS setpoints to setpoint_position plugin
- fix gps setpoint subscriber name
- move GeographicLib::Geocentric earth inside callback
- add warning msg if timestamp is not updates
- Fix ROS_WARN
doc: move contributing.md to root
tools: add cogall.sh
split contribuion guide to GH file
Readme: add help for cog (#876)
Setpoints: remove mav_frame string for local variable
Setpoints: add params for initial frame
Setpoint_velocity: uncrustify
Setpoint_position: uncrustify
Setpoints: add service to specify frame
Fix typo #867
Improve output of script, replace which with more reliable hash #867
Ensure dataset files exist, not just directories #867
Remove previous duplicated link
Fixed issue link.
Fixed section header. Ready for troubleshooting PR.
Pushing troubleshooting section for Mavros.
Contributors: Mohamed Abdelkader Zahana, Pierre Kancir, Vladimir Ermakov, andresR8, fnoop, khancyr, pedro-roque

0.21.5 (2017-11-16)

Yet another formatting.
px4_config.yaml updated. Minor formatting update.
global_position/raw/gps_vel should still be in earth fixed frame.
GPS fix's frame_id changed to body-fixed.
global_position/local angular twist changed from NANs to zeroes to be able to show in RViz.
readme: source install: add note on fetching all the deps
geolib_dataset: script: fix interpreter
Contributors: Pavlo Kolomiiets, TSC21

0.21.4 (2017-11-01)

lib ftf: update dox, uncrustify
ENU<->ECEF transforms fix. (#847)
- ENU<->ECEF transforms fix.
- Changes after review. Unit tests added.
test: fix copy-paste error in frame_tf
Contributors: Vladimir Ermakov, pavloblindnology

0.21.3 (2017-10-28)

Update geographiclib script to work with zsh
scripts: fix typos and improve help messages consistency commad -> command safty -> safety Start help messages with a capital letter.
uncrustify
plugin waypoints: Use stamped message
plugin waypoint: Add MISSION_ITEM_REACHED publisher * Changes to be committed: modified: mavros/src/plugins/waypoint.cpp modified: mavros_msgs/CMakeLists.txt new file: mavros_msgs/srv/WaypointReached.srv
- change reached service name to classic topic
- Changed reached service to topic
- removed unused file
- Removed WaypointReached service
- Change reached message type to std_msgs::UInt16
- Delete WaypointReached.srv
- Restore WaypointPush.srv
- Fix tipo
- Update waypoint.cpp
launch: sync APM and PX4 configs
add debug plugin
Contributors: Jonas Vautherin, Patrick Jose Pereira, TSC21, Vladimir Ermakov, gui2dev

0.21.2 (2017-09-25)

plugin: setpoint_attitude: Finish Andres fix
fix: attitude callback trigger
lib uas: remove inline on not inlined method
odom: general fixes and code tighting
Use tf2 for odom plugin and set reasoable defaults for local pos cov.
Contributors: Andres Rengifo, James Goppert, TSC21, Vladimir Ermakov

0.21.1 (2017-09-22)

mavsys: mode: add solutions for setting AUTO.MISSION and AUTO.LOITER modes (#814)
- mavsys: add notes on how to change mode to AUTO.MISSION on PX4 Pro
- enum_to_string: update enums
- mavsys: mode: move AUTO submodes info to argparser
- sys_status: leave note that MAV_TYPE_ONBOARD_CONTROLLER will be supported on PX4
- mavsys: mode: add note on changing to AUTO.LOITER
Solve the subscriber initialization
lib frame_tf: Add to_eigen() helper
Contributors: Alexis Paques, Nuno Marques, Vladimir Ermakov

0.21.0 (2017-09-14)

plugin waypoint: Uncrustify, update init list
lib: Add to_sting for MAV_MISSION_RESULT
plugin waypoint: Rename current seq in wp list message
waypoint: Publish current waypoint seq
waypoint partial: Check parameter first with hasParam
waypoint partial: Documentation updates
waypoint: Document mid level helpers and fix indenting on rx handlers
waypoint: Document rx handlers
waypoint partial: Move FCU detection to connection_cb
waypoint partial: recommended changes to mavwp
waypoint partial: code style cleanup
waypoint partial: enable only on apm but allow override with parameter
waypoint partial: Handle case when partial push is out of range with local list and uncrustify
waypoint partial: enable only on apm through yaml
waypoint partial: stopped partial push from clearing parts of local waypoint copy
waypoint partial: uncrustify
waypoint partial: extend mavwp cli tool to do partial updating in push
waypoint partial: extended push in waypoint plugin to implement push partial
waypoint: uncrustify
waypoint: handle invalid_sequence mission_ack to prevent TXWP failure
Partial waypoint: added wp_transfered to push partial service response
Partial waypoint: renamed mavwp partial load arguments for consistency
Partial waypoint: fixed end index and added partial tx state
Partial Waypoint: handle service call in waypoint plugin
Partial waypoint: added partial updating to mavwp
imu_plugin: remove documentation of override func
imu plugin: uncrustify
imu plugin: don't be so explicit about in/out params
imu plugin: fix indentation
imu plugin: update setup_covariance method to use Eigen capabilities
imu plugin: use simpler format for one line comments
imu plugin: add code snippets to Doxygen documentation
IMU and attitude: general clean-up
CMake: explicitly link the atomic library (#797) For arm & mips architecture, the linker must explicitly be asked to link the atomic library (with [-latomic]{.title-ref}). Otherwise, the linking fails with: ` | devel/lib/libmavros.so: undefined reference to `__atomic_load_8' | devel/lib/libmavros.so: undefined reference to `__atomic_store_8' | collect2: error: ld returned 1 exit status[ Linking `atomic]{.title-ref} unconditionally as library is strictly needed only for arm & mips, but it seems not to imply any further differences with other architectures. Hence, this commit simply adds [atomic]{.title-ref} unconditionally for a uniform handling of all machine architectures. This is an alternative solution to the proposed solution in #790. The issue was discovered cross-compiling mavros in meta-ros, the OpenEmbedded layer for ROS. Some further pointers are available at: https://github.com/bmwcarit/meta-ros/issues/525 Signed-off-by: Lukas Bulwahn <<lukas.bulwahn@gmail.com>>
setpoint_attitude: privatize message_filters subscribers
Updating comments for PX4Flow
Removing copter_visualization from the yaml files. Adding odometry to apm_config Changing frame_id to base_link for vibration
Update the apm_config and px4flow_config files
Update configuration from mavros_extras
Updating default settings from px4.yaml
- global_position/tf/send default to false
- imu, checked
- local_position/tf/send default to false
- local_position/tf/send_fcu default to false
- mission/pull_after_gcs default to true
Update time reference to fcu Adding global_frame_id: 'earth' to apm_config
fcu to base_link
Changing fcu_utm to fcu
Solving default frame consistency in config files
Contributors: Alexis Paques, James Mare, James Stewart, Lukas Bulwahn, TSC21, Vladimir Ermakov

0.20.1 (2017-08-28)

0.20.0 (2017-08-23)

update generated code in plugins
update generated code
geolib: datasets: warn when not installed; update install script; launch SIGINT when not installed (#778)
- geolib: make dataset install mandatory
- travis_ci: install python3; use geographiclib-datasets-download
- CMakeLists.txt: set datasets path
- travis_ci: create a path for the geoid dataset
- travis_ci: remove python3 install
- CMakeLists.txt: remove restriction regarding the geoid model
- CMakeLists.txt: only launch a warning if the geoid dataset is not installed
- CMakeLists.txt: simplify dataset path search and presentation
- scripts: install_geographiclib_datasets becomes version aware
- uas_data: dataset init: shutdown node if exception caught
- README: update GeographicLib info; geolib install script: check for more OS versions
- uas_data: small typo fix
- install_geolib_datasets: some fix
- CMakeLists.txt: be more clear on geoid dataset fault
- CMakeLists: push check geolib datasets to a cmake module
- travis_ci: update ppa repository
- uas_data: shutdown node and increase log level instead
- install_geographiclib_datasets: simplify script to only check download script version available
- uas_data: remove signal.h import
HIL Plugin
- add HilSensor.msg, HilStateQuaternion.msg, and add them in CMakeLists.txt
- Add hil_sensor.cpp plugin to send HIL_SENSOR mavlink message to FCU.
- fix HilSensor.msg. Make it more compact.
- Fix HilStateQuaternion.msg. Make it more compact.
- Add hil_state_quaternion plugin
- fix files: some variable names were wrong+some syntax problems
- fix syntax error in plugin .cpp files, make msg files match corresponding mavlink definitions
- fix plugin source files
- fix syntax
- fix function name. It was wrong.
- add HIL_GPS plugin
- add HilGPS.msg to CMakeList
- fix missing semicolon
- fix call of class name
- Add ACTUATOR_CONTROL_TARGET MAVLink message
- fix code
- increase number of fake satellites
- control sensor and control rates
- change control rate
- change control rate
- fix fake gps rate
- fix
- fix plugin_list
- fix
- remove unnecessary hil_sensor_mixin
- update HilSensor.msg and usage
- update HilStateQuaterion.msg and usage
- redo some changes; update HilGPS.msg and usage
- update hil_controls msg - use array of floats for aux channels
- merge actuator_control with actuator_control_target
- remove hil_sensor_mixin.h
- update actuator_control logic
- merge all plugins into a single one
- delete the remaining plugin files
- update description
- redo some changes; reduce LOC
- fix type cast on gps coord
- add HIL_OPTICAL_FLOW send based on OpticalFlowRad sub
- update authors list
- update subscribers names
- refactor gps coord convention
- add HIL_RC_INPUTS_RAW sender; cog protec msg structure and content
- apply correct rc_in translation; redo cog
- apply proper rotations and frame transforms
- remote throttle
- fix typo and msg api
- small changes
- refactor rcin_raw_cb
- new refactor to rcin_raw_cb arrays
- update velocity to meters
- readjust all the units so to match mavlink msg def
- update cog
- correct cog conversion
- refefine msg definitions to remove overhead
- hil: apply frame transform to body frame
apm_config.yaml: change prevent collision in distance_sensor id
Extras: add ardupilot rangefinder plugin
msgs fix #625: Rename SetMode.Response.success to mode_sent
[WIP] Plugins: setpoint_attitude: add sync between thrust and attitude (#700)
- plugins: setpoint_attitude: add sync between throttle and attitude topics to be sent together
- plugins: typo correction: replace throttle with thrust
- plugins: msgs: setpoint_attitude: replaces Float32Stamped for Thrust msg
- plugins: setpoint_attitude: add sync between twist and thrust (RPY+Thrust)
- setpoint_attitude: update the logic of thrust normalization verification
- setpoint_attitude: implement sync between tf listener and thrust subscriber
- TF sync listener: generalize topic type that can be syncronized with TF2
- TF2ListenerMixin: keep class template, use template for tf sync method only
- TF2ListenerMixin: fix and improve sync tf2_start method
- general update to yaml config files and parameters
- setpoint_attitude: add note on Thrust sub name
- setpoint_attitude: TF sync: pass subscriber pointer instead of binding it
apm_config: add mavros_extras/fake_gps plugin param config
px4_config: add gps_rate param
frame tf: move ENU<->ECEF transforms to ftf_frame_conversions.cpp
extras: mocap_fake_gps->fake_gps: generalize plugin and use GeographicLib possibilites
UAS: Share egm96_5 geoid via UAS class
Move FindGeographicLib.cmake to libmavconn, that simplify installation, simplify datasets instattator
Use GeographicLib tools to guarantee ROS msg def and enhance features (#693)
- first commit
- Check for GeographicLib first without having to install it from the beginning each compile time
- add necessary cmake files
- remove gps_conversions.h and use GeographicLib to obtain the UTM coordinates
- move conversion functions to utils.h
- geographic conversions: update CMakeLists and package.xml
- geographic conversions: force download of the datasets
- geographic conversions: remove unneeded cmake module
- dependencies: use SHARED libs of geographiclib
- dependencies: correct FindGeographicLib.cmake so it can work for common Debian platforms
- CMakeList: do not be so restrict about GeographicLib dependency
- global position: odometry-use ECEF instead of UTM; update other fields
- global position: make travis happy
- global position: fix ident
- global_position: apply correct frames and frame transforms given each coordinate frame
- global_position: convert rcvd global origin to ECEF
- global_position: be more explicit about the ecef-enu transform
- global position: use home position as origin of map frame
- global position: minor refactoring
- global position: shield code with exception catch
- fix identation
- move dataset install to script; update README with new functionalities
- update README with warning
- global_position: fix identation
- update HomePosition to be consistent with the conversions in global_position to ensure the correct transformation of height
- home|global_position: fix compile errors, logic and dependencies
- home position: add height conversion
- travis: update to get datasets
- install geo dataset: update to verify alternative dataset folders
- travis: remove dataset install to allow clean build
- hp and gp: initialize geoid dataset once and make it thread safe
- README: update description relative to GeographicLib; fix typos
- global position: improve doxygen references
- README: update with some tips on rosdep install
[WIP] Set framework to define offset between global origin and current local position (#691)
- add handlers for GPS_GLOBAL_ORIGIN and SET_GPS_GLOBAL_ORIGIN
- fix cast of encoding types
- refactor gps coord conversions
- uncrustify
- global_position: add LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET handler
- global_position: add trasform sender for offset
- global_origin: refactor covariance matrix
- global_position: update copyright
- global_position: add initial support to REP 105
- px4_config: global_position: update frame description
- global_position: correct identation
- global position: be consistent with frame and methods names (ecef!=wgs84, frame_id!=global_frame_id)
- global_position: updates to code structure
- global_position: fix identation
lib: frame_tf: Style fix
extras: odom: Minor fixes
extras: Add odom plugin
lib: frame_tf: Add support for 6d and 9d covariance matrices
Contributors: James Goppert, Nuno Marques, TSC21, Vladimir Ermakov, khancyr

0.19.0 (2017-05-05)

launch: remove setpoint-attitude from apm blacklist
lib: cleanup in enum_to_string
extras: Add ADSB plugin
plugin: home_position: Log poll
plugin: home_position: Log report
plugin #695: Fix plugin
plugin: Add home_position
Added SAFETY_ALLOWED_AREA rx handler (#689)
- Added SAFETY_ALLOWED_AREA rx handler and publish PolygonStamped msg with the 2 points
- add resize to array to avoid sigfault
lib: Fix millis timesync passthrough
Plugin: Add unstamped Twist subscriber for setpoint_velocity
uas: Move timesync_mode enum to utils.h + fixes That enum are used for utils too, but forward declaration of class internal enum is impossible.
sys_time: Add timesync mode selection parameter.
sys_time : add multi-mode timesync
uas : add multi-mode timesync
uas : add multi-mode timesync
launch fix #670: Add configuration of distance_sensor plugin for APM
Contributors: Kabir Mohammed, Nuno Marques, Pierre Kancir, Randy Mackay, Vladimir Ermakov

0.18.7 (2017-02-24)

readme: Add serial-hwfc:// proto
trigger interface : rename to cycle_time to be consistent with PX4
Contributors: Kabir Mohammed, Vladimir Ermakov

0.18.6 (2017-02-07)

lib #626: Porting of PR #650 - Fix OSX pthread set name.
uas fix #639: Remove Boost::signals2 from UAS
Plugins: system_status change status field to system_status Add comment to State.msg for system_status enum
Plugins: add system_status to state message
Contributors: Fadri Furrer, Pierre Kancir, Vladimir Ermakov

0.18.5 (2016-12-12)

lib: update ArduPilot modes
Contributors: Randy Mackay

0.18.4 (2016-11-11)

lib: Add ArduSub modes
readme: Fix mavlink rosinstall_generator call
mavros: README.md: its -> it's Here "it's" is a short form for "it is".
add hil_actuator_controls mavlink message
lib: Make cog.py scrips compatioble with Py3
plugin:sys_status: Add logging health report
Update README for all packages
Update README.md Fix instructions: Only the Kinetic distro actually works for MAVLink 2.0
Contributors: Beat Kung, Georgii Staroselskii, Lorenz Meier, Vladimir Ermakov

0.18.3 (2016-07-07)

plugin:param: Use mavlink::set_string() helper
Update README.md
Update README.md Fix very confusing instructions mixing steps.
Update README.md
Update README.md
python #569: convert_to_rosmsg() support for 2.0. NO SIGNING.
python #569: Update mavlink.convert_to_bytes()
Contributors: Lorenz Meier, Vladimir Ermakov

0.18.2 (2016-06-30)

plugin:sys_status: Fix STATUSTEXT log prefix
Contributors: Vladimir Ermakov

0.18.1 (2016-06-24)

lib: Fix base mode flag check
plugins: Move pluginlib macros.h to tail
plugin:param fix #559: Ignore PX4 _HASH_CHECK param
Contributors: Vladimir Ermakov

0.18.0 (2016-06-23)

lib #439: MAV_CMD to_string is not required.
plugin:sys_status #458: Hanlde BATTERY_STATUS (PX4)
plugin:sys_status fix #458: Use sensor_msgs/BatteryState message. Minimal data, for all other need to handle BATTERY_STATUS.
plugin:command fix #561: PX4 now sends COMMAND_ACK. And like APM do not check confirmation field. :)
readme #544: add udp-b://@ URL
plugin:hil_controls: Update plugin API
Merge branch 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros into pvechersky-feature/hil_controls_plugin * 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros: Adding anchor to the HIL_CONTROLS message reference link Ran uncrustify on hil_controls plugin Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation Added a plugin that publishes HIL_CONTROLS as ROS messages
node: fix subscription message type checks
plugin: use mavlink::to_string() for std::array<char, N>
readme: update CI, no more MAVLINK_DIALECT
plugin:waypoint: Fix target id's on MISSION_ITEM
node: Add ~fcu_protocol parameter
Ran uncrustify on hil_controls plugin
Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation
node: set gcs_url on internal GCS bridge diag hardware Id
plugins: Use UAS::msg_set_target()
Added a plugin that publishes HIL_CONTROLS as ROS messages
lib: PX4 add AUTO.FOLLOW_TARGET
mavros: Update tests
extras: Update UAS
UAS: Update plugins for FTF module
UAS: move enum stringify functions
lib: Generate MAV_SENSOR_ORIENTATION
UAS: move MAV_SENSOR_ORIENTATION out
UAS: Move transformation utilities to ftf module
plugin:rc_io: Fix log printf-format warning
make GCC 4.8 happy. (travis)
gcs_bridge: done
param:ftp: Update API
plugin:param: Works. Tested on APM
plugin:param: Update, almost work
plugin:waypoint: Fix Item - ROS binding
Message type mismatch code do not work
plugin:waypoint: Update API
plugin:sys_time: Update API
plugin:sys_status: Update API
plugin:setpoint_raw: Update API
plugin:setpoint_attitude: Update API
plugin:setpoint_accel: Update API
plugin:setpoint_velocity: Update API
plugin:setpoint_position: Update API
plugin:vfr_hud: Update API
plugin:safety_area: Update API
plugin:rc_io: Update API
plugin:manual_control: Update API, fix uas init
plugin:local_position: Update API
plugin:imu_pub: Update API
plugin:global_position: Update API
mavros: make_handle() this shouldn't be const
plugin:common: Update API
plugin:altitude: uncrustify
plugins: Rutine sed + fix misprint
plugin:altitude: Update API
plugins: Automatic replacement of routine API changes (sed)
plugin:actuator_control: Update API
plugin:3dr_radio: Update API
node: Update plugin loading and message routing
node: type_info -> SIGSEGV
node: prepare new plugin loading
node: Rename plugib base class - API incompatible to old class
labmavconn: finding sigsegv
Contributors: Pavel, Vladimir Ermakov

0.17.3 (2016-05-20)

libmavconn #543: support build with mavlink 2.0 capable mavgen
node: Remove warning about MAVLINK_VERSION redefine
Fix bug with orientation in setpoint_raw plugin Fixes a bug where the ned_desired_orientation was not actually passed into set_attitude_target. Instead, the desired_orientation (wrong frame) was passed.
Contributors: Justin Thomas, Vladimir Ermakov

0.17.2 (2016-04-29)

Update README.md
Update README.md Updated / completed examples.
Update README.md
Fix for kinetic std::isnan.
Contributors: James Goppert, Lorenz Meier

0.17.1 (2016-03-28)

lib: Add QLAND mode of APM:Plane https://github.com/mavlink/mavlink/commit/a0ed95c3a7d97a8f8d86ce3f95c4bf269f439c46
Update contributing guide We forgot to mention uncrustify commit.
Treat submarine vehicles like copter vehicles
Contributors: Josh Villbrandt, Vladimir Ermakov

0.17.0 (2016-02-09)

update README
rebased with master
Fixed ROS_BREAK
Updates for ROS_BREAK and code style
Nitpicks and uncrustify
Updated frame transformations and added odom publisher to local position plugin
Contributors: Eddy, Vladimir Ermakov, francois

0.16.6 (2016-02-04)

node fix #494: Report FCU firmware type in rosonsole log
scripts fix #478: Remove guided_enable garbage. I'm missed this when do #407.
Contributors: Vladimir Ermakov

0.16.5 (2016-01-11)

scripts: mavwp #465: Remove WaypointGOTO from scrips and python library
node: Report mavlink package version
lib: Add APM:Plane QuadPlane modes. Sync with: https://github.com/mavlink/mavlink/commit/1fc4aef08a54130f297943c246f95b8c7e37b1bf
readme: pixhawk dialect removed.
Contributors: Vladimir Ermakov

0.16.4 (2015-12-14)

scripts: checkid: be always verbose, add --follow
scripts: fix copyright indent
scripts: mavcmd: Fix bug: param7 not passed to service call!
scripts #382: Add ID checker script. It is not complete, but i hope it helps in current state.
scripts: mavcmd: Add support for broadcast requests
event_launcher: fix bug: Trigger service server is not saved in Launcher Also fixes: environment variables may contain ~ (user dir) in expansion.
using timestamp from mavlink message
Update mavlink message documentation links
lib: update MAV_TYPE stringify
lib: Add RATTITUDE PX4 mode
remove "altitude_" prefix from members
updated copyright
implemented altitude plugin
Contributors: Andreas Antener, Vladimir Ermakov

0.16.3 (2015-11-19)

use safe methods to get imu data in local_position plugin
Contributors: Andreas Antener

0.16.2 (2015-11-17)

transform yaw and yaw rate from enu to ned
Contributors: Andreas Antener

0.16.1 (2015-11-13)

python: fix import error of goto service
don't warn anymore about px4 not supporting rc_io
Contributors: Andreas Antener, Vladimir Ermakov

0.16.0 (2015-11-09)

lib: Update ArduCopter mode list
plugin: sys_status #423: set_mode set arming and HIL flags based on previous state
lib #423: Save base_mode in UAS.
Finalized local position topic names
readme: add link to catkin-tools docs
readme #409: merge mavlink and mavros installation instruction
Fixed redundant rotation of IMU data and redundant orientation data
plugin: setpoint_raw fix #418: add attitude raw setpoint Related #402.
Added velocity output of FCU's local position estimate to ROS node
plugin: sys_status fix #417: remove APM statustext quirk
plugin: waypoint fix #414: remove GOTO service. It is replaced with more standard global setpoint messages.
plugin: setpoint_raw fix #415: add global position target support Related to #402.
plugin: command fix #407: remove guided_enable sevice
plugin: setpoint_raw #402: implement loopback.
plugin: setpoint_raw #402: Initial import.
readme fix #410: use only catkin tool
readme: add defaults for URL
pass new extended state to ros
python: add util to convert pymavlink message to Mavlink.msg
python: convert input to bytearray
python: add payload convertion util
gcs_bridge #394: enable both UDPROS and TCPROS transports
EL: add try-except on handlers
event_launcher: show logfile path
event_launcher #386: expand shell vars for logfile
Mavros library depends on mavros_msgs headers Adding this dependency makes sure that mavros_msgs message headers are generated before the mavros library is built, since it needs those headers.
Contributors: Andreas Antener, Eddy, Jon Binney, Vladimir Ermakov

0.15.0 (2015-09-17)

lib: fix timesync uninit bug. Uninitialized variable caused wrong timestamps with APM.
python #286: use checksum - save ticks
script #385: output to log-file
script #385: remove RosrunHandler and RoslaunchHandler
script #385: attempt to implement rosrun fails. ROSLaunch class wants all node operations from main thread. That is not possible.
script #385: fix shell-killer, but logging are broken and removed
script #385: shell-launcher now works!
script #385: add example configuration
script #385: shell handler done. next - rosparam handling
script #385: starting work on simple shell launcher
scripts: starting event_launcher
python: Remove unneded slice operation. Fix copyright year. [list[:len(list)]]{.title-ref} is equal to [list]{.title-ref}, but creates new list with data from that slice.
updated mavlink byte buffer conversion
plugin: manual_control: Use shared pointer message Fix alphabetic order of msgs.
python: add helper for converting mavros_msgs/Mavlink to pymavlink
Add MANUAL_CONTROL handling with new plugin
Contributors: Andreas Antener, Vladimir Ermakov, v01d

0.14.2 (2015-08-20)

0.14.1 (2015-08-19)

package: Fix depend on rosconsole-bridge
Removed <remap>
Contributors: Vladimir Ermakov, devbharat

0.14.0 (2015-08-17)

python: call of mavros.set_namespace() is required.
scripts: mavftp fix #357: add verify command
scripts: mavftp #357: progressbar on download operation
scripts: mavftp #357: progress bar for upload operation.
scripts: mavftp: New command [cd]{.title-ref}. All path arguments now may handle relative paths.
readme: fix frame tansform section
mavros: readme: update info on frame conversions
mavros: readme: update contribution steps
node: Replace deprecated copy functions. Also allow mavlink to & from topics to be namespaced.
extras: scripts: use API from mavros module
scripts: fix for new message location
python: update mavros lib to new message location
package: remove not exist dependency
plugin: waypoint: Fix message include
plugin: vfr_hud: Fix message include
plugin: rc_io: Fix message include
plugin: param: Fix message include
plugin: ftp: Fix message include
plugin: sys_status: Fix message include
plugin: command: Fix message include
plugin: 3dr_radio: Fix message include
plugin: actuator_control: Fix message include.
msgs: update copyright year
msgs: deprecate mavros::Mavlink and copy utils.
msgs: change description, make catkin lint happy
msgs #354: move all messages to mavros_msgs package.
Minor typo fix.
node: increase diag timer to 2 Hz
node: move diagnostic to AsyncSpinner threads.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.13.1 (2015-08-05)

lib #358: cleanup. Replace UAS::getYaw() with UAS::quaternion_get_yaw().
lib #358: found correct getYaw(). Test for each degrees in -180..180.
test #358: test more different angles. Compare rotation result.
lib #358: try to implement algo from wikipedia.
lib #358: still failing. add recursive test for range -Pi..+Pi
lib #358: try solve issue using older eulerAngles()
lib #358: remove to_rpy test
Merge branch 'master' of github.com:mavlink/mavros * 'master' of github.com:mavlink/mavros: global_position: move relative_alt and compass_heading init back add nav_msgs to dependencies so to make Travis happy global_position: update pose and twist to odom msg
test fix #359: split out quaternion tests.
lib #359: move quaternion utils.
global_position: move relative_alt and compass_heading init back
add nav_msgs to dependencies so to make Travis happy
global_position: update pose and twist to odom msg
test #358: add tests for negative values and quaternion_to_rpy tf2 compatibility check Tests now fails!
sctipts: fix gps topic path
lib: fix input validation in UAS::orientation_from_str()
test: add case for num str->sensor orientation
package: fix CHANGELOG.rst
Contributors: TSC21, Vladimir Ermakov

0.13.0 (2015-08-01)

plugin: setpoint_attitude #352: use new helper.
plugin: sys: Fix cppcheck and YouCompleteMe warnings
plugin: ftp: Fix cppcheck errors.
lib #352: Add helper function UAS::quaternion_to_mavlink()
Fixed bug in send_attitude_target() The transformed quaternion wasn't being passed to set_attitude_target(), resulting in an incorrect attitude setpoint. I've now fixed this issue.
scripts: fix mavwp
test: add test cases for new sensor orientation functions
remove tf1 dep
lib #319: Remove TF types from UAS
plugin: param: new message type: ParamValue
msgs: Move MAV_CMD values to separate msg
plugin: command: fix build
fix whitespaces in python scripts
Merge pull request #312 from mhkabir/cam_imu_sync Camera IMU synchronisation support added
Added launch file for PX4 posix sitl to launch gcs_bridge node for bridging posix and gazebo
scripts: mavftp: little speed up by aligning access to payload length
launch: Add optional log_output arg
Merge branch 'orientation_enum_name' * orientation_enum_name: distance_sensor #342: correct orientation parameter handling. lib #342: try to convert numeric value too px4_config: adapt to distance_sensor params to new features distance_sensor: restructure orientation matching and verification lib #342: Added sensor orientation string repr.
lib #342: try to convert numeric value too
px4_config: adapt to distance_sensor params to new features
lib #342: Added sensor orientation string repr.
launch: update local_position conf
test: Add test for UAS::sensor_orientation_matching()
Update cmake Eigen3 finding rules. Migration described at: http://wiki.ros.org/jade/Migration#Eigen_CMake_Module_in_cmake_modules
lib #319, #341: preparation for str->MAV_SENSOR_ORIENTATION func
lib #319: Return quaternion from UAS::sensor_matching()
lib: Remove unneded NodeHandle
launch fix #340: update default component id of PX4.
plugin: sys_status: Add fallback to adressed version request.
Can not remove tf package before #319 is done. tf::Vector3 and other tf1-bullet still in use.
plugin: sys_status: Use broadcast for version request.
fix #71: replace depend tf to tf2_ros.
plugin: Use UAS::syncronized_header() for reduce LOC.
lib #319: use similar names for covariances as eigen vector
lib #319: transform_frame() for Covariance3x3
lib #319: remove unused bullet based transform_frame()
extras: vision_pose #71: Use TF2 listener. Also #319.
plugin #71: Implement TF2 listener. Change param names. Breaks extras.
uas #71: Use single TF2 objects for broadcasting and subscription.
launch: Update configs.
lib: Add UAS::quaternion_to_rpy()
plugin: safety_area #319: Change transform_frame()
plugin: local_position #71 #319: port to TF2 and Eigen
lib: Add UAS::synchonized_header()
plugin: command: Add command broadcasting support.
Perform the autopilot version request as broadcast
lib: Update PX4 mode list
plugin: global_position #325: port tf broadcaster to tf2 Also #71.
plugin: global_position #325: reenable UTM calc
plugin: gps #325: remove gps plugin.
plugin: global_position #325: merge gps_raw_int handler
plugin: setpoint_accel #319: use eigen frame transform. I don't think that PX4 support any other frame than LOCAL_NED. So i removed comment. Also style fix in setpoint_velocity.
plugin: setpoint_velocity #319: use eigen based frame transform.
plugin: setpoint_position #273: remove PX4 quirk, it is fixed.
plugin: ftp: Update command enum.
plugin: imu_pub fix #320: move constants outside class, else runtime linkage error.
plugin: imu_pub #320: first attempt
eigen #319: handy wrappers.
eigen #319: add euler-quat function. Also #321.
test #321: remove duplicated test cases, separate by library. Add test for checking compatibility of tf::quaternionFromRPY() and Eigen based math.
test #321: testing eigen-based transforms. We should check what convention used by tf::Matrix to be sure that our method is compatible.
mavros #319: Add Eigen dependency and cmake rule.
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
cam_imu_sync : fix running
imu_cam_sync : fix formatting
command handling in mavcmd for camera trigger
Camera IMU synchronisation support added
Contributors: Anurag Makineni, Lorenz Meier, Mohammed Kabir, TSC21, Vladimir Ermakov, devbharat

0.12.0 (2015-07-01)

plugin: sys_time, sys_status #266: check that rate is zero
test #321: disable tests for broken transforms.
lib #321: frame transform are broken. again! revert old math. RULE for me: do not accept patch without wide testing from author. That PR changes all plugins code, instead of do API, test and only after that touching working code. My bad.
unittest: added 6x6 Covariance conversion test
frame_conversions: update comments; filter covariance by value of element 0
unittests: corrected outputs from conversion tests
test: other quaternion transform tests
test: UAS::transform_frame_attitude_q()
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
coverity: make them happy
uncrustify: fix style on frame conversions
uncrustify: includes
plugin: sys_status #266: replace period with rate parameter
plugin: sys_time #266: Replace period with rate parameters
frame_conversion: last fix patch
frame_conversions: use inline functions to identify direction of conversion
changed frame conversion func name; add 3x3 cov matrix frame conversion; general doxygen comment cleanup
frame_conversions: added covariance frame conversion for full pose 6x6 matrix
frame_conversions: added frame_conversion specific lib file; applied correct frame conversion between ENU<->NED
sys_status #300: PX4 place in [0] lest significant byte of git hash.
sys_status fix #300: fix u8->hex func.
plugin: waypoint: cosmetics.
vibration_plugin: first commit
Changes some frames from world to body conversion for NED to ENU.
mavsys #293: add --wait option
mavsys: Fix arguments help
mavcmd #293: Add --wait option. New function: util.wait_fcu_connection(timeout=None) implement wait option.
sys_status #300: AUTOPILOT_VERSION APM quirk
mavros #302: fix style
mavros #302: split UAS impl by function blocks
mavros fix #301: move sensor orientation util to UAS
distance_sensor: typo; style fixe
sensor_orientation: list values correction
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: use MAX as last index macro
distance_sensor: changed to usable config
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: updated orientation enum; updated data type
sensor_orientation: included array type on utils.h
sensor_orientation: added sensor orientation matching helper func
distance_sensor: updated config file
distance_sensor: define sensor position through param config
distance_sensor: array limiting; cast correction; other minor correc
distance_sensor: small enhancements
sys_status #293: initialize state topic
sys_status #293: expose connection flag in mavros/State.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.11.2 (2015-04-26)

plugin: param fix #276: add check before reset request downcounter. If on MR request FCU responses param with different [param_index]{.title-ref} do not reset repeat counter to prevent endless loop.
gcs bridge fix #277: add link diagnostics
plugin: setpoint_position #273: add quirk for PX4.
readme: fir glossary misprint
readme: add notes about catkin tool
Contributors: Vladimir Ermakov

0.11.1 (2015-04-06)

scripts #262: update mavwp
scripts #262: mavsetp, new module mavros.setpoint
mavftpfuse #129: cache file attrs
mavparam #262: use get_topic()
mavsys #262: use get_topic()
mavcmd #262: use get_topic()
mavftp #263, #262: use crc32 checksums
python #262: add get_topic()
Update local_position.cpp removed irritating comment
readme: add short glossary
plugin: setpoint_attitude: remove unneded ns
Contributors: Marcel Stuettgen, Vladimir Ermakov

0.11.0 (2015-03-24)

plugin: setpoint_position #247: rename topic
launch #257: rename blacklist.yaml to pluginlists.yaml
node #257: implement while list.
plugin: actuator_control #247: update topic name.
mavros: Initialize UAS before connecting plugin routing. Inspired by #256.
plugin: sys_status: Check sender id. Inspired by #256.
plugin: sys_status: Use WARN severity for unknown levels
uas: Add [UAS::is_my_target()]{.title-ref} Inspired by #256.
plugin: global_position: Fill status and covariance if no raw_fix. Additional fix for #252.
launch: change apm target component id APM uses 1/1 (sys/comp) by default.
plugin: sys_status: publish state msg after updating uas Before this commit, the custom mode string published in the state message was computed using the autopilot type from the previous heartbeat message--not the autopilot type from the current hearbeat message. Normally that isn't a problem, but when running a GCS and mavros concurrently, both connected to an FCU that routes mavlink packets (such as APM), then this causes the custom mode to be computed incorrectly, because the mode string for the GCS's hearbeat packet will be computed using the FCU's autopilot type, and the mode string for the FCU's heartbeat packet will be computed using the GCS's autopilot type.
plugin: global_position: fix nullptr crash This fixes a crash in cases where a GLOBAL_POSITION_INT message is received before a GPS_RAW_INT message, causing the [gps_fix]{.title-ref} pointer member to be dereferenced before it has been set.
msgs: fix spelling, add version rq.
coverity: init ctor in 3dr_radio
launch fix #249: update apm blacklist
launch: rename APM2 to APM.
launch #211: update configs
plugin: gps: remove unused param
plugin: sys_time: remove unused param
launch fix #248: remove radio launch
plugin: 3dr_radio #248: add/remove diag conditionally
plugin: sys_status: move connection params to ns
plugin: sys_time: fix #206 (param ns)
node: Inform what dialect built-in node
plugin: sys_status: Conditionaly add APM diag
plugin: sys_status: fix #244
uas #244: add enum lookups
package: update lic
license #242: update mavros headers
plugin: local_positon: use auto
plugin: imu_pub: Update UAS store.
plugin: gps: remove diag class, change UAS storage API.
plugin api #241: move diag updater to UAS.
plugin api #241: remove global private node handle. Now all plugins should define their local node handle (see dummy.cpp). Also partially does #233 (unmerge setpoint topic namespace).
plugin api #241: remove [get_name()]{.title-ref}
package: mavros now has any-link proxy, not only UDP
Update years. I left gpl header, but it is BSD too.
Add BSD license option #220
plugin: sys_status: AUTOPILOT_VERSION support. Fix #96.
mavros fix #235: Use AsyncSpinner to allow plugins chat. Old single-threaded spinner have a dead-lock if you tried to call a service from for example timer callback. For now i hardcoded thread count (4).
uncrustify: actuator_control
Merge branch 'master' of github.com:mstuettgen/Mavros
fixed missing ;
code cosmetics
further removed unneeded white spaces and minor code cosmetics
fixed timestamp and commented in the not-working function call
code cosmetics, removed whitespaces and re-ordered function signatures
more code comment cosmetic
code comment cosmetic
uncrustify: fix style
readme: add contributing notes
uncrustify: mavros base plugins
uncrustify: mavros lib
uncrustify: mavros headers
tools: add uncrustify cfg for fixing codestyle Actually it different from my codestyle, but much closer than others.
added more const to function calls to ensure data consistency
modified code to fit new message
added group_mix to ActuatorControl.msg and a link to mixing-wiki
plugin: rc_io: Add override support warning
REALLY added ActuatorControl.msg
added ActuatorControl.msg
fixed latest compiler error
renamed cpp file to actuator_control.cpp and added the new plugin to mavros_plugins.xml
removed unneeded Mixinx and reverse_throttle, and unneeded variables in function signatures
inital draft for set_actuator_control plugin
launch: enable setpoint plugins for APM As of ArduCopter 3.2, APM supports position and velocity setpoints via SET_POSITION_TARGET_LOCAL_NED.
plugin: setpoint_velocity: Fix vx setpoint vz should have been vx.
Contributors: Clay McClure, Marcel Stuettgen, Vladimir Ermakov

0.10.2 (2015-02-25)

Document launch files
launch: Fix vim modelines #213
launch #210: blacklist image_pub by px4 default. Fix #210.
Contributors: Clay McClure, Vladimir Ermakov

0.10.1 (2015-02-02)

Fix \@mhkabir name in contributors.
uas #200: Add APM:Rover custom mode decoding. Fix #200.
uas #200: Update APM:Plane and APM:Copter modes.
Contributors: Vladimir Ermakov

0.10.0 (2015-01-24)

mavros #154: Add IO stats to diagnostics. Fix #154.
Add rosindex metadata
plugin: ftp: init ctor.
plugin: sts_time: Code cleanup and codestyle fix.
plugin: command: Quirk for older FCU's (component_id) Older FCU's expect that commands addtessed to MAV_COMP_ID_SYSTEM_CONTROL. Now there parameter: [~cmd/use_comp_id_system_control]{.title-ref}
plugin: rc_io: #185 Use synchronized timestamp.
plugin: gps: #185 use synchronized timestamp common.xml tells that GPS_RAW_INT have time_usec stamps.
uas: Fix ros timestamp calculation. Issues: #186, #185.
plugin: add synchronisation to most plugins (fixed) Closes #186.
readme: Add notes about coordinate frame conversions #49
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.4 (2015-01-06)

plugin: sys_time: enable EMA
Contributors: Mohammed Kabir

0.9.3 (2014-12-30)

plugin: visualization finshed
Restore EMA. Works better for low rates.
Update sys_time.cpp
plugin : add time offset field to dt_diag
Final fixes
minor
plugin : fixes timesync. FCU support checked.
Visualisation system import
param: Fix float copying too
param: Fix missing
param: Trynig to fix 'crosses initialization of XXX' error.
param: Try to fix #170.
Update units
New message, moving average compensation
Initial import new sync interface
plugin: sys_status: Enable TERRAIN health decoding.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.2 (2014-11-04)

0.9.1 (2014-11-03)

Update installation notes for #162
Contributors: Vladimir Ermakov

0.9.0 (2014-11-03)

0.8.2 (2014-11-03)

REP140: update package.xml format. Hydro don't accept this format correctly, but after split i can update.
Contributors: Vladimir Ermakov

0.8.1 (2014-11-02)

fix build deps for gcs_bridge
mavconn #161: Enable rosconsole bridge.
mavconn #161: Move mavconn tests.
mavconn #161: Fix headers used in mavros. Add readme.
mavconn #161: Fix mavros build.
mavconn #161: Move library to its own package Also rosconsole replaced by console_bridge, so now library can be used without ros infrastructure.
plugin: sys_time: Set right suffixes to uint64_t constants. Issue #156.
plugin: sys_time: Add time syncronization diag. Issue #156.
plugin: sys_time: Debug result. Issue #156.
plugin: Store time offset in UAS. TODO: implement fcu_time(). Issue #156.
plugin: sys_time: Fix code style. Also reduce class variables count (most not used outside the method). Issue #156.
Update repo links. Package moved to mavlink organization.
Nanosecond fix
Fix
Fixes
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update CMakeLists.txt
Update mavros_plugins.xml
Update sys_time.cpp
Fix build
sys_time import. Removed all time related stuff from gps and sys_status
Initial sys_time plugin import
plugin: ftp: Bytes written now transfered in payload.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.8.0 (2014-09-22)

plugin: ftp: Disable debugging and change level for some log messages. Issue #128.
plugin: ftp: Translate protocol errors to errno. Issue #128.
scripts: mavftp: Add upload subcommand. Issue #128.
python: Add more ftp utils. Issue #128.
plugin: ftp: Fix write offset calculation. Issue #128.
plugin: ftp: Add . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add support for . Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Add
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Move common mission classes to mavros.mission module. Issue #157.
python: Move useful utils to mavros.param module. Issue #157.
python: Move common utils to mavros.utils module. Issue #157.
python: Create python module for ftp utils. Issue #128, #157.
scripts: ftp: Implement file-like object for IO. Issue #128.
plugin: ftp: Implement write file. Issue #128.
scripts: mavftp: Add remove subcommand. Issue #128.
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add response errno from server.
plugin: ftp: Add support for 'Skip' list entries. Issue #128.
scripts: mavftp: Add mkdir/rmdir support. Issue #128.
plugin: ftp: Add mkdir/rmdir support. Issue #128.
plugins: ftp: Update protocol headers. Issue #128.
Revert "Update package.xml format to REP140 (2)." This reverts commit 81286eb84090a95759591cfab89dd9718ff35b7e. ROS Hydro don't fully support REP140: rospack can't find plugin descriptions. Fix #151.
scripts: mavwp: Fix --follow mode
plugin: imu_pub: Fix RAW_IMU/SCALED_IMU angular scale constant. Fix #152.
launch: remove px4_local_gcs.launch again. It removed in 826be386938c2735c9dab72283ba4ac1c68dc860, but accidentally returned.
extras: launch: Use includes. Fix #144.
launch: PX4: use node.launch in PX4 scripts. Also remove px4_local_gcs.launch: please use [roslaunch mavros px4.launch gcs_url:=udp://\@localhost]{.title-ref} instead. Issue #144.
launch: APM2: Add node.launch and update apm scripts to use it. Issue #144.
plugin: command: Fix CommandInt x,y types.
Update package.xml format to REP140 (2). Fix #104.
launch: Blacklist FTP for APM.
scripts: mavwp: Add decoding for some DO-* mission items.
scripts: mavwp: Add preserve home location option at load operation. Useful if FCU stores home location in WP0 (APM).
Added src location.
Updated README wstool instructions.
plugin: ftp: Init ctor
service: mavftp: Initial import. Issue #128.
plugin: ftp: Implemnet reset call. Sometimes kCmdReset can restore normal operation, but it might be dangerous. Issue #128.
plugin: ftp: Implement call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Fix open error. Issue #128.
plugin: ftp: Implement (read) and . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement method. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement list parsing Issue #128.
plugin: ftp: Fix CRC32 calculation. Issue #128.
plugin: ftp: Add plugin skeleton. Based on QGroundContol QGCUASFileManager.h/cc. Issue #128.
plugin: ftp: Add size info
plugin: ftp: Add plugin service API. Issue #128.
plugin: vfr_hud: Initial import. Also this plugin publish APM specific WIND estimation message. Fix #86.
node: coverity fails at UAS initilizer list
plugin: setpoint_attitude: Init ctor, remove code dup.
cmake: Add check MAVLINK_DIALECT value Fix #139.
Move common cmake rules to modules. Same mech as in [cmake_modules]{.title-ref} package. Issue #139.
launch: corrected launch for gcs bridge
scripts: mavsetp: Fix misprint.
launch files: added px4 launch files for connection with radio and gcs
scripts: mavsetp: Fix twist.angular vector construction. Small style fix.
Update doxygen documentation. Add split lines in UAS, and make UAS.connection atomic. Add rosdoc configuration for mavros_extras.
scripts: mavsetp: corrected API; added possibility of parse angles in dg or rad
scripts: mavsetp: corrected msg API; mavteleop: added prefix to rc override
scripts: mavsetp: added local accel; corrected how the OFFBOARD mode is swtch.
scripts: mavsetp: changed the way offboard mode is switched
node: init ctor (coverity)
nodelib: add std::array header
return msg generator deps for mavconn
scripts: mavsys: Implement set rate command.
scripts: Add mavsys tool. Implented only [mode]{.title-ref} operation. Issue #134.
plugin: sys_status: Implement set_mode service. Previous command shortcut removed. Issue #136, #134.
node: Implement reverse mode lookup. Issue #136.
plugin: sys_status: Move custom mode decoder to UAS. Issue #136.
node: Catch URL open exception. Also update connection pointer type.
nodelib: move sources to subdir
node: Move UAS to mavros namespace
node: Move node code to library.
node: Catch DeviceError; use C++11 foreach shugar.
plugin: command: Add COMMAND_INT suport. Fix #98.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov

0.7.1 (2014-08-25)

plugins: setpoint: Update SET_POSITION_TARGET_LOCAL_NED message. Fix #131.
scripts: mavsetp: Enable OFFBOARD mode. Issue #126.
plugin: command: Add guided_enable shortcut It enable PX4 OFFBOARD mode. Issue #126.
scripts: Add mavsetp script. Only local setpoint for now. Issue #126.
plugins: Change UAS FCU link name. Reduce smart pointer count, that hold fcu link object.
scripts: mavcmd: Add takeoffcur and landcur commands Fix #91, #92. Inspired by #125.
Closes #122, closes #123; plugins: move mocap & vision plugins to extras, change vision plugins name
plugins: UAS remove std::atomic<double> It don't work at some compilers. Issue #89.
plugin: global_position: Fill NavSatFix status filed. Issue #87, #118.
plugins: Add GPS data to UAS
plugins: Move setpoint_mixin.h Fix #120.
plugin: mocap: Fix load. Issue #121.
plugins: global_position: get pose orientation from the one stored in uas
plugins: global_position: use relative_alt on position.z; mavros_plugins.xml - corrected declaration of mocap_pose_estimate
plugin - global_position - changed parameter path / orientation source
launch: APM2 blacklist global_position plugin
plugin: global_position: Unit unification.
plugin: global_position: Move heaedr; Style fix.
added rel_pos and compass_hdg pub; minor corrections
Merge branch 'master' of https://github.com/vooon/mavros into global_position
global_position plugin - initial commit
launch: APM2 blacklist mocap plugin.
Updated mavros_plugins.xml
Fixed dual sources error warning.
Fixed styles.
Minor changes.
added time stamp to received msgs
Removed un-needed times.
Added mocap_pose_estimate plugin.
Code style update
setpoint attitude change - warning message
Update on setpoint_attitude plugin
- changed Twist to TwistStamped
- added reverse_throttle option for throttle control
- use cmd_vel as the same topic to control linear a angular velocities (it's commonly used by controllers)
- added normalization filter to thrust
node: Remove deprecated conn parameters. Fix #108
plugin: vision_speed: Update plugin API.
plugin: setpoint_attitude: Update plugin API.
plugin: setpoint_accel: Update plugin API.
plugin: setpoint_velocity: Update plugin API.
plugin: 3dr_radio: Update plugin API.
plugin: safety_area: Update plugin API.
plugin: setpoint_position: Update plugin API.
plugin: vision_position: Update plugin API.
plugin: local_position: Update plugin API.
plugin: command: Update plugin API.
plugin: rc_io: Update plugin API.
plugin: waypoint: Update plugin API.
plugin: param: Update plugin API.
plugin: gps: Update plugin API.
plugin: imu_pub: Update plugin API.
plugin: sys_status: Update plugin API.
plugin: Update plugin API.
plugins: disable most of plugins
plugin: setpoint_attitude: Add thrust topic. Fix #106.
Fix URLs in readme
mavros -> ros-message parameter fix only parameter1 was forwarded into the ros message
Switch travis to pixhawk dialect. Default dialect build by ros buildfarm. Also remove duplicate ci statuses from mavros readme.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov, mthz

0.7.0 (2014-08-11)

Add package index readme, Fix #101
move mavros to subdirectory, #101
Merge branch 'master' of github.com:vooon/mavros * 'master' of github.com:vooon/mavros: Add link to ros-*-mavlink package wiki page.
plugins: setpoint: Update setpoint message name. Issue #94, Fix #97.
plugin: setpoint_attitude: Update message name. Issues #94, #97.
Add link to ros-*-mavlink package wiki page.
plugin: gps: Fix gcc 4.6 build (atomic). Not recommended to use std::atomic with gcc 4.6. So i limited to prederined atomics for simple types like int, float etc.
plugin: sys_status: Implement PX4 mode decoding. Fix #84.
plugin: gps: Add EPH & EPV to diagnostic. Issue #95
plugin: gps: Move message processing to individual handlers. Issue #95.
plugin: rc_io: Replace override service with topic. (ROS API change). Fix #93.
Add dialect selection notes
plugins: Change severity for param & wp done messages.
plugins: Store raw autopilot & mav type values. This may fix or not issue #89.
plugins: init ctor (coverity)
plugin: imu_pub: Add ATTITUDE_QUATERNION support. Also reduce copy-paste and use mode readable bitmask check. Fix #85.
scriptis: mavcmd: Spelling
scripits: Add mavcmd tool
Add links to mavros_extras
param: sys_status: Option to disable diagnostics (except heartbeat)
plugin: command: Add takeoff and land aliases. Issue #68.
plugin: command: Add quirk for PX4. Fix #82.
plugin: Add UAS.is_px4() helper. Replace some locks with atomic. Issue #82.
launch: Clear PX4 blacklist. Issue #68.
launch: Add target ids. Also fix PX4 wrong ?ids usage (it set mavros ids, not target). Issue #68.
plugin: imu_pub: Fix HRIMU pressure calc. 1 mBar is 100 Pa. Fix #79.
plugins: C++11 chrono want time by ref, return *_DT Fix #80.
plugins: Replace boost threads with C++11. And remove boost thread library from build rules. Issue #80.
plugins: Replace Boost condition variables with C++11 Issue #80.
plugins: Replace boost mutexes with C++11. Issue #80.
travis clang to old, fails on boost signals2 library. disable.
travis: enable clang build.
node: Make project buildable by clang. Clang produce more readable errors and provide some static code analysis, so i want ability to build mavros with that compilator.
plugins: replace initial memset with c++ initializer list
launch: PX4 default ids=1,50. Also waypoint plugin works (with first_pos_control_flight-5273-gd3d5aa9). Issue #68.
launch: Use connection URL
plugin: vision_speed: Initial import. Fix #67.
plugin: sys_status: Add SYSTEM_TIME sync send. Fix #78.
plugin: sys_status: Decode sensor health field. Fix #75.
Add ci badges to readme
plugin: param: erase invalidates iterator. Real error found by coverity :)
plugins: Init ctor
plugins: Add ctor initialization. Coverity recommends init all data members.
test: trying travis-ci && coverity integration. Real ci doing by ros buildfarm.
plugins: Fix clang-check errors.
test: Add tcp client reconnect test. Issue #72.
test: Split open_url test to individual tests. Also removed tcp client deletion on close, heisenbug here. Issue #72.
mavconn: Emit port_closed after thread stop. Also use tx state flag, improve error messages and move io post out of critical section. Issue #72.
mavconn: Fix TCP server client deletion. Issue #72.
test: Remove not needed sleep.
mavconn: Remove new MsgBuffer dup. Message drop if closed. Issue #72.
mavconn: Fix TCP server. Issue #72.
launch: APM2: Blacklist extras.
mavconn: Add mutex to channel allocation.
mavconn: Fix TCP server for gcc 4.6 Fix #74.
Remove libev from package. Issue #72.
mavconn: GCC 4.6 does not support typedef like using. Issue #74.
Merge pull request #73 from vooon/mavconn-revert-asio mavconn: Revert to Boost.ASIO
mavconn: Cleanup boost threads. I will use C++11 standard libs. Issue #72.
mavconn: Remove libev default loop thread. Issue #72.
mavconn: Port MAVConnTCPServer to Boost.ASIO. TCP send test fails. Issue #72.
mavconn: Port MAVConnTCPClient to Boost.ASIO. Also it disables MAVConnTCPServer before i rewrite it. Issue #72.
mavconn: Revert MAConnSerial back to Boost.ASIO. Issue #72.
test: Fix send_message tests. Use C++11. Issue #72.
mavconn: Revert MAVConnUDP back to Boost.ASIO. Also starting to change boost threads and mutexes to C++11. Issue #72.
test: Enable send tests. Issue #72.
test: And hand test for mavconn hangs. Issue #72.
node: Remove anonimous flag from gcs_bridge. Rename node if you want start several copies.
install: Remove duplicate
node: Fix mavros_node termination message. Issue #58.
node: Use URL in mavros_node. Fix #58.
node: Use URL in gcs_bridge. Issue #58.
node: Rename ros_udp to gcs_bridge. Because now it's not UDP only. Issue #58.
Cleanup boost components
mavconn: Implement URL parsing. Supported shemas:
- Serial: [/path/to/serial/device[:baudrate]]{.title-ref}
- Serial: [serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]]{.title-ref}
- UDP: [udp://[bind_host[:port]]@[remote_host[:port]][/?ids=sysid,compid]]{.title-ref}
- TCP client: [tcp://[server_host][:port][/?ids=sysid,compid]]{.title-ref}
* TCP server: [tcp-l://[bind_port][:port][/?ids=sysid,compid]]{.title-ref} Note: ids from URL overrides ids given to open_url(). Issue #58.
test: Add tests for UDP, TCP, SERIAL. Send message testa are broken, need to find workaround. Fix #70.
plugin: vision_position: Add transform timestamp check. Issue #60.
mavconn: Implement TCP server mode. Fix #57.
mavconn: Initial support for TCP client mode. Issue #57.
mavconn: Boost::asio cleanup.
plugin: Remove TimerService from UAS. Fix #59.
plugin: param: Add state check to sheduled pull.
mavparam: Add force pull.
plugin: param: Use ros::Timer for timeouts Also new option for force pull parameters from FCU instead of cache. Fix #59.
Add mavsafety info to README.
launch: Add apm2_radio.launch (for use with 3DR Radio)
plugin: 3dr_radio: Fix build error. Issue #62.
plugin: 3dr_radio: Publish status data for rqt_plot Also tested with SiK 1.7. Fix #62.
plugin: setpoint_attitude: Fix ENU->NED conversion. Fix #64. Related #33, #49.
launch: Add setpoint plugins to APM2 blacklist
plugin: setpoint_attitude: Initial import. XXX: need frame conversion #49. Issue #33, #64.
plugin: Move common tf code to mixin. Remove copy-paste tf_listener. Issue #33.
plugin: setpoint_position: Generalize topic NS with other [setpoint_*]{.title-ref} Issue #33, #61.
plugin: setpoint_accel: Initial import. Issues: #33, #61.
plugin: position_velocity: Initial import. Also it fix ignore mask in setpoint_position. Issues #33, #61.
plugins: 3rd_radio: Initial import. Untested. Issue #61.
scripts: Add mavsafety tool. Also add safety_area to APM2 blacklist. Fix #51.
plugins: safty_area: Initial import. This plugin listen [~/safety_area/set]{.title-ref} and send it's data to FCU. Issue #51.
plugins: position: Add TF rate limit. Issue #33.
plugin: waypoint: Use ros::Timer for timeouts. Also add some debug messages for next debugging PX4. Issue #59.
plugin: sys_status: Use ros::Timer for timeouts Also move message rx to it's own handlers. Issue #59.
Remove rosdep.yaml and update readme
Add deb build notes to readme. Issue #55.
Add sudo notes to readme.
Merge pull request #56 from vooon/54_try_libev Switch to libev
Add libev to README
package: Add temporary rosdep for libev-dev. Issue #54.
mavconn: Move MAVConnUDP to libev. And fix docs in serial. Issue #54.
mavconn: Move MAVConnSerial to libev. Adds stub for open URL function. Issure #54.
Contributors: Vladimir Ermakov, Mohammed Kabir, Nuno Marques, Glenn Gregory

0.6.0 (2014-07-17)

plugin: local_position: Use same timestamp in topic and TF. Issue #33.
plugins: TF thread required, remove notes. Issue #33.
launch: Add example launch for PX4 Issue #45.
plugin: imu_pub: Fix attitude store in UAS Issue #33. Fix #53.
plugins: Disable position topics if tf_listen enabled Also change default frame names: [vision]{.title-ref} and [setpoint]{.title-ref}. Issue #33.
plugins: Fix typo in frame_id params. Issue #33.
plugins: Add vision and setpoint TF listeners Also change parameter names to same style. Issue #33.
plugin: vision_position: Add PositionWithCovarianceStamped option Issue #33.
Add boost filesystem lib to link On some platforms its absence breaks build by: undefined reference to [boost::filesystem::path::codecvt()]{.title-ref}
launch: Add example for APM2 Fix #45.
plugin: setpoint_position: Initial import And some small doc changes in other position plugins. Issue #33.
node: Add connection change message Fix #52.
plugins: vision_position: Initial import TODO: check ENU->NED maths. Issue #33.
plugins: Remove unneded 'FCU' from diag
plugin: local_position: Change plane conversion Bug: #49.
plugin: imu_pub: Fix magnetic vector convertions Bug: #49.
Use dialects list from package
plugin: local_position: Fix orientation source Part of #33.
node: Show target system on startup Fix #47.
plugin: local_position: Initial add Receive LOCAL_POSITION_NED message and publish it via TF and PoseStamped topic in ENU frame. Part of #33.
node: Use boost::make_shared for message allocation Fix #46.
plugins: Use boost::make_shared for message allocation Part of #46.
plugin: imu_pub: Fix misprint in fill function Fix magnetometer vector convertion (HR IMU). Related #33.
plugin: imu_pub: setup cleanup.
Update readme
plugin: gps: Fix gps_vel calculation Fix #42.
plugins: Make name and messages methods const. (breaking). WARNING: this change broke external plugins. Please add const to get_name() and get_supported_messages(). Part of #38.
plugins: Use mavlink_msg*_pack_chan() functions Fix #43.
mavconn: Reuse tx buffer (resize by extents) Part of #38.
mavconn: Do not finalize messages if id pair match mavlink*_pack also do finalize, so explicit finalization just recalculate crc and seq number (doubles work). Test later if we need check seq too.
mavconn: Documentation and cleanup Make MAVConn classes noncopyable. Remove copy-paste copy and following async_write calls. Reserve some space in tx queues. Replace auto_ptr with unique_ptr.
test: Fix header include
mavconn: Fix possible array overrun in channel alocation. Problem found by clang.
fix some roslint errors
mavconn: move headers to include
node: Implement plugin blacklist. New parameter: [~/plugin_blacklist]{.title-ref} lists plugin aliases with glob syntax. Fix #36.
plugins: Change constants to constexpr (for gcc 4.6)
mavconn: Add gencpp dependency (utils.h requiers generated header)
Move duplicate Mavlink.msg copy to utils.h
Remove tests that requires connection to FCU
plugins: imu_pub: Fix PX4 imu/data linear_accelerarion field Should fix: #39.
plugins: imu_pub: Add magnitic covariance Trying to move constants with constexpr. Related: #13.
Remove testing info Need to remove tests that could not run on build farm.
Contributors: Vladimir Ermakov

0.5.0 (2014-06-19)

Remove mavlink submodule and move it to package dependency Bloom release tool don't support git submodules, so i've ceate a package as described in http://wiki.ros.org/bloom/Tutorials/ReleaseThirdParty . Fix #35.
plugins: param: add missing gcc 4.6 fix.
plugins: fix const initializers for gcc 4.6
plugins: imu_pub: fix const initializers for gcc 4.6 Fix for build failure devel-hydro-mavros #4.
Add support for GCC 4.6 (C++0x, ubuntu 12.04) I don't use complete c++11, so we could switch to c++0x if it supported.
plugins: rc_io: Add override rcin service Fix: #22.
plugins: sys_status: fix timeouts Fix #26.
plugins: sys_status: add set stream rate service Some additional testing required. Fix #23.
Remove unused boost libarary: timer Build on jenkins for hydro failed on find boost_timer.
0.4.1
Add changelog for releasing via bloom

0.4.1 (2014-06-11)

node: Show serial link status in diag Now 'FCU connection' shows actual status of connection (HEARTBEATS).
Fix #29. Autostart mavlink via USB on PX4 Changes mavconn interface, adds new parameter.
Fix installation rules. Fix #31.
Setup UDP transport for /mavlink messages
Fix mavlink dialect selection Fix #28.
Add link to wiki.ros.org Part of #27.

0.4.0 (2014-06-07)

Release 0.4.0 And some docs for CommandPlugin.
plugins: command: Command shortcuts Fix #12.
plugins: command: Add ACK waiting list Part of #12.
plugins: command: Initial naive realization. Partial #12, #25.
mavconn: Fix build on Odroid with Ubuntu 13.10 Fix #24.
plugins: rc_io: initial add RC_IO plugin Topics:
- ~/rc/in -- FCU RC inputs in raw microseconds
* ~/rc/out -- FCU Servo outputs Fix #17. Partiall #22.
Fix installation wstool command. [wstool set]{.title-ref}, not [wstool add]{.title-ref}.
Add installation notes to README Installing pymavlink is not required, but try if errors.
Fix headers in README.md
ros_udp: New node for UDP proxing Add some examples to README.md. Fix #21.
sys_status: Add state publication Fix #16.
sys_status: Sent HEARTBEAT if conn_heartbeat > 0 Fix #20.
sys_status: add sensor diagnostic See #16.
sys_status: Add battery status monitoring Fix #19, partial #16.
sys_status: HWSTATUS support Fix #18, partial #20.
plugins: imu_pub: Add RAW_IMU, SCALED_IMU and SCALED_PRESSURE handlers Fix #13. Refactor message processing. Combination of used messages: On APM: ATTITUDE + RAW_IMU + SCALED_PRESSURE On PX4: ATTITUDE + HIGHRES_IMU On other: ATTITUDE + (RAW_IMUHIGHRES_IMU Published topics:
- ~imu/data - ATTITUDE + accel data from *_IMU
- ~imu/data_raw - HIGHRES_IMU or SCALED_IMU or RAW_IMU in that order
- ~imu/mag - magnetometer (same source as data_raw)
- ~imu/temperature - HIGHRES_IMU or SCALED_PRESSURE
- ~imu/atm_pressure - same as temperature
Update readme
mavwp: Add --pull option for 'show' operation. Reread waypoints before show.
MissionPlanner use format QGC WPL, Fix #15 Code cleanup;
Update mavlink version.
Update mavlink version
mavparam: fix #14 support for QGC param files
mavwp: Add mavwp to install

0.3.0 (2014-03-23)

Release 0.3.0
mavwp: Add MAV mission manipulation tool Uses WaypointPlugin ROS API for manipulations with FCU mission.
- show -- show current mission table
- pull -- update waypoint table
- dump -- update and save to file
- load -- loads mission from file
- clear -- delete all waypoints
- setcur -- change current waypoint
- goto -- execute guided goto command (only APM) Currently supports QGroundControl format only.
plugins: wp: Add GOTO, update documentation
plugins: wp: Auto pull
plugins: wp: SetCurrent & Clear now works
plugins: wp: Push service works
plugins: wp: push almost done
plugins: wp: Pull done
plugins: param: remove unused ptr
plugins: wp: mission pull almost done
plugins: wp: Add convertors & handlers
plugins: Waypoint plugin initial
Use C++11 feuture - auto type
plugins: refactor context & link to single UAS class UAS same functions as in QGC.
plugins: Add msgs and srvs for Waypoint plugin
Update mavlink library
Update mavlink version
mavparam: Fix for DroidPlanner param files & cleanup DroidPlanner adds some spaces, don't forget to strip it out. Cleanup unused code from Parameter class.

0.2.0 (2014-01-29)

mavparam: Add MAV parameter manipulation tool Uses ParamPlugin ROS API for manipulating with fcu params.
- load -- load parameter from file
- dump -- dump parameter to file
- get -- get parameter
- set -- set parameter Currently supports MissionPlanner format only. But DroidPlanner uses same format.
Update README and documentation
plugins: param: implement ~param/push service Also implement sync for rosparam:
- ~param/pull service pulls data to rosparam
- ~param/push service send data from rosparam
- ~param/set service update rosparam if success
plugins: param: implement ~param/set service
plugins: param: implement ~param/get service
plugins: param: Implement automatic param list requesting
plugins: use recursive_mutex everywhere
plugins: param now automaticly requests data after connect
plugins: Add common io_service for plugins, implement connection timeout Some plugin require some delayed processes. Now we can use boost::asio::*timer. New parameter:
- ~/conn_timeout connection timeout in seconds
plugins: add param services
mavconn: set thread names WARNING: pthread systems only (BSD/Linux)
plugins: implement parameters fetch service
plugins: fix string copying from mavlink msg
plugins: Setup target in mav_context New params:
- ~target_system_id - FCU System ID
- ~target_component_id - FCU Component ID
plugins: IMU Pub: add stdev parameters, change topic names. Add parameters:
- ~imu/linear_acceleration_stdev - for linear acceleration covariance
- ~imu/angular_velocity_stdev - for angular covariance
- ~imu/orientation_stdev - for orientation covariance Change topic names (as in other IMU drivers):
- ~imu -> ~/imu/data
- ~raw/imu -> ~/imu/data_raw
plugins: Params initial dirty plugin
Fix mavlink dialect choice.
plugins: Add context storage for automatic quirk handling ArduPlilot requires at least 2 quirks:
- STATUSTEXT severity levels
- parameter values is float
Implement MAVLink dialect selection ArduPilotMega is default choice.
doc: add configuration for rosdoc_lite

0.1.0 (2014-01-05)

Version 0.1.0 Milestone 1: all features from mavlink_ros package.xml was updated.
Fix typo and add copyright string NOTE: Please check typos before coping and pasting :)
plugins: gps: Add GPS_RAW_INT handler GPS_STATUS not supported by APM:Plane. ROS dosen't have standard message for satellites information.
mavconn: small debug changes Limit no GCS message to 10 sec.
node: Terminate node on serial port errors
plugins: Add GPS plugin SYSTEM_TIME to TimeReference support. TODO GPS fix.
Fix build and update MAVLink library
plugins: sys_status: Add SYSTEMTEXT handler Two modes:
- standard MAV_SEVERITY values
- APM:Plane (default) TODO: add mavlink dialect selection option
plugins: add some header doxygen tags Add license to Dummy.cpp (plugin template).
plugins: sys_status: Add MEMINFO handler MEMINFO from ardupilotmega.xml message definition. Optional.
update README
update TODO
plugins: Add imu_pub plugin. Publish ATTITUDE and HIGHRES_IMU data. HIGHRES__IMU not tested: Ardupilot sends ATTITUDE only :(
node: publish Mavlink.msg only if listners > 0
plugins: Add sys_status plugin. Initial.
plugins: implement loading & rx routing
plugins: initial
node: Add diagnostics for mavlink interfaces
mavconn: add information log wich serial device we use.
mavconn: fix overloaded MAVConn*::send_message(msg)
mavros: Add mavros_node (currently serial-ros-udp bridge) Message paths: Serial -+-> ROS /mavlink/from +-> UDP gcs_host:port ROS /mavlink/to -+-> Serial UDP bind_host:port -+
Add README and TODO files.
mavconn: fix MAVConnUDP, add mavudpproxy test mavudpproxy -- connection proxy for QGroundControl, also used as test for MAVConnUDP and MAVConnSerial.
mavconn: add UDP support class
mavconn: fix: should use virtual destructor in interface class
mavconn: add getters/setters for sys_id, comp_id; send_message return.
mavconn: simple test. tested with APM:Plane: works.
mavconn: fix linking
mavconn: serial interface
Add mavconn library prototype mavconn - handles MAVLink connections via Serial, UDP and TCP.
Add MAVLink library + build script
Initial Import Mavlink.msg from mavlink_ros package ( https://github.com/mavlink/mavlink_ros ).
Contributors: Vladimir Ermakov

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	mavlink
	angles
	ament_cmake
	ament_cmake_python
	eigen3_cmake_module
	rosidl_default_runtime
	rclpy
	ament_cmake_gtest
	ament_cmake_gmock
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	diagnostic_updater
	message_filters
	eigen_stl_containers
	libmavconn
	pluginlib
	tf2_ros
	tf2_eigen
	rclcpp
	rclcpp_components
	rcpputils
	diagnostic_msgs
	geometry_msgs
	mavros_msgs
	nav_msgs
	sensor_msgs
	geographic_msgs
	trajectory_msgs
	std_msgs
	std_srvs

System Dependencies

Name
eigen
geographiclib
geographiclib-tools
python3-click
gtest
google-mock
libconsole-bridge-dev

Dependant Packages

Name	Deps
mavros_extras

Launch files

launch/multi_uas.launch
- - id [default: 0]
  - fcu_url [default: udp://:14540@127.0.0.1:14580]
  - id [default: 1]
  - fcu_url [default: udp://:14541@127.0.0.1:14581]
launch/px4.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]
launch/apm.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]
launch/node.launch
- - fcu_url
  - gcs_url
  - tgt_system
  - tgt_component
  - pluginlists_yaml
  - config_yaml
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]

Messages

No message files found.

Services

No service files found

Plugins

mavros

Recent questions tagged `mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs

API Docs
Browse Code
Wiki

Package Summary

Tags	uav mav mavlink plugin apm px4
Version	2.9.0
License	GPLv3
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	ros2
Last Updated	2024-10-23
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	uav mav mavlink plugin apm px4
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.

Additional Links

Maintainers

Vladimir Ermakov

Authors

Vladimir Ermakov

mavros/README.md

MAVROS

MAVLink extendable communication node for ROS2.

ROS API documentation moved to wiki.ros.org.

Features

Communication with autopilot via serial port, UDP or TCP (e.g. PX4 Pro or ArduPilot)
Internal proxy for Ground Control Station (serial, UDP, TCP)
Plugin system for ROS-MAVLink translation
Parameter manipulation tool
Waypoint manipulation tool
PX4Flow support (by mavros_extras)
OFFBOARD mode support
Geographic coordinates conversions.

Limitations

Only for Linux.

This package are dependent on ros-*-mavlink build from mavlink-gbp-release. It exists in ROS package index and usually updates each month.

Connection URL

Connection defined by URL, you can use any supported type for FCU and GCS.

Supported schemas:

Serial: /path/to/serial/device[:baudrate]
Serial: serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]
Serial with hardware flow control: serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid]
UDP: udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid]
UDP broadcast until GCS discovery: udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid]
UDP broadcast (permanent): udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid]
TCP client: tcp://[server_host][:port][/?ids=sysid,compid]
TCP server: tcp-l://[bind_host][:port][/?ids=sysid,compid]

Note:

Ids from URL overrides value given by system_id & component_id parameters.
bind_host - default 0.0.0.0 - i.e. IP4 ANY
UDP default ports: 14555 @ 14550
UDP remote address updated every time with incoming packet on bind port.
TCP default port: 5760

Coordinate frames

MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Please read documents from issue #473 for additional information.

All the conversions are handled in src/lib/ftf_frame_conversions.cpp and src/lib/ftf_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.

MAVROS also allows conversion of geodetic and geocentric coordinates through GeographicLib given that:

geographic_msgs and NatSatFix.msg require the LLA fields to be filled in WGS-84 datum, meaning that the altitude should be the height above the WGS-84 ellipsoid. For that, a conversion from the height above the geoid (AMSL, considering the egm96 geoid model) to height above the WGS-84 ellipsoid, and vice-versa, is available and used in several plugins;
According to ROS REP 105, the earth frame should be propagated in ECEF (Earth-Centered, Earth-Fixed) local coordinates. For that, the functionalities of GeographicLib are used in order to allow conversion from geodetic coordinates to geocentric coordinates;
The translation from GPS coordinates to local geocentric coordinates require the definition of a local origin on the map frame, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in the global_position plugin.

Composite nodes

See also: https://docs.ros.org/en/foxy/Tutorials/Composition.html

mavros::router::Router

This is router node required to support connections to FCU(s), GCS(es) and UAS nodes. The Router allows you to add/remove endpoints on the fly without node restart.

mavros::uas::UAS

This node is a plugin container which manages all protocol plugins. Each plugin is a subnode to this.

Programs

mavros_node – all-in-one container

That is a preconfigured composite node contaier, which provides similar parameters as ROS1 mavros_node. That container loads Router, UAS and configures them to work together (sets uas_link, etc.).

Main node. Allow disable GCS proxy by setting empty URL.

ros2 run mavros mavros_node --ros-args --params-file params.yaml

Launch Files

XXX TODO! #1564

Launch files are provided for use with common FCUs, in particular Pixhawk:

px4.launch – for use with the PX4 Autopilot (for VTOL, multicopters and planes)
apm.launch – for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)

Examples:

roslaunch mavros px4.launch
roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@

Installation

Required dependencies

Most of the ROS dependencies are supported and installed by rosdep, including external libraries as Eigen and Boost.

GeographicLib can be installed by apt-get and it is already included on the rosdep of MAVROS package. It is also possible to compile it and install it from src but be advised to have the proper install directories the same as the ones of the apt-get install, in order to make sure that the FindGeographicLib.cmake finds the required shared libraries (libGeographic.so).

Since GeographicLib requires certain datasets (mainly the geoid dataset) so to fulfill certain calculations, these need to be installed manually by the user using geographiclib-tools, which can be installed by apt-get in Debian systems. For a quicker procedure, just run the available script in the “mavros/scripts” folder, install_geographiclib_datasets.sh.

Note that if you are using an older MAVROS release source install and want to update to a new one, remember to run rosdep update before running rosdep install --from-paths ${ROS_WORKSPACE} --ignore-src --rosdistro=${ROSDISTRO}, with ROS_WORKSPACE your src folder of catkin workspace. This will allow updating the rosdep list and install the required dependencies when issuing rosdep install.

:bangbang: The geoid dataset is mandatory to allow the conversion between heights in order to respect ROS msg API. Not having the dataset available will shutdown the mavros_node :bangbang:

:heavy_exclamation_mark:Run install_geographiclib_datasets.sh to install all datasets or geographiclib-datasets-download egm96_5 (Debian 7, Ubuntu 14.04, 14.10), geographiclib-get-geoids egm96-5 (Debian 8, Fedora 22, Ubuntu 15.04 or later) to install the geoid dataset only:heavy_exclamation_mark:

Binary installation (deb)

ROS repository has binary packages for Ubuntu x86, amd64 (x86_64) and armhf (ARMv7). Kinetic also support Debian Jessie amd64 and arm64 (ARMv8).

Just use apt for installation:

sudo apt install ros-foxy-mavros

Then install GeographicLib datasets by running the install_geographiclib_datasets.sh script:

ros2 run mavros install_geographiclib_datasets.sh

# Alternative:
wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh

Source installation

Use vcs utility for retrieving sources and colcon tool for build.

NOTE: The source installation instructions are for the ROS Foxy release.

sudo apt install -y python3-vcstool python3-rosinstall-generator python3-osrf-pycommon

# 1. Create the workspace: unneeded if you already has workspace
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws

# 2. Install MAVLink
#    we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
rosinstall_generator --format repos mavlink | tee /tmp/mavlink.repos

# 3. Install MAVROS: get source (upstream - released)
rosinstall_generator --format repos --upstream mavros | tee -a /tmp/mavros.repos
# alternative: latest source
# rosinstall_generator --format repos --upstream-development mavros | tee -a /tmp/mavros.repos
# For fetching all the dependencies into your ros2_ws, just add '--deps' to the above scripts
# ex: rosinstall_generator --format repos --upstream mavros --deps | tee -a /tmp/mavros.repos

# 4. Create workspace & deps
vcs import src < /tmp/mavlink.repos
vcs import src < /tmp/mavros.repos
rosdep install --from-paths src --ignore-src -y

# 5. Install GeographicLib datasets:
./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

# 6. Build source
colcon build

# 7. Make sure that you use setup.bash or setup.zsh from workspace.
#    Else ros2 run can't find nodes from this workspace.
source install/setup.bash

Build error. if you has error with missing mavlink* then you need fresh mavlink package. You may update from ros-shadow-fixed (binary installation) or redo script steps 2 & 4.

Note. Since MAVLink 2.0 merged (0.18) all dialects supported by same binary. Unfortunately overlap of v1.0 message ID’s not fully handled, first loaded message forbid further changes. Load order always:

common
ardupilotmega
alphabetical ordered list
…

Note: MAVLINK_DIALECT not used anymore.

Troubleshooting

Error: serial0: receive: End of file

This issue should have been solve in mavros v0.23.2, it was found to be a Boost.ASIO error and should be fix in release > v1.12.0 ( >Boost 1.66).

Contributing

See CONTRIBUTING.md.

Glossary

GCS — Ground Control Station
FCU — Flight Control Unit (aka FC)
OBC — OnBoard Computer (your odroid or raspberry)

Links

MAVLink – The communication protocol for Drones, used by flight controllers, ground control stations, and peripherals
mavlink_ros – original ROS node (few messages, no proxy)
Pixhawk – Open Standards for drone hardware
PX4 Autopilot – Flight Controller with support for most vehicle types and hardened/tested MAVROS support
ArduPilot – tested autopilot APM:Plane (default command set)
QGroundControl – Ground Control Station for MAVLink autopilots, with tested support for Android, iOS, Mac OS, Linux, and Windows
mavros_extras – extra plugins & node for mavros

CHANGELOG

Changelog for package mavros

2.9.0 (2024-10-10)

py-mavros: fix flake8 errors
py-mavros: reconfigure flake8
py: isort
py: black
py-mavros: reformat with black
py-mavros: csv escapechar of empty string unsupported since py 3.11
apply ament_uncrustify --reformat (jazzy)
Merge pull request #2000 from leocencetti/fix-test-errors Fix test errors in 3x3 covariance test cases
fix: Patch test errors
Merge pull request #1998 from leocencetti/fix-wrong-covariance-rotation Fix 3x3 covariance matrix rotation/transformation
chore: Fix and reenable covariance rotation tests
fix: Correct 3x3 covariance matrix rotation
use GeographicLib::Geoid::ConvertHeight
fix -Wdeprecated-enum-float-conversion in GeographicLib
depcrecation errors
#1965: sync format of configs
Contributors: Jacob Dahl, Leonardo Cencetti, Vladimir Ermakov

2.8.0 (2024-06-07)

param: replace old rmw_qos usage
sys_status: replace rmw_qos too
command: fix humble condition
regenerate all using cogall.sh
command: keep support for humble
command: fix misprint
command: replace deprecated rmw_qos
reformat with jazzy's ament_uncrustify
Merge branch 'master' into ros2 * master: 1.19.0 update changelog gps_global_origin: remove LLA to ECEF conversion
1.19.0
update changelog
gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Update mavlink.py Kept #569 FIXME tag
Update mavlink.py Fixed bug #569 from mavros. Fixed another bug in the building of the ros mavlink message- the seq field was not added to the ros mavlink message.
Contributors: Beniamino Pozzan, Vladimir Ermakov, danielkalmanson

1.19.0 (2024-06-06)

gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Contributors: Beniamino Pozzan

2.7.0 (2024-03-03)

Merge branch 'master' into ros2 * master: 1.18.0 update changelog sys_status.cpp: improve timeout code sys_status.cpp: Add a SYS_STATUS message publisher [camera plugin] Fix image_index and capture_result not properly filled Fix missing semi-colon GPS_STATUS Plugin: Fill in available messages for ROS1 legacy
1.18.0
update changelog
move /conn parameters to /sys and /time
sys_status.cpp: improve timeout code # Conflicts: # mavros/src/plugins/sys_status.cpp
sys_status.cpp: Add a SYS_STATUS message publisher
Removed warning from geometry2 header
Fix PR 1922 regarding EVENT message
use synchronise_stamp to create stamp
new checksum for event enum
remove event_time_boot_ms, fill stamp instead
handle events
fix mav service call and wp load
Remove hardcoded namespace from px4_pluginlists
Remove hardcoded namespace from px4_config
Define _frd frames in odom plugin based on parent/child frame parametrs
Define parameters for base_link, odom, map frames
Contributors: Alejandro Hernández Cordero, Dr.-Ing. Amilcar do Carmo Lucas, Mattia Giurato, Mohamed Abdelkader, Vladimir Ermakov, elgarbe, sathak93, victor

1.18.0 (2024-03-03)

sys_status.cpp: improve timeout code
sys_status.cpp: Add a SYS_STATUS message publisher
Contributors: Dr.-Ing. Amilcar do Carmo Lucas

2.6.0 (2023-09-09)

fix build warnings tf2_eigen.h
switch to use tf2_eigen.hpp, but that drops support for EOL distros
fix ament_cpplint
reformat python code with black
msgs: move generator code
ament uncrustify
Merge branch 'master' into ros2 * master: 1.17.0 update changelog cog: regenerate all Bugfix/update map origin with home position (#1892) mavros: Remove extra ';' mavros_extras: Fix some init order warnings Suppress warnings from included headers 1.16.0 update changelog made it such that the gp_origin topic published latched. use hpp instead of deprecated .h pluginlib headers
1.17.0
update changelog
cog: regenerate all
local takeoff and land topics (#1890)
- local takeoff and land topics
- vector3 position type, rename to TOLLocal
- remove auto include line
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
1.16.0
update changelog
Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Ido Guzi, Lucas Walter, Morten Fyhn Amundsen, Shu-Nong Wu, Vladimir Ermakov, natmol

2.5.0 (2023-05-05)

Merge pull request #1852 from robobe/fix-mavlink-header-stamp Fix mavlink header stamp in convert_to_rosmsg method
Delete test_convert_to_rosmsg.py
fix flake8
fix flake8
fix conver_to_rosmsg method fix header stamp field move from rclpy.Time to builtin_interfaces Time message
Merge branch 'mavlink_payload64_fix' into ros2
Merge pull request #1851 from robobe/mavlink_payload64_fix cast payload_octest to int
cast payload_octest to int test script ,
Merge pull request #1838 from vacabun/launch_namespace_fix fix ROS2 launch parameters namespace and name.
fix plugin denylist allowlist name, and fix parameters namespace.
Merge pull request #1835 from vacabun/multi_uas_launch_fix Multi-UAS launch
Merge branch 'ros2' into multi_uas_launch_fix
Merge pull request #1836 from eMrazSVK/ros2 Fix apm_pluginlist.yaml and apm.launch
naming
Fix apm config and launch ROS2
Remove duplicate parameters
fix parameters name tgt_system and tgt_component and add multi-uas launch.
Merge pull request #1834 from vacabun/px4_launch_fix fix px4 launch file for ROS2
change plugin odom parameters in apm launch.
1.Change part of parameters to be flat In ROS2. 2.Remove plugin safety_area in launch parameters file.
remove event_launcher.yaml mavlink_bridge.launch
remove file 'apm2.lunch'.
fix apm launch files to ROS2.
fix plugin distance_sensor parses yaml from string parameter.
fix px4 launch file on ROS2.
Merge pull request #1833 from lopsided98/ftp-segfault plugins: ftp: fix null pointer dereference
plugins: ftp: fix null pointer dereference df4e529 mistakenly switched PayloadHeader::data from using a non-standards compliant (but accepted by most compilers) flexible array to a pointer. This resulted in an attempt to dereference the uninitialized contents of the array. This patch eliminates PayloadHeader::data and instead makes FTPRequest::data() use pointer arithmetic to get the data buffer from within the payload buffer.
Contributors: Ben Wolsieffer, Eduard Mraz, Vladimir Ermakov, robo, robobe, vacabun

2.4.0 (2022-12-30)

ci: ignore xml lib warn
Merge branch 'master' into ros2 * master: 1.15.0 update changelog ci: update actions Implement debug float array handler mavros_extras: Fix a sequence point warning mavros_extras: Fix a comparison that shouldn't be bitwise mavros: Fix some warnings mavros_extras: Fix buggy check for lat/lon ignored libmavconn: fix MAVLink v1.0 output selection
1.15.0
update changelog
Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

2.3.0 (2022-09-24)

extras: fix linter errors
mavros: remove custom find script, re-generate
Merge branch 'master' into ros2 * master: 1.14.0 update changelog scripts: waypoint and param files are text, not binary libmavconn: fix MAVLink v1.0 output selection plugins: add guided_target to accept offboard position targets add cmake module path for geographiclib on debian based systems use already installed FindGeographicLib.cmake
1.14.0
update changelog
scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1771 from alehed/fix/update_comment Put correct version in comment
Put correct version in comment Now that the change has been merged into master in pymavlink, it will be in the next tagged release.
Contributors: Alexander Hedges, Sanket Sharma, Vladimir Ermakov, acxz

2.2.0 (2022-06-27)

extras: fix build
Merge branch 'master' into ros2 * master: mount_control.cpp: detect MOUNT_ORIENTATION stale messages ESCTelemetryItem.msg: correct RPM units apm_config.yaml: add mount configuration sys_status.cpp fix free memory for values > 64KiB uncrustify cellular_status.cpp Add CellularStatus plugin and message *_config.yaml: document usage of multiple batteries diagnostics sys_status.cpp: fix compilation sys_status.cpp: support diagnostics on up-to 10 batteries sys_status.cpp: do not use harcoded constants sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). sys_status.cpp: ignore sys_status mavlink messages from gimbals mount_control.cpp: use mount_nh for params to keep similarities with other plugins set diag settings before add() sys_status.cpp: remove deprecated BATTERY2 mavlink message support Mount control plugin: add configurable diagnostics Bugfix: increment_f had no value asigned when input LaserScan was bigger than obstacle.distances.size() Bugfix: wrong interpolation when the reduction ratio (scale_factor) is not integer. Disable startup_px4_usb_quirk in px4_config.yaml
cmake: style fix
cmake: downgrade to C++17 as 20 breaks something in rclcpp
pylib: fix flake8 for checkid
cmake: hide -std=c++2a
Merge pull request #1752 from alehed/fix/make_compatible_with_mavlink_pr_666 Make compatible with pymavlink type annotations PR
Make compatible with pymavlink type annotations PR In that PR, the attribute name is changed to msgname due to conflicts with message instance variables.

1.17.0 (2023-09-09)

cog: regenerate all
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov, natmol

1.16.0 (2023-05-05)

Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Lucas Walter, Shu-Nong Wu, Vladimir Ermakov

1.15.0 (2022-12-30)

Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.14.0 (2022-09-24)

scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1744 from amilcarlucas/pr_gimbal_diagnostics_fixes mount_control.cpp: detect MOUNT_ORIENTATION stale messages
mount_control.cpp: detect MOUNT_ORIENTATION stale messages correct MountConfigure response success correct constructor initialization order some gimbals send negated/inverted angle measurements, correct that to obey the MAVLink frame convention using run-time parameters
Update global_position.py
Merge pull request #1745 from antonyramsy/ros2 fix subscribe_raw_salellites typo
fix subscribe_raw_salellites typo subscribe_raw_salellites -> subscribe_raw_satellites
Merge pull request #1743 from amilcarlucas/pr_apm_config apm_config.yaml: add mount configuration
apm_config.yaml: add mount configuration
Merge pull request #1732 from amilcarlucas/pr-meminfo-fix MEMINFO fixes
sys_status.cpp fix free memory for values > 64KiB
Merge pull request #1716 from amilcarlucas/avoid-harcoded-values sys_status.cpp: do not use harcoded constants
Merge pull request #1711 from amilcarlucas/diagnose-up-to-n-batteries Diagnose up-to 10 batteries
*_config.yaml: document usage of multiple batteries diagnostics
sys_status.cpp: fix compilation
sys_status.cpp: support diagnostics on up-to 10 batteries Uses as many battery monitors as the user specified in min_voltage parameter. Add myself as a contributor, this is not my first patch to this file
Merge pull request #1712 from amilcarlucas/fix-disabled-diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag
sys_status.cpp: do not use harcoded constants
sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics Use atomic variable to prevent potential threading problems
sys_status.cpp: fix enabling of mem_diag and hwst_diag
Merge pull request #1704 from amilcarlucas/correct-bat-voltages sys_status.cpp: Do not use battery1 voltage for all batteries.
sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). Support both cell and total voltages above 65V Support up-to 14S batteries If available, add cell voltage information to the battery diagnostic
Merge pull request #1707 from amilcarlucas/ignore-gimbal-sys-status sys_status.cpp: ignore sys_status mavlink messages from gimbals
sys_status.cpp: ignore sys_status mavlink messages from gimbals
Merge pull request #1703 from amilcarlucas/remove-deprecated-battery2 sys_status.cpp: remove deprecated BATTERY2 mavlink message support
sys_status.cpp: remove deprecated BATTERY2 mavlink message support
Merge pull request #1696 from okalachev/patch-2 Disable startup_px4_usb_quirk in px4_config.yaml
Disable startup_px4_usb_quirk in px4_config.yaml
Contributors: Alexander Hedges, Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Vladimir Ermakov, antonyramsy

2.1.1 (2022-03-02)

Merge pull request #1717 from rob-clarke/fix--sys-status-callbacks Maybe fix sys status callbacks
uncrustify
Cleanup for pr
Initialise common client
Add debug
Use common client Add debug
plugins: Fix misprint Fix #1709
Contributors: Rob Clarke, Vladimir Ermakov

2.1.0 (2022-02-02)

plugin: sys_status: Add temporary hack from \@Michel1968 https://github.com/mavlink/mavros/issues/1588#issuecomment-1027699924
py-lib: make linters happy again
py-lib: fix WPL loading
py-lib: reformat with black, fix WPL
py-lib: gracefull exiting - need to join to spinner thread
py-lib: debug shutdown call
py-lib: fix checkid
sys: place service servers to separate callback group
plugins: fix topic names to use prefix for namespaced ones
py-lib: fix import
uas: fix linter warnings
uas: set executor timeout to 1s
uas: use custom executor derived from MultiThreadedExecutor one
uas: fix lambda
ci: fix several lint warnings
uas: log amount of executor threads
command: add request header for possible future use
Merge branch 'master' into ros2 * master: 1.13.0 update changelog py-lib: fix compatibility with py3 for Noetic re-generate all coglets test: add checks for ROTATION_CUSTOM lib: Fix rotation search for CUSTOM Removed CamelCase for class members. Publish to "report" More explicitly state "TerrainReport" to allow for future extension of the plugin to support other terrain messages Fixed callback name to match [handle_{MESSAGE_NAME.lower()}]{.title-ref} convention Add extra MAV_FRAMES to waypoint message as defined in https://mavlink.io/en/messages/common.html Fixed topic names to match more closely what other plugins use. Fixed a typo. Add plugin for reporting terrain height estimate from FCU 1.12.2 update changelog Set time/publish_sim_time to false by default plugin: setpoint_raw: move getParam to initializer extras: trajectory: backport #1667
1.13.0
update changelog
Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
1.12.2
update changelog
Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Merge pull request #1670 from windelbouwman/fix-uninitialized-struct-member Fix spurious bug because class field was uninitialized.
Fix spurious bug because class field was uninitialized.
Merge branch 'master' into ros2 * master: 1.12.1 update changelog mavconn: fix connection issue introduced by #1658 mavros_extras: Fix some warnings mavros: Fix some warnings
1.12.1
update changelog
mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Oleg Kalachev, Vladimir Ermakov, Windel Bouwman, hs293go

2.0.5 (2021-11-28)

fix some build warnings; drop old copter vis
router: fix #1655: use MAVConnInterface::connect() from #1658
Merge branch 'master' into ros2 * master: 1.12.0 update changelog Fix multiple bugs lib: fix mission frame debug print extras: distance_sensor: revert back to zero quaternion
1.12.0
update changelog
Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
extras: fix some more lint warns
plugin: fix some compile warnings
cmake: require C++20 to build all modules
extras: port distance_sensor plugin
lib: ignore MAVPACKED-related warnings from mavlink
lib: fix mission frame debug print
msgs: update conversion header
Merge branch 'master' into ros2 * master: 1.11.1 update changelog lib: fix build
1.11.1
update changelog
lib: fix build
Merge branch 'master' into ros2 * master: 1.11.0 update changelog lib: fix ftf warnings msgs: use pragmas to ignore unaligned pointer warnings extras: landing_target: fix misprint msgs: fix convert const plugin: setpoint_raw: fix misprint msgs: try to hide 'unaligned pointer' warning plugin: sys: fix compillation error plugin: initialize quaternions with identity plugin: sys: Use wall timers for connection management Use meters for relative altitude distance_sensor: Initialize sensor orientation quaternion to zero Address review comments Add camera plugin for interfacing with mavlink camera protocol
1.11.0
update changelog
lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
extras: port log_transfer
Contributors: Alexander Sherikov, Jaeyoung-Lim, Vladimir Ermakov

2.0.4 (2021-11-04)

Merge branch 'master' into ros2 * master: 1.10.0 prepare release
1.10.0
prepare release
extras: port esc_status plugin
plugins: update metadata xml
mavros: port mav_controller_output plugin
Merge branch 'master' into ros2 * master: (25 commits) Remove reference Catch std::length_error in send_message Show ENOTCONN error instead of crash Tunnel: Check for invalid payload length Tunnel.msg: Generate enum with cog mavros_extras: Create tunnel plugin mavros_msgs: Add Tunnel message MountControl.msg: fix copy-paste sys_time.cpp: typo sys_time: publish /clock for simulation times 1.9.0 update changelog Spelling corrections Changed OverrideRCIn to 18 channels This adds functionality to erase all logs on the SD card via mavlink publish BATTERY2 message as /mavros/battery2 topic Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0 Added NAV_CONTROLLER_OUTPUT Plugin Added GPS_INPUT plugin Update esc_status plugin with datatype change on MAVLink. ...
Merge pull request #1631 from shubham-shahh/ros2 rectified spelling and gramatical errors
Update mission_protocol_base.cpp
Update test_uas.cpp
Update setpoint_raw.cpp
Update param.cpp
Update param.cpp
Update mission_protocol_base.cpp
Update ftp.cpp
Update command.cpp
Update param.py
Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
1.9.0
update changelog
Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: fix lint error
extras: fix build, add UAS::send_massage(msg, compid)
extras: port companion_process_status
style: apply ament_uncrustify --reformat
Merge branch 'master' into ros2 * master: extras: esc_telemetry: fix build extras: fix esc_telemetry centi-volt/amp conversion extras: uncrustify all plugins plugins: reformat xml extras: reformat plugins xml extras: fix apm esc_telemetry msgs: fix types for apm's esc telemetry actually allocate memory for the telemetry information fixed some compile errors added esc_telemetry plugin Reset calibration flag when re-calibrating. Prevent wrong data output. Exclude changes to launch files. Delete debug files. Apply uncrustify changes. Set progress array to global to prevent erasing data. Move Compass calibration report to extras. Rewrite code based on instructions. Remove extra message from CMakeLists. Add message and service definition. Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
plugins: reformat xml
mavros_extras: ported landing_target plugin to ros2
sanitized code
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Marcelino Almeida, Shubham Shah, Val Doroshchuk, Vladimir Ermakov

2.0.3 (2021-06-20)

param: fix Foxy build
Contributors: Vladimir Ermakov

2.0.2 (2021-06-20)

mavros: fix run on Galactic
plugin: param: #1579: fix cpplint warnings
plugin: param: #1579: implement std parameter events
plugin: param: #1579: rewrite plugin to implement standard parameter services
plugin: add ability to set node options
lib: fix lint error
plugin: fix build error
lib: fix reorder warnings
lib: fix ftf compilation warnings
Contributors: Vladimir Ermakov

2.0.1 (2021-06-06)

readme: update source build instruction
Merge branch 'master' into ros2 * master: readme: update 1.8.0 update changelog Create semgrep-analysis.yml Create codeql-analysis.yml
1.8.0
update changelog
Contributors: Vladimir Ermakov

2.0.0 (2021-05-28)

pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fix flake8
pylib: fixing lint erorrs
includes: include tf2 buffer
pylib: fix ftp, add flags to wp
pylib: port mavftp
test: fix ParamDict test, yapf
pylib: fix wp load/dump file
pylib: port mavwp
pylib: fix param plugin
pylib: port mavparam
pylib: add uas settings accessor
pylib: fix set_mode
plugin: fix sys_status ~/set_mode service
pylib: porting mavsys
pylib: fix checkid
pylib: port checkid
pylib: force-create mav script entry point, why console_scripts didn't work?
pylib: small fix for setup
pylib: fix mavcmd trigger
pylib: move cmd check to utils
pylib: move wait flag to global group
pylib: port mavsafety, drop safetyarea as it completely outdated
pylib: fix script path
pylib: wait for services by default
pylib: add local position plugin
pylib: port all mavcmd
pylib: port most of mavcmd
pylib: start porting mavcmd
pylib: fix loading
pylib: port ftp
pylib: port mavlink helpers
pylib: port setpoint plugin
pylib: remove event_lanucher, ros2 should have different way to do the same
pylib: test ParamFile
pylib: test ParamDict
pylib: port param
pylib: add system module
pylib: fix loading
pylib: apply yapf
tests: add simple plan file
msgs: update command codes
pylib: move to support ament_python
pylib: start porting
plugins: fix all cpplint errors
plugins: fix some cpplint errors
test: fix cpplint errors
lib: fix lint errors
lib: fixing cpplint
plugins: waypoint: fix parameter exception
plugins: geofence: port to ros2
plugins: rallypoint: port to ros2
plugins: waypoint: port to ros2
plugins: mission base ported to ros2
plugins: mission: noe step further
mission proto: start port
mavros: make cpplint happy about includes
tests: make cpplint happy
mavros: make cpplint happy
lib: uncrustify
Merge branch 'master' into ros2 * master: ci: github uses yaml parser which do not support anchors. surprise, surprise! ci: install geographiclib datasets extras: #1370: set obstacle aangle offset lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink() extras: distance_sensor: rename param for custom orientation, apply uncrustify px4_config: Add distance_sensor parameters distance_sensor: Add horizontal_fov_ratio, vertical_fov_ratio, sensor_orientation parameters distance_sensor: Fill horizontal_fov, vertical_fov, quaternion
lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
lib: fix misprint
plugins: param: #1567: use parameters qos
lib: more lint...
lib: fix more linter warnings
lib: fix some linter warnings
lib: fix some linter warnings
router: fix lint error, it invalidated after erase
plugins: ftp: disable ll debug
plugins: param: add use_sim_time to excluded ids
plugins: param: set only allowed posparam
plugins: param: ported to ros2
plugins: ftp: port to ros2
plugins: setpoint_position: port to ros2
plugins: setpoint_attitude: port to ros2
Merge branch 'master' into ros2 * master: convert whole expression to mm
convert whole expression to mm
plugins: setpoint_trajectory: port to ros2
plugins: setpoint_velocity: port to ros2
plugins: setpoint_accel: port to ros2
plugins: setpoint_raw: fix sefgault
plugins: setpoint_raw: port to ros2
plugins: imu: port to ros2
plugins: global_position: port to ros2
plugin: local_position: port to ros2
plugins: wind_estimation: port to ros2
plugins: rc_io: port to ros2
plugins: port manual_control
plugins: home_position: port to ros2
plugins: sys_status: update set_message_interval
plugins: sys_status: implement autopilot version request
plugins: port command to ros2
uas: add eigen aligned allocator
plugin: altitude: port to ros2
uas: add convinient helpers
plugins: actuator_control: port to ros2
uas: fix some more lint errors
uas: fix some lint errors
plugin: sys_status: fix some lint errors
plugins: port sys_time
Merge branch 'master' into ros2 * master: 1.7.1 update changelog re-generate all pymavlink enums 1.7.0 update changelog
plugins: sys_status: fix connection timeout
lib: update cog to match ament-uncrustify
plugins: sys_status: fixing mav_type
plugins: sys_state: declare parameters
plugins: sys_state: ported most of things
plugins: sys_status: port most of the parts
plugins: start porting sys_status
plugins: generate description xml
plugins: port dummy
mavros: generate plugin list
Merge branch 'master' into ros2 * master: msgs: re-generate the code lib: re-generate the code plugins: mission: re-generate the code MissionBase: correction to file information MissionBase: add copyright from origional waypoint.cpp uncrustify whitespace add rallypoint and geofence plugins to mavros plugins xml add rallypoint and geofence plugins to CMakeList Geofence: add geofence plugin Rallypoint: add rallypoint plugin Waypoint: inherit MissionBase class for mission protocol MissionBase: breakout mission protocol from waypoint.cpp README: Update PX4 Autopilot references Fix https://github.com/mavlink/mavros/issues/849
uas: test multiple handlers for same message
uas: implement test for plugin message router
uas: fix is_plugin_allowed truth table
uas: initial unittest
uas: implement tf helpers
uas: add parameters callback, testing helper
node: disable intra process messaging because it's throws errors
uas: it's compilling!
uas: still fixing build...
uas: split uas_data.cpp into smaller units
uas: fix misprints
uas: initial implementation porting
uas: style fixes in headers
uas: update plugin base class, add registration macro
uas: begin implementation
router: use common format for address
router: add source id to UAS frame_id
mavros_node: that binary would be similar to old mavros v1 node
router: fix conponent loading
router: add test for Endpoint::recv_message
router: rename mavlink to/from to source/sink, i think that terms more descriptive
router: add diagnostics updater
router: fix incorrect get_msg_byte
router: trying to deal with mock cleanup checks
router: initial import of the test
router: catch open erros on ROSEndpoint
router: catch DeviceError
router: remove debugging printf's
router: weak_ptr segfaults, replace with shared_ptr
router: implement routing, cleanup
tools: remove our custom uncrustify, would use amend-uncrustiry instead
mavros: ament-uncrustify all code. enen unused one
router: implement params handler
router: fix build
router: add handler for parameters and reconnection timer
router: add some code docs, ament-uncrustify
router: implement basic part of Endpoint
lib: add stub code for router
mavros: router decl done
mavros: prototyping router
mavros: update tests
lib: port most of utilities
mnavros: lib: apply ament_uncrustify
lib: port enum_to_string
lib: update sensor_orientation
mavros: add rcpputils
mavros: fix cmake to build libmavros
mavros: begin porting...
Merge pull request #1186 from PickNikRobotics/ros2 mavros_msgs Ros2
Merge branch 'ros2' into ros2
msgs: start porting to ROS2
disable all packages but messages
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Sanket Sharma, Vladimir Ermakov, acxz

1.13.0 (2022-01-13)

Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
Contributors: Vladimir Ermakov

1.12.2 (2021-12-12)

Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Contributors: Oleg Kalachev, Vladimir Ermakov, hs293go

1.12.1 (2021-11-29)

mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.12.0 (2021-11-27)

Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
lib: fix mission frame debug print
Contributors: Alexander Sherikov, Vladimir Ermakov

1.11.1 (2021-11-24)

lib: fix build
Contributors: Vladimir Ermakov

1.11.0 (2021-11-24)

lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
Contributors: Jaeyoung-Lim, Vladimir Ermakov

1.10.0 (2021-11-04)

Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
Contributors: David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Marcelino Almeida, Val Doroshchuk, Vladimir Ermakov

1.9.0 (2021-09-09)

Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: reformat xml
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, Karthik Desai, Vladimir Ermakov

1.8.0 (2021-05-05)

lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
convert whole expression to mm
Contributors: Alexey Rogachevskiy, Thomas, Vladimir Ermakov

1.7.1 (2021-04-05)

re-generate all pymavlink enums
Contributors: Vladimir Ermakov

1.7.0 (2021-04-05)

lib: re-generate the code
plugins: mission: re-generate the code
MissionBase: correction to file information
MissionBase: add copyright from origional waypoint.cpp
uncrustify
whitespace
add rallypoint and geofence plugins to mavros plugins xml
add rallypoint and geofence plugins to CMakeList
Geofence: add geofence plugin
Rallypoint: add rallypoint plugin
Waypoint: inherit MissionBase class for mission protocol
MissionBase: breakout mission protocol from waypoint.cpp
README: Update PX4 Autopilot references Much needed fixes to clarify the project is named correctly throughout the README for the PX4 Autopilot, QGroundControl, and MAVLink
Fix https://github.com/mavlink/mavros/issues/849
Contributors: Charlie-Burge, Ramon Roche, Tobias Fischer, Vladimir Ermakov

1.6.0 (2021-02-15)

fix inconsistency in direction of yaw when using set_position in BODY frames and fix problems with yaw in setponit_raw
Contributors: zhouzhiwen2000

1.5.2 (2021-02-02)

readme: add source install note for Noetic release
Contributors: Vladimir Ermakov

1.5.1 (2021-01-04)

Fix tests for renaming of ECEF cases Introduced in 6234af29
Initialise message structures Uninitialised Mavlink 2 extension fields were sent if the fields were not later set. Initialising the fields to zero is the default value for extension fields and appears to the receiver as though sender is unaware of Mavlink 2. Instances were found with regex below, more may exist: mavlink::[\^:]+::msg::[\^:={]+ ?[\^:={]*;
Contributors: Rob Clarke

1.5.0 (2020-11-11)

mavros/sys_status: Fill flight_custom_version field
mavros: Add override specifiers
mavros: Move ECEF tf enums to separate enum class This avoids a bunch of unhandled switch cases, and should improve type safety a bit.
Contributors: Morten Fyhn Amundsen

1.4.0 (2020-09-11)

mavros: use mavlink::minimal:: after incompatible changes in mavlink package Incompatible change: https://github.com/mavlink/mavlink/pull/1463 Fix: #1483, https://github.com/mavlink/mavlink/issues/1474
fixes based on vooon's review
fix issue what we couldn't set real parameters to 0.0 in mavros
Add error message
Fixed compilation error: publish std_msgs::String, not std::string for gcs_ip
Dispatch GCS IP address
Contributors: Artem Batalov, Marcelino, Morten Fyhn Amundsen, Vladimir Ermakov, Øystein Skotheim

1.3.0 (2020-08-08)

fake_gps.cpp: implement speed accuracy
fake_gps.cpp: Add mocap_withcovariance configuration parameter
fake_gps.cpp: add initial support for GPS_INPUT MAVLink message
apm.launch: Avoid warning: Warning: You are using <arg> inside an <include> tag with the default=XY attribute - which is superfluous. Use value=XY instead for less confusion. Attribute name: respawn_mavros
Added support for MavProxy parameter file format
Ignore read-only parameters and statistics parameters in push operations
fix indentation
transform based on coordinate_frame
wind plugin: fix ArduPilot wind transformation
Contributors: Ben Wolsieffer, Dr.-Ing. Amilcar do Carmo Lucas, Yuan, Yuan Xu

1.2.0 (2020-05-22)

has_capability only works for enums
Uncrustify
Reworked Waypoint plugin to use capabilities_cb Additionally added helper functions has_capability and has_capabilities so that people can use either ints or enums to check if the UAS has a capability. This might make accepting capabilities as a parameter moot though.
Added alias for capabilities enum to UAS
Added alias for capabilities enum to UAS
Added a capabilities change cb queue Plugins can now write functions that they add to the capabilities_cb_vec. These functions will be called only when there is a change to the capabilities themselves not whenever the known status of the fcu_capabilities change. These functions should have a parameter of type mavlink::common::MAV_PROTOCOL_CAPABILITY which is essentially just a uint64_t however being more opinionated is helpful when looking for what the canonical enum names are in the mavlink project header files.
Uncrustify
Fixed Removed Uncrustify Option I'm not sure why this didn't break when I ran uncrustify previously but it seems that the align_number_left option was removed a while ago with this merge request but I may be mistaken https://github.com/uncrustify/uncrustify/pull/1393 I replaced it which align_number_right=true since it seems to be the inverse of align_number_left=true.
Removed deprecated MAV_FRAME values
Removed use of variant in favor of templates Since ROS messages are now the storage type in the node, providing to and from conversion functions is sufficient and can be better expressed with function templates.
Encode factor returns double
Changed encoding factor cog code
Uncrustify changes
Added new parameter to config.yamls
Updated waypoint plugin to support MISSION_ITEM_INT These changes add a new parameter use_mission_item_int, which allows users to prefer the old behavior. These changes also verify that the flight controller supports _INT messages since APM only sends REQUEST_ITEM messages even though it accepts _INT items back. This commit is functional and tested with the APM stack only. PX4 sitl jmavsim threw: WP: upload failed: Command is not supported. FCU: IGN MISSION_ITEM: Busy
Removed x_lat, y_long, z_alt from WP These values seemed to be used due to the fact that double had a greater resolution than float and doubles are used in the ros msg. However they were only ever used for printing. Since the int version of these messages has a greater resolution I figure it is more useful to print the true value in the mavlink message rather than the ros message value
Replaced MISSION_ITEM
add yaw to CMD_DO_SET_HOME
fix local angular velocity
Contributors: Braedon, David Jablonski, Martina Rivizzigno

1.1.0 (2020-04-04)

fixed styling
fixed indent from using spaces
updates apmrover2 modes and allows for arduboat mode changes
mavsafety kill feature for emergency stop
Include trajectory_msgs in CMakeLists.txt This allows build to complete successfully.
Contributors: Anthony Goeckner, Matt Koos, aykutkabaoglu

1.0.0 (2020-01-01)

0.33.4 (2019-12-12)

Replaced estimator status hardcoded definition with cog.
Refactor.
Replaced bool with git add -u as already done.
Added a publisher for estimator status message received from mavlink in sys_status.
Contributors: saifullah3396

0.33.3 (2019-11-13)

package: fix 6fa58e59 - main package depends on trajectory_msgs, not extras
Contributors: Vladimir Ermakov

0.33.2 (2019-11-13)

0.33.1 (2019-11-11)

Add mutex
Initialize type mask
Handle frame with StaticTF
Handle different frames
Set yaw rate from message inputs
Add setpoint trajectory reset interface
Fix trajectory timestamp
Address comments
Pass reference with oneshot timers
Set typemasks correctly
Address more style comments
Address style comments
Visualize desired trajectory
Handle end of trajectory correctly
Remove message handlers
Add setpoint_trajectory plugin template
resolved merge conflict
Contributors: David Jablonski, Jaeyoung-Lim

0.33.0 (2019-10-10)

Add vtol transition service
CleanUp
Update frame name in px4_config to match ROS standards
Enable publishing multiple static tfs at once, publish standard static tfs
moving ACK_TIMEOUT_DEFAULT out of class
cog: Update all generated code
mavros/src/plugins/command.cpp: one more style fix
mavros/src/plugins/command.cpp: style fixes
mavros/src/plugins/command.cpp: command_ack_timeout ms -> s
mavros/src/plugins/command.cpp: command_ack_timeout_ms int -> double
mavros/src/plugins/command.cpp: uncrustify
mavros/src/plugins/command.cpp: parameter for command's ack timeout Sometimes commands take more time than default 5 seconds. Due to a low bandwidth of UART and a high rate of some mavlink streams. To eliminate this problem it's better to provide the parameter to configure the command's ack timeout.
added manual flag to mavros/state
Use GeoPoseStamped messages
Fix build
Add callback for SET_POSITION_TARGET_GLBOAL_INT
Contributors: David Jablonski, Jaeyoung-Lim, Sergei Zobov, Vladimir Ermakov, kamilritz

0.32.2 (2019-09-09)

uncrustify
Add boolean to check if IMU data has been received Follow sensor_msgs/Imu convention when data not present
Uncrustify the GPS_GLOBAL_ORIGIN handler in global_position
Fix global origin conversion to ecef (was using amsl where hae was required) Summary: Fix global origin conversion to ecef (was using amsl where hae was required)
moved code to end of function
added amount of satellites to global_position/raw/
Contributors: David Jablonski, Nick Steele, Rob Clarke, Robert Clarke

0.32.1 (2019-08-08)

uncrustify
Removed tf loop
made small edit to handle augmented gps fix
added a check for gps fix before setting origin for global_position/local odometry topic
Contributors: Eric, Lucas Hill

0.32.0 (2019-07-06)

use direclty radians in yaml files
A simple typo error has fixed. (#1260)
- fix: a typing error "alredy" to "already"
- Fix: typo error (helth -> health)
Contributors: Martina Rivizzigno, 강정석

0.31.0 (2019-06-07)

readme: fix udp-pb formatting
launch config: landing_target: fix and improve parameter list
remove duplicated landing_target parameters
enum_to_string: simplify landing_target_type_from_str
enum_to_string: update enumerations and checksum
extras: landing target: improve usability and flexibility
remove landing_target from blacklist
update to use pymavlink generator
px4_config: landing_target: minor correction
mav_frame: add frames of reference to wiki page; reference them on config
landing_target: removed child_frame_id
landing_target: minor code tweak/restructure
landing_target: uncrustify code
landing_target: updated to TF2 and Eigen math
landing_target: adapted to latest master code
landing_target: added timestamp and target size fields [!Won't compile unless a new mavlink release!]
landing_target: first commit
Switch to double-reflections instead of axes-reassignments
specialize transform_frame_ned_enu and transform_frame_enu_ned for type Vector3d such that input vectors containing a NAN can be correctly transformed
Update README.md update misspelling
Contributors: Julian Kent, Martina Rivizzigno, Shingo Matsuura, TSC21, Vladimir Ermakov

0.30.0 (2019-05-20)

Filter heartbeats by component id as well This addresses #1107 and #1227, by filtering incoming heartbeats by component ids before publishing the state.
mavros/src/plugins/command.cpp: log if command's wait ack timeout (#1222)
- mavros/src/plugins/command.cpp: log if command's wait ack timeout
- mavros/src/plugins/command.cpp: log timeout in wait_ack_for
local_position fix #1220: initialize flags
plugin waypoint: fix spelling
Fix leading space before setpoint_raw This causes an error when running `roslaunch`: ` error loading <rosparam> tag: file /opt/ros/kinetic/share/mavros/launch/apm_config.yaml contains invalid YAML: while parsing a block mapping in "<string>", line 4, column 1: startup_px4_usb_quirk: false ^ expected <block end>, but found '<block mapping start>' in "<string>", line 103, column 2: setpoint_raw: ^ XML is <rosparam command="load" file="$(arg config_yaml)"/> The traceback for the exception was written to the log file`
global_position.cpp: spell in comment
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Josh Veitch-Michaelis, Nico van Duijn, Sergey Zobov, Vladimir Ermakov

0.29.2 (2019-03-06)

0.29.1 (2019-03-03)

All: catkin lint files
Update apm_config.yaml Setting thrust_scaling in the setpoint_raw message (in my case, to use /mavros/setpoint_raw/attitude) Without it, when using Gazebo, get the following problem "Recieved thrust, but ignore_thrust is true: the most likely cause of this is a failure to specify the thrust_scaling parameters on px4/apm_config.yaml. Actuation will be ignored." from the function void attitude_cb in setpoint_raw.cpp (http://docs.ros.org/kinetic/api/mavros/html/setpoint__raw_8cpp_source.html)
cmake: fix #1174: add msg deps for package format 2
Issue #1174 Added dependency for mavros_msgs and mavros
Contributors: Adam Watkins, KiloNovemberDelta, Pierre Kancir, Vladimir Ermakov

0.29.0 (2019-02-02)

Fix broken documentation URLs
px4_config: set the thrust_scaling to one by default
local_position: add an aditional topic for velocity on the local frame
Merge pull request #1136 from angri/param-timeout Request timed up parameters as soon as possible
Merge branch 'master' into param-timeout
plugin:param added logging regarding rerequests
plugin:param fixed second and consequent timeouts in requesting list
mavros_extras: Wheel odometry plugin updated according to the final mavlink WHEEL_DISTANCE message.
mavros_extras: Wheel odometry plugin fixes after CR.
mavros_extras: Wheel odometry plugin added.
mavsys: add do_message_interval
sys_status: add set_message_interval service
lib: fix MAV_COMPONENT to_string
lib: update sensor orientations
plugin:param rerequest timed out parameters asap Avoid vaiting for the next timeout
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Pavlo Kolomiiets, Randy Mackay, TSC21, Vladimir Ermakov, angri

0.28.0 (2019-01-03)

plugin:param: publish new param value
Merge pull request #1148 from Kiwa21/pr-param-value param plugin : add msg and publisher to catch latest param value
sys_status: fix build
sys_state: Small cleanup of #1150
VehicleInfo : add srv into sys_status plugin to request basic info from vehicle
sys_status: Fix #1151 bug - incorrect hex print
plugins:sys_status: Update diag decoder
frame_tf: mavlink_urt_to_covariance_matrix: make matrix symetrical
uas_data: add comment on the reverse tf fcu_frd->fcu
odom: add ODOMETRY handler and publisher
Handle LOCAL_POSITION_NED_COV messages, add pose_cov, velocity_cov, accel topics
sys_status : add MAV_TYPE as a parameter
rc_io: extend handle_servo_output_raw to 16 channels
param plugin : add msg and publisher to catch latest param value
plugin:command: Update for C++11, style fix Signed-off-by: Vladimir Ermakov <<vooon341@gmail.com>>
Fixed NavSatFix bug in mavcmd takeoffcur and landcur
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940 Remove unnecessary functools
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940
Fix mavros/param.py to work in python2 and python3, #940
correct the to_string function
set value back to 30
add autogenerated to_string function
style clean up
Use component_id to determine message sender
change message name from COMPANION_STATUS to COMPANION_PROCESS_STATUS
change message to include pid
Change from specific avoidance status message to a more generic companion status message
add plugin to receive avoidance status message
Added RPYrT and uncrustified. Pushing version without spaces. Version with tabs? Fixed all? Finally fixed. Fixed requestes by \@vooon Fixed a def. Fixed log format. Fixed time for log.
apm_config: enable timesync and system for ardupilot
Contributors: Dan Nix, Gregoire Linard, Oleg Kalachev, Randy Mackay, TSC21, Vladimir Ermakov, baumanta, fnoop, pedro-roque

0.27.0 (2018-11-12)

fix: a typing error "alredy" to "already"
plugins #1110 #1111: add eigen aligment to plugins with eigen-typed members
plugins: fix style
with this fix ,it will avoid eigen error on 32 bits system
Add service to send mavlink TRIGG_INTERVAL commands Adapt trigger_control service to current mavlink cmd spec. Add a new service to change trigger interval and integration time
launch: fix #1080: APM now support mocap messages
Contributors: Gaogeolone, Moritz Zimmermann, Vladimir Ermakov, rapsealk

0.26.3 (2018-08-21)

test: Fix sensor orientation. RPY 315 was removed in recent mavlink. https://github.com/mavlink/mavlink/commit/3d94bccfedc5fc7f2ffad247adecff0c2dc03501
lib: update generated entries
Contributors: Vladimir Ermakov

0.26.2 (2018-08-08)

Moving gps_rtk to mavros_extras
Update copyright name
Updating the gps_rtk plugin to fit mavros guidelines:
- Updating max_frag_len to allow changes in size in MAVLink seamlessly
- Using std::copy instead of memset
- Zero fill with std::fill
- Preapply the sequence flags
- Use of std iterators
- Add the maximal data size in the mavros_msgs
uncrustify
Update comments for the renaming
Renaming the GPS RTK module, Adding fragmentation, Changing the RTCM message
RTK Plugin; to forward RTCM messages Signed-off-by: Alexis Paques <<alexis.paques@gmail.com>>
Contributors: Alexis Paques

0.26.1 (2018-07-19)

setpoint_velocity: fix yaw rate setpoint rotation
lib fix #1051: Add APM BOAT modes support. Currently SURFACE_BOAT uses same code as Rover2, just different vehicle type.
Contributors: TSC21, Vladimir Ermakov

0.26.0 (2018-06-06)

lib: add tunable timeout to gcs_quiet_mode
udp bridge: pass only HEARTBEATs when GCS is offline
sys_time : add advanced timesync algorithm
libmavconn: add scheme for permanent UDP broadcasting
GPS accuracy wo approximations (#1034)
- GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT.
* GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT if on mavlink v2.0, or on DOP values otherwise.
- GPS accuracy update.
Contributors: Mohammed Kabir, Oleg Kalachev, Pavlo Kolomiiets, Vladimir Ermakov

0.25.1 (2018-05-14)

0.25.0 (2018-05-11)

wind plugin: uncrustify
use eigen and tf conversions (fix conventions), sync timestamp, fix typos
add wind estimation plugin
launch: fix style and keep apm.launch consistent with px4.launch
Updated apm.launch to forward new fcu_protocol parameter
glob pos plugin: correct gps velocity convention (NEU->ENU)
Split temperature publisher.
setpoint_raw: correct yaw transform; remove yaw transform methods
extras: odom: improve way frame naming is handled
extras: update odom plugin to send ODOMETRY msgs
lib: enum_to_string: update enums
setpoint_attitude: rename topic from target_attitude to attitude
imu plugin: fix pressure units
imu plugin: publish differential pressure (#1001)
- imu plugin: publish differential pressure
- imu plugin: fix doxygen snippets
lib: add PX4 mode AUTO.PRECLAND
extras: add covariance parsing to vision_speed_estimate (#996)
Contributors: Anthony Lamping, Nuno Marques, Oleg Kalachev, Sondre Engebråten, TSC21, Thomas Stastny, Timo Hinzmann, Vladimir Ermakov

0.24.0 (2018-04-05)

frame_tf: add assertion over size of covariance matrix URT
extras: update vision_pose_estimate plugin so it can send the covariance matrix also
plugins fix #990: Explicitly cast boolean values. Else someone can shoot in his foot.
Update Readme for serial0: receive: End of file
launch : remove vision_pose_estimate from blacklist on ardupilot
plugin: ftp: fix typo
Add ability to send STATUSTEXT messages
Contributors: Anass Al, Andrei Korigodski, Pierre Kancir, TSC21, Vladimir Ermakov

0.23.3 (2018-03-09)

lib: simplify geolib cmake module, try to fix CI
Contributors: Vladimir Ermakov

0.23.2 (2018-03-07)

launch: add optional respawn_mavros arg
Contributors: Anthony Lamping

0.23.1 (2018-02-27)

lib: Update to_string
plugin fix #957: set MISSION_ITEM::mission_type
Contributors: Vladimir Ermakov

0.23.0 (2018-02-03)

launch fix #935: use orientation convention from message descr https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR
Blacklist HIL for APM since it is not relevent
add MAV_DISTANCE_SENSOR enum to_string
px4: add fcu_protocol argument to choose mavlink v1.0 or v2.0 to start mavros in node.launch
node: add fcu_protocol parameter to be able to choose mavlink v1.0 or v2.0 when starting mavros node
mavros: default fcu_protocol parameter to mavlink v2.0
manual_control: [send]{.title-ref} topic for sending MANUAL_CONTROL message to FCU
imu plugin: fix doxygen comments
imu plugin: change sufixes to match the body coordinate frame
Fix vision odom.
IMU plugin: add raw IMU conversion for PX4
mention rotation convention and fix NED to ENU description
Contributors: ChristophTobler, James Goppert, James Mare, Martina, Oleg Kalachev, TSC21, Vladimir Ermakov

0.22.0 (2017-12-11)

scripts: Use non global mavros-ns allow to work __ns parameter
update script to support cycle_time on cmd trigger_control
plugin: Fix setpoint_position code style
Global position setpoint plugin (#764)
- fix fake gps rate
- fix
- fix plugin_list
- fix
- add global position setpoint plugin
- add plugin to CMakeList
- fix bugs
- add altitude
- move GPS setpoints to setpoint_position plugin
- fix gps setpoint subscriber name
- move GeographicLib::Geocentric earth inside callback
- add warning msg if timestamp is not updates
- Fix ROS_WARN
doc: move contributing.md to root
tools: add cogall.sh
split contribuion guide to GH file
Readme: add help for cog (#876)
Setpoints: remove mav_frame string for local variable
Setpoints: add params for initial frame
Setpoint_velocity: uncrustify
Setpoint_position: uncrustify
Setpoints: add service to specify frame
Fix typo #867
Improve output of script, replace which with more reliable hash #867
Ensure dataset files exist, not just directories #867
Remove previous duplicated link
Fixed issue link.
Fixed section header. Ready for troubleshooting PR.
Pushing troubleshooting section for Mavros.
Contributors: Mohamed Abdelkader Zahana, Pierre Kancir, Vladimir Ermakov, andresR8, fnoop, khancyr, pedro-roque

0.21.5 (2017-11-16)

Yet another formatting.
px4_config.yaml updated. Minor formatting update.
global_position/raw/gps_vel should still be in earth fixed frame.
GPS fix's frame_id changed to body-fixed.
global_position/local angular twist changed from NANs to zeroes to be able to show in RViz.
readme: source install: add note on fetching all the deps
geolib_dataset: script: fix interpreter
Contributors: Pavlo Kolomiiets, TSC21

0.21.4 (2017-11-01)

lib ftf: update dox, uncrustify
ENU<->ECEF transforms fix. (#847)
- ENU<->ECEF transforms fix.
- Changes after review. Unit tests added.
test: fix copy-paste error in frame_tf
Contributors: Vladimir Ermakov, pavloblindnology

0.21.3 (2017-10-28)

Update geographiclib script to work with zsh
scripts: fix typos and improve help messages consistency commad -> command safty -> safety Start help messages with a capital letter.
uncrustify
plugin waypoints: Use stamped message
plugin waypoint: Add MISSION_ITEM_REACHED publisher * Changes to be committed: modified: mavros/src/plugins/waypoint.cpp modified: mavros_msgs/CMakeLists.txt new file: mavros_msgs/srv/WaypointReached.srv
- change reached service name to classic topic
- Changed reached service to topic
- removed unused file
- Removed WaypointReached service
- Change reached message type to std_msgs::UInt16
- Delete WaypointReached.srv
- Restore WaypointPush.srv
- Fix tipo
- Update waypoint.cpp
launch: sync APM and PX4 configs
add debug plugin
Contributors: Jonas Vautherin, Patrick Jose Pereira, TSC21, Vladimir Ermakov, gui2dev

0.21.2 (2017-09-25)

plugin: setpoint_attitude: Finish Andres fix
fix: attitude callback trigger
lib uas: remove inline on not inlined method
odom: general fixes and code tighting
Use tf2 for odom plugin and set reasoable defaults for local pos cov.
Contributors: Andres Rengifo, James Goppert, TSC21, Vladimir Ermakov

0.21.1 (2017-09-22)

mavsys: mode: add solutions for setting AUTO.MISSION and AUTO.LOITER modes (#814)
- mavsys: add notes on how to change mode to AUTO.MISSION on PX4 Pro
- enum_to_string: update enums
- mavsys: mode: move AUTO submodes info to argparser
- sys_status: leave note that MAV_TYPE_ONBOARD_CONTROLLER will be supported on PX4
- mavsys: mode: add note on changing to AUTO.LOITER
Solve the subscriber initialization
lib frame_tf: Add to_eigen() helper
Contributors: Alexis Paques, Nuno Marques, Vladimir Ermakov

0.21.0 (2017-09-14)

plugin waypoint: Uncrustify, update init list
lib: Add to_sting for MAV_MISSION_RESULT
plugin waypoint: Rename current seq in wp list message
waypoint: Publish current waypoint seq
waypoint partial: Check parameter first with hasParam
waypoint partial: Documentation updates
waypoint: Document mid level helpers and fix indenting on rx handlers
waypoint: Document rx handlers
waypoint partial: Move FCU detection to connection_cb
waypoint partial: recommended changes to mavwp
waypoint partial: code style cleanup
waypoint partial: enable only on apm but allow override with parameter
waypoint partial: Handle case when partial push is out of range with local list and uncrustify
waypoint partial: enable only on apm through yaml
waypoint partial: stopped partial push from clearing parts of local waypoint copy
waypoint partial: uncrustify
waypoint partial: extend mavwp cli tool to do partial updating in push
waypoint partial: extended push in waypoint plugin to implement push partial
waypoint: uncrustify
waypoint: handle invalid_sequence mission_ack to prevent TXWP failure
Partial waypoint: added wp_transfered to push partial service response
Partial waypoint: renamed mavwp partial load arguments for consistency
Partial waypoint: fixed end index and added partial tx state
Partial Waypoint: handle service call in waypoint plugin
Partial waypoint: added partial updating to mavwp
imu_plugin: remove documentation of override func
imu plugin: uncrustify
imu plugin: don't be so explicit about in/out params
imu plugin: fix indentation
imu plugin: update setup_covariance method to use Eigen capabilities
imu plugin: use simpler format for one line comments
imu plugin: add code snippets to Doxygen documentation
IMU and attitude: general clean-up
CMake: explicitly link the atomic library (#797) For arm & mips architecture, the linker must explicitly be asked to link the atomic library (with [-latomic]{.title-ref}). Otherwise, the linking fails with: ` | devel/lib/libmavros.so: undefined reference to `__atomic_load_8' | devel/lib/libmavros.so: undefined reference to `__atomic_store_8' | collect2: error: ld returned 1 exit status[ Linking `atomic]{.title-ref} unconditionally as library is strictly needed only for arm & mips, but it seems not to imply any further differences with other architectures. Hence, this commit simply adds [atomic]{.title-ref} unconditionally for a uniform handling of all machine architectures. This is an alternative solution to the proposed solution in #790. The issue was discovered cross-compiling mavros in meta-ros, the OpenEmbedded layer for ROS. Some further pointers are available at: https://github.com/bmwcarit/meta-ros/issues/525 Signed-off-by: Lukas Bulwahn <<lukas.bulwahn@gmail.com>>
setpoint_attitude: privatize message_filters subscribers
Updating comments for PX4Flow
Removing copter_visualization from the yaml files. Adding odometry to apm_config Changing frame_id to base_link for vibration
Update the apm_config and px4flow_config files
Update configuration from mavros_extras
Updating default settings from px4.yaml
- global_position/tf/send default to false
- imu, checked
- local_position/tf/send default to false
- local_position/tf/send_fcu default to false
- mission/pull_after_gcs default to true
Update time reference to fcu Adding global_frame_id: 'earth' to apm_config
fcu to base_link
Changing fcu_utm to fcu
Solving default frame consistency in config files
Contributors: Alexis Paques, James Mare, James Stewart, Lukas Bulwahn, TSC21, Vladimir Ermakov

0.20.1 (2017-08-28)

0.20.0 (2017-08-23)

update generated code in plugins
update generated code
geolib: datasets: warn when not installed; update install script; launch SIGINT when not installed (#778)
- geolib: make dataset install mandatory
- travis_ci: install python3; use geographiclib-datasets-download
- CMakeLists.txt: set datasets path
- travis_ci: create a path for the geoid dataset
- travis_ci: remove python3 install
- CMakeLists.txt: remove restriction regarding the geoid model
- CMakeLists.txt: only launch a warning if the geoid dataset is not installed
- CMakeLists.txt: simplify dataset path search and presentation
- scripts: install_geographiclib_datasets becomes version aware
- uas_data: dataset init: shutdown node if exception caught
- README: update GeographicLib info; geolib install script: check for more OS versions
- uas_data: small typo fix
- install_geolib_datasets: some fix
- CMakeLists.txt: be more clear on geoid dataset fault
- CMakeLists: push check geolib datasets to a cmake module
- travis_ci: update ppa repository
- uas_data: shutdown node and increase log level instead
- install_geographiclib_datasets: simplify script to only check download script version available
- uas_data: remove signal.h import
HIL Plugin
- add HilSensor.msg, HilStateQuaternion.msg, and add them in CMakeLists.txt
- Add hil_sensor.cpp plugin to send HIL_SENSOR mavlink message to FCU.
- fix HilSensor.msg. Make it more compact.
- Fix HilStateQuaternion.msg. Make it more compact.
- Add hil_state_quaternion plugin
- fix files: some variable names were wrong+some syntax problems
- fix syntax error in plugin .cpp files, make msg files match corresponding mavlink definitions
- fix plugin source files
- fix syntax
- fix function name. It was wrong.
- add HIL_GPS plugin
- add HilGPS.msg to CMakeList
- fix missing semicolon
- fix call of class name
- Add ACTUATOR_CONTROL_TARGET MAVLink message
- fix code
- increase number of fake satellites
- control sensor and control rates
- change control rate
- change control rate
- fix fake gps rate
- fix
- fix plugin_list
- fix
- remove unnecessary hil_sensor_mixin
- update HilSensor.msg and usage
- update HilStateQuaterion.msg and usage
- redo some changes; update HilGPS.msg and usage
- update hil_controls msg - use array of floats for aux channels
- merge actuator_control with actuator_control_target
- remove hil_sensor_mixin.h
- update actuator_control logic
- merge all plugins into a single one
- delete the remaining plugin files
- update description
- redo some changes; reduce LOC
- fix type cast on gps coord
- add HIL_OPTICAL_FLOW send based on OpticalFlowRad sub
- update authors list
- update subscribers names
- refactor gps coord convention
- add HIL_RC_INPUTS_RAW sender; cog protec msg structure and content
- apply correct rc_in translation; redo cog
- apply proper rotations and frame transforms
- remote throttle
- fix typo and msg api
- small changes
- refactor rcin_raw_cb
- new refactor to rcin_raw_cb arrays
- update velocity to meters
- readjust all the units so to match mavlink msg def
- update cog
- correct cog conversion
- refefine msg definitions to remove overhead
- hil: apply frame transform to body frame
apm_config.yaml: change prevent collision in distance_sensor id
Extras: add ardupilot rangefinder plugin
msgs fix #625: Rename SetMode.Response.success to mode_sent
[WIP] Plugins: setpoint_attitude: add sync between thrust and attitude (#700)
- plugins: setpoint_attitude: add sync between throttle and attitude topics to be sent together
- plugins: typo correction: replace throttle with thrust
- plugins: msgs: setpoint_attitude: replaces Float32Stamped for Thrust msg
- plugins: setpoint_attitude: add sync between twist and thrust (RPY+Thrust)
- setpoint_attitude: update the logic of thrust normalization verification
- setpoint_attitude: implement sync between tf listener and thrust subscriber
- TF sync listener: generalize topic type that can be syncronized with TF2
- TF2ListenerMixin: keep class template, use template for tf sync method only
- TF2ListenerMixin: fix and improve sync tf2_start method
- general update to yaml config files and parameters
- setpoint_attitude: add note on Thrust sub name
- setpoint_attitude: TF sync: pass subscriber pointer instead of binding it
apm_config: add mavros_extras/fake_gps plugin param config
px4_config: add gps_rate param
frame tf: move ENU<->ECEF transforms to ftf_frame_conversions.cpp
extras: mocap_fake_gps->fake_gps: generalize plugin and use GeographicLib possibilites
UAS: Share egm96_5 geoid via UAS class
Move FindGeographicLib.cmake to libmavconn, that simplify installation, simplify datasets instattator
Use GeographicLib tools to guarantee ROS msg def and enhance features (#693)
- first commit
- Check for GeographicLib first without having to install it from the beginning each compile time
- add necessary cmake files
- remove gps_conversions.h and use GeographicLib to obtain the UTM coordinates
- move conversion functions to utils.h
- geographic conversions: update CMakeLists and package.xml
- geographic conversions: force download of the datasets
- geographic conversions: remove unneeded cmake module
- dependencies: use SHARED libs of geographiclib
- dependencies: correct FindGeographicLib.cmake so it can work for common Debian platforms
- CMakeList: do not be so restrict about GeographicLib dependency
- global position: odometry-use ECEF instead of UTM; update other fields
- global position: make travis happy
- global position: fix ident
- global_position: apply correct frames and frame transforms given each coordinate frame
- global_position: convert rcvd global origin to ECEF
- global_position: be more explicit about the ecef-enu transform
- global position: use home position as origin of map frame
- global position: minor refactoring
- global position: shield code with exception catch
- fix identation
- move dataset install to script; update README with new functionalities
- update README with warning
- global_position: fix identation
- update HomePosition to be consistent with the conversions in global_position to ensure the correct transformation of height
- home|global_position: fix compile errors, logic and dependencies
- home position: add height conversion
- travis: update to get datasets
- install geo dataset: update to verify alternative dataset folders
- travis: remove dataset install to allow clean build
- hp and gp: initialize geoid dataset once and make it thread safe
- README: update description relative to GeographicLib; fix typos
- global position: improve doxygen references
- README: update with some tips on rosdep install
[WIP] Set framework to define offset between global origin and current local position (#691)
- add handlers for GPS_GLOBAL_ORIGIN and SET_GPS_GLOBAL_ORIGIN
- fix cast of encoding types
- refactor gps coord conversions
- uncrustify
- global_position: add LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET handler
- global_position: add trasform sender for offset
- global_origin: refactor covariance matrix
- global_position: update copyright
- global_position: add initial support to REP 105
- px4_config: global_position: update frame description
- global_position: correct identation
- global position: be consistent with frame and methods names (ecef!=wgs84, frame_id!=global_frame_id)
- global_position: updates to code structure
- global_position: fix identation
lib: frame_tf: Style fix
extras: odom: Minor fixes
extras: Add odom plugin
lib: frame_tf: Add support for 6d and 9d covariance matrices
Contributors: James Goppert, Nuno Marques, TSC21, Vladimir Ermakov, khancyr

0.19.0 (2017-05-05)

launch: remove setpoint-attitude from apm blacklist
lib: cleanup in enum_to_string
extras: Add ADSB plugin
plugin: home_position: Log poll
plugin: home_position: Log report
plugin #695: Fix plugin
plugin: Add home_position
Added SAFETY_ALLOWED_AREA rx handler (#689)
- Added SAFETY_ALLOWED_AREA rx handler and publish PolygonStamped msg with the 2 points
- add resize to array to avoid sigfault
lib: Fix millis timesync passthrough
Plugin: Add unstamped Twist subscriber for setpoint_velocity
uas: Move timesync_mode enum to utils.h + fixes That enum are used for utils too, but forward declaration of class internal enum is impossible.
sys_time: Add timesync mode selection parameter.
sys_time : add multi-mode timesync
uas : add multi-mode timesync
uas : add multi-mode timesync
launch fix #670: Add configuration of distance_sensor plugin for APM
Contributors: Kabir Mohammed, Nuno Marques, Pierre Kancir, Randy Mackay, Vladimir Ermakov

0.18.7 (2017-02-24)

readme: Add serial-hwfc:// proto
trigger interface : rename to cycle_time to be consistent with PX4
Contributors: Kabir Mohammed, Vladimir Ermakov

0.18.6 (2017-02-07)

lib #626: Porting of PR #650 - Fix OSX pthread set name.
uas fix #639: Remove Boost::signals2 from UAS
Plugins: system_status change status field to system_status Add comment to State.msg for system_status enum
Plugins: add system_status to state message
Contributors: Fadri Furrer, Pierre Kancir, Vladimir Ermakov

0.18.5 (2016-12-12)

lib: update ArduPilot modes
Contributors: Randy Mackay

0.18.4 (2016-11-11)

lib: Add ArduSub modes
readme: Fix mavlink rosinstall_generator call
mavros: README.md: its -> it's Here "it's" is a short form for "it is".
add hil_actuator_controls mavlink message
lib: Make cog.py scrips compatioble with Py3
plugin:sys_status: Add logging health report
Update README for all packages
Update README.md Fix instructions: Only the Kinetic distro actually works for MAVLink 2.0
Contributors: Beat Kung, Georgii Staroselskii, Lorenz Meier, Vladimir Ermakov

0.18.3 (2016-07-07)

plugin:param: Use mavlink::set_string() helper
Update README.md
Update README.md Fix very confusing instructions mixing steps.
Update README.md
Update README.md
python #569: convert_to_rosmsg() support for 2.0. NO SIGNING.
python #569: Update mavlink.convert_to_bytes()
Contributors: Lorenz Meier, Vladimir Ermakov

0.18.2 (2016-06-30)

plugin:sys_status: Fix STATUSTEXT log prefix
Contributors: Vladimir Ermakov

0.18.1 (2016-06-24)

lib: Fix base mode flag check
plugins: Move pluginlib macros.h to tail
plugin:param fix #559: Ignore PX4 _HASH_CHECK param
Contributors: Vladimir Ermakov

0.18.0 (2016-06-23)

lib #439: MAV_CMD to_string is not required.
plugin:sys_status #458: Hanlde BATTERY_STATUS (PX4)
plugin:sys_status fix #458: Use sensor_msgs/BatteryState message. Minimal data, for all other need to handle BATTERY_STATUS.
plugin:command fix #561: PX4 now sends COMMAND_ACK. And like APM do not check confirmation field. :)
readme #544: add udp-b://@ URL
plugin:hil_controls: Update plugin API
Merge branch 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros into pvechersky-feature/hil_controls_plugin * 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros: Adding anchor to the HIL_CONTROLS message reference link Ran uncrustify on hil_controls plugin Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation Added a plugin that publishes HIL_CONTROLS as ROS messages
node: fix subscription message type checks
plugin: use mavlink::to_string() for std::array<char, N>
readme: update CI, no more MAVLINK_DIALECT
plugin:waypoint: Fix target id's on MISSION_ITEM
node: Add ~fcu_protocol parameter
Ran uncrustify on hil_controls plugin
Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation
node: set gcs_url on internal GCS bridge diag hardware Id
plugins: Use UAS::msg_set_target()
Added a plugin that publishes HIL_CONTROLS as ROS messages
lib: PX4 add AUTO.FOLLOW_TARGET
mavros: Update tests
extras: Update UAS
UAS: Update plugins for FTF module
UAS: move enum stringify functions
lib: Generate MAV_SENSOR_ORIENTATION
UAS: move MAV_SENSOR_ORIENTATION out
UAS: Move transformation utilities to ftf module
plugin:rc_io: Fix log printf-format warning
make GCC 4.8 happy. (travis)
gcs_bridge: done
param:ftp: Update API
plugin:param: Works. Tested on APM
plugin:param: Update, almost work
plugin:waypoint: Fix Item - ROS binding
Message type mismatch code do not work
plugin:waypoint: Update API
plugin:sys_time: Update API
plugin:sys_status: Update API
plugin:setpoint_raw: Update API
plugin:setpoint_attitude: Update API
plugin:setpoint_accel: Update API
plugin:setpoint_velocity: Update API
plugin:setpoint_position: Update API
plugin:vfr_hud: Update API
plugin:safety_area: Update API
plugin:rc_io: Update API
plugin:manual_control: Update API, fix uas init
plugin:local_position: Update API
plugin:imu_pub: Update API
plugin:global_position: Update API
mavros: make_handle() this shouldn't be const
plugin:common: Update API
plugin:altitude: uncrustify
plugins: Rutine sed + fix misprint
plugin:altitude: Update API
plugins: Automatic replacement of routine API changes (sed)
plugin:actuator_control: Update API
plugin:3dr_radio: Update API
node: Update plugin loading and message routing
node: type_info -> SIGSEGV
node: prepare new plugin loading
node: Rename plugib base class - API incompatible to old class
labmavconn: finding sigsegv
Contributors: Pavel, Vladimir Ermakov

0.17.3 (2016-05-20)

libmavconn #543: support build with mavlink 2.0 capable mavgen
node: Remove warning about MAVLINK_VERSION redefine
Fix bug with orientation in setpoint_raw plugin Fixes a bug where the ned_desired_orientation was not actually passed into set_attitude_target. Instead, the desired_orientation (wrong frame) was passed.
Contributors: Justin Thomas, Vladimir Ermakov

0.17.2 (2016-04-29)

Update README.md
Update README.md Updated / completed examples.
Update README.md
Fix for kinetic std::isnan.
Contributors: James Goppert, Lorenz Meier

0.17.1 (2016-03-28)

lib: Add QLAND mode of APM:Plane https://github.com/mavlink/mavlink/commit/a0ed95c3a7d97a8f8d86ce3f95c4bf269f439c46
Update contributing guide We forgot to mention uncrustify commit.
Treat submarine vehicles like copter vehicles
Contributors: Josh Villbrandt, Vladimir Ermakov

0.17.0 (2016-02-09)

update README
rebased with master
Fixed ROS_BREAK
Updates for ROS_BREAK and code style
Nitpicks and uncrustify
Updated frame transformations and added odom publisher to local position plugin
Contributors: Eddy, Vladimir Ermakov, francois

0.16.6 (2016-02-04)

node fix #494: Report FCU firmware type in rosonsole log
scripts fix #478: Remove guided_enable garbage. I'm missed this when do #407.
Contributors: Vladimir Ermakov

0.16.5 (2016-01-11)

scripts: mavwp #465: Remove WaypointGOTO from scrips and python library
node: Report mavlink package version
lib: Add APM:Plane QuadPlane modes. Sync with: https://github.com/mavlink/mavlink/commit/1fc4aef08a54130f297943c246f95b8c7e37b1bf
readme: pixhawk dialect removed.
Contributors: Vladimir Ermakov

0.16.4 (2015-12-14)

scripts: checkid: be always verbose, add --follow
scripts: fix copyright indent
scripts: mavcmd: Fix bug: param7 not passed to service call!
scripts #382: Add ID checker script. It is not complete, but i hope it helps in current state.
scripts: mavcmd: Add support for broadcast requests
event_launcher: fix bug: Trigger service server is not saved in Launcher Also fixes: environment variables may contain ~ (user dir) in expansion.
using timestamp from mavlink message
Update mavlink message documentation links
lib: update MAV_TYPE stringify
lib: Add RATTITUDE PX4 mode
remove "altitude_" prefix from members
updated copyright
implemented altitude plugin
Contributors: Andreas Antener, Vladimir Ermakov

0.16.3 (2015-11-19)

use safe methods to get imu data in local_position plugin
Contributors: Andreas Antener

0.16.2 (2015-11-17)

transform yaw and yaw rate from enu to ned
Contributors: Andreas Antener

0.16.1 (2015-11-13)

python: fix import error of goto service
don't warn anymore about px4 not supporting rc_io
Contributors: Andreas Antener, Vladimir Ermakov

0.16.0 (2015-11-09)

lib: Update ArduCopter mode list
plugin: sys_status #423: set_mode set arming and HIL flags based on previous state
lib #423: Save base_mode in UAS.
Finalized local position topic names
readme: add link to catkin-tools docs
readme #409: merge mavlink and mavros installation instruction
Fixed redundant rotation of IMU data and redundant orientation data
plugin: setpoint_raw fix #418: add attitude raw setpoint Related #402.
Added velocity output of FCU's local position estimate to ROS node
plugin: sys_status fix #417: remove APM statustext quirk
plugin: waypoint fix #414: remove GOTO service. It is replaced with more standard global setpoint messages.
plugin: setpoint_raw fix #415: add global position target support Related to #402.
plugin: command fix #407: remove guided_enable sevice
plugin: setpoint_raw #402: implement loopback.
plugin: setpoint_raw #402: Initial import.
readme fix #410: use only catkin tool
readme: add defaults for URL
pass new extended state to ros
python: add util to convert pymavlink message to Mavlink.msg
python: convert input to bytearray
python: add payload convertion util
gcs_bridge #394: enable both UDPROS and TCPROS transports
EL: add try-except on handlers
event_launcher: show logfile path
event_launcher #386: expand shell vars for logfile
Mavros library depends on mavros_msgs headers Adding this dependency makes sure that mavros_msgs message headers are generated before the mavros library is built, since it needs those headers.
Contributors: Andreas Antener, Eddy, Jon Binney, Vladimir Ermakov

0.15.0 (2015-09-17)

lib: fix timesync uninit bug. Uninitialized variable caused wrong timestamps with APM.
python #286: use checksum - save ticks
script #385: output to log-file
script #385: remove RosrunHandler and RoslaunchHandler
script #385: attempt to implement rosrun fails. ROSLaunch class wants all node operations from main thread. That is not possible.
script #385: fix shell-killer, but logging are broken and removed
script #385: shell-launcher now works!
script #385: add example configuration
script #385: shell handler done. next - rosparam handling
script #385: starting work on simple shell launcher
scripts: starting event_launcher
python: Remove unneded slice operation. Fix copyright year. [list[:len(list)]]{.title-ref} is equal to [list]{.title-ref}, but creates new list with data from that slice.
updated mavlink byte buffer conversion
plugin: manual_control: Use shared pointer message Fix alphabetic order of msgs.
python: add helper for converting mavros_msgs/Mavlink to pymavlink
Add MANUAL_CONTROL handling with new plugin
Contributors: Andreas Antener, Vladimir Ermakov, v01d

0.14.2 (2015-08-20)

0.14.1 (2015-08-19)

package: Fix depend on rosconsole-bridge
Removed <remap>
Contributors: Vladimir Ermakov, devbharat

0.14.0 (2015-08-17)

python: call of mavros.set_namespace() is required.
scripts: mavftp fix #357: add verify command
scripts: mavftp #357: progressbar on download operation
scripts: mavftp #357: progress bar for upload operation.
scripts: mavftp: New command [cd]{.title-ref}. All path arguments now may handle relative paths.
readme: fix frame tansform section
mavros: readme: update info on frame conversions
mavros: readme: update contribution steps
node: Replace deprecated copy functions. Also allow mavlink to & from topics to be namespaced.
extras: scripts: use API from mavros module
scripts: fix for new message location
python: update mavros lib to new message location
package: remove not exist dependency
plugin: waypoint: Fix message include
plugin: vfr_hud: Fix message include
plugin: rc_io: Fix message include
plugin: param: Fix message include
plugin: ftp: Fix message include
plugin: sys_status: Fix message include
plugin: command: Fix message include
plugin: 3dr_radio: Fix message include
plugin: actuator_control: Fix message include.
msgs: update copyright year
msgs: deprecate mavros::Mavlink and copy utils.
msgs: change description, make catkin lint happy
msgs #354: move all messages to mavros_msgs package.
Minor typo fix.
node: increase diag timer to 2 Hz
node: move diagnostic to AsyncSpinner threads.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.13.1 (2015-08-05)

lib #358: cleanup. Replace UAS::getYaw() with UAS::quaternion_get_yaw().
lib #358: found correct getYaw(). Test for each degrees in -180..180.
test #358: test more different angles. Compare rotation result.
lib #358: try to implement algo from wikipedia.
lib #358: still failing. add recursive test for range -Pi..+Pi
lib #358: try solve issue using older eulerAngles()
lib #358: remove to_rpy test
Merge branch 'master' of github.com:mavlink/mavros * 'master' of github.com:mavlink/mavros: global_position: move relative_alt and compass_heading init back add nav_msgs to dependencies so to make Travis happy global_position: update pose and twist to odom msg
test fix #359: split out quaternion tests.
lib #359: move quaternion utils.
global_position: move relative_alt and compass_heading init back
add nav_msgs to dependencies so to make Travis happy
global_position: update pose and twist to odom msg
test #358: add tests for negative values and quaternion_to_rpy tf2 compatibility check Tests now fails!
sctipts: fix gps topic path
lib: fix input validation in UAS::orientation_from_str()
test: add case for num str->sensor orientation
package: fix CHANGELOG.rst
Contributors: TSC21, Vladimir Ermakov

0.13.0 (2015-08-01)

plugin: setpoint_attitude #352: use new helper.
plugin: sys: Fix cppcheck and YouCompleteMe warnings
plugin: ftp: Fix cppcheck errors.
lib #352: Add helper function UAS::quaternion_to_mavlink()
Fixed bug in send_attitude_target() The transformed quaternion wasn't being passed to set_attitude_target(), resulting in an incorrect attitude setpoint. I've now fixed this issue.
scripts: fix mavwp
test: add test cases for new sensor orientation functions
remove tf1 dep
lib #319: Remove TF types from UAS
plugin: param: new message type: ParamValue
msgs: Move MAV_CMD values to separate msg
plugin: command: fix build
fix whitespaces in python scripts
Merge pull request #312 from mhkabir/cam_imu_sync Camera IMU synchronisation support added
Added launch file for PX4 posix sitl to launch gcs_bridge node for bridging posix and gazebo
scripts: mavftp: little speed up by aligning access to payload length
launch: Add optional log_output arg
Merge branch 'orientation_enum_name' * orientation_enum_name: distance_sensor #342: correct orientation parameter handling. lib #342: try to convert numeric value too px4_config: adapt to distance_sensor params to new features distance_sensor: restructure orientation matching and verification lib #342: Added sensor orientation string repr.
lib #342: try to convert numeric value too
px4_config: adapt to distance_sensor params to new features
lib #342: Added sensor orientation string repr.
launch: update local_position conf
test: Add test for UAS::sensor_orientation_matching()
Update cmake Eigen3 finding rules. Migration described at: http://wiki.ros.org/jade/Migration#Eigen_CMake_Module_in_cmake_modules
lib #319, #341: preparation for str->MAV_SENSOR_ORIENTATION func
lib #319: Return quaternion from UAS::sensor_matching()
lib: Remove unneded NodeHandle
launch fix #340: update default component id of PX4.
plugin: sys_status: Add fallback to adressed version request.
Can not remove tf package before #319 is done. tf::Vector3 and other tf1-bullet still in use.
plugin: sys_status: Use broadcast for version request.
fix #71: replace depend tf to tf2_ros.
plugin: Use UAS::syncronized_header() for reduce LOC.
lib #319: use similar names for covariances as eigen vector
lib #319: transform_frame() for Covariance3x3
lib #319: remove unused bullet based transform_frame()
extras: vision_pose #71: Use TF2 listener. Also #319.
plugin #71: Implement TF2 listener. Change param names. Breaks extras.
uas #71: Use single TF2 objects for broadcasting and subscription.
launch: Update configs.
lib: Add UAS::quaternion_to_rpy()
plugin: safety_area #319: Change transform_frame()
plugin: local_position #71 #319: port to TF2 and Eigen
lib: Add UAS::synchonized_header()
plugin: command: Add command broadcasting support.
Perform the autopilot version request as broadcast
lib: Update PX4 mode list
plugin: global_position #325: port tf broadcaster to tf2 Also #71.
plugin: global_position #325: reenable UTM calc
plugin: gps #325: remove gps plugin.
plugin: global_position #325: merge gps_raw_int handler
plugin: setpoint_accel #319: use eigen frame transform. I don't think that PX4 support any other frame than LOCAL_NED. So i removed comment. Also style fix in setpoint_velocity.
plugin: setpoint_velocity #319: use eigen based frame transform.
plugin: setpoint_position #273: remove PX4 quirk, it is fixed.
plugin: ftp: Update command enum.
plugin: imu_pub fix #320: move constants outside class, else runtime linkage error.
plugin: imu_pub #320: first attempt
eigen #319: handy wrappers.
eigen #319: add euler-quat function. Also #321.
test #321: remove duplicated test cases, separate by library. Add test for checking compatibility of tf::quaternionFromRPY() and Eigen based math.
test #321: testing eigen-based transforms. We should check what convention used by tf::Matrix to be sure that our method is compatible.
mavros #319: Add Eigen dependency and cmake rule.
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
cam_imu_sync : fix running
imu_cam_sync : fix formatting
command handling in mavcmd for camera trigger
Camera IMU synchronisation support added
Contributors: Anurag Makineni, Lorenz Meier, Mohammed Kabir, TSC21, Vladimir Ermakov, devbharat

0.12.0 (2015-07-01)

plugin: sys_time, sys_status #266: check that rate is zero
test #321: disable tests for broken transforms.
lib #321: frame transform are broken. again! revert old math. RULE for me: do not accept patch without wide testing from author. That PR changes all plugins code, instead of do API, test and only after that touching working code. My bad.
unittest: added 6x6 Covariance conversion test
frame_conversions: update comments; filter covariance by value of element 0
unittests: corrected outputs from conversion tests
test: other quaternion transform tests
test: UAS::transform_frame_attitude_q()
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
coverity: make them happy
uncrustify: fix style on frame conversions
uncrustify: includes
plugin: sys_status #266: replace period with rate parameter
plugin: sys_time #266: Replace period with rate parameters
frame_conversion: last fix patch
frame_conversions: use inline functions to identify direction of conversion
changed frame conversion func name; add 3x3 cov matrix frame conversion; general doxygen comment cleanup
frame_conversions: added covariance frame conversion for full pose 6x6 matrix
frame_conversions: added frame_conversion specific lib file; applied correct frame conversion between ENU<->NED
sys_status #300: PX4 place in [0] lest significant byte of git hash.
sys_status fix #300: fix u8->hex func.
plugin: waypoint: cosmetics.
vibration_plugin: first commit
Changes some frames from world to body conversion for NED to ENU.
mavsys #293: add --wait option
mavsys: Fix arguments help
mavcmd #293: Add --wait option. New function: util.wait_fcu_connection(timeout=None) implement wait option.
sys_status #300: AUTOPILOT_VERSION APM quirk
mavros #302: fix style
mavros #302: split UAS impl by function blocks
mavros fix #301: move sensor orientation util to UAS
distance_sensor: typo; style fixe
sensor_orientation: list values correction
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: use MAX as last index macro
distance_sensor: changed to usable config
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: updated orientation enum; updated data type
sensor_orientation: included array type on utils.h
sensor_orientation: added sensor orientation matching helper func
distance_sensor: updated config file
distance_sensor: define sensor position through param config
distance_sensor: array limiting; cast correction; other minor correc
distance_sensor: small enhancements
sys_status #293: initialize state topic
sys_status #293: expose connection flag in mavros/State.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.11.2 (2015-04-26)

plugin: param fix #276: add check before reset request downcounter. If on MR request FCU responses param with different [param_index]{.title-ref} do not reset repeat counter to prevent endless loop.
gcs bridge fix #277: add link diagnostics
plugin: setpoint_position #273: add quirk for PX4.
readme: fir glossary misprint
readme: add notes about catkin tool
Contributors: Vladimir Ermakov

0.11.1 (2015-04-06)

scripts #262: update mavwp
scripts #262: mavsetp, new module mavros.setpoint
mavftpfuse #129: cache file attrs
mavparam #262: use get_topic()
mavsys #262: use get_topic()
mavcmd #262: use get_topic()
mavftp #263, #262: use crc32 checksums
python #262: add get_topic()
Update local_position.cpp removed irritating comment
readme: add short glossary
plugin: setpoint_attitude: remove unneded ns
Contributors: Marcel Stuettgen, Vladimir Ermakov

0.11.0 (2015-03-24)

plugin: setpoint_position #247: rename topic
launch #257: rename blacklist.yaml to pluginlists.yaml
node #257: implement while list.
plugin: actuator_control #247: update topic name.
mavros: Initialize UAS before connecting plugin routing. Inspired by #256.
plugin: sys_status: Check sender id. Inspired by #256.
plugin: sys_status: Use WARN severity for unknown levels
uas: Add [UAS::is_my_target()]{.title-ref} Inspired by #256.
plugin: global_position: Fill status and covariance if no raw_fix. Additional fix for #252.
launch: change apm target component id APM uses 1/1 (sys/comp) by default.
plugin: sys_status: publish state msg after updating uas Before this commit, the custom mode string published in the state message was computed using the autopilot type from the previous heartbeat message--not the autopilot type from the current hearbeat message. Normally that isn't a problem, but when running a GCS and mavros concurrently, both connected to an FCU that routes mavlink packets (such as APM), then this causes the custom mode to be computed incorrectly, because the mode string for the GCS's hearbeat packet will be computed using the FCU's autopilot type, and the mode string for the FCU's heartbeat packet will be computed using the GCS's autopilot type.
plugin: global_position: fix nullptr crash This fixes a crash in cases where a GLOBAL_POSITION_INT message is received before a GPS_RAW_INT message, causing the [gps_fix]{.title-ref} pointer member to be dereferenced before it has been set.
msgs: fix spelling, add version rq.
coverity: init ctor in 3dr_radio
launch fix #249: update apm blacklist
launch: rename APM2 to APM.
launch #211: update configs
plugin: gps: remove unused param
plugin: sys_time: remove unused param
launch fix #248: remove radio launch
plugin: 3dr_radio #248: add/remove diag conditionally
plugin: sys_status: move connection params to ns
plugin: sys_time: fix #206 (param ns)
node: Inform what dialect built-in node
plugin: sys_status: Conditionaly add APM diag
plugin: sys_status: fix #244
uas #244: add enum lookups
package: update lic
license #242: update mavros headers
plugin: local_positon: use auto
plugin: imu_pub: Update UAS store.
plugin: gps: remove diag class, change UAS storage API.
plugin api #241: move diag updater to UAS.
plugin api #241: remove global private node handle. Now all plugins should define their local node handle (see dummy.cpp). Also partially does #233 (unmerge setpoint topic namespace).
plugin api #241: remove [get_name()]{.title-ref}
package: mavros now has any-link proxy, not only UDP
Update years. I left gpl header, but it is BSD too.
Add BSD license option #220
plugin: sys_status: AUTOPILOT_VERSION support. Fix #96.
mavros fix #235: Use AsyncSpinner to allow plugins chat. Old single-threaded spinner have a dead-lock if you tried to call a service from for example timer callback. For now i hardcoded thread count (4).
uncrustify: actuator_control
Merge branch 'master' of github.com:mstuettgen/Mavros
fixed missing ;
code cosmetics
further removed unneeded white spaces and minor code cosmetics
fixed timestamp and commented in the not-working function call
code cosmetics, removed whitespaces and re-ordered function signatures
more code comment cosmetic
code comment cosmetic
uncrustify: fix style
readme: add contributing notes
uncrustify: mavros base plugins
uncrustify: mavros lib
uncrustify: mavros headers
tools: add uncrustify cfg for fixing codestyle Actually it different from my codestyle, but much closer than others.
added more const to function calls to ensure data consistency
modified code to fit new message
added group_mix to ActuatorControl.msg and a link to mixing-wiki
plugin: rc_io: Add override support warning
REALLY added ActuatorControl.msg
added ActuatorControl.msg
fixed latest compiler error
renamed cpp file to actuator_control.cpp and added the new plugin to mavros_plugins.xml
removed unneeded Mixinx and reverse_throttle, and unneeded variables in function signatures
inital draft for set_actuator_control plugin
launch: enable setpoint plugins for APM As of ArduCopter 3.2, APM supports position and velocity setpoints via SET_POSITION_TARGET_LOCAL_NED.
plugin: setpoint_velocity: Fix vx setpoint vz should have been vx.
Contributors: Clay McClure, Marcel Stuettgen, Vladimir Ermakov

0.10.2 (2015-02-25)

Document launch files
launch: Fix vim modelines #213
launch #210: blacklist image_pub by px4 default. Fix #210.
Contributors: Clay McClure, Vladimir Ermakov

0.10.1 (2015-02-02)

Fix \@mhkabir name in contributors.
uas #200: Add APM:Rover custom mode decoding. Fix #200.
uas #200: Update APM:Plane and APM:Copter modes.
Contributors: Vladimir Ermakov

0.10.0 (2015-01-24)

mavros #154: Add IO stats to diagnostics. Fix #154.
Add rosindex metadata
plugin: ftp: init ctor.
plugin: sts_time: Code cleanup and codestyle fix.
plugin: command: Quirk for older FCU's (component_id) Older FCU's expect that commands addtessed to MAV_COMP_ID_SYSTEM_CONTROL. Now there parameter: [~cmd/use_comp_id_system_control]{.title-ref}
plugin: rc_io: #185 Use synchronized timestamp.
plugin: gps: #185 use synchronized timestamp common.xml tells that GPS_RAW_INT have time_usec stamps.
uas: Fix ros timestamp calculation. Issues: #186, #185.
plugin: add synchronisation to most plugins (fixed) Closes #186.
readme: Add notes about coordinate frame conversions #49
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.4 (2015-01-06)

plugin: sys_time: enable EMA
Contributors: Mohammed Kabir

0.9.3 (2014-12-30)

plugin: visualization finshed
Restore EMA. Works better for low rates.
Update sys_time.cpp
plugin : add time offset field to dt_diag
Final fixes
minor
plugin : fixes timesync. FCU support checked.
Visualisation system import
param: Fix float copying too
param: Fix missing
param: Trynig to fix 'crosses initialization of XXX' error.
param: Try to fix #170.
Update units
New message, moving average compensation
Initial import new sync interface
plugin: sys_status: Enable TERRAIN health decoding.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.2 (2014-11-04)

0.9.1 (2014-11-03)

Update installation notes for #162
Contributors: Vladimir Ermakov

0.9.0 (2014-11-03)

0.8.2 (2014-11-03)

REP140: update package.xml format. Hydro don't accept this format correctly, but after split i can update.
Contributors: Vladimir Ermakov

0.8.1 (2014-11-02)

fix build deps for gcs_bridge
mavconn #161: Enable rosconsole bridge.
mavconn #161: Move mavconn tests.
mavconn #161: Fix headers used in mavros. Add readme.
mavconn #161: Fix mavros build.
mavconn #161: Move library to its own package Also rosconsole replaced by console_bridge, so now library can be used without ros infrastructure.
plugin: sys_time: Set right suffixes to uint64_t constants. Issue #156.
plugin: sys_time: Add time syncronization diag. Issue #156.
plugin: sys_time: Debug result. Issue #156.
plugin: Store time offset in UAS. TODO: implement fcu_time(). Issue #156.
plugin: sys_time: Fix code style. Also reduce class variables count (most not used outside the method). Issue #156.
Update repo links. Package moved to mavlink organization.
Nanosecond fix
Fix
Fixes
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update CMakeLists.txt
Update mavros_plugins.xml
Update sys_time.cpp
Fix build
sys_time import. Removed all time related stuff from gps and sys_status
Initial sys_time plugin import
plugin: ftp: Bytes written now transfered in payload.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.8.0 (2014-09-22)

plugin: ftp: Disable debugging and change level for some log messages. Issue #128.
plugin: ftp: Translate protocol errors to errno. Issue #128.
scripts: mavftp: Add upload subcommand. Issue #128.
python: Add more ftp utils. Issue #128.
plugin: ftp: Fix write offset calculation. Issue #128.
plugin: ftp: Add . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add support for . Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Add
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Move common mission classes to mavros.mission module. Issue #157.
python: Move useful utils to mavros.param module. Issue #157.
python: Move common utils to mavros.utils module. Issue #157.
python: Create python module for ftp utils. Issue #128, #157.
scripts: ftp: Implement file-like object for IO. Issue #128.
plugin: ftp: Implement write file. Issue #128.
scripts: mavftp: Add remove subcommand. Issue #128.
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add response errno from server.
plugin: ftp: Add support for 'Skip' list entries. Issue #128.
scripts: mavftp: Add mkdir/rmdir support. Issue #128.
plugin: ftp: Add mkdir/rmdir support. Issue #128.
plugins: ftp: Update protocol headers. Issue #128.
Revert "Update package.xml format to REP140 (2)." This reverts commit 81286eb84090a95759591cfab89dd9718ff35b7e. ROS Hydro don't fully support REP140: rospack can't find plugin descriptions. Fix #151.
scripts: mavwp: Fix --follow mode
plugin: imu_pub: Fix RAW_IMU/SCALED_IMU angular scale constant. Fix #152.
launch: remove px4_local_gcs.launch again. It removed in 826be386938c2735c9dab72283ba4ac1c68dc860, but accidentally returned.
extras: launch: Use includes. Fix #144.
launch: PX4: use node.launch in PX4 scripts. Also remove px4_local_gcs.launch: please use [roslaunch mavros px4.launch gcs_url:=udp://\@localhost]{.title-ref} instead. Issue #144.
launch: APM2: Add node.launch and update apm scripts to use it. Issue #144.
plugin: command: Fix CommandInt x,y types.
Update package.xml format to REP140 (2). Fix #104.
launch: Blacklist FTP for APM.
scripts: mavwp: Add decoding for some DO-* mission items.
scripts: mavwp: Add preserve home location option at load operation. Useful if FCU stores home location in WP0 (APM).
Added src location.
Updated README wstool instructions.
plugin: ftp: Init ctor
service: mavftp: Initial import. Issue #128.
plugin: ftp: Implemnet reset call. Sometimes kCmdReset can restore normal operation, but it might be dangerous. Issue #128.
plugin: ftp: Implement call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Fix open error. Issue #128.
plugin: ftp: Implement (read) and . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement method. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement list parsing Issue #128.
plugin: ftp: Fix CRC32 calculation. Issue #128.
plugin: ftp: Add plugin skeleton. Based on QGroundContol QGCUASFileManager.h/cc. Issue #128.
plugin: ftp: Add size info
plugin: ftp: Add plugin service API. Issue #128.
plugin: vfr_hud: Initial import. Also this plugin publish APM specific WIND estimation message. Fix #86.
node: coverity fails at UAS initilizer list
plugin: setpoint_attitude: Init ctor, remove code dup.
cmake: Add check MAVLINK_DIALECT value Fix #139.
Move common cmake rules to modules. Same mech as in [cmake_modules]{.title-ref} package. Issue #139.
launch: corrected launch for gcs bridge
scripts: mavsetp: Fix misprint.
launch files: added px4 launch files for connection with radio and gcs
scripts: mavsetp: Fix twist.angular vector construction. Small style fix.
Update doxygen documentation. Add split lines in UAS, and make UAS.connection atomic. Add rosdoc configuration for mavros_extras.
scripts: mavsetp: corrected API; added possibility of parse angles in dg or rad
scripts: mavsetp: corrected msg API; mavteleop: added prefix to rc override
scripts: mavsetp: added local accel; corrected how the OFFBOARD mode is swtch.
scripts: mavsetp: changed the way offboard mode is switched
node: init ctor (coverity)
nodelib: add std::array header
return msg generator deps for mavconn
scripts: mavsys: Implement set rate command.
scripts: Add mavsys tool. Implented only [mode]{.title-ref} operation. Issue #134.
plugin: sys_status: Implement set_mode service. Previous command shortcut removed. Issue #136, #134.
node: Implement reverse mode lookup. Issue #136.
plugin: sys_status: Move custom mode decoder to UAS. Issue #136.
node: Catch URL open exception. Also update connection pointer type.
nodelib: move sources to subdir
node: Move UAS to mavros namespace
node: Move node code to library.
node: Catch DeviceError; use C++11 foreach shugar.
plugin: command: Add COMMAND_INT suport. Fix #98.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov

0.7.1 (2014-08-25)

plugins: setpoint: Update SET_POSITION_TARGET_LOCAL_NED message. Fix #131.
scripts: mavsetp: Enable OFFBOARD mode. Issue #126.
plugin: command: Add guided_enable shortcut It enable PX4 OFFBOARD mode. Issue #126.
scripts: Add mavsetp script. Only local setpoint for now. Issue #126.
plugins: Change UAS FCU link name. Reduce smart pointer count, that hold fcu link object.
scripts: mavcmd: Add takeoffcur and landcur commands Fix #91, #92. Inspired by #125.
Closes #122, closes #123; plugins: move mocap & vision plugins to extras, change vision plugins name
plugins: UAS remove std::atomic<double> It don't work at some compilers. Issue #89.
plugin: global_position: Fill NavSatFix status filed. Issue #87, #118.
plugins: Add GPS data to UAS
plugins: Move setpoint_mixin.h Fix #120.
plugin: mocap: Fix load. Issue #121.
plugins: global_position: get pose orientation from the one stored in uas
plugins: global_position: use relative_alt on position.z; mavros_plugins.xml - corrected declaration of mocap_pose_estimate
plugin - global_position - changed parameter path / orientation source
launch: APM2 blacklist global_position plugin
plugin: global_position: Unit unification.
plugin: global_position: Move heaedr; Style fix.
added rel_pos and compass_hdg pub; minor corrections
Merge branch 'master' of https://github.com/vooon/mavros into global_position
global_position plugin - initial commit
launch: APM2 blacklist mocap plugin.
Updated mavros_plugins.xml
Fixed dual sources error warning.
Fixed styles.
Minor changes.
added time stamp to received msgs
Removed un-needed times.
Added mocap_pose_estimate plugin.
Code style update
setpoint attitude change - warning message
Update on setpoint_attitude plugin
- changed Twist to TwistStamped
- added reverse_throttle option for throttle control
- use cmd_vel as the same topic to control linear a angular velocities (it's commonly used by controllers)
- added normalization filter to thrust
node: Remove deprecated conn parameters. Fix #108
plugin: vision_speed: Update plugin API.
plugin: setpoint_attitude: Update plugin API.
plugin: setpoint_accel: Update plugin API.
plugin: setpoint_velocity: Update plugin API.
plugin: 3dr_radio: Update plugin API.
plugin: safety_area: Update plugin API.
plugin: setpoint_position: Update plugin API.
plugin: vision_position: Update plugin API.
plugin: local_position: Update plugin API.
plugin: command: Update plugin API.
plugin: rc_io: Update plugin API.
plugin: waypoint: Update plugin API.
plugin: param: Update plugin API.
plugin: gps: Update plugin API.
plugin: imu_pub: Update plugin API.
plugin: sys_status: Update plugin API.
plugin: Update plugin API.
plugins: disable most of plugins
plugin: setpoint_attitude: Add thrust topic. Fix #106.
Fix URLs in readme
mavros -> ros-message parameter fix only parameter1 was forwarded into the ros message
Switch travis to pixhawk dialect. Default dialect build by ros buildfarm. Also remove duplicate ci statuses from mavros readme.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov, mthz

0.7.0 (2014-08-11)

Add package index readme, Fix #101
move mavros to subdirectory, #101
Merge branch 'master' of github.com:vooon/mavros * 'master' of github.com:vooon/mavros: Add link to ros-*-mavlink package wiki page.
plugins: setpoint: Update setpoint message name. Issue #94, Fix #97.
plugin: setpoint_attitude: Update message name. Issues #94, #97.
Add link to ros-*-mavlink package wiki page.
plugin: gps: Fix gcc 4.6 build (atomic). Not recommended to use std::atomic with gcc 4.6. So i limited to prederined atomics for simple types like int, float etc.
plugin: sys_status: Implement PX4 mode decoding. Fix #84.
plugin: gps: Add EPH & EPV to diagnostic. Issue #95
plugin: gps: Move message processing to individual handlers. Issue #95.
plugin: rc_io: Replace override service with topic. (ROS API change). Fix #93.
Add dialect selection notes
plugins: Change severity for param & wp done messages.
plugins: Store raw autopilot & mav type values. This may fix or not issue #89.
plugins: init ctor (coverity)
plugin: imu_pub: Add ATTITUDE_QUATERNION support. Also reduce copy-paste and use mode readable bitmask check. Fix #85.
scriptis: mavcmd: Spelling
scripits: Add mavcmd tool
Add links to mavros_extras
param: sys_status: Option to disable diagnostics (except heartbeat)
plugin: command: Add takeoff and land aliases. Issue #68.
plugin: command: Add quirk for PX4. Fix #82.
plugin: Add UAS.is_px4() helper. Replace some locks with atomic. Issue #82.
launch: Clear PX4 blacklist. Issue #68.
launch: Add target ids. Also fix PX4 wrong ?ids usage (it set mavros ids, not target). Issue #68.
plugin: imu_pub: Fix HRIMU pressure calc. 1 mBar is 100 Pa. Fix #79.
plugins: C++11 chrono want time by ref, return *_DT Fix #80.
plugins: Replace boost threads with C++11. And remove boost thread library from build rules. Issue #80.
plugins: Replace Boost condition variables with C++11 Issue #80.
plugins: Replace boost mutexes with C++11. Issue #80.
travis clang to old, fails on boost signals2 library. disable.
travis: enable clang build.
node: Make project buildable by clang. Clang produce more readable errors and provide some static code analysis, so i want ability to build mavros with that compilator.
plugins: replace initial memset with c++ initializer list
launch: PX4 default ids=1,50. Also waypoint plugin works (with first_pos_control_flight-5273-gd3d5aa9). Issue #68.
launch: Use connection URL
plugin: vision_speed: Initial import. Fix #67.
plugin: sys_status: Add SYSTEM_TIME sync send. Fix #78.
plugin: sys_status: Decode sensor health field. Fix #75.
Add ci badges to readme
plugin: param: erase invalidates iterator. Real error found by coverity :)
plugins: Init ctor
plugins: Add ctor initialization. Coverity recommends init all data members.
test: trying travis-ci && coverity integration. Real ci doing by ros buildfarm.
plugins: Fix clang-check errors.
test: Add tcp client reconnect test. Issue #72.
test: Split open_url test to individual tests. Also removed tcp client deletion on close, heisenbug here. Issue #72.
mavconn: Emit port_closed after thread stop. Also use tx state flag, improve error messages and move io post out of critical section. Issue #72.
mavconn: Fix TCP server client deletion. Issue #72.
test: Remove not needed sleep.
mavconn: Remove new MsgBuffer dup. Message drop if closed. Issue #72.
mavconn: Fix TCP server. Issue #72.
launch: APM2: Blacklist extras.
mavconn: Add mutex to channel allocation.
mavconn: Fix TCP server for gcc 4.6 Fix #74.
Remove libev from package. Issue #72.
mavconn: GCC 4.6 does not support typedef like using. Issue #74.
Merge pull request #73 from vooon/mavconn-revert-asio mavconn: Revert to Boost.ASIO
mavconn: Cleanup boost threads. I will use C++11 standard libs. Issue #72.
mavconn: Remove libev default loop thread. Issue #72.
mavconn: Port MAVConnTCPServer to Boost.ASIO. TCP send test fails. Issue #72.
mavconn: Port MAVConnTCPClient to Boost.ASIO. Also it disables MAVConnTCPServer before i rewrite it. Issue #72.
mavconn: Revert MAConnSerial back to Boost.ASIO. Issue #72.
test: Fix send_message tests. Use C++11. Issue #72.
mavconn: Revert MAVConnUDP back to Boost.ASIO. Also starting to change boost threads and mutexes to C++11. Issue #72.
test: Enable send tests. Issue #72.
test: And hand test for mavconn hangs. Issue #72.
node: Remove anonimous flag from gcs_bridge. Rename node if you want start several copies.
install: Remove duplicate
node: Fix mavros_node termination message. Issue #58.
node: Use URL in mavros_node. Fix #58.
node: Use URL in gcs_bridge. Issue #58.
node: Rename ros_udp to gcs_bridge. Because now it's not UDP only. Issue #58.
Cleanup boost components
mavconn: Implement URL parsing. Supported shemas:
- Serial: [/path/to/serial/device[:baudrate]]{.title-ref}
- Serial: [serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]]{.title-ref}
- UDP: [udp://[bind_host[:port]]@[remote_host[:port]][/?ids=sysid,compid]]{.title-ref}
- TCP client: [tcp://[server_host][:port][/?ids=sysid,compid]]{.title-ref}
* TCP server: [tcp-l://[bind_port][:port][/?ids=sysid,compid]]{.title-ref} Note: ids from URL overrides ids given to open_url(). Issue #58.
test: Add tests for UDP, TCP, SERIAL. Send message testa are broken, need to find workaround. Fix #70.
plugin: vision_position: Add transform timestamp check. Issue #60.
mavconn: Implement TCP server mode. Fix #57.
mavconn: Initial support for TCP client mode. Issue #57.
mavconn: Boost::asio cleanup.
plugin: Remove TimerService from UAS. Fix #59.
plugin: param: Add state check to sheduled pull.
mavparam: Add force pull.
plugin: param: Use ros::Timer for timeouts Also new option for force pull parameters from FCU instead of cache. Fix #59.
Add mavsafety info to README.
launch: Add apm2_radio.launch (for use with 3DR Radio)
plugin: 3dr_radio: Fix build error. Issue #62.
plugin: 3dr_radio: Publish status data for rqt_plot Also tested with SiK 1.7. Fix #62.
plugin: setpoint_attitude: Fix ENU->NED conversion. Fix #64. Related #33, #49.
launch: Add setpoint plugins to APM2 blacklist
plugin: setpoint_attitude: Initial import. XXX: need frame conversion #49. Issue #33, #64.
plugin: Move common tf code to mixin. Remove copy-paste tf_listener. Issue #33.
plugin: setpoint_position: Generalize topic NS with other [setpoint_*]{.title-ref} Issue #33, #61.
plugin: setpoint_accel: Initial import. Issues: #33, #61.
plugin: position_velocity: Initial import. Also it fix ignore mask in setpoint_position. Issues #33, #61.
plugins: 3rd_radio: Initial import. Untested. Issue #61.
scripts: Add mavsafety tool. Also add safety_area to APM2 blacklist. Fix #51.
plugins: safty_area: Initial import. This plugin listen [~/safety_area/set]{.title-ref} and send it's data to FCU. Issue #51.
plugins: position: Add TF rate limit. Issue #33.
plugin: waypoint: Use ros::Timer for timeouts. Also add some debug messages for next debugging PX4. Issue #59.
plugin: sys_status: Use ros::Timer for timeouts Also move message rx to it's own handlers. Issue #59.
Remove rosdep.yaml and update readme
Add deb build notes to readme. Issue #55.
Add sudo notes to readme.
Merge pull request #56 from vooon/54_try_libev Switch to libev
Add libev to README
package: Add temporary rosdep for libev-dev. Issue #54.
mavconn: Move MAVConnUDP to libev. And fix docs in serial. Issue #54.
mavconn: Move MAVConnSerial to libev. Adds stub for open URL function. Issure #54.
Contributors: Vladimir Ermakov, Mohammed Kabir, Nuno Marques, Glenn Gregory

0.6.0 (2014-07-17)

plugin: local_position: Use same timestamp in topic and TF. Issue #33.
plugins: TF thread required, remove notes. Issue #33.
launch: Add example launch for PX4 Issue #45.
plugin: imu_pub: Fix attitude store in UAS Issue #33. Fix #53.
plugins: Disable position topics if tf_listen enabled Also change default frame names: [vision]{.title-ref} and [setpoint]{.title-ref}. Issue #33.
plugins: Fix typo in frame_id params. Issue #33.
plugins: Add vision and setpoint TF listeners Also change parameter names to same style. Issue #33.
plugin: vision_position: Add PositionWithCovarianceStamped option Issue #33.
Add boost filesystem lib to link On some platforms its absence breaks build by: undefined reference to [boost::filesystem::path::codecvt()]{.title-ref}
launch: Add example for APM2 Fix #45.
plugin: setpoint_position: Initial import And some small doc changes in other position plugins. Issue #33.
node: Add connection change message Fix #52.
plugins: vision_position: Initial import TODO: check ENU->NED maths. Issue #33.
plugins: Remove unneded 'FCU' from diag
plugin: local_position: Change plane conversion Bug: #49.
plugin: imu_pub: Fix magnetic vector convertions Bug: #49.
Use dialects list from package
plugin: local_position: Fix orientation source Part of #33.
node: Show target system on startup Fix #47.
plugin: local_position: Initial add Receive LOCAL_POSITION_NED message and publish it via TF and PoseStamped topic in ENU frame. Part of #33.
node: Use boost::make_shared for message allocation Fix #46.
plugins: Use boost::make_shared for message allocation Part of #46.
plugin: imu_pub: Fix misprint in fill function Fix magnetometer vector convertion (HR IMU). Related #33.
plugin: imu_pub: setup cleanup.
Update readme
plugin: gps: Fix gps_vel calculation Fix #42.
plugins: Make name and messages methods const. (breaking). WARNING: this change broke external plugins. Please add const to get_name() and get_supported_messages(). Part of #38.
plugins: Use mavlink_msg*_pack_chan() functions Fix #43.
mavconn: Reuse tx buffer (resize by extents) Part of #38.
mavconn: Do not finalize messages if id pair match mavlink*_pack also do finalize, so explicit finalization just recalculate crc and seq number (doubles work). Test later if we need check seq too.
mavconn: Documentation and cleanup Make MAVConn classes noncopyable. Remove copy-paste copy and following async_write calls. Reserve some space in tx queues. Replace auto_ptr with unique_ptr.
test: Fix header include
mavconn: Fix possible array overrun in channel alocation. Problem found by clang.
fix some roslint errors
mavconn: move headers to include
node: Implement plugin blacklist. New parameter: [~/plugin_blacklist]{.title-ref} lists plugin aliases with glob syntax. Fix #36.
plugins: Change constants to constexpr (for gcc 4.6)
mavconn: Add gencpp dependency (utils.h requiers generated header)
Move duplicate Mavlink.msg copy to utils.h
Remove tests that requires connection to FCU
plugins: imu_pub: Fix PX4 imu/data linear_accelerarion field Should fix: #39.
plugins: imu_pub: Add magnitic covariance Trying to move constants with constexpr. Related: #13.
Remove testing info Need to remove tests that could not run on build farm.
Contributors: Vladimir Ermakov

0.5.0 (2014-06-19)

Remove mavlink submodule and move it to package dependency Bloom release tool don't support git submodules, so i've ceate a package as described in http://wiki.ros.org/bloom/Tutorials/ReleaseThirdParty . Fix #35.
plugins: param: add missing gcc 4.6 fix.
plugins: fix const initializers for gcc 4.6
plugins: imu_pub: fix const initializers for gcc 4.6 Fix for build failure devel-hydro-mavros #4.
Add support for GCC 4.6 (C++0x, ubuntu 12.04) I don't use complete c++11, so we could switch to c++0x if it supported.
plugins: rc_io: Add override rcin service Fix: #22.
plugins: sys_status: fix timeouts Fix #26.
plugins: sys_status: add set stream rate service Some additional testing required. Fix #23.
Remove unused boost libarary: timer Build on jenkins for hydro failed on find boost_timer.
0.4.1
Add changelog for releasing via bloom

0.4.1 (2014-06-11)

node: Show serial link status in diag Now 'FCU connection' shows actual status of connection (HEARTBEATS).
Fix #29. Autostart mavlink via USB on PX4 Changes mavconn interface, adds new parameter.
Fix installation rules. Fix #31.
Setup UDP transport for /mavlink messages
Fix mavlink dialect selection Fix #28.
Add link to wiki.ros.org Part of #27.

0.4.0 (2014-06-07)

Release 0.4.0 And some docs for CommandPlugin.
plugins: command: Command shortcuts Fix #12.
plugins: command: Add ACK waiting list Part of #12.
plugins: command: Initial naive realization. Partial #12, #25.
mavconn: Fix build on Odroid with Ubuntu 13.10 Fix #24.
plugins: rc_io: initial add RC_IO plugin Topics:
- ~/rc/in -- FCU RC inputs in raw microseconds
* ~/rc/out -- FCU Servo outputs Fix #17. Partiall #22.
Fix installation wstool command. [wstool set]{.title-ref}, not [wstool add]{.title-ref}.
Add installation notes to README Installing pymavlink is not required, but try if errors.
Fix headers in README.md
ros_udp: New node for UDP proxing Add some examples to README.md. Fix #21.
sys_status: Add state publication Fix #16.
sys_status: Sent HEARTBEAT if conn_heartbeat > 0 Fix #20.
sys_status: add sensor diagnostic See #16.
sys_status: Add battery status monitoring Fix #19, partial #16.
sys_status: HWSTATUS support Fix #18, partial #20.
plugins: imu_pub: Add RAW_IMU, SCALED_IMU and SCALED_PRESSURE handlers Fix #13. Refactor message processing. Combination of used messages: On APM: ATTITUDE + RAW_IMU + SCALED_PRESSURE On PX4: ATTITUDE + HIGHRES_IMU On other: ATTITUDE + (RAW_IMUHIGHRES_IMU Published topics:
- ~imu/data - ATTITUDE + accel data from *_IMU
- ~imu/data_raw - HIGHRES_IMU or SCALED_IMU or RAW_IMU in that order
- ~imu/mag - magnetometer (same source as data_raw)
- ~imu/temperature - HIGHRES_IMU or SCALED_PRESSURE
- ~imu/atm_pressure - same as temperature
Update readme
mavwp: Add --pull option for 'show' operation. Reread waypoints before show.
MissionPlanner use format QGC WPL, Fix #15 Code cleanup;
Update mavlink version.
Update mavlink version
mavparam: fix #14 support for QGC param files
mavwp: Add mavwp to install

0.3.0 (2014-03-23)

Release 0.3.0
mavwp: Add MAV mission manipulation tool Uses WaypointPlugin ROS API for manipulations with FCU mission.
- show -- show current mission table
- pull -- update waypoint table
- dump -- update and save to file
- load -- loads mission from file
- clear -- delete all waypoints
- setcur -- change current waypoint
- goto -- execute guided goto command (only APM) Currently supports QGroundControl format only.
plugins: wp: Add GOTO, update documentation
plugins: wp: Auto pull
plugins: wp: SetCurrent & Clear now works
plugins: wp: Push service works
plugins: wp: push almost done
plugins: wp: Pull done
plugins: param: remove unused ptr
plugins: wp: mission pull almost done
plugins: wp: Add convertors & handlers
plugins: Waypoint plugin initial
Use C++11 feuture - auto type
plugins: refactor context & link to single UAS class UAS same functions as in QGC.
plugins: Add msgs and srvs for Waypoint plugin
Update mavlink library
Update mavlink version
mavparam: Fix for DroidPlanner param files & cleanup DroidPlanner adds some spaces, don't forget to strip it out. Cleanup unused code from Parameter class.

0.2.0 (2014-01-29)

mavparam: Add MAV parameter manipulation tool Uses ParamPlugin ROS API for manipulating with fcu params.
- load -- load parameter from file
- dump -- dump parameter to file
- get -- get parameter
- set -- set parameter Currently supports MissionPlanner format only. But DroidPlanner uses same format.
Update README and documentation
plugins: param: implement ~param/push service Also implement sync for rosparam:
- ~param/pull service pulls data to rosparam
- ~param/push service send data from rosparam
- ~param/set service update rosparam if success
plugins: param: implement ~param/set service
plugins: param: implement ~param/get service
plugins: param: Implement automatic param list requesting
plugins: use recursive_mutex everywhere
plugins: param now automaticly requests data after connect
plugins: Add common io_service for plugins, implement connection timeout Some plugin require some delayed processes. Now we can use boost::asio::*timer. New parameter:
- ~/conn_timeout connection timeout in seconds
plugins: add param services
mavconn: set thread names WARNING: pthread systems only (BSD/Linux)
plugins: implement parameters fetch service
plugins: fix string copying from mavlink msg
plugins: Setup target in mav_context New params:
- ~target_system_id - FCU System ID
- ~target_component_id - FCU Component ID
plugins: IMU Pub: add stdev parameters, change topic names. Add parameters:
- ~imu/linear_acceleration_stdev - for linear acceleration covariance
- ~imu/angular_velocity_stdev - for angular covariance
- ~imu/orientation_stdev - for orientation covariance Change topic names (as in other IMU drivers):
- ~imu -> ~/imu/data
- ~raw/imu -> ~/imu/data_raw
plugins: Params initial dirty plugin
Fix mavlink dialect choice.
plugins: Add context storage for automatic quirk handling ArduPlilot requires at least 2 quirks:
- STATUSTEXT severity levels
- parameter values is float
Implement MAVLink dialect selection ArduPilotMega is default choice.
doc: add configuration for rosdoc_lite

0.1.0 (2014-01-05)

Version 0.1.0 Milestone 1: all features from mavlink_ros package.xml was updated.
Fix typo and add copyright string NOTE: Please check typos before coping and pasting :)
plugins: gps: Add GPS_RAW_INT handler GPS_STATUS not supported by APM:Plane. ROS dosen't have standard message for satellites information.
mavconn: small debug changes Limit no GCS message to 10 sec.
node: Terminate node on serial port errors
plugins: Add GPS plugin SYSTEM_TIME to TimeReference support. TODO GPS fix.
Fix build and update MAVLink library
plugins: sys_status: Add SYSTEMTEXT handler Two modes:
- standard MAV_SEVERITY values
- APM:Plane (default) TODO: add mavlink dialect selection option
plugins: add some header doxygen tags Add license to Dummy.cpp (plugin template).
plugins: sys_status: Add MEMINFO handler MEMINFO from ardupilotmega.xml message definition. Optional.
update README
update TODO
plugins: Add imu_pub plugin. Publish ATTITUDE and HIGHRES_IMU data. HIGHRES__IMU not tested: Ardupilot sends ATTITUDE only :(
node: publish Mavlink.msg only if listners > 0
plugins: Add sys_status plugin. Initial.
plugins: implement loading & rx routing
plugins: initial
node: Add diagnostics for mavlink interfaces
mavconn: add information log wich serial device we use.
mavconn: fix overloaded MAVConn*::send_message(msg)
mavros: Add mavros_node (currently serial-ros-udp bridge) Message paths: Serial -+-> ROS /mavlink/from +-> UDP gcs_host:port ROS /mavlink/to -+-> Serial UDP bind_host:port -+
Add README and TODO files.
mavconn: fix MAVConnUDP, add mavudpproxy test mavudpproxy -- connection proxy for QGroundControl, also used as test for MAVConnUDP and MAVConnSerial.
mavconn: add UDP support class
mavconn: fix: should use virtual destructor in interface class
mavconn: add getters/setters for sys_id, comp_id; send_message return.
mavconn: simple test. tested with APM:Plane: works.
mavconn: fix linking
mavconn: serial interface
Add mavconn library prototype mavconn - handles MAVLink connections via Serial, UDP and TCP.
Add MAVLink library + build script
Initial Import Mavlink.msg from mavlink_ros package ( https://github.com/mavlink/mavlink_ros ).
Contributors: Vladimir Ermakov

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	mavlink
	angles
	ament_cmake
	ament_cmake_python
	eigen3_cmake_module
	rosidl_default_runtime
	rclpy
	ament_cmake_gtest
	ament_cmake_gmock
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	diagnostic_updater
	message_filters
	eigen_stl_containers
	libmavconn
	pluginlib
	tf2_ros
	tf2_eigen
	rclcpp
	rclcpp_components
	rcpputils
	diagnostic_msgs
	geometry_msgs
	mavros_msgs
	nav_msgs
	sensor_msgs
	geographic_msgs
	trajectory_msgs
	std_msgs
	std_srvs

System Dependencies

Name
eigen
geographiclib
geographiclib-tools
python3-click
gtest
google-mock
libconsole-bridge-dev

Dependant Packages

Name	Deps
mavros_extras

Launch files

launch/multi_uas.launch
- - id [default: 0]
  - fcu_url [default: udp://:14540@127.0.0.1:14580]
  - id [default: 1]
  - fcu_url [default: udp://:14541@127.0.0.1:14581]
launch/px4.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]
launch/apm.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]
launch/node.launch
- - fcu_url
  - gcs_url
  - tgt_system
  - tgt_component
  - pluginlists_yaml
  - config_yaml
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]

Messages

No message files found.

Services

No service files found

Plugins

mavros

Recent questions tagged `mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs

API Docs
Browse Code
Wiki

Package Summary

Tags	uav mav mavlink plugin apm px4
Version	2.9.0
License	GPLv3
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	ros2
Last Updated	2024-10-23
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	uav mav mavlink plugin apm px4
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.

Additional Links

Maintainers

Vladimir Ermakov

Authors

Vladimir Ermakov

mavros/README.md

MAVROS

MAVLink extendable communication node for ROS2.

ROS API documentation moved to wiki.ros.org.

Features

Communication with autopilot via serial port, UDP or TCP (e.g. PX4 Pro or ArduPilot)
Internal proxy for Ground Control Station (serial, UDP, TCP)
Plugin system for ROS-MAVLink translation
Parameter manipulation tool
Waypoint manipulation tool
PX4Flow support (by mavros_extras)
OFFBOARD mode support
Geographic coordinates conversions.

Limitations

Only for Linux.

This package are dependent on ros-*-mavlink build from mavlink-gbp-release. It exists in ROS package index and usually updates each month.

Connection URL

Connection defined by URL, you can use any supported type for FCU and GCS.

Supported schemas:

Serial: /path/to/serial/device[:baudrate]
Serial: serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]
Serial with hardware flow control: serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid]
UDP: udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid]
UDP broadcast until GCS discovery: udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid]
UDP broadcast (permanent): udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid]
TCP client: tcp://[server_host][:port][/?ids=sysid,compid]
TCP server: tcp-l://[bind_host][:port][/?ids=sysid,compid]

Note:

Ids from URL overrides value given by system_id & component_id parameters.
bind_host - default 0.0.0.0 - i.e. IP4 ANY
UDP default ports: 14555 @ 14550
UDP remote address updated every time with incoming packet on bind port.
TCP default port: 5760

Coordinate frames

MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Please read documents from issue #473 for additional information.

All the conversions are handled in src/lib/ftf_frame_conversions.cpp and src/lib/ftf_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.

MAVROS also allows conversion of geodetic and geocentric coordinates through GeographicLib given that:

geographic_msgs and NatSatFix.msg require the LLA fields to be filled in WGS-84 datum, meaning that the altitude should be the height above the WGS-84 ellipsoid. For that, a conversion from the height above the geoid (AMSL, considering the egm96 geoid model) to height above the WGS-84 ellipsoid, and vice-versa, is available and used in several plugins;
According to ROS REP 105, the earth frame should be propagated in ECEF (Earth-Centered, Earth-Fixed) local coordinates. For that, the functionalities of GeographicLib are used in order to allow conversion from geodetic coordinates to geocentric coordinates;
The translation from GPS coordinates to local geocentric coordinates require the definition of a local origin on the map frame, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in the global_position plugin.

Composite nodes

See also: https://docs.ros.org/en/foxy/Tutorials/Composition.html

mavros::router::Router

This is router node required to support connections to FCU(s), GCS(es) and UAS nodes. The Router allows you to add/remove endpoints on the fly without node restart.

mavros::uas::UAS

This node is a plugin container which manages all protocol plugins. Each plugin is a subnode to this.

Programs

mavros_node – all-in-one container

That is a preconfigured composite node contaier, which provides similar parameters as ROS1 mavros_node. That container loads Router, UAS and configures them to work together (sets uas_link, etc.).

Main node. Allow disable GCS proxy by setting empty URL.

ros2 run mavros mavros_node --ros-args --params-file params.yaml

Launch Files

XXX TODO! #1564

Launch files are provided for use with common FCUs, in particular Pixhawk:

px4.launch – for use with the PX4 Autopilot (for VTOL, multicopters and planes)
apm.launch – for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)

Examples:

roslaunch mavros px4.launch
roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@

Installation

Required dependencies

Most of the ROS dependencies are supported and installed by rosdep, including external libraries as Eigen and Boost.

GeographicLib can be installed by apt-get and it is already included on the rosdep of MAVROS package. It is also possible to compile it and install it from src but be advised to have the proper install directories the same as the ones of the apt-get install, in order to make sure that the FindGeographicLib.cmake finds the required shared libraries (libGeographic.so).

Since GeographicLib requires certain datasets (mainly the geoid dataset) so to fulfill certain calculations, these need to be installed manually by the user using geographiclib-tools, which can be installed by apt-get in Debian systems. For a quicker procedure, just run the available script in the “mavros/scripts” folder, install_geographiclib_datasets.sh.

Note that if you are using an older MAVROS release source install and want to update to a new one, remember to run rosdep update before running rosdep install --from-paths ${ROS_WORKSPACE} --ignore-src --rosdistro=${ROSDISTRO}, with ROS_WORKSPACE your src folder of catkin workspace. This will allow updating the rosdep list and install the required dependencies when issuing rosdep install.

:bangbang: The geoid dataset is mandatory to allow the conversion between heights in order to respect ROS msg API. Not having the dataset available will shutdown the mavros_node :bangbang:

:heavy_exclamation_mark:Run install_geographiclib_datasets.sh to install all datasets or geographiclib-datasets-download egm96_5 (Debian 7, Ubuntu 14.04, 14.10), geographiclib-get-geoids egm96-5 (Debian 8, Fedora 22, Ubuntu 15.04 or later) to install the geoid dataset only:heavy_exclamation_mark:

Binary installation (deb)

ROS repository has binary packages for Ubuntu x86, amd64 (x86_64) and armhf (ARMv7). Kinetic also support Debian Jessie amd64 and arm64 (ARMv8).

Just use apt for installation:

sudo apt install ros-foxy-mavros

Then install GeographicLib datasets by running the install_geographiclib_datasets.sh script:

ros2 run mavros install_geographiclib_datasets.sh

# Alternative:
wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh

Source installation

Use vcs utility for retrieving sources and colcon tool for build.

NOTE: The source installation instructions are for the ROS Foxy release.

sudo apt install -y python3-vcstool python3-rosinstall-generator python3-osrf-pycommon

# 1. Create the workspace: unneeded if you already has workspace
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws

# 2. Install MAVLink
#    we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
rosinstall_generator --format repos mavlink | tee /tmp/mavlink.repos

# 3. Install MAVROS: get source (upstream - released)
rosinstall_generator --format repos --upstream mavros | tee -a /tmp/mavros.repos
# alternative: latest source
# rosinstall_generator --format repos --upstream-development mavros | tee -a /tmp/mavros.repos
# For fetching all the dependencies into your ros2_ws, just add '--deps' to the above scripts
# ex: rosinstall_generator --format repos --upstream mavros --deps | tee -a /tmp/mavros.repos

# 4. Create workspace & deps
vcs import src < /tmp/mavlink.repos
vcs import src < /tmp/mavros.repos
rosdep install --from-paths src --ignore-src -y

# 5. Install GeographicLib datasets:
./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

# 6. Build source
colcon build

# 7. Make sure that you use setup.bash or setup.zsh from workspace.
#    Else ros2 run can't find nodes from this workspace.
source install/setup.bash

Build error. if you has error with missing mavlink* then you need fresh mavlink package. You may update from ros-shadow-fixed (binary installation) or redo script steps 2 & 4.

Note. Since MAVLink 2.0 merged (0.18) all dialects supported by same binary. Unfortunately overlap of v1.0 message ID’s not fully handled, first loaded message forbid further changes. Load order always:

common
ardupilotmega
alphabetical ordered list
…

Note: MAVLINK_DIALECT not used anymore.

Troubleshooting

Error: serial0: receive: End of file

This issue should have been solve in mavros v0.23.2, it was found to be a Boost.ASIO error and should be fix in release > v1.12.0 ( >Boost 1.66).

Contributing

See CONTRIBUTING.md.

Glossary

GCS — Ground Control Station
FCU — Flight Control Unit (aka FC)
OBC — OnBoard Computer (your odroid or raspberry)

Links

MAVLink – The communication protocol for Drones, used by flight controllers, ground control stations, and peripherals
mavlink_ros – original ROS node (few messages, no proxy)
Pixhawk – Open Standards for drone hardware
PX4 Autopilot – Flight Controller with support for most vehicle types and hardened/tested MAVROS support
ArduPilot – tested autopilot APM:Plane (default command set)
QGroundControl – Ground Control Station for MAVLink autopilots, with tested support for Android, iOS, Mac OS, Linux, and Windows
mavros_extras – extra plugins & node for mavros

CHANGELOG

Changelog for package mavros

2.9.0 (2024-10-10)

py-mavros: fix flake8 errors
py-mavros: reconfigure flake8
py: isort
py: black
py-mavros: reformat with black
py-mavros: csv escapechar of empty string unsupported since py 3.11
apply ament_uncrustify --reformat (jazzy)
Merge pull request #2000 from leocencetti/fix-test-errors Fix test errors in 3x3 covariance test cases
fix: Patch test errors
Merge pull request #1998 from leocencetti/fix-wrong-covariance-rotation Fix 3x3 covariance matrix rotation/transformation
chore: Fix and reenable covariance rotation tests
fix: Correct 3x3 covariance matrix rotation
use GeographicLib::Geoid::ConvertHeight
fix -Wdeprecated-enum-float-conversion in GeographicLib
depcrecation errors
#1965: sync format of configs
Contributors: Jacob Dahl, Leonardo Cencetti, Vladimir Ermakov

2.8.0 (2024-06-07)

param: replace old rmw_qos usage
sys_status: replace rmw_qos too
command: fix humble condition
regenerate all using cogall.sh
command: keep support for humble
command: fix misprint
command: replace deprecated rmw_qos
reformat with jazzy's ament_uncrustify
Merge branch 'master' into ros2 * master: 1.19.0 update changelog gps_global_origin: remove LLA to ECEF conversion
1.19.0
update changelog
gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Update mavlink.py Kept #569 FIXME tag
Update mavlink.py Fixed bug #569 from mavros. Fixed another bug in the building of the ros mavlink message- the seq field was not added to the ros mavlink message.
Contributors: Beniamino Pozzan, Vladimir Ermakov, danielkalmanson

1.19.0 (2024-06-06)

gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Contributors: Beniamino Pozzan

2.7.0 (2024-03-03)

Merge branch 'master' into ros2 * master: 1.18.0 update changelog sys_status.cpp: improve timeout code sys_status.cpp: Add a SYS_STATUS message publisher [camera plugin] Fix image_index and capture_result not properly filled Fix missing semi-colon GPS_STATUS Plugin: Fill in available messages for ROS1 legacy
1.18.0
update changelog
move /conn parameters to /sys and /time
sys_status.cpp: improve timeout code # Conflicts: # mavros/src/plugins/sys_status.cpp
sys_status.cpp: Add a SYS_STATUS message publisher
Removed warning from geometry2 header
Fix PR 1922 regarding EVENT message
use synchronise_stamp to create stamp
new checksum for event enum
remove event_time_boot_ms, fill stamp instead
handle events
fix mav service call and wp load
Remove hardcoded namespace from px4_pluginlists
Remove hardcoded namespace from px4_config
Define _frd frames in odom plugin based on parent/child frame parametrs
Define parameters for base_link, odom, map frames
Contributors: Alejandro Hernández Cordero, Dr.-Ing. Amilcar do Carmo Lucas, Mattia Giurato, Mohamed Abdelkader, Vladimir Ermakov, elgarbe, sathak93, victor

1.18.0 (2024-03-03)

sys_status.cpp: improve timeout code
sys_status.cpp: Add a SYS_STATUS message publisher
Contributors: Dr.-Ing. Amilcar do Carmo Lucas

2.6.0 (2023-09-09)

fix build warnings tf2_eigen.h
switch to use tf2_eigen.hpp, but that drops support for EOL distros
fix ament_cpplint
reformat python code with black
msgs: move generator code
ament uncrustify
Merge branch 'master' into ros2 * master: 1.17.0 update changelog cog: regenerate all Bugfix/update map origin with home position (#1892) mavros: Remove extra ';' mavros_extras: Fix some init order warnings Suppress warnings from included headers 1.16.0 update changelog made it such that the gp_origin topic published latched. use hpp instead of deprecated .h pluginlib headers
1.17.0
update changelog
cog: regenerate all
local takeoff and land topics (#1890)
- local takeoff and land topics
- vector3 position type, rename to TOLLocal
- remove auto include line
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
1.16.0
update changelog
Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Ido Guzi, Lucas Walter, Morten Fyhn Amundsen, Shu-Nong Wu, Vladimir Ermakov, natmol

2.5.0 (2023-05-05)

Merge pull request #1852 from robobe/fix-mavlink-header-stamp Fix mavlink header stamp in convert_to_rosmsg method
Delete test_convert_to_rosmsg.py
fix flake8
fix flake8
fix conver_to_rosmsg method fix header stamp field move from rclpy.Time to builtin_interfaces Time message
Merge branch 'mavlink_payload64_fix' into ros2
Merge pull request #1851 from robobe/mavlink_payload64_fix cast payload_octest to int
cast payload_octest to int test script ,
Merge pull request #1838 from vacabun/launch_namespace_fix fix ROS2 launch parameters namespace and name.
fix plugin denylist allowlist name, and fix parameters namespace.
Merge pull request #1835 from vacabun/multi_uas_launch_fix Multi-UAS launch
Merge branch 'ros2' into multi_uas_launch_fix
Merge pull request #1836 from eMrazSVK/ros2 Fix apm_pluginlist.yaml and apm.launch
naming
Fix apm config and launch ROS2
Remove duplicate parameters
fix parameters name tgt_system and tgt_component and add multi-uas launch.
Merge pull request #1834 from vacabun/px4_launch_fix fix px4 launch file for ROS2
change plugin odom parameters in apm launch.
1.Change part of parameters to be flat In ROS2. 2.Remove plugin safety_area in launch parameters file.
remove event_launcher.yaml mavlink_bridge.launch
remove file 'apm2.lunch'.
fix apm launch files to ROS2.
fix plugin distance_sensor parses yaml from string parameter.
fix px4 launch file on ROS2.
Merge pull request #1833 from lopsided98/ftp-segfault plugins: ftp: fix null pointer dereference
plugins: ftp: fix null pointer dereference df4e529 mistakenly switched PayloadHeader::data from using a non-standards compliant (but accepted by most compilers) flexible array to a pointer. This resulted in an attempt to dereference the uninitialized contents of the array. This patch eliminates PayloadHeader::data and instead makes FTPRequest::data() use pointer arithmetic to get the data buffer from within the payload buffer.
Contributors: Ben Wolsieffer, Eduard Mraz, Vladimir Ermakov, robo, robobe, vacabun

2.4.0 (2022-12-30)

ci: ignore xml lib warn
Merge branch 'master' into ros2 * master: 1.15.0 update changelog ci: update actions Implement debug float array handler mavros_extras: Fix a sequence point warning mavros_extras: Fix a comparison that shouldn't be bitwise mavros: Fix some warnings mavros_extras: Fix buggy check for lat/lon ignored libmavconn: fix MAVLink v1.0 output selection
1.15.0
update changelog
Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

2.3.0 (2022-09-24)

extras: fix linter errors
mavros: remove custom find script, re-generate
Merge branch 'master' into ros2 * master: 1.14.0 update changelog scripts: waypoint and param files are text, not binary libmavconn: fix MAVLink v1.0 output selection plugins: add guided_target to accept offboard position targets add cmake module path for geographiclib on debian based systems use already installed FindGeographicLib.cmake
1.14.0
update changelog
scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1771 from alehed/fix/update_comment Put correct version in comment
Put correct version in comment Now that the change has been merged into master in pymavlink, it will be in the next tagged release.
Contributors: Alexander Hedges, Sanket Sharma, Vladimir Ermakov, acxz

2.2.0 (2022-06-27)

extras: fix build
Merge branch 'master' into ros2 * master: mount_control.cpp: detect MOUNT_ORIENTATION stale messages ESCTelemetryItem.msg: correct RPM units apm_config.yaml: add mount configuration sys_status.cpp fix free memory for values > 64KiB uncrustify cellular_status.cpp Add CellularStatus plugin and message *_config.yaml: document usage of multiple batteries diagnostics sys_status.cpp: fix compilation sys_status.cpp: support diagnostics on up-to 10 batteries sys_status.cpp: do not use harcoded constants sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). sys_status.cpp: ignore sys_status mavlink messages from gimbals mount_control.cpp: use mount_nh for params to keep similarities with other plugins set diag settings before add() sys_status.cpp: remove deprecated BATTERY2 mavlink message support Mount control plugin: add configurable diagnostics Bugfix: increment_f had no value asigned when input LaserScan was bigger than obstacle.distances.size() Bugfix: wrong interpolation when the reduction ratio (scale_factor) is not integer. Disable startup_px4_usb_quirk in px4_config.yaml
cmake: style fix
cmake: downgrade to C++17 as 20 breaks something in rclcpp
pylib: fix flake8 for checkid
cmake: hide -std=c++2a
Merge pull request #1752 from alehed/fix/make_compatible_with_mavlink_pr_666 Make compatible with pymavlink type annotations PR
Make compatible with pymavlink type annotations PR In that PR, the attribute name is changed to msgname due to conflicts with message instance variables.

1.17.0 (2023-09-09)

cog: regenerate all
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov, natmol

1.16.0 (2023-05-05)

Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Lucas Walter, Shu-Nong Wu, Vladimir Ermakov

1.15.0 (2022-12-30)

Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.14.0 (2022-09-24)

scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1744 from amilcarlucas/pr_gimbal_diagnostics_fixes mount_control.cpp: detect MOUNT_ORIENTATION stale messages
mount_control.cpp: detect MOUNT_ORIENTATION stale messages correct MountConfigure response success correct constructor initialization order some gimbals send negated/inverted angle measurements, correct that to obey the MAVLink frame convention using run-time parameters
Update global_position.py
Merge pull request #1745 from antonyramsy/ros2 fix subscribe_raw_salellites typo
fix subscribe_raw_salellites typo subscribe_raw_salellites -> subscribe_raw_satellites
Merge pull request #1743 from amilcarlucas/pr_apm_config apm_config.yaml: add mount configuration
apm_config.yaml: add mount configuration
Merge pull request #1732 from amilcarlucas/pr-meminfo-fix MEMINFO fixes
sys_status.cpp fix free memory for values > 64KiB
Merge pull request #1716 from amilcarlucas/avoid-harcoded-values sys_status.cpp: do not use harcoded constants
Merge pull request #1711 from amilcarlucas/diagnose-up-to-n-batteries Diagnose up-to 10 batteries
*_config.yaml: document usage of multiple batteries diagnostics
sys_status.cpp: fix compilation
sys_status.cpp: support diagnostics on up-to 10 batteries Uses as many battery monitors as the user specified in min_voltage parameter. Add myself as a contributor, this is not my first patch to this file
Merge pull request #1712 from amilcarlucas/fix-disabled-diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag
sys_status.cpp: do not use harcoded constants
sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics Use atomic variable to prevent potential threading problems
sys_status.cpp: fix enabling of mem_diag and hwst_diag
Merge pull request #1704 from amilcarlucas/correct-bat-voltages sys_status.cpp: Do not use battery1 voltage for all batteries.
sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). Support both cell and total voltages above 65V Support up-to 14S batteries If available, add cell voltage information to the battery diagnostic
Merge pull request #1707 from amilcarlucas/ignore-gimbal-sys-status sys_status.cpp: ignore sys_status mavlink messages from gimbals
sys_status.cpp: ignore sys_status mavlink messages from gimbals
Merge pull request #1703 from amilcarlucas/remove-deprecated-battery2 sys_status.cpp: remove deprecated BATTERY2 mavlink message support
sys_status.cpp: remove deprecated BATTERY2 mavlink message support
Merge pull request #1696 from okalachev/patch-2 Disable startup_px4_usb_quirk in px4_config.yaml
Disable startup_px4_usb_quirk in px4_config.yaml
Contributors: Alexander Hedges, Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Vladimir Ermakov, antonyramsy

2.1.1 (2022-03-02)

Merge pull request #1717 from rob-clarke/fix--sys-status-callbacks Maybe fix sys status callbacks
uncrustify
Cleanup for pr
Initialise common client
Add debug
Use common client Add debug
plugins: Fix misprint Fix #1709
Contributors: Rob Clarke, Vladimir Ermakov

2.1.0 (2022-02-02)

plugin: sys_status: Add temporary hack from \@Michel1968 https://github.com/mavlink/mavros/issues/1588#issuecomment-1027699924
py-lib: make linters happy again
py-lib: fix WPL loading
py-lib: reformat with black, fix WPL
py-lib: gracefull exiting - need to join to spinner thread
py-lib: debug shutdown call
py-lib: fix checkid
sys: place service servers to separate callback group
plugins: fix topic names to use prefix for namespaced ones
py-lib: fix import
uas: fix linter warnings
uas: set executor timeout to 1s
uas: use custom executor derived from MultiThreadedExecutor one
uas: fix lambda
ci: fix several lint warnings
uas: log amount of executor threads
command: add request header for possible future use
Merge branch 'master' into ros2 * master: 1.13.0 update changelog py-lib: fix compatibility with py3 for Noetic re-generate all coglets test: add checks for ROTATION_CUSTOM lib: Fix rotation search for CUSTOM Removed CamelCase for class members. Publish to "report" More explicitly state "TerrainReport" to allow for future extension of the plugin to support other terrain messages Fixed callback name to match [handle_{MESSAGE_NAME.lower()}]{.title-ref} convention Add extra MAV_FRAMES to waypoint message as defined in https://mavlink.io/en/messages/common.html Fixed topic names to match more closely what other plugins use. Fixed a typo. Add plugin for reporting terrain height estimate from FCU 1.12.2 update changelog Set time/publish_sim_time to false by default plugin: setpoint_raw: move getParam to initializer extras: trajectory: backport #1667
1.13.0
update changelog
Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
1.12.2
update changelog
Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Merge pull request #1670 from windelbouwman/fix-uninitialized-struct-member Fix spurious bug because class field was uninitialized.
Fix spurious bug because class field was uninitialized.
Merge branch 'master' into ros2 * master: 1.12.1 update changelog mavconn: fix connection issue introduced by #1658 mavros_extras: Fix some warnings mavros: Fix some warnings
1.12.1
update changelog
mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Oleg Kalachev, Vladimir Ermakov, Windel Bouwman, hs293go

2.0.5 (2021-11-28)

fix some build warnings; drop old copter vis
router: fix #1655: use MAVConnInterface::connect() from #1658
Merge branch 'master' into ros2 * master: 1.12.0 update changelog Fix multiple bugs lib: fix mission frame debug print extras: distance_sensor: revert back to zero quaternion
1.12.0
update changelog
Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
extras: fix some more lint warns
plugin: fix some compile warnings
cmake: require C++20 to build all modules
extras: port distance_sensor plugin
lib: ignore MAVPACKED-related warnings from mavlink
lib: fix mission frame debug print
msgs: update conversion header
Merge branch 'master' into ros2 * master: 1.11.1 update changelog lib: fix build
1.11.1
update changelog
lib: fix build
Merge branch 'master' into ros2 * master: 1.11.0 update changelog lib: fix ftf warnings msgs: use pragmas to ignore unaligned pointer warnings extras: landing_target: fix misprint msgs: fix convert const plugin: setpoint_raw: fix misprint msgs: try to hide 'unaligned pointer' warning plugin: sys: fix compillation error plugin: initialize quaternions with identity plugin: sys: Use wall timers for connection management Use meters for relative altitude distance_sensor: Initialize sensor orientation quaternion to zero Address review comments Add camera plugin for interfacing with mavlink camera protocol
1.11.0
update changelog
lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
extras: port log_transfer
Contributors: Alexander Sherikov, Jaeyoung-Lim, Vladimir Ermakov

2.0.4 (2021-11-04)

Merge branch 'master' into ros2 * master: 1.10.0 prepare release
1.10.0
prepare release
extras: port esc_status plugin
plugins: update metadata xml
mavros: port mav_controller_output plugin
Merge branch 'master' into ros2 * master: (25 commits) Remove reference Catch std::length_error in send_message Show ENOTCONN error instead of crash Tunnel: Check for invalid payload length Tunnel.msg: Generate enum with cog mavros_extras: Create tunnel plugin mavros_msgs: Add Tunnel message MountControl.msg: fix copy-paste sys_time.cpp: typo sys_time: publish /clock for simulation times 1.9.0 update changelog Spelling corrections Changed OverrideRCIn to 18 channels This adds functionality to erase all logs on the SD card via mavlink publish BATTERY2 message as /mavros/battery2 topic Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0 Added NAV_CONTROLLER_OUTPUT Plugin Added GPS_INPUT plugin Update esc_status plugin with datatype change on MAVLink. ...
Merge pull request #1631 from shubham-shahh/ros2 rectified spelling and gramatical errors
Update mission_protocol_base.cpp
Update test_uas.cpp
Update setpoint_raw.cpp
Update param.cpp
Update param.cpp
Update mission_protocol_base.cpp
Update ftp.cpp
Update command.cpp
Update param.py
Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
1.9.0
update changelog
Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: fix lint error
extras: fix build, add UAS::send_massage(msg, compid)
extras: port companion_process_status
style: apply ament_uncrustify --reformat
Merge branch 'master' into ros2 * master: extras: esc_telemetry: fix build extras: fix esc_telemetry centi-volt/amp conversion extras: uncrustify all plugins plugins: reformat xml extras: reformat plugins xml extras: fix apm esc_telemetry msgs: fix types for apm's esc telemetry actually allocate memory for the telemetry information fixed some compile errors added esc_telemetry plugin Reset calibration flag when re-calibrating. Prevent wrong data output. Exclude changes to launch files. Delete debug files. Apply uncrustify changes. Set progress array to global to prevent erasing data. Move Compass calibration report to extras. Rewrite code based on instructions. Remove extra message from CMakeLists. Add message and service definition. Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
plugins: reformat xml
mavros_extras: ported landing_target plugin to ros2
sanitized code
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Marcelino Almeida, Shubham Shah, Val Doroshchuk, Vladimir Ermakov

2.0.3 (2021-06-20)

param: fix Foxy build
Contributors: Vladimir Ermakov

2.0.2 (2021-06-20)

mavros: fix run on Galactic
plugin: param: #1579: fix cpplint warnings
plugin: param: #1579: implement std parameter events
plugin: param: #1579: rewrite plugin to implement standard parameter services
plugin: add ability to set node options
lib: fix lint error
plugin: fix build error
lib: fix reorder warnings
lib: fix ftf compilation warnings
Contributors: Vladimir Ermakov

2.0.1 (2021-06-06)

readme: update source build instruction
Merge branch 'master' into ros2 * master: readme: update 1.8.0 update changelog Create semgrep-analysis.yml Create codeql-analysis.yml
1.8.0
update changelog
Contributors: Vladimir Ermakov

2.0.0 (2021-05-28)

pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fixing pep257 errors
pylib: fix flake8
pylib: fixing lint erorrs
includes: include tf2 buffer
pylib: fix ftp, add flags to wp
pylib: port mavftp
test: fix ParamDict test, yapf
pylib: fix wp load/dump file
pylib: port mavwp
pylib: fix param plugin
pylib: port mavparam
pylib: add uas settings accessor
pylib: fix set_mode
plugin: fix sys_status ~/set_mode service
pylib: porting mavsys
pylib: fix checkid
pylib: port checkid
pylib: force-create mav script entry point, why console_scripts didn't work?
pylib: small fix for setup
pylib: fix mavcmd trigger
pylib: move cmd check to utils
pylib: move wait flag to global group
pylib: port mavsafety, drop safetyarea as it completely outdated
pylib: fix script path
pylib: wait for services by default
pylib: add local position plugin
pylib: port all mavcmd
pylib: port most of mavcmd
pylib: start porting mavcmd
pylib: fix loading
pylib: port ftp
pylib: port mavlink helpers
pylib: port setpoint plugin
pylib: remove event_lanucher, ros2 should have different way to do the same
pylib: test ParamFile
pylib: test ParamDict
pylib: port param
pylib: add system module
pylib: fix loading
pylib: apply yapf
tests: add simple plan file
msgs: update command codes
pylib: move to support ament_python
pylib: start porting
plugins: fix all cpplint errors
plugins: fix some cpplint errors
test: fix cpplint errors
lib: fix lint errors
lib: fixing cpplint
plugins: waypoint: fix parameter exception
plugins: geofence: port to ros2
plugins: rallypoint: port to ros2
plugins: waypoint: port to ros2
plugins: mission base ported to ros2
plugins: mission: noe step further
mission proto: start port
mavros: make cpplint happy about includes
tests: make cpplint happy
mavros: make cpplint happy
lib: uncrustify
Merge branch 'master' into ros2 * master: ci: github uses yaml parser which do not support anchors. surprise, surprise! ci: install geographiclib datasets extras: #1370: set obstacle aangle offset lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink() extras: distance_sensor: rename param for custom orientation, apply uncrustify px4_config: Add distance_sensor parameters distance_sensor: Add horizontal_fov_ratio, vertical_fov_ratio, sensor_orientation parameters distance_sensor: Fill horizontal_fov, vertical_fov, quaternion
lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
lib: fix misprint
plugins: param: #1567: use parameters qos
lib: more lint...
lib: fix more linter warnings
lib: fix some linter warnings
lib: fix some linter warnings
router: fix lint error, it invalidated after erase
plugins: ftp: disable ll debug
plugins: param: add use_sim_time to excluded ids
plugins: param: set only allowed posparam
plugins: param: ported to ros2
plugins: ftp: port to ros2
plugins: setpoint_position: port to ros2
plugins: setpoint_attitude: port to ros2
Merge branch 'master' into ros2 * master: convert whole expression to mm
convert whole expression to mm
plugins: setpoint_trajectory: port to ros2
plugins: setpoint_velocity: port to ros2
plugins: setpoint_accel: port to ros2
plugins: setpoint_raw: fix sefgault
plugins: setpoint_raw: port to ros2
plugins: imu: port to ros2
plugins: global_position: port to ros2
plugin: local_position: port to ros2
plugins: wind_estimation: port to ros2
plugins: rc_io: port to ros2
plugins: port manual_control
plugins: home_position: port to ros2
plugins: sys_status: update set_message_interval
plugins: sys_status: implement autopilot version request
plugins: port command to ros2
uas: add eigen aligned allocator
plugin: altitude: port to ros2
uas: add convinient helpers
plugins: actuator_control: port to ros2
uas: fix some more lint errors
uas: fix some lint errors
plugin: sys_status: fix some lint errors
plugins: port sys_time
Merge branch 'master' into ros2 * master: 1.7.1 update changelog re-generate all pymavlink enums 1.7.0 update changelog
plugins: sys_status: fix connection timeout
lib: update cog to match ament-uncrustify
plugins: sys_status: fixing mav_type
plugins: sys_state: declare parameters
plugins: sys_state: ported most of things
plugins: sys_status: port most of the parts
plugins: start porting sys_status
plugins: generate description xml
plugins: port dummy
mavros: generate plugin list
Merge branch 'master' into ros2 * master: msgs: re-generate the code lib: re-generate the code plugins: mission: re-generate the code MissionBase: correction to file information MissionBase: add copyright from origional waypoint.cpp uncrustify whitespace add rallypoint and geofence plugins to mavros plugins xml add rallypoint and geofence plugins to CMakeList Geofence: add geofence plugin Rallypoint: add rallypoint plugin Waypoint: inherit MissionBase class for mission protocol MissionBase: breakout mission protocol from waypoint.cpp README: Update PX4 Autopilot references Fix https://github.com/mavlink/mavros/issues/849
uas: test multiple handlers for same message
uas: implement test for plugin message router
uas: fix is_plugin_allowed truth table
uas: initial unittest
uas: implement tf helpers
uas: add parameters callback, testing helper
node: disable intra process messaging because it's throws errors
uas: it's compilling!
uas: still fixing build...
uas: split uas_data.cpp into smaller units
uas: fix misprints
uas: initial implementation porting
uas: style fixes in headers
uas: update plugin base class, add registration macro
uas: begin implementation
router: use common format for address
router: add source id to UAS frame_id
mavros_node: that binary would be similar to old mavros v1 node
router: fix conponent loading
router: add test for Endpoint::recv_message
router: rename mavlink to/from to source/sink, i think that terms more descriptive
router: add diagnostics updater
router: fix incorrect get_msg_byte
router: trying to deal with mock cleanup checks
router: initial import of the test
router: catch open erros on ROSEndpoint
router: catch DeviceError
router: remove debugging printf's
router: weak_ptr segfaults, replace with shared_ptr
router: implement routing, cleanup
tools: remove our custom uncrustify, would use amend-uncrustiry instead
mavros: ament-uncrustify all code. enen unused one
router: implement params handler
router: fix build
router: add handler for parameters and reconnection timer
router: add some code docs, ament-uncrustify
router: implement basic part of Endpoint
lib: add stub code for router
mavros: router decl done
mavros: prototyping router
mavros: update tests
lib: port most of utilities
mnavros: lib: apply ament_uncrustify
lib: port enum_to_string
lib: update sensor_orientation
mavros: add rcpputils
mavros: fix cmake to build libmavros
mavros: begin porting...
Merge pull request #1186 from PickNikRobotics/ros2 mavros_msgs Ros2
Merge branch 'ros2' into ros2
msgs: start porting to ROS2
disable all packages but messages
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Sanket Sharma, Vladimir Ermakov, acxz

1.13.0 (2022-01-13)

Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
Contributors: Vladimir Ermakov

1.12.2 (2021-12-12)

Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Contributors: Oleg Kalachev, Vladimir Ermakov, hs293go

1.12.1 (2021-11-29)

mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.12.0 (2021-11-27)

Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
lib: fix mission frame debug print
Contributors: Alexander Sherikov, Vladimir Ermakov

1.11.1 (2021-11-24)

lib: fix build
Contributors: Vladimir Ermakov

1.11.0 (2021-11-24)

lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
Contributors: Jaeyoung-Lim, Vladimir Ermakov

1.10.0 (2021-11-04)

Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
Contributors: David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Marcelino Almeida, Val Doroshchuk, Vladimir Ermakov

1.9.0 (2021-09-09)

Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: reformat xml
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, Karthik Desai, Vladimir Ermakov

1.8.0 (2021-05-05)

lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
convert whole expression to mm
Contributors: Alexey Rogachevskiy, Thomas, Vladimir Ermakov

1.7.1 (2021-04-05)

re-generate all pymavlink enums
Contributors: Vladimir Ermakov

1.7.0 (2021-04-05)

lib: re-generate the code
plugins: mission: re-generate the code
MissionBase: correction to file information
MissionBase: add copyright from origional waypoint.cpp
uncrustify
whitespace
add rallypoint and geofence plugins to mavros plugins xml
add rallypoint and geofence plugins to CMakeList
Geofence: add geofence plugin
Rallypoint: add rallypoint plugin
Waypoint: inherit MissionBase class for mission protocol
MissionBase: breakout mission protocol from waypoint.cpp
README: Update PX4 Autopilot references Much needed fixes to clarify the project is named correctly throughout the README for the PX4 Autopilot, QGroundControl, and MAVLink
Fix https://github.com/mavlink/mavros/issues/849
Contributors: Charlie-Burge, Ramon Roche, Tobias Fischer, Vladimir Ermakov

1.6.0 (2021-02-15)

fix inconsistency in direction of yaw when using set_position in BODY frames and fix problems with yaw in setponit_raw
Contributors: zhouzhiwen2000

1.5.2 (2021-02-02)

readme: add source install note for Noetic release
Contributors: Vladimir Ermakov

1.5.1 (2021-01-04)

Fix tests for renaming of ECEF cases Introduced in 6234af29
Initialise message structures Uninitialised Mavlink 2 extension fields were sent if the fields were not later set. Initialising the fields to zero is the default value for extension fields and appears to the receiver as though sender is unaware of Mavlink 2. Instances were found with regex below, more may exist: mavlink::[\^:]+::msg::[\^:={]+ ?[\^:={]*;
Contributors: Rob Clarke

1.5.0 (2020-11-11)

mavros/sys_status: Fill flight_custom_version field
mavros: Add override specifiers
mavros: Move ECEF tf enums to separate enum class This avoids a bunch of unhandled switch cases, and should improve type safety a bit.
Contributors: Morten Fyhn Amundsen

1.4.0 (2020-09-11)

mavros: use mavlink::minimal:: after incompatible changes in mavlink package Incompatible change: https://github.com/mavlink/mavlink/pull/1463 Fix: #1483, https://github.com/mavlink/mavlink/issues/1474
fixes based on vooon's review
fix issue what we couldn't set real parameters to 0.0 in mavros
Add error message
Fixed compilation error: publish std_msgs::String, not std::string for gcs_ip
Dispatch GCS IP address
Contributors: Artem Batalov, Marcelino, Morten Fyhn Amundsen, Vladimir Ermakov, Øystein Skotheim

1.3.0 (2020-08-08)

fake_gps.cpp: implement speed accuracy
fake_gps.cpp: Add mocap_withcovariance configuration parameter
fake_gps.cpp: add initial support for GPS_INPUT MAVLink message
apm.launch: Avoid warning: Warning: You are using <arg> inside an <include> tag with the default=XY attribute - which is superfluous. Use value=XY instead for less confusion. Attribute name: respawn_mavros
Added support for MavProxy parameter file format
Ignore read-only parameters and statistics parameters in push operations
fix indentation
transform based on coordinate_frame
wind plugin: fix ArduPilot wind transformation
Contributors: Ben Wolsieffer, Dr.-Ing. Amilcar do Carmo Lucas, Yuan, Yuan Xu

1.2.0 (2020-05-22)

has_capability only works for enums
Uncrustify
Reworked Waypoint plugin to use capabilities_cb Additionally added helper functions has_capability and has_capabilities so that people can use either ints or enums to check if the UAS has a capability. This might make accepting capabilities as a parameter moot though.
Added alias for capabilities enum to UAS
Added alias for capabilities enum to UAS
Added a capabilities change cb queue Plugins can now write functions that they add to the capabilities_cb_vec. These functions will be called only when there is a change to the capabilities themselves not whenever the known status of the fcu_capabilities change. These functions should have a parameter of type mavlink::common::MAV_PROTOCOL_CAPABILITY which is essentially just a uint64_t however being more opinionated is helpful when looking for what the canonical enum names are in the mavlink project header files.
Uncrustify
Fixed Removed Uncrustify Option I'm not sure why this didn't break when I ran uncrustify previously but it seems that the align_number_left option was removed a while ago with this merge request but I may be mistaken https://github.com/uncrustify/uncrustify/pull/1393 I replaced it which align_number_right=true since it seems to be the inverse of align_number_left=true.
Removed deprecated MAV_FRAME values
Removed use of variant in favor of templates Since ROS messages are now the storage type in the node, providing to and from conversion functions is sufficient and can be better expressed with function templates.
Encode factor returns double
Changed encoding factor cog code
Uncrustify changes
Added new parameter to config.yamls
Updated waypoint plugin to support MISSION_ITEM_INT These changes add a new parameter use_mission_item_int, which allows users to prefer the old behavior. These changes also verify that the flight controller supports _INT messages since APM only sends REQUEST_ITEM messages even though it accepts _INT items back. This commit is functional and tested with the APM stack only. PX4 sitl jmavsim threw: WP: upload failed: Command is not supported. FCU: IGN MISSION_ITEM: Busy
Removed x_lat, y_long, z_alt from WP These values seemed to be used due to the fact that double had a greater resolution than float and doubles are used in the ros msg. However they were only ever used for printing. Since the int version of these messages has a greater resolution I figure it is more useful to print the true value in the mavlink message rather than the ros message value
Replaced MISSION_ITEM
add yaw to CMD_DO_SET_HOME
fix local angular velocity
Contributors: Braedon, David Jablonski, Martina Rivizzigno

1.1.0 (2020-04-04)

fixed styling
fixed indent from using spaces
updates apmrover2 modes and allows for arduboat mode changes
mavsafety kill feature for emergency stop
Include trajectory_msgs in CMakeLists.txt This allows build to complete successfully.
Contributors: Anthony Goeckner, Matt Koos, aykutkabaoglu

1.0.0 (2020-01-01)

0.33.4 (2019-12-12)

Replaced estimator status hardcoded definition with cog.
Refactor.
Replaced bool with git add -u as already done.
Added a publisher for estimator status message received from mavlink in sys_status.
Contributors: saifullah3396

0.33.3 (2019-11-13)

package: fix 6fa58e59 - main package depends on trajectory_msgs, not extras
Contributors: Vladimir Ermakov

0.33.2 (2019-11-13)

0.33.1 (2019-11-11)

Add mutex
Initialize type mask
Handle frame with StaticTF
Handle different frames
Set yaw rate from message inputs
Add setpoint trajectory reset interface
Fix trajectory timestamp
Address comments
Pass reference with oneshot timers
Set typemasks correctly
Address more style comments
Address style comments
Visualize desired trajectory
Handle end of trajectory correctly
Remove message handlers
Add setpoint_trajectory plugin template
resolved merge conflict
Contributors: David Jablonski, Jaeyoung-Lim

0.33.0 (2019-10-10)

Add vtol transition service
CleanUp
Update frame name in px4_config to match ROS standards
Enable publishing multiple static tfs at once, publish standard static tfs
moving ACK_TIMEOUT_DEFAULT out of class
cog: Update all generated code
mavros/src/plugins/command.cpp: one more style fix
mavros/src/plugins/command.cpp: style fixes
mavros/src/plugins/command.cpp: command_ack_timeout ms -> s
mavros/src/plugins/command.cpp: command_ack_timeout_ms int -> double
mavros/src/plugins/command.cpp: uncrustify
mavros/src/plugins/command.cpp: parameter for command's ack timeout Sometimes commands take more time than default 5 seconds. Due to a low bandwidth of UART and a high rate of some mavlink streams. To eliminate this problem it's better to provide the parameter to configure the command's ack timeout.
added manual flag to mavros/state
Use GeoPoseStamped messages
Fix build
Add callback for SET_POSITION_TARGET_GLBOAL_INT
Contributors: David Jablonski, Jaeyoung-Lim, Sergei Zobov, Vladimir Ermakov, kamilritz

0.32.2 (2019-09-09)

uncrustify
Add boolean to check if IMU data has been received Follow sensor_msgs/Imu convention when data not present
Uncrustify the GPS_GLOBAL_ORIGIN handler in global_position
Fix global origin conversion to ecef (was using amsl where hae was required) Summary: Fix global origin conversion to ecef (was using amsl where hae was required)
moved code to end of function
added amount of satellites to global_position/raw/
Contributors: David Jablonski, Nick Steele, Rob Clarke, Robert Clarke

0.32.1 (2019-08-08)

uncrustify
Removed tf loop
made small edit to handle augmented gps fix
added a check for gps fix before setting origin for global_position/local odometry topic
Contributors: Eric, Lucas Hill

0.32.0 (2019-07-06)

use direclty radians in yaml files
A simple typo error has fixed. (#1260)
- fix: a typing error "alredy" to "already"
- Fix: typo error (helth -> health)
Contributors: Martina Rivizzigno, 강정석

0.31.0 (2019-06-07)

readme: fix udp-pb formatting
launch config: landing_target: fix and improve parameter list
remove duplicated landing_target parameters
enum_to_string: simplify landing_target_type_from_str
enum_to_string: update enumerations and checksum
extras: landing target: improve usability and flexibility
remove landing_target from blacklist
update to use pymavlink generator
px4_config: landing_target: minor correction
mav_frame: add frames of reference to wiki page; reference them on config
landing_target: removed child_frame_id
landing_target: minor code tweak/restructure
landing_target: uncrustify code
landing_target: updated to TF2 and Eigen math
landing_target: adapted to latest master code
landing_target: added timestamp and target size fields [!Won't compile unless a new mavlink release!]
landing_target: first commit
Switch to double-reflections instead of axes-reassignments
specialize transform_frame_ned_enu and transform_frame_enu_ned for type Vector3d such that input vectors containing a NAN can be correctly transformed
Update README.md update misspelling
Contributors: Julian Kent, Martina Rivizzigno, Shingo Matsuura, TSC21, Vladimir Ermakov

0.30.0 (2019-05-20)

Filter heartbeats by component id as well This addresses #1107 and #1227, by filtering incoming heartbeats by component ids before publishing the state.
mavros/src/plugins/command.cpp: log if command's wait ack timeout (#1222)
- mavros/src/plugins/command.cpp: log if command's wait ack timeout
- mavros/src/plugins/command.cpp: log timeout in wait_ack_for
local_position fix #1220: initialize flags
plugin waypoint: fix spelling
Fix leading space before setpoint_raw This causes an error when running `roslaunch`: ` error loading <rosparam> tag: file /opt/ros/kinetic/share/mavros/launch/apm_config.yaml contains invalid YAML: while parsing a block mapping in "<string>", line 4, column 1: startup_px4_usb_quirk: false ^ expected <block end>, but found '<block mapping start>' in "<string>", line 103, column 2: setpoint_raw: ^ XML is <rosparam command="load" file="$(arg config_yaml)"/> The traceback for the exception was written to the log file`
global_position.cpp: spell in comment
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Josh Veitch-Michaelis, Nico van Duijn, Sergey Zobov, Vladimir Ermakov

0.29.2 (2019-03-06)

0.29.1 (2019-03-03)

All: catkin lint files
Update apm_config.yaml Setting thrust_scaling in the setpoint_raw message (in my case, to use /mavros/setpoint_raw/attitude) Without it, when using Gazebo, get the following problem "Recieved thrust, but ignore_thrust is true: the most likely cause of this is a failure to specify the thrust_scaling parameters on px4/apm_config.yaml. Actuation will be ignored." from the function void attitude_cb in setpoint_raw.cpp (http://docs.ros.org/kinetic/api/mavros/html/setpoint__raw_8cpp_source.html)
cmake: fix #1174: add msg deps for package format 2
Issue #1174 Added dependency for mavros_msgs and mavros
Contributors: Adam Watkins, KiloNovemberDelta, Pierre Kancir, Vladimir Ermakov

0.29.0 (2019-02-02)

Fix broken documentation URLs
px4_config: set the thrust_scaling to one by default
local_position: add an aditional topic for velocity on the local frame
Merge pull request #1136 from angri/param-timeout Request timed up parameters as soon as possible
Merge branch 'master' into param-timeout
plugin:param added logging regarding rerequests
plugin:param fixed second and consequent timeouts in requesting list
mavros_extras: Wheel odometry plugin updated according to the final mavlink WHEEL_DISTANCE message.
mavros_extras: Wheel odometry plugin fixes after CR.
mavros_extras: Wheel odometry plugin added.
mavsys: add do_message_interval
sys_status: add set_message_interval service
lib: fix MAV_COMPONENT to_string
lib: update sensor orientations
plugin:param rerequest timed out parameters asap Avoid vaiting for the next timeout
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Pavlo Kolomiiets, Randy Mackay, TSC21, Vladimir Ermakov, angri

0.28.0 (2019-01-03)

plugin:param: publish new param value
Merge pull request #1148 from Kiwa21/pr-param-value param plugin : add msg and publisher to catch latest param value
sys_status: fix build
sys_state: Small cleanup of #1150
VehicleInfo : add srv into sys_status plugin to request basic info from vehicle
sys_status: Fix #1151 bug - incorrect hex print
plugins:sys_status: Update diag decoder
frame_tf: mavlink_urt_to_covariance_matrix: make matrix symetrical
uas_data: add comment on the reverse tf fcu_frd->fcu
odom: add ODOMETRY handler and publisher
Handle LOCAL_POSITION_NED_COV messages, add pose_cov, velocity_cov, accel topics
sys_status : add MAV_TYPE as a parameter
rc_io: extend handle_servo_output_raw to 16 channels
param plugin : add msg and publisher to catch latest param value
plugin:command: Update for C++11, style fix Signed-off-by: Vladimir Ermakov <<vooon341@gmail.com>>
Fixed NavSatFix bug in mavcmd takeoffcur and landcur
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940 Remove unnecessary functools
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940
Fix mavros/param.py to work in python2 and python3, #940
correct the to_string function
set value back to 30
add autogenerated to_string function
style clean up
Use component_id to determine message sender
change message name from COMPANION_STATUS to COMPANION_PROCESS_STATUS
change message to include pid
Change from specific avoidance status message to a more generic companion status message
add plugin to receive avoidance status message
Added RPYrT and uncrustified. Pushing version without spaces. Version with tabs? Fixed all? Finally fixed. Fixed requestes by \@vooon Fixed a def. Fixed log format. Fixed time for log.
apm_config: enable timesync and system for ardupilot
Contributors: Dan Nix, Gregoire Linard, Oleg Kalachev, Randy Mackay, TSC21, Vladimir Ermakov, baumanta, fnoop, pedro-roque

0.27.0 (2018-11-12)

fix: a typing error "alredy" to "already"
plugins #1110 #1111: add eigen aligment to plugins with eigen-typed members
plugins: fix style
with this fix ,it will avoid eigen error on 32 bits system
Add service to send mavlink TRIGG_INTERVAL commands Adapt trigger_control service to current mavlink cmd spec. Add a new service to change trigger interval and integration time
launch: fix #1080: APM now support mocap messages
Contributors: Gaogeolone, Moritz Zimmermann, Vladimir Ermakov, rapsealk

0.26.3 (2018-08-21)

test: Fix sensor orientation. RPY 315 was removed in recent mavlink. https://github.com/mavlink/mavlink/commit/3d94bccfedc5fc7f2ffad247adecff0c2dc03501
lib: update generated entries
Contributors: Vladimir Ermakov

0.26.2 (2018-08-08)

Moving gps_rtk to mavros_extras
Update copyright name
Updating the gps_rtk plugin to fit mavros guidelines:
- Updating max_frag_len to allow changes in size in MAVLink seamlessly
- Using std::copy instead of memset
- Zero fill with std::fill
- Preapply the sequence flags
- Use of std iterators
- Add the maximal data size in the mavros_msgs
uncrustify
Update comments for the renaming
Renaming the GPS RTK module, Adding fragmentation, Changing the RTCM message
RTK Plugin; to forward RTCM messages Signed-off-by: Alexis Paques <<alexis.paques@gmail.com>>
Contributors: Alexis Paques

0.26.1 (2018-07-19)

setpoint_velocity: fix yaw rate setpoint rotation
lib fix #1051: Add APM BOAT modes support. Currently SURFACE_BOAT uses same code as Rover2, just different vehicle type.
Contributors: TSC21, Vladimir Ermakov

0.26.0 (2018-06-06)

lib: add tunable timeout to gcs_quiet_mode
udp bridge: pass only HEARTBEATs when GCS is offline
sys_time : add advanced timesync algorithm
libmavconn: add scheme for permanent UDP broadcasting
GPS accuracy wo approximations (#1034)
- GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT.
* GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT if on mavlink v2.0, or on DOP values otherwise.
- GPS accuracy update.
Contributors: Mohammed Kabir, Oleg Kalachev, Pavlo Kolomiiets, Vladimir Ermakov

0.25.1 (2018-05-14)

0.25.0 (2018-05-11)

wind plugin: uncrustify
use eigen and tf conversions (fix conventions), sync timestamp, fix typos
add wind estimation plugin
launch: fix style and keep apm.launch consistent with px4.launch
Updated apm.launch to forward new fcu_protocol parameter
glob pos plugin: correct gps velocity convention (NEU->ENU)
Split temperature publisher.
setpoint_raw: correct yaw transform; remove yaw transform methods
extras: odom: improve way frame naming is handled
extras: update odom plugin to send ODOMETRY msgs
lib: enum_to_string: update enums
setpoint_attitude: rename topic from target_attitude to attitude
imu plugin: fix pressure units
imu plugin: publish differential pressure (#1001)
- imu plugin: publish differential pressure
- imu plugin: fix doxygen snippets
lib: add PX4 mode AUTO.PRECLAND
extras: add covariance parsing to vision_speed_estimate (#996)
Contributors: Anthony Lamping, Nuno Marques, Oleg Kalachev, Sondre Engebråten, TSC21, Thomas Stastny, Timo Hinzmann, Vladimir Ermakov

0.24.0 (2018-04-05)

frame_tf: add assertion over size of covariance matrix URT
extras: update vision_pose_estimate plugin so it can send the covariance matrix also
plugins fix #990: Explicitly cast boolean values. Else someone can shoot in his foot.
Update Readme for serial0: receive: End of file
launch : remove vision_pose_estimate from blacklist on ardupilot
plugin: ftp: fix typo
Add ability to send STATUSTEXT messages
Contributors: Anass Al, Andrei Korigodski, Pierre Kancir, TSC21, Vladimir Ermakov

0.23.3 (2018-03-09)

lib: simplify geolib cmake module, try to fix CI
Contributors: Vladimir Ermakov

0.23.2 (2018-03-07)

launch: add optional respawn_mavros arg
Contributors: Anthony Lamping

0.23.1 (2018-02-27)

lib: Update to_string
plugin fix #957: set MISSION_ITEM::mission_type
Contributors: Vladimir Ermakov

0.23.0 (2018-02-03)

launch fix #935: use orientation convention from message descr https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR
Blacklist HIL for APM since it is not relevent
add MAV_DISTANCE_SENSOR enum to_string
px4: add fcu_protocol argument to choose mavlink v1.0 or v2.0 to start mavros in node.launch
node: add fcu_protocol parameter to be able to choose mavlink v1.0 or v2.0 when starting mavros node
mavros: default fcu_protocol parameter to mavlink v2.0
manual_control: [send]{.title-ref} topic for sending MANUAL_CONTROL message to FCU
imu plugin: fix doxygen comments
imu plugin: change sufixes to match the body coordinate frame
Fix vision odom.
IMU plugin: add raw IMU conversion for PX4
mention rotation convention and fix NED to ENU description
Contributors: ChristophTobler, James Goppert, James Mare, Martina, Oleg Kalachev, TSC21, Vladimir Ermakov

0.22.0 (2017-12-11)

scripts: Use non global mavros-ns allow to work __ns parameter
update script to support cycle_time on cmd trigger_control
plugin: Fix setpoint_position code style
Global position setpoint plugin (#764)
- fix fake gps rate
- fix
- fix plugin_list
- fix
- add global position setpoint plugin
- add plugin to CMakeList
- fix bugs
- add altitude
- move GPS setpoints to setpoint_position plugin
- fix gps setpoint subscriber name
- move GeographicLib::Geocentric earth inside callback
- add warning msg if timestamp is not updates
- Fix ROS_WARN
doc: move contributing.md to root
tools: add cogall.sh
split contribuion guide to GH file
Readme: add help for cog (#876)
Setpoints: remove mav_frame string for local variable
Setpoints: add params for initial frame
Setpoint_velocity: uncrustify
Setpoint_position: uncrustify
Setpoints: add service to specify frame
Fix typo #867
Improve output of script, replace which with more reliable hash #867
Ensure dataset files exist, not just directories #867
Remove previous duplicated link
Fixed issue link.
Fixed section header. Ready for troubleshooting PR.
Pushing troubleshooting section for Mavros.
Contributors: Mohamed Abdelkader Zahana, Pierre Kancir, Vladimir Ermakov, andresR8, fnoop, khancyr, pedro-roque

0.21.5 (2017-11-16)

Yet another formatting.
px4_config.yaml updated. Minor formatting update.
global_position/raw/gps_vel should still be in earth fixed frame.
GPS fix's frame_id changed to body-fixed.
global_position/local angular twist changed from NANs to zeroes to be able to show in RViz.
readme: source install: add note on fetching all the deps
geolib_dataset: script: fix interpreter
Contributors: Pavlo Kolomiiets, TSC21

0.21.4 (2017-11-01)

lib ftf: update dox, uncrustify
ENU<->ECEF transforms fix. (#847)
- ENU<->ECEF transforms fix.
- Changes after review. Unit tests added.
test: fix copy-paste error in frame_tf
Contributors: Vladimir Ermakov, pavloblindnology

0.21.3 (2017-10-28)

Update geographiclib script to work with zsh
scripts: fix typos and improve help messages consistency commad -> command safty -> safety Start help messages with a capital letter.
uncrustify
plugin waypoints: Use stamped message
plugin waypoint: Add MISSION_ITEM_REACHED publisher * Changes to be committed: modified: mavros/src/plugins/waypoint.cpp modified: mavros_msgs/CMakeLists.txt new file: mavros_msgs/srv/WaypointReached.srv
- change reached service name to classic topic
- Changed reached service to topic
- removed unused file
- Removed WaypointReached service
- Change reached message type to std_msgs::UInt16
- Delete WaypointReached.srv
- Restore WaypointPush.srv
- Fix tipo
- Update waypoint.cpp
launch: sync APM and PX4 configs
add debug plugin
Contributors: Jonas Vautherin, Patrick Jose Pereira, TSC21, Vladimir Ermakov, gui2dev

0.21.2 (2017-09-25)

plugin: setpoint_attitude: Finish Andres fix
fix: attitude callback trigger
lib uas: remove inline on not inlined method
odom: general fixes and code tighting
Use tf2 for odom plugin and set reasoable defaults for local pos cov.
Contributors: Andres Rengifo, James Goppert, TSC21, Vladimir Ermakov

0.21.1 (2017-09-22)

mavsys: mode: add solutions for setting AUTO.MISSION and AUTO.LOITER modes (#814)
- mavsys: add notes on how to change mode to AUTO.MISSION on PX4 Pro
- enum_to_string: update enums
- mavsys: mode: move AUTO submodes info to argparser
- sys_status: leave note that MAV_TYPE_ONBOARD_CONTROLLER will be supported on PX4
- mavsys: mode: add note on changing to AUTO.LOITER
Solve the subscriber initialization
lib frame_tf: Add to_eigen() helper
Contributors: Alexis Paques, Nuno Marques, Vladimir Ermakov

0.21.0 (2017-09-14)

plugin waypoint: Uncrustify, update init list
lib: Add to_sting for MAV_MISSION_RESULT
plugin waypoint: Rename current seq in wp list message
waypoint: Publish current waypoint seq
waypoint partial: Check parameter first with hasParam
waypoint partial: Documentation updates
waypoint: Document mid level helpers and fix indenting on rx handlers
waypoint: Document rx handlers
waypoint partial: Move FCU detection to connection_cb
waypoint partial: recommended changes to mavwp
waypoint partial: code style cleanup
waypoint partial: enable only on apm but allow override with parameter
waypoint partial: Handle case when partial push is out of range with local list and uncrustify
waypoint partial: enable only on apm through yaml
waypoint partial: stopped partial push from clearing parts of local waypoint copy
waypoint partial: uncrustify
waypoint partial: extend mavwp cli tool to do partial updating in push
waypoint partial: extended push in waypoint plugin to implement push partial
waypoint: uncrustify
waypoint: handle invalid_sequence mission_ack to prevent TXWP failure
Partial waypoint: added wp_transfered to push partial service response
Partial waypoint: renamed mavwp partial load arguments for consistency
Partial waypoint: fixed end index and added partial tx state
Partial Waypoint: handle service call in waypoint plugin
Partial waypoint: added partial updating to mavwp
imu_plugin: remove documentation of override func
imu plugin: uncrustify
imu plugin: don't be so explicit about in/out params
imu plugin: fix indentation
imu plugin: update setup_covariance method to use Eigen capabilities
imu plugin: use simpler format for one line comments
imu plugin: add code snippets to Doxygen documentation
IMU and attitude: general clean-up
CMake: explicitly link the atomic library (#797) For arm & mips architecture, the linker must explicitly be asked to link the atomic library (with [-latomic]{.title-ref}). Otherwise, the linking fails with: ` | devel/lib/libmavros.so: undefined reference to `__atomic_load_8' | devel/lib/libmavros.so: undefined reference to `__atomic_store_8' | collect2: error: ld returned 1 exit status[ Linking `atomic]{.title-ref} unconditionally as library is strictly needed only for arm & mips, but it seems not to imply any further differences with other architectures. Hence, this commit simply adds [atomic]{.title-ref} unconditionally for a uniform handling of all machine architectures. This is an alternative solution to the proposed solution in #790. The issue was discovered cross-compiling mavros in meta-ros, the OpenEmbedded layer for ROS. Some further pointers are available at: https://github.com/bmwcarit/meta-ros/issues/525 Signed-off-by: Lukas Bulwahn <<lukas.bulwahn@gmail.com>>
setpoint_attitude: privatize message_filters subscribers
Updating comments for PX4Flow
Removing copter_visualization from the yaml files. Adding odometry to apm_config Changing frame_id to base_link for vibration
Update the apm_config and px4flow_config files
Update configuration from mavros_extras
Updating default settings from px4.yaml
- global_position/tf/send default to false
- imu, checked
- local_position/tf/send default to false
- local_position/tf/send_fcu default to false
- mission/pull_after_gcs default to true
Update time reference to fcu Adding global_frame_id: 'earth' to apm_config
fcu to base_link
Changing fcu_utm to fcu
Solving default frame consistency in config files
Contributors: Alexis Paques, James Mare, James Stewart, Lukas Bulwahn, TSC21, Vladimir Ermakov

0.20.1 (2017-08-28)

0.20.0 (2017-08-23)

update generated code in plugins
update generated code
geolib: datasets: warn when not installed; update install script; launch SIGINT when not installed (#778)
- geolib: make dataset install mandatory
- travis_ci: install python3; use geographiclib-datasets-download
- CMakeLists.txt: set datasets path
- travis_ci: create a path for the geoid dataset
- travis_ci: remove python3 install
- CMakeLists.txt: remove restriction regarding the geoid model
- CMakeLists.txt: only launch a warning if the geoid dataset is not installed
- CMakeLists.txt: simplify dataset path search and presentation
- scripts: install_geographiclib_datasets becomes version aware
- uas_data: dataset init: shutdown node if exception caught
- README: update GeographicLib info; geolib install script: check for more OS versions
- uas_data: small typo fix
- install_geolib_datasets: some fix
- CMakeLists.txt: be more clear on geoid dataset fault
- CMakeLists: push check geolib datasets to a cmake module
- travis_ci: update ppa repository
- uas_data: shutdown node and increase log level instead
- install_geographiclib_datasets: simplify script to only check download script version available
- uas_data: remove signal.h import
HIL Plugin
- add HilSensor.msg, HilStateQuaternion.msg, and add them in CMakeLists.txt
- Add hil_sensor.cpp plugin to send HIL_SENSOR mavlink message to FCU.
- fix HilSensor.msg. Make it more compact.
- Fix HilStateQuaternion.msg. Make it more compact.
- Add hil_state_quaternion plugin
- fix files: some variable names were wrong+some syntax problems
- fix syntax error in plugin .cpp files, make msg files match corresponding mavlink definitions
- fix plugin source files
- fix syntax
- fix function name. It was wrong.
- add HIL_GPS plugin
- add HilGPS.msg to CMakeList
- fix missing semicolon
- fix call of class name
- Add ACTUATOR_CONTROL_TARGET MAVLink message
- fix code
- increase number of fake satellites
- control sensor and control rates
- change control rate
- change control rate
- fix fake gps rate
- fix
- fix plugin_list
- fix
- remove unnecessary hil_sensor_mixin
- update HilSensor.msg and usage
- update HilStateQuaterion.msg and usage
- redo some changes; update HilGPS.msg and usage
- update hil_controls msg - use array of floats for aux channels
- merge actuator_control with actuator_control_target
- remove hil_sensor_mixin.h
- update actuator_control logic
- merge all plugins into a single one
- delete the remaining plugin files
- update description
- redo some changes; reduce LOC
- fix type cast on gps coord
- add HIL_OPTICAL_FLOW send based on OpticalFlowRad sub
- update authors list
- update subscribers names
- refactor gps coord convention
- add HIL_RC_INPUTS_RAW sender; cog protec msg structure and content
- apply correct rc_in translation; redo cog
- apply proper rotations and frame transforms
- remote throttle
- fix typo and msg api
- small changes
- refactor rcin_raw_cb
- new refactor to rcin_raw_cb arrays
- update velocity to meters
- readjust all the units so to match mavlink msg def
- update cog
- correct cog conversion
- refefine msg definitions to remove overhead
- hil: apply frame transform to body frame
apm_config.yaml: change prevent collision in distance_sensor id
Extras: add ardupilot rangefinder plugin
msgs fix #625: Rename SetMode.Response.success to mode_sent
[WIP] Plugins: setpoint_attitude: add sync between thrust and attitude (#700)
- plugins: setpoint_attitude: add sync between throttle and attitude topics to be sent together
- plugins: typo correction: replace throttle with thrust
- plugins: msgs: setpoint_attitude: replaces Float32Stamped for Thrust msg
- plugins: setpoint_attitude: add sync between twist and thrust (RPY+Thrust)
- setpoint_attitude: update the logic of thrust normalization verification
- setpoint_attitude: implement sync between tf listener and thrust subscriber
- TF sync listener: generalize topic type that can be syncronized with TF2
- TF2ListenerMixin: keep class template, use template for tf sync method only
- TF2ListenerMixin: fix and improve sync tf2_start method
- general update to yaml config files and parameters
- setpoint_attitude: add note on Thrust sub name
- setpoint_attitude: TF sync: pass subscriber pointer instead of binding it
apm_config: add mavros_extras/fake_gps plugin param config
px4_config: add gps_rate param
frame tf: move ENU<->ECEF transforms to ftf_frame_conversions.cpp
extras: mocap_fake_gps->fake_gps: generalize plugin and use GeographicLib possibilites
UAS: Share egm96_5 geoid via UAS class
Move FindGeographicLib.cmake to libmavconn, that simplify installation, simplify datasets instattator
Use GeographicLib tools to guarantee ROS msg def and enhance features (#693)
- first commit
- Check for GeographicLib first without having to install it from the beginning each compile time
- add necessary cmake files
- remove gps_conversions.h and use GeographicLib to obtain the UTM coordinates
- move conversion functions to utils.h
- geographic conversions: update CMakeLists and package.xml
- geographic conversions: force download of the datasets
- geographic conversions: remove unneeded cmake module
- dependencies: use SHARED libs of geographiclib
- dependencies: correct FindGeographicLib.cmake so it can work for common Debian platforms
- CMakeList: do not be so restrict about GeographicLib dependency
- global position: odometry-use ECEF instead of UTM; update other fields
- global position: make travis happy
- global position: fix ident
- global_position: apply correct frames and frame transforms given each coordinate frame
- global_position: convert rcvd global origin to ECEF
- global_position: be more explicit about the ecef-enu transform
- global position: use home position as origin of map frame
- global position: minor refactoring
- global position: shield code with exception catch
- fix identation
- move dataset install to script; update README with new functionalities
- update README with warning
- global_position: fix identation
- update HomePosition to be consistent with the conversions in global_position to ensure the correct transformation of height
- home|global_position: fix compile errors, logic and dependencies
- home position: add height conversion
- travis: update to get datasets
- install geo dataset: update to verify alternative dataset folders
- travis: remove dataset install to allow clean build
- hp and gp: initialize geoid dataset once and make it thread safe
- README: update description relative to GeographicLib; fix typos
- global position: improve doxygen references
- README: update with some tips on rosdep install
[WIP] Set framework to define offset between global origin and current local position (#691)
- add handlers for GPS_GLOBAL_ORIGIN and SET_GPS_GLOBAL_ORIGIN
- fix cast of encoding types
- refactor gps coord conversions
- uncrustify
- global_position: add LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET handler
- global_position: add trasform sender for offset
- global_origin: refactor covariance matrix
- global_position: update copyright
- global_position: add initial support to REP 105
- px4_config: global_position: update frame description
- global_position: correct identation
- global position: be consistent with frame and methods names (ecef!=wgs84, frame_id!=global_frame_id)
- global_position: updates to code structure
- global_position: fix identation
lib: frame_tf: Style fix
extras: odom: Minor fixes
extras: Add odom plugin
lib: frame_tf: Add support for 6d and 9d covariance matrices
Contributors: James Goppert, Nuno Marques, TSC21, Vladimir Ermakov, khancyr

0.19.0 (2017-05-05)

launch: remove setpoint-attitude from apm blacklist
lib: cleanup in enum_to_string
extras: Add ADSB plugin
plugin: home_position: Log poll
plugin: home_position: Log report
plugin #695: Fix plugin
plugin: Add home_position
Added SAFETY_ALLOWED_AREA rx handler (#689)
- Added SAFETY_ALLOWED_AREA rx handler and publish PolygonStamped msg with the 2 points
- add resize to array to avoid sigfault
lib: Fix millis timesync passthrough
Plugin: Add unstamped Twist subscriber for setpoint_velocity
uas: Move timesync_mode enum to utils.h + fixes That enum are used for utils too, but forward declaration of class internal enum is impossible.
sys_time: Add timesync mode selection parameter.
sys_time : add multi-mode timesync
uas : add multi-mode timesync
uas : add multi-mode timesync
launch fix #670: Add configuration of distance_sensor plugin for APM
Contributors: Kabir Mohammed, Nuno Marques, Pierre Kancir, Randy Mackay, Vladimir Ermakov

0.18.7 (2017-02-24)

readme: Add serial-hwfc:// proto
trigger interface : rename to cycle_time to be consistent with PX4
Contributors: Kabir Mohammed, Vladimir Ermakov

0.18.6 (2017-02-07)

lib #626: Porting of PR #650 - Fix OSX pthread set name.
uas fix #639: Remove Boost::signals2 from UAS
Plugins: system_status change status field to system_status Add comment to State.msg for system_status enum
Plugins: add system_status to state message
Contributors: Fadri Furrer, Pierre Kancir, Vladimir Ermakov

0.18.5 (2016-12-12)

lib: update ArduPilot modes
Contributors: Randy Mackay

0.18.4 (2016-11-11)

lib: Add ArduSub modes
readme: Fix mavlink rosinstall_generator call
mavros: README.md: its -> it's Here "it's" is a short form for "it is".
add hil_actuator_controls mavlink message
lib: Make cog.py scrips compatioble with Py3
plugin:sys_status: Add logging health report
Update README for all packages
Update README.md Fix instructions: Only the Kinetic distro actually works for MAVLink 2.0
Contributors: Beat Kung, Georgii Staroselskii, Lorenz Meier, Vladimir Ermakov

0.18.3 (2016-07-07)

plugin:param: Use mavlink::set_string() helper
Update README.md
Update README.md Fix very confusing instructions mixing steps.
Update README.md
Update README.md
python #569: convert_to_rosmsg() support for 2.0. NO SIGNING.
python #569: Update mavlink.convert_to_bytes()
Contributors: Lorenz Meier, Vladimir Ermakov

0.18.2 (2016-06-30)

plugin:sys_status: Fix STATUSTEXT log prefix
Contributors: Vladimir Ermakov

0.18.1 (2016-06-24)

lib: Fix base mode flag check
plugins: Move pluginlib macros.h to tail
plugin:param fix #559: Ignore PX4 _HASH_CHECK param
Contributors: Vladimir Ermakov

0.18.0 (2016-06-23)

lib #439: MAV_CMD to_string is not required.
plugin:sys_status #458: Hanlde BATTERY_STATUS (PX4)
plugin:sys_status fix #458: Use sensor_msgs/BatteryState message. Minimal data, for all other need to handle BATTERY_STATUS.
plugin:command fix #561: PX4 now sends COMMAND_ACK. And like APM do not check confirmation field. :)
readme #544: add udp-b://@ URL
plugin:hil_controls: Update plugin API
Merge branch 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros into pvechersky-feature/hil_controls_plugin * 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros: Adding anchor to the HIL_CONTROLS message reference link Ran uncrustify on hil_controls plugin Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation Added a plugin that publishes HIL_CONTROLS as ROS messages
node: fix subscription message type checks
plugin: use mavlink::to_string() for std::array<char, N>
readme: update CI, no more MAVLINK_DIALECT
plugin:waypoint: Fix target id's on MISSION_ITEM
node: Add ~fcu_protocol parameter
Ran uncrustify on hil_controls plugin
Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation
node: set gcs_url on internal GCS bridge diag hardware Id
plugins: Use UAS::msg_set_target()
Added a plugin that publishes HIL_CONTROLS as ROS messages
lib: PX4 add AUTO.FOLLOW_TARGET
mavros: Update tests
extras: Update UAS
UAS: Update plugins for FTF module
UAS: move enum stringify functions
lib: Generate MAV_SENSOR_ORIENTATION
UAS: move MAV_SENSOR_ORIENTATION out
UAS: Move transformation utilities to ftf module
plugin:rc_io: Fix log printf-format warning
make GCC 4.8 happy. (travis)
gcs_bridge: done
param:ftp: Update API
plugin:param: Works. Tested on APM
plugin:param: Update, almost work
plugin:waypoint: Fix Item - ROS binding
Message type mismatch code do not work
plugin:waypoint: Update API
plugin:sys_time: Update API
plugin:sys_status: Update API
plugin:setpoint_raw: Update API
plugin:setpoint_attitude: Update API
plugin:setpoint_accel: Update API
plugin:setpoint_velocity: Update API
plugin:setpoint_position: Update API
plugin:vfr_hud: Update API
plugin:safety_area: Update API
plugin:rc_io: Update API
plugin:manual_control: Update API, fix uas init
plugin:local_position: Update API
plugin:imu_pub: Update API
plugin:global_position: Update API
mavros: make_handle() this shouldn't be const
plugin:common: Update API
plugin:altitude: uncrustify
plugins: Rutine sed + fix misprint
plugin:altitude: Update API
plugins: Automatic replacement of routine API changes (sed)
plugin:actuator_control: Update API
plugin:3dr_radio: Update API
node: Update plugin loading and message routing
node: type_info -> SIGSEGV
node: prepare new plugin loading
node: Rename plugib base class - API incompatible to old class
labmavconn: finding sigsegv
Contributors: Pavel, Vladimir Ermakov

0.17.3 (2016-05-20)

libmavconn #543: support build with mavlink 2.0 capable mavgen
node: Remove warning about MAVLINK_VERSION redefine
Fix bug with orientation in setpoint_raw plugin Fixes a bug where the ned_desired_orientation was not actually passed into set_attitude_target. Instead, the desired_orientation (wrong frame) was passed.
Contributors: Justin Thomas, Vladimir Ermakov

0.17.2 (2016-04-29)

Update README.md
Update README.md Updated / completed examples.
Update README.md
Fix for kinetic std::isnan.
Contributors: James Goppert, Lorenz Meier

0.17.1 (2016-03-28)

lib: Add QLAND mode of APM:Plane https://github.com/mavlink/mavlink/commit/a0ed95c3a7d97a8f8d86ce3f95c4bf269f439c46
Update contributing guide We forgot to mention uncrustify commit.
Treat submarine vehicles like copter vehicles
Contributors: Josh Villbrandt, Vladimir Ermakov

0.17.0 (2016-02-09)

update README
rebased with master
Fixed ROS_BREAK
Updates for ROS_BREAK and code style
Nitpicks and uncrustify
Updated frame transformations and added odom publisher to local position plugin
Contributors: Eddy, Vladimir Ermakov, francois

0.16.6 (2016-02-04)

node fix #494: Report FCU firmware type in rosonsole log
scripts fix #478: Remove guided_enable garbage. I'm missed this when do #407.
Contributors: Vladimir Ermakov

0.16.5 (2016-01-11)

scripts: mavwp #465: Remove WaypointGOTO from scrips and python library
node: Report mavlink package version
lib: Add APM:Plane QuadPlane modes. Sync with: https://github.com/mavlink/mavlink/commit/1fc4aef08a54130f297943c246f95b8c7e37b1bf
readme: pixhawk dialect removed.
Contributors: Vladimir Ermakov

0.16.4 (2015-12-14)

scripts: checkid: be always verbose, add --follow
scripts: fix copyright indent
scripts: mavcmd: Fix bug: param7 not passed to service call!
scripts #382: Add ID checker script. It is not complete, but i hope it helps in current state.
scripts: mavcmd: Add support for broadcast requests
event_launcher: fix bug: Trigger service server is not saved in Launcher Also fixes: environment variables may contain ~ (user dir) in expansion.
using timestamp from mavlink message
Update mavlink message documentation links
lib: update MAV_TYPE stringify
lib: Add RATTITUDE PX4 mode
remove "altitude_" prefix from members
updated copyright
implemented altitude plugin
Contributors: Andreas Antener, Vladimir Ermakov

0.16.3 (2015-11-19)

use safe methods to get imu data in local_position plugin
Contributors: Andreas Antener

0.16.2 (2015-11-17)

transform yaw and yaw rate from enu to ned
Contributors: Andreas Antener

0.16.1 (2015-11-13)

python: fix import error of goto service
don't warn anymore about px4 not supporting rc_io
Contributors: Andreas Antener, Vladimir Ermakov

0.16.0 (2015-11-09)

lib: Update ArduCopter mode list
plugin: sys_status #423: set_mode set arming and HIL flags based on previous state
lib #423: Save base_mode in UAS.
Finalized local position topic names
readme: add link to catkin-tools docs
readme #409: merge mavlink and mavros installation instruction
Fixed redundant rotation of IMU data and redundant orientation data
plugin: setpoint_raw fix #418: add attitude raw setpoint Related #402.
Added velocity output of FCU's local position estimate to ROS node
plugin: sys_status fix #417: remove APM statustext quirk
plugin: waypoint fix #414: remove GOTO service. It is replaced with more standard global setpoint messages.
plugin: setpoint_raw fix #415: add global position target support Related to #402.
plugin: command fix #407: remove guided_enable sevice
plugin: setpoint_raw #402: implement loopback.
plugin: setpoint_raw #402: Initial import.
readme fix #410: use only catkin tool
readme: add defaults for URL
pass new extended state to ros
python: add util to convert pymavlink message to Mavlink.msg
python: convert input to bytearray
python: add payload convertion util
gcs_bridge #394: enable both UDPROS and TCPROS transports
EL: add try-except on handlers
event_launcher: show logfile path
event_launcher #386: expand shell vars for logfile
Mavros library depends on mavros_msgs headers Adding this dependency makes sure that mavros_msgs message headers are generated before the mavros library is built, since it needs those headers.
Contributors: Andreas Antener, Eddy, Jon Binney, Vladimir Ermakov

0.15.0 (2015-09-17)

lib: fix timesync uninit bug. Uninitialized variable caused wrong timestamps with APM.
python #286: use checksum - save ticks
script #385: output to log-file
script #385: remove RosrunHandler and RoslaunchHandler
script #385: attempt to implement rosrun fails. ROSLaunch class wants all node operations from main thread. That is not possible.
script #385: fix shell-killer, but logging are broken and removed
script #385: shell-launcher now works!
script #385: add example configuration
script #385: shell handler done. next - rosparam handling
script #385: starting work on simple shell launcher
scripts: starting event_launcher
python: Remove unneded slice operation. Fix copyright year. [list[:len(list)]]{.title-ref} is equal to [list]{.title-ref}, but creates new list with data from that slice.
updated mavlink byte buffer conversion
plugin: manual_control: Use shared pointer message Fix alphabetic order of msgs.
python: add helper for converting mavros_msgs/Mavlink to pymavlink
Add MANUAL_CONTROL handling with new plugin
Contributors: Andreas Antener, Vladimir Ermakov, v01d

0.14.2 (2015-08-20)

0.14.1 (2015-08-19)

package: Fix depend on rosconsole-bridge
Removed <remap>
Contributors: Vladimir Ermakov, devbharat

0.14.0 (2015-08-17)

python: call of mavros.set_namespace() is required.
scripts: mavftp fix #357: add verify command
scripts: mavftp #357: progressbar on download operation
scripts: mavftp #357: progress bar for upload operation.
scripts: mavftp: New command [cd]{.title-ref}. All path arguments now may handle relative paths.
readme: fix frame tansform section
mavros: readme: update info on frame conversions
mavros: readme: update contribution steps
node: Replace deprecated copy functions. Also allow mavlink to & from topics to be namespaced.
extras: scripts: use API from mavros module
scripts: fix for new message location
python: update mavros lib to new message location
package: remove not exist dependency
plugin: waypoint: Fix message include
plugin: vfr_hud: Fix message include
plugin: rc_io: Fix message include
plugin: param: Fix message include
plugin: ftp: Fix message include
plugin: sys_status: Fix message include
plugin: command: Fix message include
plugin: 3dr_radio: Fix message include
plugin: actuator_control: Fix message include.
msgs: update copyright year
msgs: deprecate mavros::Mavlink and copy utils.
msgs: change description, make catkin lint happy
msgs #354: move all messages to mavros_msgs package.
Minor typo fix.
node: increase diag timer to 2 Hz
node: move diagnostic to AsyncSpinner threads.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.13.1 (2015-08-05)

lib #358: cleanup. Replace UAS::getYaw() with UAS::quaternion_get_yaw().
lib #358: found correct getYaw(). Test for each degrees in -180..180.
test #358: test more different angles. Compare rotation result.
lib #358: try to implement algo from wikipedia.
lib #358: still failing. add recursive test for range -Pi..+Pi
lib #358: try solve issue using older eulerAngles()
lib #358: remove to_rpy test
Merge branch 'master' of github.com:mavlink/mavros * 'master' of github.com:mavlink/mavros: global_position: move relative_alt and compass_heading init back add nav_msgs to dependencies so to make Travis happy global_position: update pose and twist to odom msg
test fix #359: split out quaternion tests.
lib #359: move quaternion utils.
global_position: move relative_alt and compass_heading init back
add nav_msgs to dependencies so to make Travis happy
global_position: update pose and twist to odom msg
test #358: add tests for negative values and quaternion_to_rpy tf2 compatibility check Tests now fails!
sctipts: fix gps topic path
lib: fix input validation in UAS::orientation_from_str()
test: add case for num str->sensor orientation
package: fix CHANGELOG.rst
Contributors: TSC21, Vladimir Ermakov

0.13.0 (2015-08-01)

plugin: setpoint_attitude #352: use new helper.
plugin: sys: Fix cppcheck and YouCompleteMe warnings
plugin: ftp: Fix cppcheck errors.
lib #352: Add helper function UAS::quaternion_to_mavlink()
Fixed bug in send_attitude_target() The transformed quaternion wasn't being passed to set_attitude_target(), resulting in an incorrect attitude setpoint. I've now fixed this issue.
scripts: fix mavwp
test: add test cases for new sensor orientation functions
remove tf1 dep
lib #319: Remove TF types from UAS
plugin: param: new message type: ParamValue
msgs: Move MAV_CMD values to separate msg
plugin: command: fix build
fix whitespaces in python scripts
Merge pull request #312 from mhkabir/cam_imu_sync Camera IMU synchronisation support added
Added launch file for PX4 posix sitl to launch gcs_bridge node for bridging posix and gazebo
scripts: mavftp: little speed up by aligning access to payload length
launch: Add optional log_output arg
Merge branch 'orientation_enum_name' * orientation_enum_name: distance_sensor #342: correct orientation parameter handling. lib #342: try to convert numeric value too px4_config: adapt to distance_sensor params to new features distance_sensor: restructure orientation matching and verification lib #342: Added sensor orientation string repr.
lib #342: try to convert numeric value too
px4_config: adapt to distance_sensor params to new features
lib #342: Added sensor orientation string repr.
launch: update local_position conf
test: Add test for UAS::sensor_orientation_matching()
Update cmake Eigen3 finding rules. Migration described at: http://wiki.ros.org/jade/Migration#Eigen_CMake_Module_in_cmake_modules
lib #319, #341: preparation for str->MAV_SENSOR_ORIENTATION func
lib #319: Return quaternion from UAS::sensor_matching()
lib: Remove unneded NodeHandle
launch fix #340: update default component id of PX4.
plugin: sys_status: Add fallback to adressed version request.
Can not remove tf package before #319 is done. tf::Vector3 and other tf1-bullet still in use.
plugin: sys_status: Use broadcast for version request.
fix #71: replace depend tf to tf2_ros.
plugin: Use UAS::syncronized_header() for reduce LOC.
lib #319: use similar names for covariances as eigen vector
lib #319: transform_frame() for Covariance3x3
lib #319: remove unused bullet based transform_frame()
extras: vision_pose #71: Use TF2 listener. Also #319.
plugin #71: Implement TF2 listener. Change param names. Breaks extras.
uas #71: Use single TF2 objects for broadcasting and subscription.
launch: Update configs.
lib: Add UAS::quaternion_to_rpy()
plugin: safety_area #319: Change transform_frame()
plugin: local_position #71 #319: port to TF2 and Eigen
lib: Add UAS::synchonized_header()
plugin: command: Add command broadcasting support.
Perform the autopilot version request as broadcast
lib: Update PX4 mode list
plugin: global_position #325: port tf broadcaster to tf2 Also #71.
plugin: global_position #325: reenable UTM calc
plugin: gps #325: remove gps plugin.
plugin: global_position #325: merge gps_raw_int handler
plugin: setpoint_accel #319: use eigen frame transform. I don't think that PX4 support any other frame than LOCAL_NED. So i removed comment. Also style fix in setpoint_velocity.
plugin: setpoint_velocity #319: use eigen based frame transform.
plugin: setpoint_position #273: remove PX4 quirk, it is fixed.
plugin: ftp: Update command enum.
plugin: imu_pub fix #320: move constants outside class, else runtime linkage error.
plugin: imu_pub #320: first attempt
eigen #319: handy wrappers.
eigen #319: add euler-quat function. Also #321.
test #321: remove duplicated test cases, separate by library. Add test for checking compatibility of tf::quaternionFromRPY() and Eigen based math.
test #321: testing eigen-based transforms. We should check what convention used by tf::Matrix to be sure that our method is compatible.
mavros #319: Add Eigen dependency and cmake rule.
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
cam_imu_sync : fix running
imu_cam_sync : fix formatting
command handling in mavcmd for camera trigger
Camera IMU synchronisation support added
Contributors: Anurag Makineni, Lorenz Meier, Mohammed Kabir, TSC21, Vladimir Ermakov, devbharat

0.12.0 (2015-07-01)

plugin: sys_time, sys_status #266: check that rate is zero
test #321: disable tests for broken transforms.
lib #321: frame transform are broken. again! revert old math. RULE for me: do not accept patch without wide testing from author. That PR changes all plugins code, instead of do API, test and only after that touching working code. My bad.
unittest: added 6x6 Covariance conversion test
frame_conversions: update comments; filter covariance by value of element 0
unittests: corrected outputs from conversion tests
test: other quaternion transform tests
test: UAS::transform_frame_attitude_q()
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
coverity: make them happy
uncrustify: fix style on frame conversions
uncrustify: includes
plugin: sys_status #266: replace period with rate parameter
plugin: sys_time #266: Replace period with rate parameters
frame_conversion: last fix patch
frame_conversions: use inline functions to identify direction of conversion
changed frame conversion func name; add 3x3 cov matrix frame conversion; general doxygen comment cleanup
frame_conversions: added covariance frame conversion for full pose 6x6 matrix
frame_conversions: added frame_conversion specific lib file; applied correct frame conversion between ENU<->NED
sys_status #300: PX4 place in [0] lest significant byte of git hash.
sys_status fix #300: fix u8->hex func.
plugin: waypoint: cosmetics.
vibration_plugin: first commit
Changes some frames from world to body conversion for NED to ENU.
mavsys #293: add --wait option
mavsys: Fix arguments help
mavcmd #293: Add --wait option. New function: util.wait_fcu_connection(timeout=None) implement wait option.
sys_status #300: AUTOPILOT_VERSION APM quirk
mavros #302: fix style
mavros #302: split UAS impl by function blocks
mavros fix #301: move sensor orientation util to UAS
distance_sensor: typo; style fixe
sensor_orientation: list values correction
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: use MAX as last index macro
distance_sensor: changed to usable config
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: updated orientation enum; updated data type
sensor_orientation: included array type on utils.h
sensor_orientation: added sensor orientation matching helper func
distance_sensor: updated config file
distance_sensor: define sensor position through param config
distance_sensor: array limiting; cast correction; other minor correc
distance_sensor: small enhancements
sys_status #293: initialize state topic
sys_status #293: expose connection flag in mavros/State.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.11.2 (2015-04-26)

plugin: param fix #276: add check before reset request downcounter. If on MR request FCU responses param with different [param_index]{.title-ref} do not reset repeat counter to prevent endless loop.
gcs bridge fix #277: add link diagnostics
plugin: setpoint_position #273: add quirk for PX4.
readme: fir glossary misprint
readme: add notes about catkin tool
Contributors: Vladimir Ermakov

0.11.1 (2015-04-06)

scripts #262: update mavwp
scripts #262: mavsetp, new module mavros.setpoint
mavftpfuse #129: cache file attrs
mavparam #262: use get_topic()
mavsys #262: use get_topic()
mavcmd #262: use get_topic()
mavftp #263, #262: use crc32 checksums
python #262: add get_topic()
Update local_position.cpp removed irritating comment
readme: add short glossary
plugin: setpoint_attitude: remove unneded ns
Contributors: Marcel Stuettgen, Vladimir Ermakov

0.11.0 (2015-03-24)

plugin: setpoint_position #247: rename topic
launch #257: rename blacklist.yaml to pluginlists.yaml
node #257: implement while list.
plugin: actuator_control #247: update topic name.
mavros: Initialize UAS before connecting plugin routing. Inspired by #256.
plugin: sys_status: Check sender id. Inspired by #256.
plugin: sys_status: Use WARN severity for unknown levels
uas: Add [UAS::is_my_target()]{.title-ref} Inspired by #256.
plugin: global_position: Fill status and covariance if no raw_fix. Additional fix for #252.
launch: change apm target component id APM uses 1/1 (sys/comp) by default.
plugin: sys_status: publish state msg after updating uas Before this commit, the custom mode string published in the state message was computed using the autopilot type from the previous heartbeat message--not the autopilot type from the current hearbeat message. Normally that isn't a problem, but when running a GCS and mavros concurrently, both connected to an FCU that routes mavlink packets (such as APM), then this causes the custom mode to be computed incorrectly, because the mode string for the GCS's hearbeat packet will be computed using the FCU's autopilot type, and the mode string for the FCU's heartbeat packet will be computed using the GCS's autopilot type.
plugin: global_position: fix nullptr crash This fixes a crash in cases where a GLOBAL_POSITION_INT message is received before a GPS_RAW_INT message, causing the [gps_fix]{.title-ref} pointer member to be dereferenced before it has been set.
msgs: fix spelling, add version rq.
coverity: init ctor in 3dr_radio
launch fix #249: update apm blacklist
launch: rename APM2 to APM.
launch #211: update configs
plugin: gps: remove unused param
plugin: sys_time: remove unused param
launch fix #248: remove radio launch
plugin: 3dr_radio #248: add/remove diag conditionally
plugin: sys_status: move connection params to ns
plugin: sys_time: fix #206 (param ns)
node: Inform what dialect built-in node
plugin: sys_status: Conditionaly add APM diag
plugin: sys_status: fix #244
uas #244: add enum lookups
package: update lic
license #242: update mavros headers
plugin: local_positon: use auto
plugin: imu_pub: Update UAS store.
plugin: gps: remove diag class, change UAS storage API.
plugin api #241: move diag updater to UAS.
plugin api #241: remove global private node handle. Now all plugins should define their local node handle (see dummy.cpp). Also partially does #233 (unmerge setpoint topic namespace).
plugin api #241: remove [get_name()]{.title-ref}
package: mavros now has any-link proxy, not only UDP
Update years. I left gpl header, but it is BSD too.
Add BSD license option #220
plugin: sys_status: AUTOPILOT_VERSION support. Fix #96.
mavros fix #235: Use AsyncSpinner to allow plugins chat. Old single-threaded spinner have a dead-lock if you tried to call a service from for example timer callback. For now i hardcoded thread count (4).
uncrustify: actuator_control
Merge branch 'master' of github.com:mstuettgen/Mavros
fixed missing ;
code cosmetics
further removed unneeded white spaces and minor code cosmetics
fixed timestamp and commented in the not-working function call
code cosmetics, removed whitespaces and re-ordered function signatures
more code comment cosmetic
code comment cosmetic
uncrustify: fix style
readme: add contributing notes
uncrustify: mavros base plugins
uncrustify: mavros lib
uncrustify: mavros headers
tools: add uncrustify cfg for fixing codestyle Actually it different from my codestyle, but much closer than others.
added more const to function calls to ensure data consistency
modified code to fit new message
added group_mix to ActuatorControl.msg and a link to mixing-wiki
plugin: rc_io: Add override support warning
REALLY added ActuatorControl.msg
added ActuatorControl.msg
fixed latest compiler error
renamed cpp file to actuator_control.cpp and added the new plugin to mavros_plugins.xml
removed unneeded Mixinx and reverse_throttle, and unneeded variables in function signatures
inital draft for set_actuator_control plugin
launch: enable setpoint plugins for APM As of ArduCopter 3.2, APM supports position and velocity setpoints via SET_POSITION_TARGET_LOCAL_NED.
plugin: setpoint_velocity: Fix vx setpoint vz should have been vx.
Contributors: Clay McClure, Marcel Stuettgen, Vladimir Ermakov

0.10.2 (2015-02-25)

Document launch files
launch: Fix vim modelines #213
launch #210: blacklist image_pub by px4 default. Fix #210.
Contributors: Clay McClure, Vladimir Ermakov

0.10.1 (2015-02-02)

Fix \@mhkabir name in contributors.
uas #200: Add APM:Rover custom mode decoding. Fix #200.
uas #200: Update APM:Plane and APM:Copter modes.
Contributors: Vladimir Ermakov

0.10.0 (2015-01-24)

mavros #154: Add IO stats to diagnostics. Fix #154.
Add rosindex metadata
plugin: ftp: init ctor.
plugin: sts_time: Code cleanup and codestyle fix.
plugin: command: Quirk for older FCU's (component_id) Older FCU's expect that commands addtessed to MAV_COMP_ID_SYSTEM_CONTROL. Now there parameter: [~cmd/use_comp_id_system_control]{.title-ref}
plugin: rc_io: #185 Use synchronized timestamp.
plugin: gps: #185 use synchronized timestamp common.xml tells that GPS_RAW_INT have time_usec stamps.
uas: Fix ros timestamp calculation. Issues: #186, #185.
plugin: add synchronisation to most plugins (fixed) Closes #186.
readme: Add notes about coordinate frame conversions #49
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.4 (2015-01-06)

plugin: sys_time: enable EMA
Contributors: Mohammed Kabir

0.9.3 (2014-12-30)

plugin: visualization finshed
Restore EMA. Works better for low rates.
Update sys_time.cpp
plugin : add time offset field to dt_diag
Final fixes
minor
plugin : fixes timesync. FCU support checked.
Visualisation system import
param: Fix float copying too
param: Fix missing
param: Trynig to fix 'crosses initialization of XXX' error.
param: Try to fix #170.
Update units
New message, moving average compensation
Initial import new sync interface
plugin: sys_status: Enable TERRAIN health decoding.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.2 (2014-11-04)

0.9.1 (2014-11-03)

Update installation notes for #162
Contributors: Vladimir Ermakov

0.9.0 (2014-11-03)

0.8.2 (2014-11-03)

REP140: update package.xml format. Hydro don't accept this format correctly, but after split i can update.
Contributors: Vladimir Ermakov

0.8.1 (2014-11-02)

fix build deps for gcs_bridge
mavconn #161: Enable rosconsole bridge.
mavconn #161: Move mavconn tests.
mavconn #161: Fix headers used in mavros. Add readme.
mavconn #161: Fix mavros build.
mavconn #161: Move library to its own package Also rosconsole replaced by console_bridge, so now library can be used without ros infrastructure.
plugin: sys_time: Set right suffixes to uint64_t constants. Issue #156.
plugin: sys_time: Add time syncronization diag. Issue #156.
plugin: sys_time: Debug result. Issue #156.
plugin: Store time offset in UAS. TODO: implement fcu_time(). Issue #156.
plugin: sys_time: Fix code style. Also reduce class variables count (most not used outside the method). Issue #156.
Update repo links. Package moved to mavlink organization.
Nanosecond fix
Fix
Fixes
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update CMakeLists.txt
Update mavros_plugins.xml
Update sys_time.cpp
Fix build
sys_time import. Removed all time related stuff from gps and sys_status
Initial sys_time plugin import
plugin: ftp: Bytes written now transfered in payload.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.8.0 (2014-09-22)

plugin: ftp: Disable debugging and change level for some log messages. Issue #128.
plugin: ftp: Translate protocol errors to errno. Issue #128.
scripts: mavftp: Add upload subcommand. Issue #128.
python: Add more ftp utils. Issue #128.
plugin: ftp: Fix write offset calculation. Issue #128.
plugin: ftp: Add . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add support for . Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Add
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Move common mission classes to mavros.mission module. Issue #157.
python: Move useful utils to mavros.param module. Issue #157.
python: Move common utils to mavros.utils module. Issue #157.
python: Create python module for ftp utils. Issue #128, #157.
scripts: ftp: Implement file-like object for IO. Issue #128.
plugin: ftp: Implement write file. Issue #128.
scripts: mavftp: Add remove subcommand. Issue #128.
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add response errno from server.
plugin: ftp: Add support for 'Skip' list entries. Issue #128.
scripts: mavftp: Add mkdir/rmdir support. Issue #128.
plugin: ftp: Add mkdir/rmdir support. Issue #128.
plugins: ftp: Update protocol headers. Issue #128.
Revert "Update package.xml format to REP140 (2)." This reverts commit 81286eb84090a95759591cfab89dd9718ff35b7e. ROS Hydro don't fully support REP140: rospack can't find plugin descriptions. Fix #151.
scripts: mavwp: Fix --follow mode
plugin: imu_pub: Fix RAW_IMU/SCALED_IMU angular scale constant. Fix #152.
launch: remove px4_local_gcs.launch again. It removed in 826be386938c2735c9dab72283ba4ac1c68dc860, but accidentally returned.
extras: launch: Use includes. Fix #144.
launch: PX4: use node.launch in PX4 scripts. Also remove px4_local_gcs.launch: please use [roslaunch mavros px4.launch gcs_url:=udp://\@localhost]{.title-ref} instead. Issue #144.
launch: APM2: Add node.launch and update apm scripts to use it. Issue #144.
plugin: command: Fix CommandInt x,y types.
Update package.xml format to REP140 (2). Fix #104.
launch: Blacklist FTP for APM.
scripts: mavwp: Add decoding for some DO-* mission items.
scripts: mavwp: Add preserve home location option at load operation. Useful if FCU stores home location in WP0 (APM).
Added src location.
Updated README wstool instructions.
plugin: ftp: Init ctor
service: mavftp: Initial import. Issue #128.
plugin: ftp: Implemnet reset call. Sometimes kCmdReset can restore normal operation, but it might be dangerous. Issue #128.
plugin: ftp: Implement call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Fix open error. Issue #128.
plugin: ftp: Implement (read) and . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement method. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement list parsing Issue #128.
plugin: ftp: Fix CRC32 calculation. Issue #128.
plugin: ftp: Add plugin skeleton. Based on QGroundContol QGCUASFileManager.h/cc. Issue #128.
plugin: ftp: Add size info
plugin: ftp: Add plugin service API. Issue #128.
plugin: vfr_hud: Initial import. Also this plugin publish APM specific WIND estimation message. Fix #86.
node: coverity fails at UAS initilizer list
plugin: setpoint_attitude: Init ctor, remove code dup.
cmake: Add check MAVLINK_DIALECT value Fix #139.
Move common cmake rules to modules. Same mech as in [cmake_modules]{.title-ref} package. Issue #139.
launch: corrected launch for gcs bridge
scripts: mavsetp: Fix misprint.
launch files: added px4 launch files for connection with radio and gcs
scripts: mavsetp: Fix twist.angular vector construction. Small style fix.
Update doxygen documentation. Add split lines in UAS, and make UAS.connection atomic. Add rosdoc configuration for mavros_extras.
scripts: mavsetp: corrected API; added possibility of parse angles in dg or rad
scripts: mavsetp: corrected msg API; mavteleop: added prefix to rc override
scripts: mavsetp: added local accel; corrected how the OFFBOARD mode is swtch.
scripts: mavsetp: changed the way offboard mode is switched
node: init ctor (coverity)
nodelib: add std::array header
return msg generator deps for mavconn
scripts: mavsys: Implement set rate command.
scripts: Add mavsys tool. Implented only [mode]{.title-ref} operation. Issue #134.
plugin: sys_status: Implement set_mode service. Previous command shortcut removed. Issue #136, #134.
node: Implement reverse mode lookup. Issue #136.
plugin: sys_status: Move custom mode decoder to UAS. Issue #136.
node: Catch URL open exception. Also update connection pointer type.
nodelib: move sources to subdir
node: Move UAS to mavros namespace
node: Move node code to library.
node: Catch DeviceError; use C++11 foreach shugar.
plugin: command: Add COMMAND_INT suport. Fix #98.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov

0.7.1 (2014-08-25)

plugins: setpoint: Update SET_POSITION_TARGET_LOCAL_NED message. Fix #131.
scripts: mavsetp: Enable OFFBOARD mode. Issue #126.
plugin: command: Add guided_enable shortcut It enable PX4 OFFBOARD mode. Issue #126.
scripts: Add mavsetp script. Only local setpoint for now. Issue #126.
plugins: Change UAS FCU link name. Reduce smart pointer count, that hold fcu link object.
scripts: mavcmd: Add takeoffcur and landcur commands Fix #91, #92. Inspired by #125.
Closes #122, closes #123; plugins: move mocap & vision plugins to extras, change vision plugins name
plugins: UAS remove std::atomic<double> It don't work at some compilers. Issue #89.
plugin: global_position: Fill NavSatFix status filed. Issue #87, #118.
plugins: Add GPS data to UAS
plugins: Move setpoint_mixin.h Fix #120.
plugin: mocap: Fix load. Issue #121.
plugins: global_position: get pose orientation from the one stored in uas
plugins: global_position: use relative_alt on position.z; mavros_plugins.xml - corrected declaration of mocap_pose_estimate
plugin - global_position - changed parameter path / orientation source
launch: APM2 blacklist global_position plugin
plugin: global_position: Unit unification.
plugin: global_position: Move heaedr; Style fix.
added rel_pos and compass_hdg pub; minor corrections
Merge branch 'master' of https://github.com/vooon/mavros into global_position
global_position plugin - initial commit
launch: APM2 blacklist mocap plugin.
Updated mavros_plugins.xml
Fixed dual sources error warning.
Fixed styles.
Minor changes.
added time stamp to received msgs
Removed un-needed times.
Added mocap_pose_estimate plugin.
Code style update
setpoint attitude change - warning message
Update on setpoint_attitude plugin
- changed Twist to TwistStamped
- added reverse_throttle option for throttle control
- use cmd_vel as the same topic to control linear a angular velocities (it's commonly used by controllers)
- added normalization filter to thrust
node: Remove deprecated conn parameters. Fix #108
plugin: vision_speed: Update plugin API.
plugin: setpoint_attitude: Update plugin API.
plugin: setpoint_accel: Update plugin API.
plugin: setpoint_velocity: Update plugin API.
plugin: 3dr_radio: Update plugin API.
plugin: safety_area: Update plugin API.
plugin: setpoint_position: Update plugin API.
plugin: vision_position: Update plugin API.
plugin: local_position: Update plugin API.
plugin: command: Update plugin API.
plugin: rc_io: Update plugin API.
plugin: waypoint: Update plugin API.
plugin: param: Update plugin API.
plugin: gps: Update plugin API.
plugin: imu_pub: Update plugin API.
plugin: sys_status: Update plugin API.
plugin: Update plugin API.
plugins: disable most of plugins
plugin: setpoint_attitude: Add thrust topic. Fix #106.
Fix URLs in readme
mavros -> ros-message parameter fix only parameter1 was forwarded into the ros message
Switch travis to pixhawk dialect. Default dialect build by ros buildfarm. Also remove duplicate ci statuses from mavros readme.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov, mthz

0.7.0 (2014-08-11)

Add package index readme, Fix #101
move mavros to subdirectory, #101
Merge branch 'master' of github.com:vooon/mavros * 'master' of github.com:vooon/mavros: Add link to ros-*-mavlink package wiki page.
plugins: setpoint: Update setpoint message name. Issue #94, Fix #97.
plugin: setpoint_attitude: Update message name. Issues #94, #97.
Add link to ros-*-mavlink package wiki page.
plugin: gps: Fix gcc 4.6 build (atomic). Not recommended to use std::atomic with gcc 4.6. So i limited to prederined atomics for simple types like int, float etc.
plugin: sys_status: Implement PX4 mode decoding. Fix #84.
plugin: gps: Add EPH & EPV to diagnostic. Issue #95
plugin: gps: Move message processing to individual handlers. Issue #95.
plugin: rc_io: Replace override service with topic. (ROS API change). Fix #93.
Add dialect selection notes
plugins: Change severity for param & wp done messages.
plugins: Store raw autopilot & mav type values. This may fix or not issue #89.
plugins: init ctor (coverity)
plugin: imu_pub: Add ATTITUDE_QUATERNION support. Also reduce copy-paste and use mode readable bitmask check. Fix #85.
scriptis: mavcmd: Spelling
scripits: Add mavcmd tool
Add links to mavros_extras
param: sys_status: Option to disable diagnostics (except heartbeat)
plugin: command: Add takeoff and land aliases. Issue #68.
plugin: command: Add quirk for PX4. Fix #82.
plugin: Add UAS.is_px4() helper. Replace some locks with atomic. Issue #82.
launch: Clear PX4 blacklist. Issue #68.
launch: Add target ids. Also fix PX4 wrong ?ids usage (it set mavros ids, not target). Issue #68.
plugin: imu_pub: Fix HRIMU pressure calc. 1 mBar is 100 Pa. Fix #79.
plugins: C++11 chrono want time by ref, return *_DT Fix #80.
plugins: Replace boost threads with C++11. And remove boost thread library from build rules. Issue #80.
plugins: Replace Boost condition variables with C++11 Issue #80.
plugins: Replace boost mutexes with C++11. Issue #80.
travis clang to old, fails on boost signals2 library. disable.
travis: enable clang build.
node: Make project buildable by clang. Clang produce more readable errors and provide some static code analysis, so i want ability to build mavros with that compilator.
plugins: replace initial memset with c++ initializer list
launch: PX4 default ids=1,50. Also waypoint plugin works (with first_pos_control_flight-5273-gd3d5aa9). Issue #68.
launch: Use connection URL
plugin: vision_speed: Initial import. Fix #67.
plugin: sys_status: Add SYSTEM_TIME sync send. Fix #78.
plugin: sys_status: Decode sensor health field. Fix #75.
Add ci badges to readme
plugin: param: erase invalidates iterator. Real error found by coverity :)
plugins: Init ctor
plugins: Add ctor initialization. Coverity recommends init all data members.
test: trying travis-ci && coverity integration. Real ci doing by ros buildfarm.
plugins: Fix clang-check errors.
test: Add tcp client reconnect test. Issue #72.
test: Split open_url test to individual tests. Also removed tcp client deletion on close, heisenbug here. Issue #72.
mavconn: Emit port_closed after thread stop. Also use tx state flag, improve error messages and move io post out of critical section. Issue #72.
mavconn: Fix TCP server client deletion. Issue #72.
test: Remove not needed sleep.
mavconn: Remove new MsgBuffer dup. Message drop if closed. Issue #72.
mavconn: Fix TCP server. Issue #72.
launch: APM2: Blacklist extras.
mavconn: Add mutex to channel allocation.
mavconn: Fix TCP server for gcc 4.6 Fix #74.
Remove libev from package. Issue #72.
mavconn: GCC 4.6 does not support typedef like using. Issue #74.
Merge pull request #73 from vooon/mavconn-revert-asio mavconn: Revert to Boost.ASIO
mavconn: Cleanup boost threads. I will use C++11 standard libs. Issue #72.
mavconn: Remove libev default loop thread. Issue #72.
mavconn: Port MAVConnTCPServer to Boost.ASIO. TCP send test fails. Issue #72.
mavconn: Port MAVConnTCPClient to Boost.ASIO. Also it disables MAVConnTCPServer before i rewrite it. Issue #72.
mavconn: Revert MAConnSerial back to Boost.ASIO. Issue #72.
test: Fix send_message tests. Use C++11. Issue #72.
mavconn: Revert MAVConnUDP back to Boost.ASIO. Also starting to change boost threads and mutexes to C++11. Issue #72.
test: Enable send tests. Issue #72.
test: And hand test for mavconn hangs. Issue #72.
node: Remove anonimous flag from gcs_bridge. Rename node if you want start several copies.
install: Remove duplicate
node: Fix mavros_node termination message. Issue #58.
node: Use URL in mavros_node. Fix #58.
node: Use URL in gcs_bridge. Issue #58.
node: Rename ros_udp to gcs_bridge. Because now it's not UDP only. Issue #58.
Cleanup boost components
mavconn: Implement URL parsing. Supported shemas:
- Serial: [/path/to/serial/device[:baudrate]]{.title-ref}
- Serial: [serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]]{.title-ref}
- UDP: [udp://[bind_host[:port]]@[remote_host[:port]][/?ids=sysid,compid]]{.title-ref}
- TCP client: [tcp://[server_host][:port][/?ids=sysid,compid]]{.title-ref}
* TCP server: [tcp-l://[bind_port][:port][/?ids=sysid,compid]]{.title-ref} Note: ids from URL overrides ids given to open_url(). Issue #58.
test: Add tests for UDP, TCP, SERIAL. Send message testa are broken, need to find workaround. Fix #70.
plugin: vision_position: Add transform timestamp check. Issue #60.
mavconn: Implement TCP server mode. Fix #57.
mavconn: Initial support for TCP client mode. Issue #57.
mavconn: Boost::asio cleanup.
plugin: Remove TimerService from UAS. Fix #59.
plugin: param: Add state check to sheduled pull.
mavparam: Add force pull.
plugin: param: Use ros::Timer for timeouts Also new option for force pull parameters from FCU instead of cache. Fix #59.
Add mavsafety info to README.
launch: Add apm2_radio.launch (for use with 3DR Radio)
plugin: 3dr_radio: Fix build error. Issue #62.
plugin: 3dr_radio: Publish status data for rqt_plot Also tested with SiK 1.7. Fix #62.
plugin: setpoint_attitude: Fix ENU->NED conversion. Fix #64. Related #33, #49.
launch: Add setpoint plugins to APM2 blacklist
plugin: setpoint_attitude: Initial import. XXX: need frame conversion #49. Issue #33, #64.
plugin: Move common tf code to mixin. Remove copy-paste tf_listener. Issue #33.
plugin: setpoint_position: Generalize topic NS with other [setpoint_*]{.title-ref} Issue #33, #61.
plugin: setpoint_accel: Initial import. Issues: #33, #61.
plugin: position_velocity: Initial import. Also it fix ignore mask in setpoint_position. Issues #33, #61.
plugins: 3rd_radio: Initial import. Untested. Issue #61.
scripts: Add mavsafety tool. Also add safety_area to APM2 blacklist. Fix #51.
plugins: safty_area: Initial import. This plugin listen [~/safety_area/set]{.title-ref} and send it's data to FCU. Issue #51.
plugins: position: Add TF rate limit. Issue #33.
plugin: waypoint: Use ros::Timer for timeouts. Also add some debug messages for next debugging PX4. Issue #59.
plugin: sys_status: Use ros::Timer for timeouts Also move message rx to it's own handlers. Issue #59.
Remove rosdep.yaml and update readme
Add deb build notes to readme. Issue #55.
Add sudo notes to readme.
Merge pull request #56 from vooon/54_try_libev Switch to libev
Add libev to README
package: Add temporary rosdep for libev-dev. Issue #54.
mavconn: Move MAVConnUDP to libev. And fix docs in serial. Issue #54.
mavconn: Move MAVConnSerial to libev. Adds stub for open URL function. Issure #54.
Contributors: Vladimir Ermakov, Mohammed Kabir, Nuno Marques, Glenn Gregory

0.6.0 (2014-07-17)

plugin: local_position: Use same timestamp in topic and TF. Issue #33.
plugins: TF thread required, remove notes. Issue #33.
launch: Add example launch for PX4 Issue #45.
plugin: imu_pub: Fix attitude store in UAS Issue #33. Fix #53.
plugins: Disable position topics if tf_listen enabled Also change default frame names: [vision]{.title-ref} and [setpoint]{.title-ref}. Issue #33.
plugins: Fix typo in frame_id params. Issue #33.
plugins: Add vision and setpoint TF listeners Also change parameter names to same style. Issue #33.
plugin: vision_position: Add PositionWithCovarianceStamped option Issue #33.
Add boost filesystem lib to link On some platforms its absence breaks build by: undefined reference to [boost::filesystem::path::codecvt()]{.title-ref}
launch: Add example for APM2 Fix #45.
plugin: setpoint_position: Initial import And some small doc changes in other position plugins. Issue #33.
node: Add connection change message Fix #52.
plugins: vision_position: Initial import TODO: check ENU->NED maths. Issue #33.
plugins: Remove unneded 'FCU' from diag
plugin: local_position: Change plane conversion Bug: #49.
plugin: imu_pub: Fix magnetic vector convertions Bug: #49.
Use dialects list from package
plugin: local_position: Fix orientation source Part of #33.
node: Show target system on startup Fix #47.
plugin: local_position: Initial add Receive LOCAL_POSITION_NED message and publish it via TF and PoseStamped topic in ENU frame. Part of #33.
node: Use boost::make_shared for message allocation Fix #46.
plugins: Use boost::make_shared for message allocation Part of #46.
plugin: imu_pub: Fix misprint in fill function Fix magnetometer vector convertion (HR IMU). Related #33.
plugin: imu_pub: setup cleanup.
Update readme
plugin: gps: Fix gps_vel calculation Fix #42.
plugins: Make name and messages methods const. (breaking). WARNING: this change broke external plugins. Please add const to get_name() and get_supported_messages(). Part of #38.
plugins: Use mavlink_msg*_pack_chan() functions Fix #43.
mavconn: Reuse tx buffer (resize by extents) Part of #38.
mavconn: Do not finalize messages if id pair match mavlink*_pack also do finalize, so explicit finalization just recalculate crc and seq number (doubles work). Test later if we need check seq too.
mavconn: Documentation and cleanup Make MAVConn classes noncopyable. Remove copy-paste copy and following async_write calls. Reserve some space in tx queues. Replace auto_ptr with unique_ptr.
test: Fix header include
mavconn: Fix possible array overrun in channel alocation. Problem found by clang.
fix some roslint errors
mavconn: move headers to include
node: Implement plugin blacklist. New parameter: [~/plugin_blacklist]{.title-ref} lists plugin aliases with glob syntax. Fix #36.
plugins: Change constants to constexpr (for gcc 4.6)
mavconn: Add gencpp dependency (utils.h requiers generated header)
Move duplicate Mavlink.msg copy to utils.h
Remove tests that requires connection to FCU
plugins: imu_pub: Fix PX4 imu/data linear_accelerarion field Should fix: #39.
plugins: imu_pub: Add magnitic covariance Trying to move constants with constexpr. Related: #13.
Remove testing info Need to remove tests that could not run on build farm.
Contributors: Vladimir Ermakov

0.5.0 (2014-06-19)

Remove mavlink submodule and move it to package dependency Bloom release tool don't support git submodules, so i've ceate a package as described in http://wiki.ros.org/bloom/Tutorials/ReleaseThirdParty . Fix #35.
plugins: param: add missing gcc 4.6 fix.
plugins: fix const initializers for gcc 4.6
plugins: imu_pub: fix const initializers for gcc 4.6 Fix for build failure devel-hydro-mavros #4.
Add support for GCC 4.6 (C++0x, ubuntu 12.04) I don't use complete c++11, so we could switch to c++0x if it supported.
plugins: rc_io: Add override rcin service Fix: #22.
plugins: sys_status: fix timeouts Fix #26.
plugins: sys_status: add set stream rate service Some additional testing required. Fix #23.
Remove unused boost libarary: timer Build on jenkins for hydro failed on find boost_timer.
0.4.1
Add changelog for releasing via bloom

0.4.1 (2014-06-11)

node: Show serial link status in diag Now 'FCU connection' shows actual status of connection (HEARTBEATS).
Fix #29. Autostart mavlink via USB on PX4 Changes mavconn interface, adds new parameter.
Fix installation rules. Fix #31.
Setup UDP transport for /mavlink messages
Fix mavlink dialect selection Fix #28.
Add link to wiki.ros.org Part of #27.

0.4.0 (2014-06-07)

Release 0.4.0 And some docs for CommandPlugin.
plugins: command: Command shortcuts Fix #12.
plugins: command: Add ACK waiting list Part of #12.
plugins: command: Initial naive realization. Partial #12, #25.
mavconn: Fix build on Odroid with Ubuntu 13.10 Fix #24.
plugins: rc_io: initial add RC_IO plugin Topics:
- ~/rc/in -- FCU RC inputs in raw microseconds
* ~/rc/out -- FCU Servo outputs Fix #17. Partiall #22.
Fix installation wstool command. [wstool set]{.title-ref}, not [wstool add]{.title-ref}.
Add installation notes to README Installing pymavlink is not required, but try if errors.
Fix headers in README.md
ros_udp: New node for UDP proxing Add some examples to README.md. Fix #21.
sys_status: Add state publication Fix #16.
sys_status: Sent HEARTBEAT if conn_heartbeat > 0 Fix #20.
sys_status: add sensor diagnostic See #16.
sys_status: Add battery status monitoring Fix #19, partial #16.
sys_status: HWSTATUS support Fix #18, partial #20.
plugins: imu_pub: Add RAW_IMU, SCALED_IMU and SCALED_PRESSURE handlers Fix #13. Refactor message processing. Combination of used messages: On APM: ATTITUDE + RAW_IMU + SCALED_PRESSURE On PX4: ATTITUDE + HIGHRES_IMU On other: ATTITUDE + (RAW_IMUHIGHRES_IMU Published topics:
- ~imu/data - ATTITUDE + accel data from *_IMU
- ~imu/data_raw - HIGHRES_IMU or SCALED_IMU or RAW_IMU in that order
- ~imu/mag - magnetometer (same source as data_raw)
- ~imu/temperature - HIGHRES_IMU or SCALED_PRESSURE
- ~imu/atm_pressure - same as temperature
Update readme
mavwp: Add --pull option for 'show' operation. Reread waypoints before show.
MissionPlanner use format QGC WPL, Fix #15 Code cleanup;
Update mavlink version.
Update mavlink version
mavparam: fix #14 support for QGC param files
mavwp: Add mavwp to install

0.3.0 (2014-03-23)

Release 0.3.0
mavwp: Add MAV mission manipulation tool Uses WaypointPlugin ROS API for manipulations with FCU mission.
- show -- show current mission table
- pull -- update waypoint table
- dump -- update and save to file
- load -- loads mission from file
- clear -- delete all waypoints
- setcur -- change current waypoint
- goto -- execute guided goto command (only APM) Currently supports QGroundControl format only.
plugins: wp: Add GOTO, update documentation
plugins: wp: Auto pull
plugins: wp: SetCurrent & Clear now works
plugins: wp: Push service works
plugins: wp: push almost done
plugins: wp: Pull done
plugins: param: remove unused ptr
plugins: wp: mission pull almost done
plugins: wp: Add convertors & handlers
plugins: Waypoint plugin initial
Use C++11 feuture - auto type
plugins: refactor context & link to single UAS class UAS same functions as in QGC.
plugins: Add msgs and srvs for Waypoint plugin
Update mavlink library
Update mavlink version
mavparam: Fix for DroidPlanner param files & cleanup DroidPlanner adds some spaces, don't forget to strip it out. Cleanup unused code from Parameter class.

0.2.0 (2014-01-29)

mavparam: Add MAV parameter manipulation tool Uses ParamPlugin ROS API for manipulating with fcu params.
- load -- load parameter from file
- dump -- dump parameter to file
- get -- get parameter
- set -- set parameter Currently supports MissionPlanner format only. But DroidPlanner uses same format.
Update README and documentation
plugins: param: implement ~param/push service Also implement sync for rosparam:
- ~param/pull service pulls data to rosparam
- ~param/push service send data from rosparam
- ~param/set service update rosparam if success
plugins: param: implement ~param/set service
plugins: param: implement ~param/get service
plugins: param: Implement automatic param list requesting
plugins: use recursive_mutex everywhere
plugins: param now automaticly requests data after connect
plugins: Add common io_service for plugins, implement connection timeout Some plugin require some delayed processes. Now we can use boost::asio::*timer. New parameter:
- ~/conn_timeout connection timeout in seconds
plugins: add param services
mavconn: set thread names WARNING: pthread systems only (BSD/Linux)
plugins: implement parameters fetch service
plugins: fix string copying from mavlink msg
plugins: Setup target in mav_context New params:
- ~target_system_id - FCU System ID
- ~target_component_id - FCU Component ID
plugins: IMU Pub: add stdev parameters, change topic names. Add parameters:
- ~imu/linear_acceleration_stdev - for linear acceleration covariance
- ~imu/angular_velocity_stdev - for angular covariance
- ~imu/orientation_stdev - for orientation covariance Change topic names (as in other IMU drivers):
- ~imu -> ~/imu/data
- ~raw/imu -> ~/imu/data_raw
plugins: Params initial dirty plugin
Fix mavlink dialect choice.
plugins: Add context storage for automatic quirk handling ArduPlilot requires at least 2 quirks:
- STATUSTEXT severity levels
- parameter values is float
Implement MAVLink dialect selection ArduPilotMega is default choice.
doc: add configuration for rosdoc_lite

0.1.0 (2014-01-05)

Version 0.1.0 Milestone 1: all features from mavlink_ros package.xml was updated.
Fix typo and add copyright string NOTE: Please check typos before coping and pasting :)
plugins: gps: Add GPS_RAW_INT handler GPS_STATUS not supported by APM:Plane. ROS dosen't have standard message for satellites information.
mavconn: small debug changes Limit no GCS message to 10 sec.
node: Terminate node on serial port errors
plugins: Add GPS plugin SYSTEM_TIME to TimeReference support. TODO GPS fix.
Fix build and update MAVLink library
plugins: sys_status: Add SYSTEMTEXT handler Two modes:
- standard MAV_SEVERITY values
- APM:Plane (default) TODO: add mavlink dialect selection option
plugins: add some header doxygen tags Add license to Dummy.cpp (plugin template).
plugins: sys_status: Add MEMINFO handler MEMINFO from ardupilotmega.xml message definition. Optional.
update README
update TODO
plugins: Add imu_pub plugin. Publish ATTITUDE and HIGHRES_IMU data. HIGHRES__IMU not tested: Ardupilot sends ATTITUDE only :(
node: publish Mavlink.msg only if listners > 0
plugins: Add sys_status plugin. Initial.
plugins: implement loading & rx routing
plugins: initial
node: Add diagnostics for mavlink interfaces
mavconn: add information log wich serial device we use.
mavconn: fix overloaded MAVConn*::send_message(msg)
mavros: Add mavros_node (currently serial-ros-udp bridge) Message paths: Serial -+-> ROS /mavlink/from +-> UDP gcs_host:port ROS /mavlink/to -+-> Serial UDP bind_host:port -+
Add README and TODO files.
mavconn: fix MAVConnUDP, add mavudpproxy test mavudpproxy -- connection proxy for QGroundControl, also used as test for MAVConnUDP and MAVConnSerial.
mavconn: add UDP support class
mavconn: fix: should use virtual destructor in interface class
mavconn: add getters/setters for sys_id, comp_id; send_message return.
mavconn: simple test. tested with APM:Plane: works.
mavconn: fix linking
mavconn: serial interface
Add mavconn library prototype mavconn - handles MAVLink connections via Serial, UDP and TCP.
Add MAVLink library + build script
Initial Import Mavlink.msg from mavlink_ros package ( https://github.com/mavlink/mavlink_ros ).
Contributors: Vladimir Ermakov

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	mavlink
	angles
	ament_cmake
	ament_cmake_python
	eigen3_cmake_module
	rosidl_default_runtime
	rclpy
	ament_cmake_gtest
	ament_cmake_gmock
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	diagnostic_updater
	message_filters
	eigen_stl_containers
	libmavconn
	pluginlib
	tf2_ros
	tf2_eigen
	rclcpp
	rclcpp_components
	rcpputils
	diagnostic_msgs
	geometry_msgs
	mavros_msgs
	nav_msgs
	sensor_msgs
	geographic_msgs
	trajectory_msgs
	std_msgs
	std_srvs

System Dependencies

Name
eigen
geographiclib
geographiclib-tools
python3-click
gtest
google-mock
libconsole-bridge-dev

Dependant Packages

Name	Deps
mavros_extras

Launch files

launch/multi_uas.launch
- - id [default: 0]
  - fcu_url [default: udp://:14540@127.0.0.1:14580]
  - id [default: 1]
  - fcu_url [default: udp://:14541@127.0.0.1:14581]
launch/px4.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]
launch/apm.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]
launch/node.launch
- - fcu_url
  - gcs_url
  - tgt_system
  - tgt_component
  - pluginlists_yaml
  - config_yaml
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - namespace [default: mavros]

Messages

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Services

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Plugins

mavros

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mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

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Package Summary

Tags	uav mav mavlink plugin apm px4
Version	1.20.0
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	master
Last Updated	2024-10-10
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	uav mav mavlink plugin apm px4
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.

Additional Links

Maintainers

Vladimir Ermakov

Authors

Vladimir Ermakov

mavros/README.md

MAVROS

MAVLink extendable communication node for ROS with proxy for Ground Control Station (e.g. QGroundControl).

ROS API documentation moved to wiki.ros.org.

Features

Communication with autopilot via serial port, UDP or TCP (e.g. PX4 Pro or ArduPilot)
Internal proxy for Ground Control Station (serial, UDP, TCP)
Plugin system for ROS-MAVLink translation
Parameter manipulation tool
Waypoint manipulation tool
PX4Flow support (by mavros_extras)
OFFBOARD mode support
Geographic coordinates conversions.

Limitations

Only for Linux. Depends on Boost library, GCC 4.8+ (C++11 support). Catkin build system required.

This package are dependent on ros-*-mavlink build from mavlink-gbp-release. It exists in ROS package index and usually updates each month.

Connection URL

Connection defined by URL, you can use any supported type for FCU and GCS.

Supported schemas:

Serial: /path/to/serial/device[:baudrate]
Serial: serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]
Serial with hardware flow control: serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid]
UDP: udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid]
UDP broadcast until GCS discovery: udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid]
UDP broadcast (permanent): udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid]
TCP client: tcp://[server_host][:port][/?ids=sysid,compid]
TCP server: tcp-l://[bind_host][:port][/?ids=sysid,compid]

Note:

Ids from URL overrides value given by system_id & component_id parameters.
bind_host - default 0.0.0.0 - i.e. IP4 ANY
UDP default ports: 14555 @ 14550
UDP remote address updated every time with incoming packet on bind port.
TCP default port: 5760

Coordinate frames

MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Please read documents from issue #473 for additional information.

All the conversions are handled in src/lib/ftf_frame_conversions.cpp and src/lib/ftf_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.

MAVROS also allows conversion of geodetic and geocentric coordinates through GeographicLib given that:

geographic_msgs and NatSatFix.msg require the LLA fields to be filled in WGS-84 datum, meaning that the altitude should be the height above the WGS-84 ellipsoid. For that, a conversion from the height above the geoid (AMSL, considering the egm96 geoid model) to height above the WGS-84 ellipsoid, and vice-versa, is available and used in several plugins;
According to ROS REP 105, the earth frame should be propagated in ECEF (Earth-Centered, Earth-Fixed) local coordinates. For that, the functionalities of GeographicLib are used in order to allow conversion from geodetic coordinates to geocentric coordinates;
The translation from GPS coordinates to local geocentric coordinates require the definition of a local origin on the map frame, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in the global_position plugin.

Programs

mavros_node – main communication node

Main node. Allow disable GCS proxy by setting empty URL.

Run example (autopilot connected via USB at 921600 baud, GCS running on the host with IP 172.16.254.1):

rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:921600 _gcs_url:=udp://@172.16.254.1

gcs_bridge – additional proxy

Allows you to add a channel for GCS. For example if you need to connect one GCS for HIL and the second on the tablet.

Example (SITL & QGroundControl):

rosrun mavros mavros_node _gcs_url:='udp://:14556@172.16.254.129:14551' &
rosrun mavros gcs_bridge _gcs_url:='udp://@172.16.254.129'

Launch Files

Launch files are provided for use with common FCUs, in particular Pixhawk:

px4.launch – for use with the PX4 Autopilot (for VTOL, multicopters and planes)
apm.launch – for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)

Examples:

roslaunch mavros px4.launch
roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@

Installation

Required dependencies

Most of the ROS dependencies are supported and installed by rosdep, including external libraries as Eigen and Boost.

GeographicLib can be installed by apt-get and it is already included on the rosdep of MAVROS package. It is also possible to compile it and install it from src but be advised to have the proper install directories the same as the ones of the apt-get install, in order to make sure that the FindGeographicLib.cmake finds the required shared libraries (libGeographic.so).

Since GeographicLib requires certain datasets (mainly the geoid dataset) so to fulfill certain calculations, these need to be installed manually by the user using geographiclib-tools, which can be installed by apt-get in Debian systems. For a quicker procedure, just run the available script in the “mavros/scripts” folder, install_geographiclib_datasets.sh.

Note that if you are using an older MAVROS release source install and want to update to a new one, remember to run rosdep update before running rosdep install --from-paths ${ROS_WORKSPACE} --ignore-src --rosdistro=${ROSDISTRO}, with ROS_WORKSPACE your src folder of catkin workspace. This will allow updating the rosdep list and install the required dependencies when issuing rosdep install.

:bangbang: The geoid dataset is mandatory to allow the conversion between heights in order to respect ROS msg API. Not having the dataset available will shutdown the mavros_node :bangbang:

:heavy_exclamation_mark:Run install_geographiclib_datasets.sh to install all datasets or geographiclib-datasets-download egm96_5 (Debian 7, Ubuntu 14.04, 14.10), geographiclib-get-geoids egm96-5 (Debian 8, Fedora 22, Ubuntu 15.04 or later) to install the geoid dataset only:heavy_exclamation_mark:

Binary installation (deb)

ROS repository has binary packages for Ubuntu x86, amd64 (x86_64) and armhf (ARMv7). Kinetic also support Debian Jessie amd64 and arm64 (ARMv8).

Just use apt-get for installation:

sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras

Then install GeographicLib datasets by running the install_geographiclib_datasets.sh script:

wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh

Source installation

Use wstool utility for retrieving sources and catkin tool for build.

NOTE: The source installation instructions are for the ROS Kinetic release.

sudo apt-get install python-catkin-tools python-rosinstall-generator -y
# For Noetic use that:
# sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y

# 1. Create the workspace: unneeded if you already has workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
wstool init src

# 2. Install MAVLink
#    we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall

# 3. Install MAVROS: get source (upstream - released)
rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
# alternative: latest source
# rosinstall_generator --upstream-development mavros | tee -a /tmp/mavros.rosinstall
# For fetching all the dependencies into your catkin_ws, just add '--deps' to the above scripts
# ex: rosinstall_generator --upstream mavros --deps | tee -a /tmp/mavros.rosinstall

# 4. Create workspace & deps
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y

# 5. Install GeographicLib datasets:
./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

# 6. Build source
catkin build

# 7. Make sure that you use setup.bash or setup.zsh from workspace.
#    Else rosrun can't find nodes from this workspace.
source devel/setup.bash

Build error. if you has error with missing mavlink* then you need fresh mavlink package. You may update from ros-shadow-fixed (binary installation) or redo script steps 2 & 4.

Note. Since MAVLink 2.0 merged (0.18) all dialects supported by same binary. Unfortunately overlap of v1.0 message ID’s not fully handled, first loaded message forbid further changes. Load order always:

common
ardupilotmega
alphabetical ordered list
…

Note: MAVLINK_DIALECT not used anymore.

Troubleshooting

Error: serial0: receive: End of file

This issue should have been solve in mavros v0.23.2, it was found to be a Boost.ASIO error and should be fix in release > v1.12.0 ( >Boost 1.66).

Contributing

See CONTRIBUTING.md.

Glossary

GCS — Ground Control Station
FCU — Flight Control Unit (aka FC)
OBC — OnBoard Computer (your odroid or raspberry)

Links

MAVLink – The communication protocol for Drones, used by flight controllers, ground control stations, and peripherals
mavlink_ros – original ROS node (few messages, no proxy)
Pixhawk – Open Standards for drone hardware
PX4 Autopilot – Flight Controller with support for most vehicle types and hardened/tested MAVROS support
ArduPilot – tested autopilot APM:Plane (default command set)
QGroundControl – Ground Control Station for MAVLink autopilots, with tested support for Android, iOS, Mac OS, Linux, and Windows
mavros_extras – extra plugins & node for mavros

CHANGELOG

Changelog for package mavros

1.20.0 (2024-10-10)

add param to odom plugin
add frame_id parameter
Contributors: EnderMandS

1.19.0 (2024-06-06)

gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Contributors: Beniamino Pozzan

1.18.0 (2024-03-03)

sys_status.cpp: improve timeout code
sys_status.cpp: Add a SYS_STATUS message publisher
Contributors: Dr.-Ing. Amilcar do Carmo Lucas

1.17.0 (2023-09-09)

cog: regenerate all
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov, natmol

1.16.0 (2023-05-05)

Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Lucas Walter, Shu-Nong Wu, Vladimir Ermakov

1.15.0 (2022-12-30)

Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.14.0 (2022-09-24)

scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1744 from amilcarlucas/pr_gimbal_diagnostics_fixes mount_control.cpp: detect MOUNT_ORIENTATION stale messages
mount_control.cpp: detect MOUNT_ORIENTATION stale messages correct MountConfigure response success correct constructor initialization order some gimbals send negated/inverted angle measurements, correct that to obey the MAVLink frame convention using run-time parameters
Merge pull request #1743 from amilcarlucas/pr_apm_config apm_config.yaml: add mount configuration
apm_config.yaml: add mount configuration
Merge pull request #1732 from amilcarlucas/pr-meminfo-fix MEMINFO fixes
sys_status.cpp fix free memory for values > 64KiB
Merge pull request #1716 from amilcarlucas/avoid-harcoded-values sys_status.cpp: do not use harcoded constants
Merge pull request #1711 from amilcarlucas/diagnose-up-to-n-batteries Diagnose up-to 10 batteries
*_config.yaml: document usage of multiple batteries diagnostics
sys_status.cpp: fix compilation
sys_status.cpp: support diagnostics on up-to 10 batteries Uses as many battery monitors as the user specified in min_voltage parameter. Add myself as a contributor, this is not my first patch to this file
Merge pull request #1712 from amilcarlucas/fix-disabled-diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag
sys_status.cpp: do not use harcoded constants
sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics Use atomic variable to prevent potential threading problems
sys_status.cpp: fix enabling of mem_diag and hwst_diag
Merge pull request #1704 from amilcarlucas/correct-bat-voltages sys_status.cpp: Do not use battery1 voltage for all batteries.
sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). Support both cell and total voltages above 65V Support up-to 14S batteries If available, add cell voltage information to the battery diagnostic
Merge pull request #1707 from amilcarlucas/ignore-gimbal-sys-status sys_status.cpp: ignore sys_status mavlink messages from gimbals
sys_status.cpp: ignore sys_status mavlink messages from gimbals
Merge pull request #1703 from amilcarlucas/remove-deprecated-battery2 sys_status.cpp: remove deprecated BATTERY2 mavlink message support
sys_status.cpp: remove deprecated BATTERY2 mavlink message support
Merge pull request #1696 from okalachev/patch-2 Disable startup_px4_usb_quirk in px4_config.yaml
Disable startup_px4_usb_quirk in px4_config.yaml
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Sanket Sharma, Vladimir Ermakov, acxz

1.13.0 (2022-01-13)

Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
Contributors: Vladimir Ermakov

1.12.2 (2021-12-12)

Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Contributors: Oleg Kalachev, Vladimir Ermakov, hs293go

1.12.1 (2021-11-29)

mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.12.0 (2021-11-27)

Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
lib: fix mission frame debug print
Contributors: Alexander Sherikov, Vladimir Ermakov

1.11.1 (2021-11-24)

lib: fix build
Contributors: Vladimir Ermakov

1.11.0 (2021-11-24)

lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
Contributors: Jaeyoung-Lim, Vladimir Ermakov

1.10.0 (2021-11-04)

Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
Contributors: David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Marcelino Almeida, Val Doroshchuk, Vladimir Ermakov

1.9.0 (2021-09-09)

Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: reformat xml
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, Karthik Desai, Vladimir Ermakov

1.8.0 (2021-05-05)

lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
convert whole expression to mm
Contributors: Alexey Rogachevskiy, Thomas, Vladimir Ermakov

1.7.1 (2021-04-05)

re-generate all pymavlink enums
Contributors: Vladimir Ermakov

1.7.0 (2021-04-05)

lib: re-generate the code
plugins: mission: re-generate the code
MissionBase: correction to file information
MissionBase: add copyright from origional waypoint.cpp
uncrustify
whitespace
add rallypoint and geofence plugins to mavros plugins xml
add rallypoint and geofence plugins to CMakeList
Geofence: add geofence plugin
Rallypoint: add rallypoint plugin
Waypoint: inherit MissionBase class for mission protocol
MissionBase: breakout mission protocol from waypoint.cpp
README: Update PX4 Autopilot references Much needed fixes to clarify the project is named correctly throughout the README for the PX4 Autopilot, QGroundControl, and MAVLink
Fix https://github.com/mavlink/mavros/issues/849
Contributors: Charlie-Burge, Ramon Roche, Tobias Fischer, Vladimir Ermakov

1.6.0 (2021-02-15)

fix inconsistency in direction of yaw when using set_position in BODY frames and fix problems with yaw in setponit_raw
Contributors: zhouzhiwen2000

1.5.2 (2021-02-02)

readme: add source install note for Noetic release
Contributors: Vladimir Ermakov

1.5.1 (2021-01-04)

Fix tests for renaming of ECEF cases Introduced in 6234af29
Initialise message structures Uninitialised Mavlink 2 extension fields were sent if the fields were not later set. Initialising the fields to zero is the default value for extension fields and appears to the receiver as though sender is unaware of Mavlink 2. Instances were found with regex below, more may exist: mavlink::[\^:]+::msg::[\^:={]+ ?[\^:={]*;
Contributors: Rob Clarke

1.5.0 (2020-11-11)

mavros/sys_status: Fill flight_custom_version field
mavros: Add override specifiers
mavros: Move ECEF tf enums to separate enum class This avoids a bunch of unhandled switch cases, and should improve type safety a bit.
Contributors: Morten Fyhn Amundsen

1.4.0 (2020-09-11)

mavros: use mavlink::minimal:: after incompatible changes in mavlink package Incompatible change: https://github.com/mavlink/mavlink/pull/1463 Fix: #1483, https://github.com/mavlink/mavlink/issues/1474
fixes based on vooon's review
fix issue what we couldn't set real parameters to 0.0 in mavros
Add error message
Fixed compilation error: publish std_msgs::String, not std::string for gcs_ip
Dispatch GCS IP address
Contributors: Artem Batalov, Marcelino, Morten Fyhn Amundsen, Vladimir Ermakov, Øystein Skotheim

1.3.0 (2020-08-08)

fake_gps.cpp: implement speed accuracy
fake_gps.cpp: Add mocap_withcovariance configuration parameter
fake_gps.cpp: add initial support for GPS_INPUT MAVLink message
apm.launch: Avoid warning: Warning: You are using <arg> inside an <include> tag with the default=XY attribute - which is superfluous. Use value=XY instead for less confusion. Attribute name: respawn_mavros
Added support for MavProxy parameter file format
Ignore read-only parameters and statistics parameters in push operations
fix indentation
transform based on coordinate_frame
wind plugin: fix ArduPilot wind transformation
Contributors: Ben Wolsieffer, Dr.-Ing. Amilcar do Carmo Lucas, Yuan, Yuan Xu

1.2.0 (2020-05-22)

has_capability only works for enums
Uncrustify
Reworked Waypoint plugin to use capabilities_cb Additionally added helper functions has_capability and has_capabilities so that people can use either ints or enums to check if the UAS has a capability. This might make accepting capabilities as a parameter moot though.
Added alias for capabilities enum to UAS
Added alias for capabilities enum to UAS
Added a capabilities change cb queue Plugins can now write functions that they add to the capabilities_cb_vec. These functions will be called only when there is a change to the capabilities themselves not whenever the known status of the fcu_capabilities change. These functions should have a parameter of type mavlink::common::MAV_PROTOCOL_CAPABILITY which is essentially just a uint64_t however being more opinionated is helpful when looking for what the canonical enum names are in the mavlink project header files.
Uncrustify
Fixed Removed Uncrustify Option I'm not sure why this didn't break when I ran uncrustify previously but it seems that the align_number_left option was removed a while ago with this merge request but I may be mistaken https://github.com/uncrustify/uncrustify/pull/1393 I replaced it which align_number_right=true since it seems to be the inverse of align_number_left=true.
Removed deprecated MAV_FRAME values
Removed use of variant in favor of templates Since ROS messages are now the storage type in the node, providing to and from conversion functions is sufficient and can be better expressed with function templates.
Encode factor returns double
Changed encoding factor cog code
Uncrustify changes
Added new parameter to config.yamls
Updated waypoint plugin to support MISSION_ITEM_INT These changes add a new parameter use_mission_item_int, which allows users to prefer the old behavior. These changes also verify that the flight controller supports _INT messages since APM only sends REQUEST_ITEM messages even though it accepts _INT items back. This commit is functional and tested with the APM stack only. PX4 sitl jmavsim threw: WP: upload failed: Command is not supported. FCU: IGN MISSION_ITEM: Busy
Removed x_lat, y_long, z_alt from WP These values seemed to be used due to the fact that double had a greater resolution than float and doubles are used in the ros msg. However they were only ever used for printing. Since the int version of these messages has a greater resolution I figure it is more useful to print the true value in the mavlink message rather than the ros message value
Replaced MISSION_ITEM
add yaw to CMD_DO_SET_HOME
fix local angular velocity
Contributors: Braedon, David Jablonski, Martina Rivizzigno

1.1.0 (2020-04-04)

fixed styling
fixed indent from using spaces
updates apmrover2 modes and allows for arduboat mode changes
mavsafety kill feature for emergency stop
Include trajectory_msgs in CMakeLists.txt This allows build to complete successfully.
Contributors: Anthony Goeckner, Matt Koos, aykutkabaoglu

1.0.0 (2020-01-01)

0.33.4 (2019-12-12)

Replaced estimator status hardcoded definition with cog.
Refactor.
Replaced bool with git add -u as already done.
Added a publisher for estimator status message received from mavlink in sys_status.
Contributors: saifullah3396

0.33.3 (2019-11-13)

package: fix 6fa58e59 - main package depends on trajectory_msgs, not extras
Contributors: Vladimir Ermakov

0.33.2 (2019-11-13)

0.33.1 (2019-11-11)

Add mutex
Initialize type mask
Handle frame with StaticTF
Handle different frames
Set yaw rate from message inputs
Add setpoint trajectory reset interface
Fix trajectory timestamp
Address comments
Pass reference with oneshot timers
Set typemasks correctly
Address more style comments
Address style comments
Visualize desired trajectory
Handle end of trajectory correctly
Remove message handlers
Add setpoint_trajectory plugin template
resolved merge conflict
Contributors: David Jablonski, Jaeyoung-Lim

0.33.0 (2019-10-10)

Add vtol transition service
CleanUp
Update frame name in px4_config to match ROS standards
Enable publishing multiple static tfs at once, publish standard static tfs
moving ACK_TIMEOUT_DEFAULT out of class
cog: Update all generated code
mavros/src/plugins/command.cpp: one more style fix
mavros/src/plugins/command.cpp: style fixes
mavros/src/plugins/command.cpp: command_ack_timeout ms -> s
mavros/src/plugins/command.cpp: command_ack_timeout_ms int -> double
mavros/src/plugins/command.cpp: uncrustify
mavros/src/plugins/command.cpp: parameter for command's ack timeout Sometimes commands take more time than default 5 seconds. Due to a low bandwidth of UART and a high rate of some mavlink streams. To eliminate this problem it's better to provide the parameter to configure the command's ack timeout.
added manual flag to mavros/state
Use GeoPoseStamped messages
Fix build
Add callback for SET_POSITION_TARGET_GLBOAL_INT
Contributors: David Jablonski, Jaeyoung-Lim, Sergei Zobov, Vladimir Ermakov, kamilritz

0.32.2 (2019-09-09)

uncrustify
Add boolean to check if IMU data has been received Follow sensor_msgs/Imu convention when data not present
Uncrustify the GPS_GLOBAL_ORIGIN handler in global_position
Fix global origin conversion to ecef (was using amsl where hae was required) Summary: Fix global origin conversion to ecef (was using amsl where hae was required)
moved code to end of function
added amount of satellites to global_position/raw/
Contributors: David Jablonski, Nick Steele, Rob Clarke, Robert Clarke

0.32.1 (2019-08-08)

uncrustify
Removed tf loop
made small edit to handle augmented gps fix
added a check for gps fix before setting origin for global_position/local odometry topic
Contributors: Eric, Lucas Hill

0.32.0 (2019-07-06)

use direclty radians in yaml files
A simple typo error has fixed. (#1260)
- fix: a typing error "alredy" to "already"
- Fix: typo error (helth -> health)
Contributors: Martina Rivizzigno, 강정석

0.31.0 (2019-06-07)

readme: fix udp-pb formatting
launch config: landing_target: fix and improve parameter list
remove duplicated landing_target parameters
enum_to_string: simplify landing_target_type_from_str
enum_to_string: update enumerations and checksum
extras: landing target: improve usability and flexibility
remove landing_target from blacklist
update to use pymavlink generator
px4_config: landing_target: minor correction
mav_frame: add frames of reference to wiki page; reference them on config
landing_target: removed child_frame_id
landing_target: minor code tweak/restructure
landing_target: uncrustify code
landing_target: updated to TF2 and Eigen math
landing_target: adapted to latest master code
landing_target: added timestamp and target size fields [!Won't compile unless a new mavlink release!]
landing_target: first commit
Switch to double-reflections instead of axes-reassignments
specialize transform_frame_ned_enu and transform_frame_enu_ned for type Vector3d such that input vectors containing a NAN can be correctly transformed
Update README.md update misspelling
Contributors: Julian Kent, Martina Rivizzigno, Shingo Matsuura, TSC21, Vladimir Ermakov

0.30.0 (2019-05-20)

Filter heartbeats by component id as well This addresses #1107 and #1227, by filtering incoming heartbeats by component ids before publishing the state.
mavros/src/plugins/command.cpp: log if command's wait ack timeout (#1222)
- mavros/src/plugins/command.cpp: log if command's wait ack timeout
- mavros/src/plugins/command.cpp: log timeout in wait_ack_for
local_position fix #1220: initialize flags
plugin waypoint: fix spelling
Fix leading space before setpoint_raw This causes an error when running `roslaunch`: ` error loading <rosparam> tag: file /opt/ros/kinetic/share/mavros/launch/apm_config.yaml contains invalid YAML: while parsing a block mapping in "<string>", line 4, column 1: startup_px4_usb_quirk: false ^ expected <block end>, but found '<block mapping start>' in "<string>", line 103, column 2: setpoint_raw: ^ XML is <rosparam command="load" file="$(arg config_yaml)"/> The traceback for the exception was written to the log file`
global_position.cpp: spell in comment
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Josh Veitch-Michaelis, Nico van Duijn, Sergey Zobov, Vladimir Ermakov

0.29.2 (2019-03-06)

0.29.1 (2019-03-03)

All: catkin lint files
Update apm_config.yaml Setting thrust_scaling in the setpoint_raw message (in my case, to use /mavros/setpoint_raw/attitude) Without it, when using Gazebo, get the following problem "Recieved thrust, but ignore_thrust is true: the most likely cause of this is a failure to specify the thrust_scaling parameters on px4/apm_config.yaml. Actuation will be ignored." from the function void attitude_cb in setpoint_raw.cpp (http://docs.ros.org/kinetic/api/mavros/html/setpoint__raw_8cpp_source.html)
cmake: fix #1174: add msg deps for package format 2
Issue #1174 Added dependency for mavros_msgs and mavros
Contributors: Adam Watkins, KiloNovemberDelta, Pierre Kancir, Vladimir Ermakov

0.29.0 (2019-02-02)

Fix broken documentation URLs
px4_config: set the thrust_scaling to one by default
local_position: add an aditional topic for velocity on the local frame
Merge pull request #1136 from angri/param-timeout Request timed up parameters as soon as possible
Merge branch 'master' into param-timeout
plugin:param added logging regarding rerequests
plugin:param fixed second and consequent timeouts in requesting list
mavros_extras: Wheel odometry plugin updated according to the final mavlink WHEEL_DISTANCE message.
mavros_extras: Wheel odometry plugin fixes after CR.
mavros_extras: Wheel odometry plugin added.
mavsys: add do_message_interval
sys_status: add set_message_interval service
lib: fix MAV_COMPONENT to_string
lib: update sensor orientations
plugin:param rerequest timed out parameters asap Avoid vaiting for the next timeout
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Pavlo Kolomiiets, Randy Mackay, TSC21, Vladimir Ermakov, angri

0.28.0 (2019-01-03)

plugin:param: publish new param value
Merge pull request #1148 from Kiwa21/pr-param-value param plugin : add msg and publisher to catch latest param value
sys_status: fix build
sys_state: Small cleanup of #1150
VehicleInfo : add srv into sys_status plugin to request basic info from vehicle
sys_status: Fix #1151 bug - incorrect hex print
plugins:sys_status: Update diag decoder
frame_tf: mavlink_urt_to_covariance_matrix: make matrix symetrical
uas_data: add comment on the reverse tf fcu_frd->fcu
odom: add ODOMETRY handler and publisher
Handle LOCAL_POSITION_NED_COV messages, add pose_cov, velocity_cov, accel topics
sys_status : add MAV_TYPE as a parameter
rc_io: extend handle_servo_output_raw to 16 channels
param plugin : add msg and publisher to catch latest param value
plugin:command: Update for C++11, style fix Signed-off-by: Vladimir Ermakov <<vooon341@gmail.com>>
Fixed NavSatFix bug in mavcmd takeoffcur and landcur
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940 Remove unnecessary functools
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940
Fix mavros/param.py to work in python2 and python3, #940
correct the to_string function
set value back to 30
add autogenerated to_string function
style clean up
Use component_id to determine message sender
change message name from COMPANION_STATUS to COMPANION_PROCESS_STATUS
change message to include pid
Change from specific avoidance status message to a more generic companion status message
add plugin to receive avoidance status message
Added RPYrT and uncrustified. Pushing version without spaces. Version with tabs? Fixed all? Finally fixed. Fixed requestes by \@vooon Fixed a def. Fixed log format. Fixed time for log.
apm_config: enable timesync and system for ardupilot
Contributors: Dan Nix, Gregoire Linard, Oleg Kalachev, Randy Mackay, TSC21, Vladimir Ermakov, baumanta, fnoop, pedro-roque

0.27.0 (2018-11-12)

fix: a typing error "alredy" to "already"
plugins #1110 #1111: add eigen aligment to plugins with eigen-typed members
plugins: fix style
with this fix ,it will avoid eigen error on 32 bits system
Add service to send mavlink TRIGG_INTERVAL commands Adapt trigger_control service to current mavlink cmd spec. Add a new service to change trigger interval and integration time
launch: fix #1080: APM now support mocap messages
Contributors: Gaogeolone, Moritz Zimmermann, Vladimir Ermakov, rapsealk

0.26.3 (2018-08-21)

test: Fix sensor orientation. RPY 315 was removed in recent mavlink. https://github.com/mavlink/mavlink/commit/3d94bccfedc5fc7f2ffad247adecff0c2dc03501
lib: update generated entries
Contributors: Vladimir Ermakov

0.26.2 (2018-08-08)

Moving gps_rtk to mavros_extras
Update copyright name
Updating the gps_rtk plugin to fit mavros guidelines:
- Updating max_frag_len to allow changes in size in MAVLink seamlessly
- Using std::copy instead of memset
- Zero fill with std::fill
- Preapply the sequence flags
- Use of std iterators
- Add the maximal data size in the mavros_msgs
uncrustify
Update comments for the renaming
Renaming the GPS RTK module, Adding fragmentation, Changing the RTCM message
RTK Plugin; to forward RTCM messages Signed-off-by: Alexis Paques <<alexis.paques@gmail.com>>
Contributors: Alexis Paques

0.26.1 (2018-07-19)

setpoint_velocity: fix yaw rate setpoint rotation
lib fix #1051: Add APM BOAT modes support. Currently SURFACE_BOAT uses same code as Rover2, just different vehicle type.
Contributors: TSC21, Vladimir Ermakov

0.26.0 (2018-06-06)

lib: add tunable timeout to gcs_quiet_mode
udp bridge: pass only HEARTBEATs when GCS is offline
sys_time : add advanced timesync algorithm
libmavconn: add scheme for permanent UDP broadcasting
GPS accuracy wo approximations (#1034)
- GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT.
* GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT if on mavlink v2.0, or on DOP values otherwise.
- GPS accuracy update.
Contributors: Mohammed Kabir, Oleg Kalachev, Pavlo Kolomiiets, Vladimir Ermakov

0.25.1 (2018-05-14)

0.25.0 (2018-05-11)

wind plugin: uncrustify
use eigen and tf conversions (fix conventions), sync timestamp, fix typos
add wind estimation plugin
launch: fix style and keep apm.launch consistent with px4.launch
Updated apm.launch to forward new fcu_protocol parameter
glob pos plugin: correct gps velocity convention (NEU->ENU)
Split temperature publisher.
setpoint_raw: correct yaw transform; remove yaw transform methods
extras: odom: improve way frame naming is handled
extras: update odom plugin to send ODOMETRY msgs
lib: enum_to_string: update enums
setpoint_attitude: rename topic from target_attitude to attitude
imu plugin: fix pressure units
imu plugin: publish differential pressure (#1001)
- imu plugin: publish differential pressure
- imu plugin: fix doxygen snippets
lib: add PX4 mode AUTO.PRECLAND
extras: add covariance parsing to vision_speed_estimate (#996)
Contributors: Anthony Lamping, Nuno Marques, Oleg Kalachev, Sondre Engebråten, TSC21, Thomas Stastny, Timo Hinzmann, Vladimir Ermakov

0.24.0 (2018-04-05)

frame_tf: add assertion over size of covariance matrix URT
extras: update vision_pose_estimate plugin so it can send the covariance matrix also
plugins fix #990: Explicitly cast boolean values. Else someone can shoot in his foot.
Update Readme for serial0: receive: End of file
launch : remove vision_pose_estimate from blacklist on ardupilot
plugin: ftp: fix typo
Add ability to send STATUSTEXT messages
Contributors: Anass Al, Andrei Korigodski, Pierre Kancir, TSC21, Vladimir Ermakov

0.23.3 (2018-03-09)

lib: simplify geolib cmake module, try to fix CI
Contributors: Vladimir Ermakov

0.23.2 (2018-03-07)

launch: add optional respawn_mavros arg
Contributors: Anthony Lamping

0.23.1 (2018-02-27)

lib: Update to_string
plugin fix #957: set MISSION_ITEM::mission_type
Contributors: Vladimir Ermakov

0.23.0 (2018-02-03)

launch fix #935: use orientation convention from message descr https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR
Blacklist HIL for APM since it is not relevent
add MAV_DISTANCE_SENSOR enum to_string
px4: add fcu_protocol argument to choose mavlink v1.0 or v2.0 to start mavros in node.launch
node: add fcu_protocol parameter to be able to choose mavlink v1.0 or v2.0 when starting mavros node
mavros: default fcu_protocol parameter to mavlink v2.0
manual_control: [send]{.title-ref} topic for sending MANUAL_CONTROL message to FCU
imu plugin: fix doxygen comments
imu plugin: change sufixes to match the body coordinate frame
Fix vision odom.
IMU plugin: add raw IMU conversion for PX4
mention rotation convention and fix NED to ENU description
Contributors: ChristophTobler, James Goppert, James Mare, Martina, Oleg Kalachev, TSC21, Vladimir Ermakov

0.22.0 (2017-12-11)

scripts: Use non global mavros-ns allow to work __ns parameter
update script to support cycle_time on cmd trigger_control
plugin: Fix setpoint_position code style
Global position setpoint plugin (#764)
- fix fake gps rate
- fix
- fix plugin_list
- fix
- add global position setpoint plugin
- add plugin to CMakeList
- fix bugs
- add altitude
- move GPS setpoints to setpoint_position plugin
- fix gps setpoint subscriber name
- move GeographicLib::Geocentric earth inside callback
- add warning msg if timestamp is not updates
- Fix ROS_WARN
doc: move contributing.md to root
tools: add cogall.sh
split contribuion guide to GH file
Readme: add help for cog (#876)
Setpoints: remove mav_frame string for local variable
Setpoints: add params for initial frame
Setpoint_velocity: uncrustify
Setpoint_position: uncrustify
Setpoints: add service to specify frame
Fix typo #867
Improve output of script, replace which with more reliable hash #867
Ensure dataset files exist, not just directories #867
Remove previous duplicated link
Fixed issue link.
Fixed section header. Ready for troubleshooting PR.
Pushing troubleshooting section for Mavros.
Contributors: Mohamed Abdelkader Zahana, Pierre Kancir, Vladimir Ermakov, andresR8, fnoop, khancyr, pedro-roque

0.21.5 (2017-11-16)

Yet another formatting.
px4_config.yaml updated. Minor formatting update.
global_position/raw/gps_vel should still be in earth fixed frame.
GPS fix's frame_id changed to body-fixed.
global_position/local angular twist changed from NANs to zeroes to be able to show in RViz.
readme: source install: add note on fetching all the deps
geolib_dataset: script: fix interpreter
Contributors: Pavlo Kolomiiets, TSC21

0.21.4 (2017-11-01)

lib ftf: update dox, uncrustify
ENU<->ECEF transforms fix. (#847)
- ENU<->ECEF transforms fix.
- Changes after review. Unit tests added.
test: fix copy-paste error in frame_tf
Contributors: Vladimir Ermakov, pavloblindnology

0.21.3 (2017-10-28)

Update geographiclib script to work with zsh
scripts: fix typos and improve help messages consistency commad -> command safty -> safety Start help messages with a capital letter.
uncrustify
plugin waypoints: Use stamped message
plugin waypoint: Add MISSION_ITEM_REACHED publisher * Changes to be committed: modified: mavros/src/plugins/waypoint.cpp modified: mavros_msgs/CMakeLists.txt new file: mavros_msgs/srv/WaypointReached.srv
- change reached service name to classic topic
- Changed reached service to topic
- removed unused file
- Removed WaypointReached service
- Change reached message type to std_msgs::UInt16
- Delete WaypointReached.srv
- Restore WaypointPush.srv
- Fix tipo
- Update waypoint.cpp
launch: sync APM and PX4 configs
add debug plugin
Contributors: Jonas Vautherin, Patrick Jose Pereira, TSC21, Vladimir Ermakov, gui2dev

0.21.2 (2017-09-25)

plugin: setpoint_attitude: Finish Andres fix
fix: attitude callback trigger
lib uas: remove inline on not inlined method
odom: general fixes and code tighting
Use tf2 for odom plugin and set reasoable defaults for local pos cov.
Contributors: Andres Rengifo, James Goppert, TSC21, Vladimir Ermakov

0.21.1 (2017-09-22)

mavsys: mode: add solutions for setting AUTO.MISSION and AUTO.LOITER modes (#814)
- mavsys: add notes on how to change mode to AUTO.MISSION on PX4 Pro
- enum_to_string: update enums
- mavsys: mode: move AUTO submodes info to argparser
- sys_status: leave note that MAV_TYPE_ONBOARD_CONTROLLER will be supported on PX4
- mavsys: mode: add note on changing to AUTO.LOITER
Solve the subscriber initialization
lib frame_tf: Add to_eigen() helper
Contributors: Alexis Paques, Nuno Marques, Vladimir Ermakov

0.21.0 (2017-09-14)

plugin waypoint: Uncrustify, update init list
lib: Add to_sting for MAV_MISSION_RESULT
plugin waypoint: Rename current seq in wp list message
waypoint: Publish current waypoint seq
waypoint partial: Check parameter first with hasParam
waypoint partial: Documentation updates
waypoint: Document mid level helpers and fix indenting on rx handlers
waypoint: Document rx handlers
waypoint partial: Move FCU detection to connection_cb
waypoint partial: recommended changes to mavwp
waypoint partial: code style cleanup
waypoint partial: enable only on apm but allow override with parameter
waypoint partial: Handle case when partial push is out of range with local list and uncrustify
waypoint partial: enable only on apm through yaml
waypoint partial: stopped partial push from clearing parts of local waypoint copy
waypoint partial: uncrustify
waypoint partial: extend mavwp cli tool to do partial updating in push
waypoint partial: extended push in waypoint plugin to implement push partial
waypoint: uncrustify
waypoint: handle invalid_sequence mission_ack to prevent TXWP failure
Partial waypoint: added wp_transfered to push partial service response
Partial waypoint: renamed mavwp partial load arguments for consistency
Partial waypoint: fixed end index and added partial tx state
Partial Waypoint: handle service call in waypoint plugin
Partial waypoint: added partial updating to mavwp
imu_plugin: remove documentation of override func
imu plugin: uncrustify
imu plugin: don't be so explicit about in/out params
imu plugin: fix indentation
imu plugin: update setup_covariance method to use Eigen capabilities
imu plugin: use simpler format for one line comments
imu plugin: add code snippets to Doxygen documentation
IMU and attitude: general clean-up
CMake: explicitly link the atomic library (#797) For arm & mips architecture, the linker must explicitly be asked to link the atomic library (with [-latomic]{.title-ref}). Otherwise, the linking fails with: ` | devel/lib/libmavros.so: undefined reference to `__atomic_load_8' | devel/lib/libmavros.so: undefined reference to `__atomic_store_8' | collect2: error: ld returned 1 exit status[ Linking `atomic]{.title-ref} unconditionally as library is strictly needed only for arm & mips, but it seems not to imply any further differences with other architectures. Hence, this commit simply adds [atomic]{.title-ref} unconditionally for a uniform handling of all machine architectures. This is an alternative solution to the proposed solution in #790. The issue was discovered cross-compiling mavros in meta-ros, the OpenEmbedded layer for ROS. Some further pointers are available at: https://github.com/bmwcarit/meta-ros/issues/525 Signed-off-by: Lukas Bulwahn <<lukas.bulwahn@gmail.com>>
setpoint_attitude: privatize message_filters subscribers
Updating comments for PX4Flow
Removing copter_visualization from the yaml files. Adding odometry to apm_config Changing frame_id to base_link for vibration
Update the apm_config and px4flow_config files
Update configuration from mavros_extras
Updating default settings from px4.yaml
- global_position/tf/send default to false
- imu, checked
- local_position/tf/send default to false
- local_position/tf/send_fcu default to false
- mission/pull_after_gcs default to true
Update time reference to fcu Adding global_frame_id: 'earth' to apm_config
fcu to base_link
Changing fcu_utm to fcu
Solving default frame consistency in config files
Contributors: Alexis Paques, James Mare, James Stewart, Lukas Bulwahn, TSC21, Vladimir Ermakov

0.20.1 (2017-08-28)

0.20.0 (2017-08-23)

update generated code in plugins
update generated code
geolib: datasets: warn when not installed; update install script; launch SIGINT when not installed (#778)
- geolib: make dataset install mandatory
- travis_ci: install python3; use geographiclib-datasets-download
- CMakeLists.txt: set datasets path
- travis_ci: create a path for the geoid dataset
- travis_ci: remove python3 install
- CMakeLists.txt: remove restriction regarding the geoid model
- CMakeLists.txt: only launch a warning if the geoid dataset is not installed
- CMakeLists.txt: simplify dataset path search and presentation
- scripts: install_geographiclib_datasets becomes version aware
- uas_data: dataset init: shutdown node if exception caught
- README: update GeographicLib info; geolib install script: check for more OS versions
- uas_data: small typo fix
- install_geolib_datasets: some fix
- CMakeLists.txt: be more clear on geoid dataset fault
- CMakeLists: push check geolib datasets to a cmake module
- travis_ci: update ppa repository
- uas_data: shutdown node and increase log level instead
- install_geographiclib_datasets: simplify script to only check download script version available
- uas_data: remove signal.h import
HIL Plugin
- add HilSensor.msg, HilStateQuaternion.msg, and add them in CMakeLists.txt
- Add hil_sensor.cpp plugin to send HIL_SENSOR mavlink message to FCU.
- fix HilSensor.msg. Make it more compact.
- Fix HilStateQuaternion.msg. Make it more compact.
- Add hil_state_quaternion plugin
- fix files: some variable names were wrong+some syntax problems
- fix syntax error in plugin .cpp files, make msg files match corresponding mavlink definitions
- fix plugin source files
- fix syntax
- fix function name. It was wrong.
- add HIL_GPS plugin
- add HilGPS.msg to CMakeList
- fix missing semicolon
- fix call of class name
- Add ACTUATOR_CONTROL_TARGET MAVLink message
- fix code
- increase number of fake satellites
- control sensor and control rates
- change control rate
- change control rate
- fix fake gps rate
- fix
- fix plugin_list
- fix
- remove unnecessary hil_sensor_mixin
- update HilSensor.msg and usage
- update HilStateQuaterion.msg and usage
- redo some changes; update HilGPS.msg and usage
- update hil_controls msg - use array of floats for aux channels
- merge actuator_control with actuator_control_target
- remove hil_sensor_mixin.h
- update actuator_control logic
- merge all plugins into a single one
- delete the remaining plugin files
- update description
- redo some changes; reduce LOC
- fix type cast on gps coord
- add HIL_OPTICAL_FLOW send based on OpticalFlowRad sub
- update authors list
- update subscribers names
- refactor gps coord convention
- add HIL_RC_INPUTS_RAW sender; cog protec msg structure and content
- apply correct rc_in translation; redo cog
- apply proper rotations and frame transforms
- remote throttle
- fix typo and msg api
- small changes
- refactor rcin_raw_cb
- new refactor to rcin_raw_cb arrays
- update velocity to meters
- readjust all the units so to match mavlink msg def
- update cog
- correct cog conversion
- refefine msg definitions to remove overhead
- hil: apply frame transform to body frame
apm_config.yaml: change prevent collision in distance_sensor id
Extras: add ardupilot rangefinder plugin
msgs fix #625: Rename SetMode.Response.success to mode_sent
[WIP] Plugins: setpoint_attitude: add sync between thrust and attitude (#700)
- plugins: setpoint_attitude: add sync between throttle and attitude topics to be sent together
- plugins: typo correction: replace throttle with thrust
- plugins: msgs: setpoint_attitude: replaces Float32Stamped for Thrust msg
- plugins: setpoint_attitude: add sync between twist and thrust (RPY+Thrust)
- setpoint_attitude: update the logic of thrust normalization verification
- setpoint_attitude: implement sync between tf listener and thrust subscriber
- TF sync listener: generalize topic type that can be syncronized with TF2
- TF2ListenerMixin: keep class template, use template for tf sync method only
- TF2ListenerMixin: fix and improve sync tf2_start method
- general update to yaml config files and parameters
- setpoint_attitude: add note on Thrust sub name
- setpoint_attitude: TF sync: pass subscriber pointer instead of binding it
apm_config: add mavros_extras/fake_gps plugin param config
px4_config: add gps_rate param
frame tf: move ENU<->ECEF transforms to ftf_frame_conversions.cpp
extras: mocap_fake_gps->fake_gps: generalize plugin and use GeographicLib possibilites
UAS: Share egm96_5 geoid via UAS class
Move FindGeographicLib.cmake to libmavconn, that simplify installation, simplify datasets instattator
Use GeographicLib tools to guarantee ROS msg def and enhance features (#693)
- first commit
- Check for GeographicLib first without having to install it from the beginning each compile time
- add necessary cmake files
- remove gps_conversions.h and use GeographicLib to obtain the UTM coordinates
- move conversion functions to utils.h
- geographic conversions: update CMakeLists and package.xml
- geographic conversions: force download of the datasets
- geographic conversions: remove unneeded cmake module
- dependencies: use SHARED libs of geographiclib
- dependencies: correct FindGeographicLib.cmake so it can work for common Debian platforms
- CMakeList: do not be so restrict about GeographicLib dependency
- global position: odometry-use ECEF instead of UTM; update other fields
- global position: make travis happy
- global position: fix ident
- global_position: apply correct frames and frame transforms given each coordinate frame
- global_position: convert rcvd global origin to ECEF
- global_position: be more explicit about the ecef-enu transform
- global position: use home position as origin of map frame
- global position: minor refactoring
- global position: shield code with exception catch
- fix identation
- move dataset install to script; update README with new functionalities
- update README with warning
- global_position: fix identation
- update HomePosition to be consistent with the conversions in global_position to ensure the correct transformation of height
- home|global_position: fix compile errors, logic and dependencies
- home position: add height conversion
- travis: update to get datasets
- install geo dataset: update to verify alternative dataset folders
- travis: remove dataset install to allow clean build
- hp and gp: initialize geoid dataset once and make it thread safe
- README: update description relative to GeographicLib; fix typos
- global position: improve doxygen references
- README: update with some tips on rosdep install
[WIP] Set framework to define offset between global origin and current local position (#691)
- add handlers for GPS_GLOBAL_ORIGIN and SET_GPS_GLOBAL_ORIGIN
- fix cast of encoding types
- refactor gps coord conversions
- uncrustify
- global_position: add LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET handler
- global_position: add trasform sender for offset
- global_origin: refactor covariance matrix
- global_position: update copyright
- global_position: add initial support to REP 105
- px4_config: global_position: update frame description
- global_position: correct identation
- global position: be consistent with frame and methods names (ecef!=wgs84, frame_id!=global_frame_id)
- global_position: updates to code structure
- global_position: fix identation
lib: frame_tf: Style fix
extras: odom: Minor fixes
extras: Add odom plugin
lib: frame_tf: Add support for 6d and 9d covariance matrices
Contributors: James Goppert, Nuno Marques, TSC21, Vladimir Ermakov, khancyr

0.19.0 (2017-05-05)

launch: remove setpoint-attitude from apm blacklist
lib: cleanup in enum_to_string
extras: Add ADSB plugin
plugin: home_position: Log poll
plugin: home_position: Log report
plugin #695: Fix plugin
plugin: Add home_position
Added SAFETY_ALLOWED_AREA rx handler (#689)
- Added SAFETY_ALLOWED_AREA rx handler and publish PolygonStamped msg with the 2 points
- add resize to array to avoid sigfault
lib: Fix millis timesync passthrough
Plugin: Add unstamped Twist subscriber for setpoint_velocity
uas: Move timesync_mode enum to utils.h + fixes That enum are used for utils too, but forward declaration of class internal enum is impossible.
sys_time: Add timesync mode selection parameter.
sys_time : add multi-mode timesync
uas : add multi-mode timesync
uas : add multi-mode timesync
launch fix #670: Add configuration of distance_sensor plugin for APM
Contributors: Kabir Mohammed, Nuno Marques, Pierre Kancir, Randy Mackay, Vladimir Ermakov

0.18.7 (2017-02-24)

readme: Add serial-hwfc:// proto
trigger interface : rename to cycle_time to be consistent with PX4
Contributors: Kabir Mohammed, Vladimir Ermakov

0.18.6 (2017-02-07)

lib #626: Porting of PR #650 - Fix OSX pthread set name.
uas fix #639: Remove Boost::signals2 from UAS
Plugins: system_status change status field to system_status Add comment to State.msg for system_status enum
Plugins: add system_status to state message
Contributors: Fadri Furrer, Pierre Kancir, Vladimir Ermakov

0.18.5 (2016-12-12)

lib: update ArduPilot modes
Contributors: Randy Mackay

0.18.4 (2016-11-11)

lib: Add ArduSub modes
readme: Fix mavlink rosinstall_generator call
mavros: README.md: its -> it's Here "it's" is a short form for "it is".
add hil_actuator_controls mavlink message
lib: Make cog.py scrips compatioble with Py3
plugin:sys_status: Add logging health report
Update README for all packages
Update README.md Fix instructions: Only the Kinetic distro actually works for MAVLink 2.0
Contributors: Beat Kung, Georgii Staroselskii, Lorenz Meier, Vladimir Ermakov

0.18.3 (2016-07-07)

plugin:param: Use mavlink::set_string() helper
Update README.md
Update README.md Fix very confusing instructions mixing steps.
Update README.md
Update README.md
python #569: convert_to_rosmsg() support for 2.0. NO SIGNING.
python #569: Update mavlink.convert_to_bytes()
Contributors: Lorenz Meier, Vladimir Ermakov

0.18.2 (2016-06-30)

plugin:sys_status: Fix STATUSTEXT log prefix
Contributors: Vladimir Ermakov

0.18.1 (2016-06-24)

lib: Fix base mode flag check
plugins: Move pluginlib macros.h to tail
plugin:param fix #559: Ignore PX4 _HASH_CHECK param
Contributors: Vladimir Ermakov

0.18.0 (2016-06-23)

lib #439: MAV_CMD to_string is not required.
plugin:sys_status #458: Hanlde BATTERY_STATUS (PX4)
plugin:sys_status fix #458: Use sensor_msgs/BatteryState message. Minimal data, for all other need to handle BATTERY_STATUS.
plugin:command fix #561: PX4 now sends COMMAND_ACK. And like APM do not check confirmation field. :)
readme #544: add udp-b://@ URL
plugin:hil_controls: Update plugin API
Merge branch 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros into pvechersky-feature/hil_controls_plugin * 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros: Adding anchor to the HIL_CONTROLS message reference link Ran uncrustify on hil_controls plugin Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation Added a plugin that publishes HIL_CONTROLS as ROS messages
node: fix subscription message type checks
plugin: use mavlink::to_string() for std::array<char, N>
readme: update CI, no more MAVLINK_DIALECT
plugin:waypoint: Fix target id's on MISSION_ITEM
node: Add ~fcu_protocol parameter
Ran uncrustify on hil_controls plugin
Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation
node: set gcs_url on internal GCS bridge diag hardware Id
plugins: Use UAS::msg_set_target()
Added a plugin that publishes HIL_CONTROLS as ROS messages
lib: PX4 add AUTO.FOLLOW_TARGET
mavros: Update tests
extras: Update UAS
UAS: Update plugins for FTF module
UAS: move enum stringify functions
lib: Generate MAV_SENSOR_ORIENTATION
UAS: move MAV_SENSOR_ORIENTATION out
UAS: Move transformation utilities to ftf module
plugin:rc_io: Fix log printf-format warning
make GCC 4.8 happy. (travis)
gcs_bridge: done
param:ftp: Update API
plugin:param: Works. Tested on APM
plugin:param: Update, almost work
plugin:waypoint: Fix Item - ROS binding
Message type mismatch code do not work
plugin:waypoint: Update API
plugin:sys_time: Update API
plugin:sys_status: Update API
plugin:setpoint_raw: Update API
plugin:setpoint_attitude: Update API
plugin:setpoint_accel: Update API
plugin:setpoint_velocity: Update API
plugin:setpoint_position: Update API
plugin:vfr_hud: Update API
plugin:safety_area: Update API
plugin:rc_io: Update API
plugin:manual_control: Update API, fix uas init
plugin:local_position: Update API
plugin:imu_pub: Update API
plugin:global_position: Update API
mavros: make_handle() this shouldn't be const
plugin:common: Update API
plugin:altitude: uncrustify
plugins: Rutine sed + fix misprint
plugin:altitude: Update API
plugins: Automatic replacement of routine API changes (sed)
plugin:actuator_control: Update API
plugin:3dr_radio: Update API
node: Update plugin loading and message routing
node: type_info -> SIGSEGV
node: prepare new plugin loading
node: Rename plugib base class - API incompatible to old class
labmavconn: finding sigsegv
Contributors: Pavel, Vladimir Ermakov

0.17.3 (2016-05-20)

libmavconn #543: support build with mavlink 2.0 capable mavgen
node: Remove warning about MAVLINK_VERSION redefine
Fix bug with orientation in setpoint_raw plugin Fixes a bug where the ned_desired_orientation was not actually passed into set_attitude_target. Instead, the desired_orientation (wrong frame) was passed.
Contributors: Justin Thomas, Vladimir Ermakov

0.17.2 (2016-04-29)

Update README.md
Update README.md Updated / completed examples.
Update README.md
Fix for kinetic std::isnan.
Contributors: James Goppert, Lorenz Meier

0.17.1 (2016-03-28)

lib: Add QLAND mode of APM:Plane https://github.com/mavlink/mavlink/commit/a0ed95c3a7d97a8f8d86ce3f95c4bf269f439c46
Update contributing guide We forgot to mention uncrustify commit.
Treat submarine vehicles like copter vehicles
Contributors: Josh Villbrandt, Vladimir Ermakov

0.17.0 (2016-02-09)

update README
rebased with master
Fixed ROS_BREAK
Updates for ROS_BREAK and code style
Nitpicks and uncrustify
Updated frame transformations and added odom publisher to local position plugin
Contributors: Eddy, Vladimir Ermakov, francois

0.16.6 (2016-02-04)

node fix #494: Report FCU firmware type in rosonsole log
scripts fix #478: Remove guided_enable garbage. I'm missed this when do #407.
Contributors: Vladimir Ermakov

0.16.5 (2016-01-11)

scripts: mavwp #465: Remove WaypointGOTO from scrips and python library
node: Report mavlink package version
lib: Add APM:Plane QuadPlane modes. Sync with: https://github.com/mavlink/mavlink/commit/1fc4aef08a54130f297943c246f95b8c7e37b1bf
readme: pixhawk dialect removed.
Contributors: Vladimir Ermakov

0.16.4 (2015-12-14)

scripts: checkid: be always verbose, add --follow
scripts: fix copyright indent
scripts: mavcmd: Fix bug: param7 not passed to service call!
scripts #382: Add ID checker script. It is not complete, but i hope it helps in current state.
scripts: mavcmd: Add support for broadcast requests
event_launcher: fix bug: Trigger service server is not saved in Launcher Also fixes: environment variables may contain ~ (user dir) in expansion.
using timestamp from mavlink message
Update mavlink message documentation links
lib: update MAV_TYPE stringify
lib: Add RATTITUDE PX4 mode
remove "altitude_" prefix from members
updated copyright
implemented altitude plugin
Contributors: Andreas Antener, Vladimir Ermakov

0.16.3 (2015-11-19)

use safe methods to get imu data in local_position plugin
Contributors: Andreas Antener

0.16.2 (2015-11-17)

transform yaw and yaw rate from enu to ned
Contributors: Andreas Antener

0.16.1 (2015-11-13)

python: fix import error of goto service
don't warn anymore about px4 not supporting rc_io
Contributors: Andreas Antener, Vladimir Ermakov

0.16.0 (2015-11-09)

lib: Update ArduCopter mode list
plugin: sys_status #423: set_mode set arming and HIL flags based on previous state
lib #423: Save base_mode in UAS.
Finalized local position topic names
readme: add link to catkin-tools docs
readme #409: merge mavlink and mavros installation instruction
Fixed redundant rotation of IMU data and redundant orientation data
plugin: setpoint_raw fix #418: add attitude raw setpoint Related #402.
Added velocity output of FCU's local position estimate to ROS node
plugin: sys_status fix #417: remove APM statustext quirk
plugin: waypoint fix #414: remove GOTO service. It is replaced with more standard global setpoint messages.
plugin: setpoint_raw fix #415: add global position target support Related to #402.
plugin: command fix #407: remove guided_enable sevice
plugin: setpoint_raw #402: implement loopback.
plugin: setpoint_raw #402: Initial import.
readme fix #410: use only catkin tool
readme: add defaults for URL
pass new extended state to ros
python: add util to convert pymavlink message to Mavlink.msg
python: convert input to bytearray
python: add payload convertion util
gcs_bridge #394: enable both UDPROS and TCPROS transports
EL: add try-except on handlers
event_launcher: show logfile path
event_launcher #386: expand shell vars for logfile
Mavros library depends on mavros_msgs headers Adding this dependency makes sure that mavros_msgs message headers are generated before the mavros library is built, since it needs those headers.
Contributors: Andreas Antener, Eddy, Jon Binney, Vladimir Ermakov

0.15.0 (2015-09-17)

lib: fix timesync uninit bug. Uninitialized variable caused wrong timestamps with APM.
python #286: use checksum - save ticks
script #385: output to log-file
script #385: remove RosrunHandler and RoslaunchHandler
script #385: attempt to implement rosrun fails. ROSLaunch class wants all node operations from main thread. That is not possible.
script #385: fix shell-killer, but logging are broken and removed
script #385: shell-launcher now works!
script #385: add example configuration
script #385: shell handler done. next - rosparam handling
script #385: starting work on simple shell launcher
scripts: starting event_launcher
python: Remove unneded slice operation. Fix copyright year. [list[:len(list)]]{.title-ref} is equal to [list]{.title-ref}, but creates new list with data from that slice.
updated mavlink byte buffer conversion
plugin: manual_control: Use shared pointer message Fix alphabetic order of msgs.
python: add helper for converting mavros_msgs/Mavlink to pymavlink
Add MANUAL_CONTROL handling with new plugin
Contributors: Andreas Antener, Vladimir Ermakov, v01d

0.14.2 (2015-08-20)

0.14.1 (2015-08-19)

package: Fix depend on rosconsole-bridge
Removed <remap>
Contributors: Vladimir Ermakov, devbharat

0.14.0 (2015-08-17)

python: call of mavros.set_namespace() is required.
scripts: mavftp fix #357: add verify command
scripts: mavftp #357: progressbar on download operation
scripts: mavftp #357: progress bar for upload operation.
scripts: mavftp: New command [cd]{.title-ref}. All path arguments now may handle relative paths.
readme: fix frame tansform section
mavros: readme: update info on frame conversions
mavros: readme: update contribution steps
node: Replace deprecated copy functions. Also allow mavlink to & from topics to be namespaced.
extras: scripts: use API from mavros module
scripts: fix for new message location
python: update mavros lib to new message location
package: remove not exist dependency
plugin: waypoint: Fix message include
plugin: vfr_hud: Fix message include
plugin: rc_io: Fix message include
plugin: param: Fix message include
plugin: ftp: Fix message include
plugin: sys_status: Fix message include
plugin: command: Fix message include
plugin: 3dr_radio: Fix message include
plugin: actuator_control: Fix message include.
msgs: update copyright year
msgs: deprecate mavros::Mavlink and copy utils.
msgs: change description, make catkin lint happy
msgs #354: move all messages to mavros_msgs package.
Minor typo fix.
node: increase diag timer to 2 Hz
node: move diagnostic to AsyncSpinner threads.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.13.1 (2015-08-05)

lib #358: cleanup. Replace UAS::getYaw() with UAS::quaternion_get_yaw().
lib #358: found correct getYaw(). Test for each degrees in -180..180.
test #358: test more different angles. Compare rotation result.
lib #358: try to implement algo from wikipedia.
lib #358: still failing. add recursive test for range -Pi..+Pi
lib #358: try solve issue using older eulerAngles()
lib #358: remove to_rpy test
Merge branch 'master' of github.com:mavlink/mavros * 'master' of github.com:mavlink/mavros: global_position: move relative_alt and compass_heading init back add nav_msgs to dependencies so to make Travis happy global_position: update pose and twist to odom msg
test fix #359: split out quaternion tests.
lib #359: move quaternion utils.
global_position: move relative_alt and compass_heading init back
add nav_msgs to dependencies so to make Travis happy
global_position: update pose and twist to odom msg
test #358: add tests for negative values and quaternion_to_rpy tf2 compatibility check Tests now fails!
sctipts: fix gps topic path
lib: fix input validation in UAS::orientation_from_str()
test: add case for num str->sensor orientation
package: fix CHANGELOG.rst
Contributors: TSC21, Vladimir Ermakov

0.13.0 (2015-08-01)

plugin: setpoint_attitude #352: use new helper.
plugin: sys: Fix cppcheck and YouCompleteMe warnings
plugin: ftp: Fix cppcheck errors.
lib #352: Add helper function UAS::quaternion_to_mavlink()
Fixed bug in send_attitude_target() The transformed quaternion wasn't being passed to set_attitude_target(), resulting in an incorrect attitude setpoint. I've now fixed this issue.
scripts: fix mavwp
test: add test cases for new sensor orientation functions
remove tf1 dep
lib #319: Remove TF types from UAS
plugin: param: new message type: ParamValue
msgs: Move MAV_CMD values to separate msg
plugin: command: fix build
fix whitespaces in python scripts
Merge pull request #312 from mhkabir/cam_imu_sync Camera IMU synchronisation support added
Added launch file for PX4 posix sitl to launch gcs_bridge node for bridging posix and gazebo
scripts: mavftp: little speed up by aligning access to payload length
launch: Add optional log_output arg
Merge branch 'orientation_enum_name' * orientation_enum_name: distance_sensor #342: correct orientation parameter handling. lib #342: try to convert numeric value too px4_config: adapt to distance_sensor params to new features distance_sensor: restructure orientation matching and verification lib #342: Added sensor orientation string repr.
lib #342: try to convert numeric value too
px4_config: adapt to distance_sensor params to new features
lib #342: Added sensor orientation string repr.
launch: update local_position conf
test: Add test for UAS::sensor_orientation_matching()
Update cmake Eigen3 finding rules. Migration described at: http://wiki.ros.org/jade/Migration#Eigen_CMake_Module_in_cmake_modules
lib #319, #341: preparation for str->MAV_SENSOR_ORIENTATION func
lib #319: Return quaternion from UAS::sensor_matching()
lib: Remove unneded NodeHandle
launch fix #340: update default component id of PX4.
plugin: sys_status: Add fallback to adressed version request.
Can not remove tf package before #319 is done. tf::Vector3 and other tf1-bullet still in use.
plugin: sys_status: Use broadcast for version request.
fix #71: replace depend tf to tf2_ros.
plugin: Use UAS::syncronized_header() for reduce LOC.
lib #319: use similar names for covariances as eigen vector
lib #319: transform_frame() for Covariance3x3
lib #319: remove unused bullet based transform_frame()
extras: vision_pose #71: Use TF2 listener. Also #319.
plugin #71: Implement TF2 listener. Change param names. Breaks extras.
uas #71: Use single TF2 objects for broadcasting and subscription.
launch: Update configs.
lib: Add UAS::quaternion_to_rpy()
plugin: safety_area #319: Change transform_frame()
plugin: local_position #71 #319: port to TF2 and Eigen
lib: Add UAS::synchonized_header()
plugin: command: Add command broadcasting support.
Perform the autopilot version request as broadcast
lib: Update PX4 mode list
plugin: global_position #325: port tf broadcaster to tf2 Also #71.
plugin: global_position #325: reenable UTM calc
plugin: gps #325: remove gps plugin.
plugin: global_position #325: merge gps_raw_int handler
plugin: setpoint_accel #319: use eigen frame transform. I don't think that PX4 support any other frame than LOCAL_NED. So i removed comment. Also style fix in setpoint_velocity.
plugin: setpoint_velocity #319: use eigen based frame transform.
plugin: setpoint_position #273: remove PX4 quirk, it is fixed.
plugin: ftp: Update command enum.
plugin: imu_pub fix #320: move constants outside class, else runtime linkage error.
plugin: imu_pub #320: first attempt
eigen #319: handy wrappers.
eigen #319: add euler-quat function. Also #321.
test #321: remove duplicated test cases, separate by library. Add test for checking compatibility of tf::quaternionFromRPY() and Eigen based math.
test #321: testing eigen-based transforms. We should check what convention used by tf::Matrix to be sure that our method is compatible.
mavros #319: Add Eigen dependency and cmake rule.
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
cam_imu_sync : fix running
imu_cam_sync : fix formatting
command handling in mavcmd for camera trigger
Camera IMU synchronisation support added
Contributors: Anurag Makineni, Lorenz Meier, Mohammed Kabir, TSC21, Vladimir Ermakov, devbharat

0.12.0 (2015-07-01)

plugin: sys_time, sys_status #266: check that rate is zero
test #321: disable tests for broken transforms.
lib #321: frame transform are broken. again! revert old math. RULE for me: do not accept patch without wide testing from author. That PR changes all plugins code, instead of do API, test and only after that touching working code. My bad.
unittest: added 6x6 Covariance conversion test
frame_conversions: update comments; filter covariance by value of element 0
unittests: corrected outputs from conversion tests
test: other quaternion transform tests
test: UAS::transform_frame_attitude_q()
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
coverity: make them happy
uncrustify: fix style on frame conversions
uncrustify: includes
plugin: sys_status #266: replace period with rate parameter
plugin: sys_time #266: Replace period with rate parameters
frame_conversion: last fix patch
frame_conversions: use inline functions to identify direction of conversion
changed frame conversion func name; add 3x3 cov matrix frame conversion; general doxygen comment cleanup
frame_conversions: added covariance frame conversion for full pose 6x6 matrix
frame_conversions: added frame_conversion specific lib file; applied correct frame conversion between ENU<->NED
sys_status #300: PX4 place in [0] lest significant byte of git hash.
sys_status fix #300: fix u8->hex func.
plugin: waypoint: cosmetics.
vibration_plugin: first commit
Changes some frames from world to body conversion for NED to ENU.
mavsys #293: add --wait option
mavsys: Fix arguments help
mavcmd #293: Add --wait option. New function: util.wait_fcu_connection(timeout=None) implement wait option.
sys_status #300: AUTOPILOT_VERSION APM quirk
mavros #302: fix style
mavros #302: split UAS impl by function blocks
mavros fix #301: move sensor orientation util to UAS
distance_sensor: typo; style fixe
sensor_orientation: list values correction
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: use MAX as last index macro
distance_sensor: changed to usable config
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: updated orientation enum; updated data type
sensor_orientation: included array type on utils.h
sensor_orientation: added sensor orientation matching helper func
distance_sensor: updated config file
distance_sensor: define sensor position through param config
distance_sensor: array limiting; cast correction; other minor correc
distance_sensor: small enhancements
sys_status #293: initialize state topic
sys_status #293: expose connection flag in mavros/State.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.11.2 (2015-04-26)

plugin: param fix #276: add check before reset request downcounter. If on MR request FCU responses param with different [param_index]{.title-ref} do not reset repeat counter to prevent endless loop.
gcs bridge fix #277: add link diagnostics
plugin: setpoint_position #273: add quirk for PX4.
readme: fir glossary misprint
readme: add notes about catkin tool
Contributors: Vladimir Ermakov

0.11.1 (2015-04-06)

scripts #262: update mavwp
scripts #262: mavsetp, new module mavros.setpoint
mavftpfuse #129: cache file attrs
mavparam #262: use get_topic()
mavsys #262: use get_topic()
mavcmd #262: use get_topic()
mavftp #263, #262: use crc32 checksums
python #262: add get_topic()
Update local_position.cpp removed irritating comment
readme: add short glossary
plugin: setpoint_attitude: remove unneded ns
Contributors: Marcel Stuettgen, Vladimir Ermakov

0.11.0 (2015-03-24)

plugin: setpoint_position #247: rename topic
launch #257: rename blacklist.yaml to pluginlists.yaml
node #257: implement while list.
plugin: actuator_control #247: update topic name.
mavros: Initialize UAS before connecting plugin routing. Inspired by #256.
plugin: sys_status: Check sender id. Inspired by #256.
plugin: sys_status: Use WARN severity for unknown levels
uas: Add [UAS::is_my_target()]{.title-ref} Inspired by #256.
plugin: global_position: Fill status and covariance if no raw_fix. Additional fix for #252.
launch: change apm target component id APM uses 1/1 (sys/comp) by default.
plugin: sys_status: publish state msg after updating uas Before this commit, the custom mode string published in the state message was computed using the autopilot type from the previous heartbeat message--not the autopilot type from the current hearbeat message. Normally that isn't a problem, but when running a GCS and mavros concurrently, both connected to an FCU that routes mavlink packets (such as APM), then this causes the custom mode to be computed incorrectly, because the mode string for the GCS's hearbeat packet will be computed using the FCU's autopilot type, and the mode string for the FCU's heartbeat packet will be computed using the GCS's autopilot type.
plugin: global_position: fix nullptr crash This fixes a crash in cases where a GLOBAL_POSITION_INT message is received before a GPS_RAW_INT message, causing the [gps_fix]{.title-ref} pointer member to be dereferenced before it has been set.
msgs: fix spelling, add version rq.
coverity: init ctor in 3dr_radio
launch fix #249: update apm blacklist
launch: rename APM2 to APM.
launch #211: update configs
plugin: gps: remove unused param
plugin: sys_time: remove unused param
launch fix #248: remove radio launch
plugin: 3dr_radio #248: add/remove diag conditionally
plugin: sys_status: move connection params to ns
plugin: sys_time: fix #206 (param ns)
node: Inform what dialect built-in node
plugin: sys_status: Conditionaly add APM diag
plugin: sys_status: fix #244
uas #244: add enum lookups
package: update lic
license #242: update mavros headers
plugin: local_positon: use auto
plugin: imu_pub: Update UAS store.
plugin: gps: remove diag class, change UAS storage API.
plugin api #241: move diag updater to UAS.
plugin api #241: remove global private node handle. Now all plugins should define their local node handle (see dummy.cpp). Also partially does #233 (unmerge setpoint topic namespace).
plugin api #241: remove [get_name()]{.title-ref}
package: mavros now has any-link proxy, not only UDP
Update years. I left gpl header, but it is BSD too.
Add BSD license option #220
plugin: sys_status: AUTOPILOT_VERSION support. Fix #96.
mavros fix #235: Use AsyncSpinner to allow plugins chat. Old single-threaded spinner have a dead-lock if you tried to call a service from for example timer callback. For now i hardcoded thread count (4).
uncrustify: actuator_control
Merge branch 'master' of github.com:mstuettgen/Mavros
fixed missing ;
code cosmetics
further removed unneeded white spaces and minor code cosmetics
fixed timestamp and commented in the not-working function call
code cosmetics, removed whitespaces and re-ordered function signatures
more code comment cosmetic
code comment cosmetic
uncrustify: fix style
readme: add contributing notes
uncrustify: mavros base plugins
uncrustify: mavros lib
uncrustify: mavros headers
tools: add uncrustify cfg for fixing codestyle Actually it different from my codestyle, but much closer than others.
added more const to function calls to ensure data consistency
modified code to fit new message
added group_mix to ActuatorControl.msg and a link to mixing-wiki
plugin: rc_io: Add override support warning
REALLY added ActuatorControl.msg
added ActuatorControl.msg
fixed latest compiler error
renamed cpp file to actuator_control.cpp and added the new plugin to mavros_plugins.xml
removed unneeded Mixinx and reverse_throttle, and unneeded variables in function signatures
inital draft for set_actuator_control plugin
launch: enable setpoint plugins for APM As of ArduCopter 3.2, APM supports position and velocity setpoints via SET_POSITION_TARGET_LOCAL_NED.
plugin: setpoint_velocity: Fix vx setpoint vz should have been vx.
Contributors: Clay McClure, Marcel Stuettgen, Vladimir Ermakov

0.10.2 (2015-02-25)

Document launch files
launch: Fix vim modelines #213
launch #210: blacklist image_pub by px4 default. Fix #210.
Contributors: Clay McClure, Vladimir Ermakov

0.10.1 (2015-02-02)

Fix \@mhkabir name in contributors.
uas #200: Add APM:Rover custom mode decoding. Fix #200.
uas #200: Update APM:Plane and APM:Copter modes.
Contributors: Vladimir Ermakov

0.10.0 (2015-01-24)

mavros #154: Add IO stats to diagnostics. Fix #154.
Add rosindex metadata
plugin: ftp: init ctor.
plugin: sts_time: Code cleanup and codestyle fix.
plugin: command: Quirk for older FCU's (component_id) Older FCU's expect that commands addtessed to MAV_COMP_ID_SYSTEM_CONTROL. Now there parameter: [~cmd/use_comp_id_system_control]{.title-ref}
plugin: rc_io: #185 Use synchronized timestamp.
plugin: gps: #185 use synchronized timestamp common.xml tells that GPS_RAW_INT have time_usec stamps.
uas: Fix ros timestamp calculation. Issues: #186, #185.
plugin: add synchronisation to most plugins (fixed) Closes #186.
readme: Add notes about coordinate frame conversions #49
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.4 (2015-01-06)

plugin: sys_time: enable EMA
Contributors: Mohammed Kabir

0.9.3 (2014-12-30)

plugin: visualization finshed
Restore EMA. Works better for low rates.
Update sys_time.cpp
plugin : add time offset field to dt_diag
Final fixes
minor
plugin : fixes timesync. FCU support checked.
Visualisation system import
param: Fix float copying too
param: Fix missing
param: Trynig to fix 'crosses initialization of XXX' error.
param: Try to fix #170.
Update units
New message, moving average compensation
Initial import new sync interface
plugin: sys_status: Enable TERRAIN health decoding.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.2 (2014-11-04)

0.9.1 (2014-11-03)

Update installation notes for #162
Contributors: Vladimir Ermakov

0.9.0 (2014-11-03)

0.8.2 (2014-11-03)

REP140: update package.xml format. Hydro don't accept this format correctly, but after split i can update.
Contributors: Vladimir Ermakov

0.8.1 (2014-11-02)

fix build deps for gcs_bridge
mavconn #161: Enable rosconsole bridge.
mavconn #161: Move mavconn tests.
mavconn #161: Fix headers used in mavros. Add readme.
mavconn #161: Fix mavros build.
mavconn #161: Move library to its own package Also rosconsole replaced by console_bridge, so now library can be used without ros infrastructure.
plugin: sys_time: Set right suffixes to uint64_t constants. Issue #156.
plugin: sys_time: Add time syncronization diag. Issue #156.
plugin: sys_time: Debug result. Issue #156.
plugin: Store time offset in UAS. TODO: implement fcu_time(). Issue #156.
plugin: sys_time: Fix code style. Also reduce class variables count (most not used outside the method). Issue #156.
Update repo links. Package moved to mavlink organization.
Nanosecond fix
Fix
Fixes
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update CMakeLists.txt
Update mavros_plugins.xml
Update sys_time.cpp
Fix build
sys_time import. Removed all time related stuff from gps and sys_status
Initial sys_time plugin import
plugin: ftp: Bytes written now transfered in payload.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.8.0 (2014-09-22)

plugin: ftp: Disable debugging and change level for some log messages. Issue #128.
plugin: ftp: Translate protocol errors to errno. Issue #128.
scripts: mavftp: Add upload subcommand. Issue #128.
python: Add more ftp utils. Issue #128.
plugin: ftp: Fix write offset calculation. Issue #128.
plugin: ftp: Add . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add support for . Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Add
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Move common mission classes to mavros.mission module. Issue #157.
python: Move useful utils to mavros.param module. Issue #157.
python: Move common utils to mavros.utils module. Issue #157.
python: Create python module for ftp utils. Issue #128, #157.
scripts: ftp: Implement file-like object for IO. Issue #128.
plugin: ftp: Implement write file. Issue #128.
scripts: mavftp: Add remove subcommand. Issue #128.
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add response errno from server.
plugin: ftp: Add support for 'Skip' list entries. Issue #128.
scripts: mavftp: Add mkdir/rmdir support. Issue #128.
plugin: ftp: Add mkdir/rmdir support. Issue #128.
plugins: ftp: Update protocol headers. Issue #128.
Revert "Update package.xml format to REP140 (2)." This reverts commit 81286eb84090a95759591cfab89dd9718ff35b7e. ROS Hydro don't fully support REP140: rospack can't find plugin descriptions. Fix #151.
scripts: mavwp: Fix --follow mode
plugin: imu_pub: Fix RAW_IMU/SCALED_IMU angular scale constant. Fix #152.
launch: remove px4_local_gcs.launch again. It removed in 826be386938c2735c9dab72283ba4ac1c68dc860, but accidentally returned.
extras: launch: Use includes. Fix #144.
launch: PX4: use node.launch in PX4 scripts. Also remove px4_local_gcs.launch: please use [roslaunch mavros px4.launch gcs_url:=udp://\@localhost]{.title-ref} instead. Issue #144.
launch: APM2: Add node.launch and update apm scripts to use it. Issue #144.
plugin: command: Fix CommandInt x,y types.
Update package.xml format to REP140 (2). Fix #104.
launch: Blacklist FTP for APM.
scripts: mavwp: Add decoding for some DO-* mission items.
scripts: mavwp: Add preserve home location option at load operation. Useful if FCU stores home location in WP0 (APM).
Added src location.
Updated README wstool instructions.
plugin: ftp: Init ctor
service: mavftp: Initial import. Issue #128.
plugin: ftp: Implemnet reset call. Sometimes kCmdReset can restore normal operation, but it might be dangerous. Issue #128.
plugin: ftp: Implement call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Fix open error. Issue #128.
plugin: ftp: Implement (read) and . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement method. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement list parsing Issue #128.
plugin: ftp: Fix CRC32 calculation. Issue #128.
plugin: ftp: Add plugin skeleton. Based on QGroundContol QGCUASFileManager.h/cc. Issue #128.
plugin: ftp: Add size info
plugin: ftp: Add plugin service API. Issue #128.
plugin: vfr_hud: Initial import. Also this plugin publish APM specific WIND estimation message. Fix #86.
node: coverity fails at UAS initilizer list
plugin: setpoint_attitude: Init ctor, remove code dup.
cmake: Add check MAVLINK_DIALECT value Fix #139.
Move common cmake rules to modules. Same mech as in [cmake_modules]{.title-ref} package. Issue #139.
launch: corrected launch for gcs bridge
scripts: mavsetp: Fix misprint.
launch files: added px4 launch files for connection with radio and gcs
scripts: mavsetp: Fix twist.angular vector construction. Small style fix.
Update doxygen documentation. Add split lines in UAS, and make UAS.connection atomic. Add rosdoc configuration for mavros_extras.
scripts: mavsetp: corrected API; added possibility of parse angles in dg or rad
scripts: mavsetp: corrected msg API; mavteleop: added prefix to rc override
scripts: mavsetp: added local accel; corrected how the OFFBOARD mode is swtch.
scripts: mavsetp: changed the way offboard mode is switched
node: init ctor (coverity)
nodelib: add std::array header
return msg generator deps for mavconn
scripts: mavsys: Implement set rate command.
scripts: Add mavsys tool. Implented only [mode]{.title-ref} operation. Issue #134.
plugin: sys_status: Implement set_mode service. Previous command shortcut removed. Issue #136, #134.
node: Implement reverse mode lookup. Issue #136.
plugin: sys_status: Move custom mode decoder to UAS. Issue #136.
node: Catch URL open exception. Also update connection pointer type.
nodelib: move sources to subdir
node: Move UAS to mavros namespace
node: Move node code to library.
node: Catch DeviceError; use C++11 foreach shugar.
plugin: command: Add COMMAND_INT suport. Fix #98.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov

0.7.1 (2014-08-25)

plugins: setpoint: Update SET_POSITION_TARGET_LOCAL_NED message. Fix #131.
scripts: mavsetp: Enable OFFBOARD mode. Issue #126.
plugin: command: Add guided_enable shortcut It enable PX4 OFFBOARD mode. Issue #126.
scripts: Add mavsetp script. Only local setpoint for now. Issue #126.
plugins: Change UAS FCU link name. Reduce smart pointer count, that hold fcu link object.
scripts: mavcmd: Add takeoffcur and landcur commands Fix #91, #92. Inspired by #125.
Closes #122, closes #123; plugins: move mocap & vision plugins to extras, change vision plugins name
plugins: UAS remove std::atomic<double> It don't work at some compilers. Issue #89.
plugin: global_position: Fill NavSatFix status filed. Issue #87, #118.
plugins: Add GPS data to UAS
plugins: Move setpoint_mixin.h Fix #120.
plugin: mocap: Fix load. Issue #121.
plugins: global_position: get pose orientation from the one stored in uas
plugins: global_position: use relative_alt on position.z; mavros_plugins.xml - corrected declaration of mocap_pose_estimate
plugin - global_position - changed parameter path / orientation source
launch: APM2 blacklist global_position plugin
plugin: global_position: Unit unification.
plugin: global_position: Move heaedr; Style fix.
added rel_pos and compass_hdg pub; minor corrections
Merge branch 'master' of https://github.com/vooon/mavros into global_position
global_position plugin - initial commit
launch: APM2 blacklist mocap plugin.
Updated mavros_plugins.xml
Fixed dual sources error warning.
Fixed styles.
Minor changes.
added time stamp to received msgs
Removed un-needed times.
Added mocap_pose_estimate plugin.
Code style update
setpoint attitude change - warning message
Update on setpoint_attitude plugin
- changed Twist to TwistStamped
- added reverse_throttle option for throttle control
- use cmd_vel as the same topic to control linear a angular velocities (it's commonly used by controllers)
- added normalization filter to thrust
node: Remove deprecated conn parameters. Fix #108
plugin: vision_speed: Update plugin API.
plugin: setpoint_attitude: Update plugin API.
plugin: setpoint_accel: Update plugin API.
plugin: setpoint_velocity: Update plugin API.
plugin: 3dr_radio: Update plugin API.
plugin: safety_area: Update plugin API.
plugin: setpoint_position: Update plugin API.
plugin: vision_position: Update plugin API.
plugin: local_position: Update plugin API.
plugin: command: Update plugin API.
plugin: rc_io: Update plugin API.
plugin: waypoint: Update plugin API.
plugin: param: Update plugin API.
plugin: gps: Update plugin API.
plugin: imu_pub: Update plugin API.
plugin: sys_status: Update plugin API.
plugin: Update plugin API.
plugins: disable most of plugins
plugin: setpoint_attitude: Add thrust topic. Fix #106.
Fix URLs in readme
mavros -> ros-message parameter fix only parameter1 was forwarded into the ros message
Switch travis to pixhawk dialect. Default dialect build by ros buildfarm. Also remove duplicate ci statuses from mavros readme.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov, mthz

0.7.0 (2014-08-11)

Add package index readme, Fix #101
move mavros to subdirectory, #101
Merge branch 'master' of github.com:vooon/mavros * 'master' of github.com:vooon/mavros: Add link to ros-*-mavlink package wiki page.
plugins: setpoint: Update setpoint message name. Issue #94, Fix #97.
plugin: setpoint_attitude: Update message name. Issues #94, #97.
Add link to ros-*-mavlink package wiki page.
plugin: gps: Fix gcc 4.6 build (atomic). Not recommended to use std::atomic with gcc 4.6. So i limited to prederined atomics for simple types like int, float etc.
plugin: sys_status: Implement PX4 mode decoding. Fix #84.
plugin: gps: Add EPH & EPV to diagnostic. Issue #95
plugin: gps: Move message processing to individual handlers. Issue #95.
plugin: rc_io: Replace override service with topic. (ROS API change). Fix #93.
Add dialect selection notes
plugins: Change severity for param & wp done messages.
plugins: Store raw autopilot & mav type values. This may fix or not issue #89.
plugins: init ctor (coverity)
plugin: imu_pub: Add ATTITUDE_QUATERNION support. Also reduce copy-paste and use mode readable bitmask check. Fix #85.
scriptis: mavcmd: Spelling
scripits: Add mavcmd tool
Add links to mavros_extras
param: sys_status: Option to disable diagnostics (except heartbeat)
plugin: command: Add takeoff and land aliases. Issue #68.
plugin: command: Add quirk for PX4. Fix #82.
plugin: Add UAS.is_px4() helper. Replace some locks with atomic. Issue #82.
launch: Clear PX4 blacklist. Issue #68.
launch: Add target ids. Also fix PX4 wrong ?ids usage (it set mavros ids, not target). Issue #68.
plugin: imu_pub: Fix HRIMU pressure calc. 1 mBar is 100 Pa. Fix #79.
plugins: C++11 chrono want time by ref, return *_DT Fix #80.
plugins: Replace boost threads with C++11. And remove boost thread library from build rules. Issue #80.
plugins: Replace Boost condition variables with C++11 Issue #80.
plugins: Replace boost mutexes with C++11. Issue #80.
travis clang to old, fails on boost signals2 library. disable.
travis: enable clang build.
node: Make project buildable by clang. Clang produce more readable errors and provide some static code analysis, so i want ability to build mavros with that compilator.
plugins: replace initial memset with c++ initializer list
launch: PX4 default ids=1,50. Also waypoint plugin works (with first_pos_control_flight-5273-gd3d5aa9). Issue #68.
launch: Use connection URL
plugin: vision_speed: Initial import. Fix #67.
plugin: sys_status: Add SYSTEM_TIME sync send. Fix #78.
plugin: sys_status: Decode sensor health field. Fix #75.
Add ci badges to readme
plugin: param: erase invalidates iterator. Real error found by coverity :)
plugins: Init ctor
plugins: Add ctor initialization. Coverity recommends init all data members.
test: trying travis-ci && coverity integration. Real ci doing by ros buildfarm.
plugins: Fix clang-check errors.
test: Add tcp client reconnect test. Issue #72.
test: Split open_url test to individual tests. Also removed tcp client deletion on close, heisenbug here. Issue #72.
mavconn: Emit port_closed after thread stop. Also use tx state flag, improve error messages and move io post out of critical section. Issue #72.
mavconn: Fix TCP server client deletion. Issue #72.
test: Remove not needed sleep.
mavconn: Remove new MsgBuffer dup. Message drop if closed. Issue #72.
mavconn: Fix TCP server. Issue #72.
launch: APM2: Blacklist extras.
mavconn: Add mutex to channel allocation.
mavconn: Fix TCP server for gcc 4.6 Fix #74.
Remove libev from package. Issue #72.
mavconn: GCC 4.6 does not support typedef like using. Issue #74.
Merge pull request #73 from vooon/mavconn-revert-asio mavconn: Revert to Boost.ASIO
mavconn: Cleanup boost threads. I will use C++11 standard libs. Issue #72.
mavconn: Remove libev default loop thread. Issue #72.
mavconn: Port MAVConnTCPServer to Boost.ASIO. TCP send test fails. Issue #72.
mavconn: Port MAVConnTCPClient to Boost.ASIO. Also it disables MAVConnTCPServer before i rewrite it. Issue #72.
mavconn: Revert MAConnSerial back to Boost.ASIO. Issue #72.
test: Fix send_message tests. Use C++11. Issue #72.
mavconn: Revert MAVConnUDP back to Boost.ASIO. Also starting to change boost threads and mutexes to C++11. Issue #72.
test: Enable send tests. Issue #72.
test: And hand test for mavconn hangs. Issue #72.
node: Remove anonimous flag from gcs_bridge. Rename node if you want start several copies.
install: Remove duplicate
node: Fix mavros_node termination message. Issue #58.
node: Use URL in mavros_node. Fix #58.
node: Use URL in gcs_bridge. Issue #58.
node: Rename ros_udp to gcs_bridge. Because now it's not UDP only. Issue #58.
Cleanup boost components
mavconn: Implement URL parsing. Supported shemas:
- Serial: [/path/to/serial/device[:baudrate]]{.title-ref}
- Serial: [serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]]{.title-ref}
- UDP: [udp://[bind_host[:port]]@[remote_host[:port]][/?ids=sysid,compid]]{.title-ref}
- TCP client: [tcp://[server_host][:port][/?ids=sysid,compid]]{.title-ref}
* TCP server: [tcp-l://[bind_port][:port][/?ids=sysid,compid]]{.title-ref} Note: ids from URL overrides ids given to open_url(). Issue #58.
test: Add tests for UDP, TCP, SERIAL. Send message testa are broken, need to find workaround. Fix #70.
plugin: vision_position: Add transform timestamp check. Issue #60.
mavconn: Implement TCP server mode. Fix #57.
mavconn: Initial support for TCP client mode. Issue #57.
mavconn: Boost::asio cleanup.
plugin: Remove TimerService from UAS. Fix #59.
plugin: param: Add state check to sheduled pull.
mavparam: Add force pull.
plugin: param: Use ros::Timer for timeouts Also new option for force pull parameters from FCU instead of cache. Fix #59.
Add mavsafety info to README.
launch: Add apm2_radio.launch (for use with 3DR Radio)
plugin: 3dr_radio: Fix build error. Issue #62.
plugin: 3dr_radio: Publish status data for rqt_plot Also tested with SiK 1.7. Fix #62.
plugin: setpoint_attitude: Fix ENU->NED conversion. Fix #64. Related #33, #49.
launch: Add setpoint plugins to APM2 blacklist
plugin: setpoint_attitude: Initial import. XXX: need frame conversion #49. Issue #33, #64.
plugin: Move common tf code to mixin. Remove copy-paste tf_listener. Issue #33.
plugin: setpoint_position: Generalize topic NS with other [setpoint_*]{.title-ref} Issue #33, #61.
plugin: setpoint_accel: Initial import. Issues: #33, #61.
plugin: position_velocity: Initial import. Also it fix ignore mask in setpoint_position. Issues #33, #61.
plugins: 3rd_radio: Initial import. Untested. Issue #61.
scripts: Add mavsafety tool. Also add safety_area to APM2 blacklist. Fix #51.
plugins: safty_area: Initial import. This plugin listen [~/safety_area/set]{.title-ref} and send it's data to FCU. Issue #51.
plugins: position: Add TF rate limit. Issue #33.
plugin: waypoint: Use ros::Timer for timeouts. Also add some debug messages for next debugging PX4. Issue #59.
plugin: sys_status: Use ros::Timer for timeouts Also move message rx to it's own handlers. Issue #59.
Remove rosdep.yaml and update readme
Add deb build notes to readme. Issue #55.
Add sudo notes to readme.
Merge pull request #56 from vooon/54_try_libev Switch to libev
Add libev to README
package: Add temporary rosdep for libev-dev. Issue #54.
mavconn: Move MAVConnUDP to libev. And fix docs in serial. Issue #54.
mavconn: Move MAVConnSerial to libev. Adds stub for open URL function. Issure #54.
Contributors: Vladimir Ermakov, Mohammed Kabir, Nuno Marques, Glenn Gregory

0.6.0 (2014-07-17)

plugin: local_position: Use same timestamp in topic and TF. Issue #33.
plugins: TF thread required, remove notes. Issue #33.
launch: Add example launch for PX4 Issue #45.
plugin: imu_pub: Fix attitude store in UAS Issue #33. Fix #53.
plugins: Disable position topics if tf_listen enabled Also change default frame names: [vision]{.title-ref} and [setpoint]{.title-ref}. Issue #33.
plugins: Fix typo in frame_id params. Issue #33.
plugins: Add vision and setpoint TF listeners Also change parameter names to same style. Issue #33.
plugin: vision_position: Add PositionWithCovarianceStamped option Issue #33.
Add boost filesystem lib to link On some platforms its absence breaks build by: undefined reference to [boost::filesystem::path::codecvt()]{.title-ref}
launch: Add example for APM2 Fix #45.
plugin: setpoint_position: Initial import And some small doc changes in other position plugins. Issue #33.
node: Add connection change message Fix #52.
plugins: vision_position: Initial import TODO: check ENU->NED maths. Issue #33.
plugins: Remove unneded 'FCU' from diag
plugin: local_position: Change plane conversion Bug: #49.
plugin: imu_pub: Fix magnetic vector convertions Bug: #49.
Use dialects list from package
plugin: local_position: Fix orientation source Part of #33.
node: Show target system on startup Fix #47.
plugin: local_position: Initial add Receive LOCAL_POSITION_NED message and publish it via TF and PoseStamped topic in ENU frame. Part of #33.
node: Use boost::make_shared for message allocation Fix #46.
plugins: Use boost::make_shared for message allocation Part of #46.
plugin: imu_pub: Fix misprint in fill function Fix magnetometer vector convertion (HR IMU). Related #33.
plugin: imu_pub: setup cleanup.
Update readme
plugin: gps: Fix gps_vel calculation Fix #42.
plugins: Make name and messages methods const. (breaking). WARNING: this change broke external plugins. Please add const to get_name() and get_supported_messages(). Part of #38.
plugins: Use mavlink_msg*_pack_chan() functions Fix #43.
mavconn: Reuse tx buffer (resize by extents) Part of #38.
mavconn: Do not finalize messages if id pair match mavlink*_pack also do finalize, so explicit finalization just recalculate crc and seq number (doubles work). Test later if we need check seq too.
mavconn: Documentation and cleanup Make MAVConn classes noncopyable. Remove copy-paste copy and following async_write calls. Reserve some space in tx queues. Replace auto_ptr with unique_ptr.
test: Fix header include
mavconn: Fix possible array overrun in channel alocation. Problem found by clang.
fix some roslint errors
mavconn: move headers to include
node: Implement plugin blacklist. New parameter: [~/plugin_blacklist]{.title-ref} lists plugin aliases with glob syntax. Fix #36.
plugins: Change constants to constexpr (for gcc 4.6)
mavconn: Add gencpp dependency (utils.h requiers generated header)
Move duplicate Mavlink.msg copy to utils.h
Remove tests that requires connection to FCU
plugins: imu_pub: Fix PX4 imu/data linear_accelerarion field Should fix: #39.
plugins: imu_pub: Add magnitic covariance Trying to move constants with constexpr. Related: #13.
Remove testing info Need to remove tests that could not run on build farm.
Contributors: Vladimir Ermakov

0.5.0 (2014-06-19)

Remove mavlink submodule and move it to package dependency Bloom release tool don't support git submodules, so i've ceate a package as described in http://wiki.ros.org/bloom/Tutorials/ReleaseThirdParty . Fix #35.
plugins: param: add missing gcc 4.6 fix.
plugins: fix const initializers for gcc 4.6
plugins: imu_pub: fix const initializers for gcc 4.6 Fix for build failure devel-hydro-mavros #4.
Add support for GCC 4.6 (C++0x, ubuntu 12.04) I don't use complete c++11, so we could switch to c++0x if it supported.
plugins: rc_io: Add override rcin service Fix: #22.
plugins: sys_status: fix timeouts Fix #26.
plugins: sys_status: add set stream rate service Some additional testing required. Fix #23.
Remove unused boost libarary: timer Build on jenkins for hydro failed on find boost_timer.
0.4.1
Add changelog for releasing via bloom

0.4.1 (2014-06-11)

node: Show serial link status in diag Now 'FCU connection' shows actual status of connection (HEARTBEATS).
Fix #29. Autostart mavlink via USB on PX4 Changes mavconn interface, adds new parameter.
Fix installation rules. Fix #31.
Setup UDP transport for /mavlink messages
Fix mavlink dialect selection Fix #28.
Add link to wiki.ros.org Part of #27.

0.4.0 (2014-06-07)

Release 0.4.0 And some docs for CommandPlugin.
plugins: command: Command shortcuts Fix #12.
plugins: command: Add ACK waiting list Part of #12.
plugins: command: Initial naive realization. Partial #12, #25.
mavconn: Fix build on Odroid with Ubuntu 13.10 Fix #24.
plugins: rc_io: initial add RC_IO plugin Topics:
- ~/rc/in -- FCU RC inputs in raw microseconds
* ~/rc/out -- FCU Servo outputs Fix #17. Partiall #22.
Fix installation wstool command. [wstool set]{.title-ref}, not [wstool add]{.title-ref}.
Add installation notes to README Installing pymavlink is not required, but try if errors.
Fix headers in README.md
ros_udp: New node for UDP proxing Add some examples to README.md. Fix #21.
sys_status: Add state publication Fix #16.
sys_status: Sent HEARTBEAT if conn_heartbeat > 0 Fix #20.
sys_status: add sensor diagnostic See #16.
sys_status: Add battery status monitoring Fix #19, partial #16.
sys_status: HWSTATUS support Fix #18, partial #20.
plugins: imu_pub: Add RAW_IMU, SCALED_IMU and SCALED_PRESSURE handlers Fix #13. Refactor message processing. Combination of used messages: On APM: ATTITUDE + RAW_IMU + SCALED_PRESSURE On PX4: ATTITUDE + HIGHRES_IMU On other: ATTITUDE + (RAW_IMUHIGHRES_IMU Published topics:
- ~imu/data - ATTITUDE + accel data from *_IMU
- ~imu/data_raw - HIGHRES_IMU or SCALED_IMU or RAW_IMU in that order
- ~imu/mag - magnetometer (same source as data_raw)
- ~imu/temperature - HIGHRES_IMU or SCALED_PRESSURE
- ~imu/atm_pressure - same as temperature
Update readme
mavwp: Add --pull option for 'show' operation. Reread waypoints before show.
MissionPlanner use format QGC WPL, Fix #15 Code cleanup;
Update mavlink version.
Update mavlink version
mavparam: fix #14 support for QGC param files
mavwp: Add mavwp to install

0.3.0 (2014-03-23)

Release 0.3.0
mavwp: Add MAV mission manipulation tool Uses WaypointPlugin ROS API for manipulations with FCU mission.
- show -- show current mission table
- pull -- update waypoint table
- dump -- update and save to file
- load -- loads mission from file
- clear -- delete all waypoints
- setcur -- change current waypoint
- goto -- execute guided goto command (only APM) Currently supports QGroundControl format only.
plugins: wp: Add GOTO, update documentation
plugins: wp: Auto pull
plugins: wp: SetCurrent & Clear now works
plugins: wp: Push service works
plugins: wp: push almost done
plugins: wp: Pull done
plugins: param: remove unused ptr
plugins: wp: mission pull almost done
plugins: wp: Add convertors & handlers
plugins: Waypoint plugin initial
Use C++11 feuture - auto type
plugins: refactor context & link to single UAS class UAS same functions as in QGC.
plugins: Add msgs and srvs for Waypoint plugin
Update mavlink library
Update mavlink version
mavparam: Fix for DroidPlanner param files & cleanup DroidPlanner adds some spaces, don't forget to strip it out. Cleanup unused code from Parameter class.

0.2.0 (2014-01-29)

mavparam: Add MAV parameter manipulation tool Uses ParamPlugin ROS API for manipulating with fcu params.
- load -- load parameter from file
- dump -- dump parameter to file
- get -- get parameter
- set -- set parameter Currently supports MissionPlanner format only. But DroidPlanner uses same format.
Update README and documentation
plugins: param: implement ~param/push service Also implement sync for rosparam:
- ~param/pull service pulls data to rosparam
- ~param/push service send data from rosparam
- ~param/set service update rosparam if success
plugins: param: implement ~param/set service
plugins: param: implement ~param/get service
plugins: param: Implement automatic param list requesting
plugins: use recursive_mutex everywhere
plugins: param now automaticly requests data after connect
plugins: Add common io_service for plugins, implement connection timeout Some plugin require some delayed processes. Now we can use boost::asio::*timer. New parameter:
- ~/conn_timeout connection timeout in seconds
plugins: add param services
mavconn: set thread names WARNING: pthread systems only (BSD/Linux)
plugins: implement parameters fetch service
plugins: fix string copying from mavlink msg
plugins: Setup target in mav_context New params:
- ~target_system_id - FCU System ID
- ~target_component_id - FCU Component ID
plugins: IMU Pub: add stdev parameters, change topic names. Add parameters:
- ~imu/linear_acceleration_stdev - for linear acceleration covariance
- ~imu/angular_velocity_stdev - for angular covariance
- ~imu/orientation_stdev - for orientation covariance Change topic names (as in other IMU drivers):
- ~imu -> ~/imu/data
- ~raw/imu -> ~/imu/data_raw
plugins: Params initial dirty plugin
Fix mavlink dialect choice.
plugins: Add context storage for automatic quirk handling ArduPlilot requires at least 2 quirks:
- STATUSTEXT severity levels
- parameter values is float
Implement MAVLink dialect selection ArduPilotMega is default choice.
doc: add configuration for rosdoc_lite

0.1.0 (2014-01-05)

Version 0.1.0 Milestone 1: all features from mavlink_ros package.xml was updated.
Fix typo and add copyright string NOTE: Please check typos before coping and pasting :)
plugins: gps: Add GPS_RAW_INT handler GPS_STATUS not supported by APM:Plane. ROS dosen't have standard message for satellites information.
mavconn: small debug changes Limit no GCS message to 10 sec.
node: Terminate node on serial port errors
plugins: Add GPS plugin SYSTEM_TIME to TimeReference support. TODO GPS fix.
Fix build and update MAVLink library
plugins: sys_status: Add SYSTEMTEXT handler Two modes:
- standard MAV_SEVERITY values
- APM:Plane (default) TODO: add mavlink dialect selection option
plugins: add some header doxygen tags Add license to Dummy.cpp (plugin template).
plugins: sys_status: Add MEMINFO handler MEMINFO from ardupilotmega.xml message definition. Optional.
update README
update TODO
plugins: Add imu_pub plugin. Publish ATTITUDE and HIGHRES_IMU data. HIGHRES__IMU not tested: Ardupilot sends ATTITUDE only :(
node: publish Mavlink.msg only if listners > 0
plugins: Add sys_status plugin. Initial.
plugins: implement loading & rx routing
plugins: initial
node: Add diagnostics for mavlink interfaces
mavconn: add information log wich serial device we use.
mavconn: fix overloaded MAVConn*::send_message(msg)
mavros: Add mavros_node (currently serial-ros-udp bridge) Message paths: Serial -+-> ROS /mavlink/from +-> UDP gcs_host:port ROS /mavlink/to -+-> Serial UDP bind_host:port -+
Add README and TODO files.
mavconn: fix MAVConnUDP, add mavudpproxy test mavudpproxy -- connection proxy for QGroundControl, also used as test for MAVConnUDP and MAVConnSerial.
mavconn: add UDP support class
mavconn: fix: should use virtual destructor in interface class
mavconn: add getters/setters for sys_id, comp_id; send_message return.
mavconn: simple test. tested with APM:Plane: works.
mavconn: fix linking
mavconn: serial interface
Add mavconn library prototype mavconn - handles MAVLink connections via Serial, UDP and TCP.
Add MAVLink library + build script
Initial Import Mavlink.msg from mavlink_ros package ( https://github.com/mavlink/mavlink_ros ).
Contributors: Vladimir Ermakov

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	mavlink
	angles
	cmake_modules
	catkin
	message_runtime
	rospy
	rosunit
	diagnostic_updater
	eigen_conversions
	libmavconn
	pluginlib
	rosconsole_bridge
	roscpp
	tf2_ros
	tf2_eigen
	diagnostic_msgs
	geometry_msgs
	mavros_msgs
	nav_msgs
	sensor_msgs
	geographic_msgs
	trajectory_msgs
	std_msgs
	std_srvs

System Dependencies

Name
eigen
geographiclib
geographiclib-tools
gtest
boost

Dependant Packages

Name	Deps
mavros_extras
test_mavros

Launch files

launch/px4.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - respawn_mavros [default: $(arg respawn_mavros)]
launch/apm.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
launch/node.launch
- - fcu_url
  - gcs_url
  - tgt_system
  - tgt_component
  - pluginlists_yaml
  - config_yaml
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
launch/apm2.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
launch/mavlink_bridge.launch
- - ns [default: iris]
  - mavlink_bridge_url [default: udp://127.0.0.1:14553@127.0.0.1:14560]

Messages

No message files found.

Services

No service files found

Plugins

mavros

Recent questions tagged `mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

API Docs
Browse Code
Wiki

Package Summary

Tags	uav mav mavlink plugin apm px4
Version	0.17.5
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2017-02-07
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	uav mav mavlink plugin apm px4
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.

Additional Links

Maintainers

Vladimir Ermakov

Authors

Vladimir Ermakov

mavros/README.md

MAVROS

MAVLink extendable communication node for ROS with proxy for Ground Control Station (e.g. QGroundControl).

ROS API documentation moved to wiki.ros.org.

Features

Communication with autopilot via serial port, UDP or TCP (e.g. PX4 Pro or ArduPilot)
Internal proxy for Ground Control Station (serial, UDP, TCP)
mavlink_ros compatible ROS topics (Mavlink.msg)
Plugin system for ROS-MAVLink translation
Parameter manipulation tool
Waypoint manipulation tool
PX4Flow support (by mavros_extras)
OFFBOARD mode support.

Limitations

Only for linux. Depends on Boost library >= 1.46 (hydro on 12.04). Catkin build system required (tested with ROS Hydro Medusa, Indigo Igloo and Jade Turtle).

This package are dependent on ros-*-mavlink build from mavlink-gbp-release. Since 2014-06-19 it exists in Hydro and Indigo package index (so you can install via rosdep). Since 2015-02-25 exists for Jade too.

Connection URL

Connection defined by URL, you can use any supported type for FCU and GCS.

Supported schemas:

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]
TCP server: tcp-l://[bind_host][:port][/?ids=sysid,compid]

Note:

Ids from URL overrides value given by system_id & component_id parameters.
bind_host - default 0.0.0.0 - i.e. IP4 ANY
UDP default ports: 14555 @ 14550
UDP remote address updated every time with incoming packet on bind port.
TCP default port: 5760

Coordinate frames

MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° abount ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Plase read documents from issue #473 for additional information.

All the conversions are handled in src/lib/uas_frame_conversions.cpp and src/lib/uas_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.

Programs

mavros_node – main communication node

Main node. Allow disable GCS proxy by setting empty URL.

Run example (autopilot connected via USB at 921600 baud, GCS running on the host with IP 172.16.254.1):

rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:921600 _gcs_url:=udp://@172.16.254.1

gcs_bridge – additional proxy

Allows you to add a channel for GCS. For example if you need to connect one GCS for HIL and the second on the tablet.

Example (SITL & QGroundControl):

rosrun mavros mavros_node _gcs_url:='udp://:14556@172.16.254.129:14551' &
rosrun mavros gcs_bridge _gcs_url:='udp://@172.16.254.129'

Launch Files

Launch files are provided for use with common FCUs, in particular Pixhawk:

px4.launch – for use with the PX4 Pro flight stack (for VTOL, multicopters and planes)
apm.launch – for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)

Examples:

roslaunch mavros px4.launch 
roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@

Installation

Binary installation (debian)

Since v0.5 that programs available in precompiled debian packages for x86 and amd64 (x86_64). Also v0.9+ exists in ARMv7 repo for Ubuntu armhf. Just use apt-get for installation:

sudo apt-get install ros-jade-mavros ros-jade-mavros-extras

Source installation

Use wstool utility for retriving sources and catkin tool for build.

sudo apt-get install python-catkin-tools python-rosinstall-generator

# 1. unneded if you already has workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
wstool init src

# 2. get source (upstream - released)
rosinstall_generator --upstream mavros | tee /tmp/mavros.rosinstall
# alternative: latest source
rosinstall_generator --upstream-development mavros | tee /tmp/mavros.rosinstall

# 3. latest released mavlink package
# you may run from this line to update ros-*-mavlink package
rosinstall_generator mavlink | tee -a /tmp/mavros.rosinstall

# 4. workspace & deps
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src
rosdep install --from-paths src --ignore-src --rosdistro jade -y

# 5. finally - build
catkin build

Build error. if you has error with missing mavlink_*_t or MAVLINK_MSG_ID_* then you need fresh mavlink package. You may update from ros-shadow-fixed (binary installation) or redo script from step 3.

Important. The current implementation of mavlink does not allow to select dialect in run-time, so mavros package (and all plugin packages) have compile-time option MAVLINK_DIALECT, default is ‘aurdupilotmega’.

If you want change dialect change workspace config:

catkin config --cmake-args -DMAVLINK_DIALECT=common

Contributing

Fork the repo:
Clone the repo (git clone https://github.com/mavlink/mavros.git);
Create a remote connection to your repo (git remote add <remote_repo> git@github.com:<YourGitUser>/mavros.git);
Create a feature/dev branch (git checkout -b <feature_branch>);
Add the changes;
Apply the changes by commiting (git commit -m "<message>" or git commit -a and then write message; if adding new files: git add <path/to/file.ext>);
Check code style uncrustify -c ${ROS_WORKSPACE}/mavros/mavros/tools/uncrustify-cpp.cfg --replace --no-backup <path/to/file.ext>;
Fix small code style errors and typos;
Commit with description like “uncrustify” or “code style fix”. Please avoid changes in program logic (separate commit are better than mix of style and bug fix);
Run tests:
- with catkin_make, issue catkin_make tests and then catkin_make run_tests;
- with catkin tools, issue catkin run_tests;
If everything goes as planned, push the changes (git push -u <remote_repo> <feature_branch>) and issue a pull request.

Glossary

GCS — Ground Control Station
FCU — Flight Control Unit (aka FC)
OBC — OnBoard Computer (your odroid or raspberry)

Links

MAVLink – communication protocol
mavlink_ros – original ROS node (few messages, no proxy)
Pixhawk – Reference hardware platform
PX4 – Reference implementation in the academic community
ArduPilot – tested autopilot APM:Plane (default command set)
QGroundControl – tested ground control station for Android, iOS, Mac OS, Linux and Windows
mavros_extras – extra plugins & node for mavros

CHANGELOG

Changelog for package mavros

0.17.5 (2017-02-07)

Pthread fix for OSX (#650)
- fix pthread and missing defines for osx
- adapted their style using tabs
- fix elif to else
Fixing a typo in HIL_CONTROLS plugin
Contributors: Fadri Furrer, Pavel

0.17.4 (2016-06-23)

Ran uncrustify on hil_controls plugin
Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation
Added a plugin that publishes HIL_CONTROLS as ROS messages
Revert "readme: update CI, no more MAVLINK_DIALECT" This reverts commit 1510deb2c5db12441cf9e44175fdb8a8889a8af6.
readme: update CI, no more MAVLINK_DIALECT
Contributors: Pavel, Vladimir Ermakov

0.17.3 (2016-05-20)

libmavconn #543: support build with mavlink 2.0 capable mavgen
node: Remove warning about MAVLINK_VERSION redefine
Fix bug with orientation in setpoint_raw plugin Fixes a bug where the ned_desired_orientation was not actually passed into set_attitude_target. Instead, the desired_orientation (wrong frame) was passed.
Contributors: Justin Thomas, Vladimir Ermakov

0.17.2 (2016-04-29)

Update README.md
Update README.md Updated / completed examples.
Update README.md
Fix for kinetic std::isnan.
Contributors: James Goppert, Lorenz Meier

0.17.1 (2016-03-28)

lib: Add QLAND mode of APM:Plane https://github.com/mavlink/mavlink/commit/a0ed95c3a7d97a8f8d86ce3f95c4bf269f439c46
Update contributing guide We forgot to mention uncrustify commit.
Treat submarine vehicles like copter vehicles
Contributors: Josh Villbrandt, Vladimir Ermakov

0.17.0 (2016-02-09)

update README
rebased with master
Fixed ROS_BREAK
Updates for ROS_BREAK and code style
Nitpicks and uncrustify
Updated frame transformations and added odom publisher to local position plugin
Contributors: Eddy, Vladimir Ermakov, francois

0.16.6 (2016-02-04)

node fix #494: Report FCU firmware type in rosonsole log
scripts fix #478: Remove guided_enable garbage. I'm missed this when do #407.
Contributors: Vladimir Ermakov

0.16.5 (2016-01-11)

scripts: mavwp #465: Remove WaypointGOTO from scrips and python library
node: Report mavlink package version
lib: Add APM:Plane QuadPlane modes. Sync with: https://github.com/mavlink/mavlink/commit/1fc4aef08a54130f297943c246f95b8c7e37b1bf
readme: pixhawk dialect removed.
Contributors: Vladimir Ermakov

0.16.4 (2015-12-14)

scripts: checkid: be always verbose, add --follow
scripts: fix copyright indent
scripts: mavcmd: Fix bug: param7 not passed to service call!
scripts #382: Add ID checker script. It is not complete, but i hope it helps in current state.
scripts: mavcmd: Add support for broadcast requests
event_launcher: fix bug: Trigger service server is not saved in Launcher Also fixes: environment variables may contain ~ (user dir) in expansion.
using timestamp from mavlink message
Update mavlink message documentation links
lib: update MAV_TYPE stringify
lib: Add RATTITUDE PX4 mode
remove "altitude_" prefix from members
updated copyright
implemented altitude plugin
Contributors: Andreas Antener, Vladimir Ermakov

0.16.3 (2015-11-19)

use safe methods to get imu data in local_position plugin
Contributors: Andreas Antener

0.16.2 (2015-11-17)

transform yaw and yaw rate from enu to ned
Contributors: Andreas Antener

0.16.1 (2015-11-13)

python: fix import error of goto service
don't warn anymore about px4 not supporting rc_io
Contributors: Andreas Antener, Vladimir Ermakov

0.16.0 (2015-11-09)

lib: Update ArduCopter mode list
plugin: sys_status #423: set_mode set arming and HIL flags based on previous state
lib #423: Save base_mode in UAS.
Finalized local position topic names
readme: add link to catkin-tools docs
readme #409: merge mavlink and mavros installation instruction
Fixed redundant rotation of IMU data and redundant orientation data
plugin: setpoint_raw fix #418: add attitude raw setpoint Related #402.
Added velocity output of FCU's local position estimate to ROS node
plugin: sys_status fix #417: remove APM statustext quirk
plugin: waypoint fix #414: remove GOTO service. It is replaced with more standard global setpoint messages.
plugin: setpoint_raw fix #415: add global position target support Related to #402.
plugin: command fix #407: remove guided_enable sevice
plugin: setpoint_raw #402: implement loopback.
plugin: setpoint_raw #402: Initial import.
readme fix #410: use only catkin tool
readme: add defaults for URL
pass new extended state to ros
python: add util to convert pymavlink message to Mavlink.msg
python: convert input to bytearray
python: add payload convertion util
gcs_bridge #394: enable both UDPROS and TCPROS transports
EL: add try-except on handlers
event_launcher: show logfile path
event_launcher #386: expand shell vars for logfile
Mavros library depends on mavros_msgs headers Adding this dependency makes sure that mavros_msgs message headers are generated before the mavros library is built, since it needs those headers.
Contributors: Andreas Antener, Eddy, Jon Binney, Vladimir Ermakov

0.15.0 (2015-09-17)

lib: fix timesync uninit bug. Uninitialized variable caused wrong timestamps with APM.
python #286: use checksum - save ticks
script #385: output to log-file
script #385: remove RosrunHandler and RoslaunchHandler
script #385: attempt to implement rosrun fails. ROSLaunch class wants all node operations from main thread. That is not possible.
script #385: fix shell-killer, but logging are broken and removed
script #385: shell-launcher now works!
script #385: add example configuration
script #385: shell handler done. next - rosparam handling
script #385: starting work on simple shell launcher
scripts: starting event_launcher
python: Remove unneded slice operation. Fix copyright year. [list[:len(list)]]{.title-ref} is equal to [list]{.title-ref}, but creates new list with data from that slice.
updated mavlink byte buffer conversion
plugin: manual_control: Use shared pointer message Fix alphabetic order of msgs.
python: add helper for converting mavros_msgs/Mavlink to pymavlink
Add MANUAL_CONTROL handling with new plugin
Contributors: Andreas Antener, Vladimir Ermakov, v01d

0.14.2 (2015-08-20)

0.14.1 (2015-08-19)

package: Fix depend on rosconsole-bridge
Removed <remap>
Contributors: Vladimir Ermakov, devbharat

0.14.0 (2015-08-17)

python: call of mavros.set_namespace() is required.
scripts: mavftp fix #357: add verify command
scripts: mavftp #357: progressbar on download operation
scripts: mavftp #357: progress bar for upload operation.
scripts: mavftp: New command [cd]{.title-ref}. All path arguments now may handle relative paths.
readme: fix frame tansform section
mavros: readme: update info on frame conversions
mavros: readme: update contribution steps
node: Replace deprecated copy functions. Also allow mavlink to & from topics to be namespaced.
extras: scripts: use API from mavros module
scripts: fix for new message location
python: update mavros lib to new message location
package: remove not exist dependency
plugin: waypoint: Fix message include
plugin: vfr_hud: Fix message include
plugin: rc_io: Fix message include
plugin: param: Fix message include
plugin: ftp: Fix message include
plugin: sys_status: Fix message include
plugin: command: Fix message include
plugin: 3dr_radio: Fix message include
plugin: actuator_control: Fix message include.
msgs: update copyright year
msgs: deprecate mavros::Mavlink and copy utils.
msgs: change description, make catkin lint happy
msgs #354: move all messages to mavros_msgs package.
Minor typo fix.
node: increase diag timer to 2 Hz
node: move diagnostic to AsyncSpinner threads.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.13.1 (2015-08-05)

lib #358: cleanup. Replace UAS::getYaw() with UAS::quaternion_get_yaw().
lib #358: found correct getYaw(). Test for each degrees in -180..180.
test #358: test more different angles. Compare rotation result.
lib #358: try to implement algo from wikipedia.
lib #358: still failing. add recursive test for range -Pi..+Pi
lib #358: try solve issue using older eulerAngles()
lib #358: remove to_rpy test
Merge branch 'master' of github.com:mavlink/mavros * 'master' of github.com:mavlink/mavros: global_position: move relative_alt and compass_heading init back add nav_msgs to dependencies so to make Travis happy global_position: update pose and twist to odom msg
test fix #359: split out quaternion tests.
lib #359: move quaternion utils.
global_position: move relative_alt and compass_heading init back
add nav_msgs to dependencies so to make Travis happy
global_position: update pose and twist to odom msg
test #358: add tests for negative values and quaternion_to_rpy tf2 compatibility check Tests now fails!
sctipts: fix gps topic path
lib: fix input validation in UAS::orientation_from_str()
test: add case for num str->sensor orientation
package: fix CHANGELOG.rst
Contributors: TSC21, Vladimir Ermakov

0.13.0 (2015-08-01)

plugin: setpoint_attitude #352: use new helper.
plugin: sys: Fix cppcheck and YouCompleteMe warnings
plugin: ftp: Fix cppcheck errors.
lib #352: Add helper function UAS::quaternion_to_mavlink()
Fixed bug in send_attitude_target() The transformed quaternion wasn't being passed to set_attitude_target(), resulting in an incorrect attitude setpoint. I've now fixed this issue.
scripts: fix mavwp
test: add test cases for new sensor orientation functions
remove tf1 dep
lib #319: Remove TF types from UAS
plugin: param: new message type: ParamValue
msgs: Move MAV_CMD values to separate msg
plugin: command: fix build
fix whitespaces in python scripts
Merge pull request #312 from mhkabir/cam_imu_sync Camera IMU synchronisation support added
Added launch file for PX4 posix sitl to launch gcs_bridge node for bridging posix and gazebo
scripts: mavftp: little speed up by aligning access to payload length
launch: Add optional log_output arg
Merge branch 'orientation_enum_name' * orientation_enum_name: distance_sensor #342: correct orientation parameter handling. lib #342: try to convert numeric value too px4_config: adapt to distance_sensor params to new features distance_sensor: restructure orientation matching and verification lib #342: Added sensor orientation string repr.
lib #342: try to convert numeric value too
px4_config: adapt to distance_sensor params to new features
lib #342: Added sensor orientation string repr.
launch: update local_position conf
test: Add test for UAS::sensor_orientation_matching()
Update cmake Eigen3 finding rules. Migration described at: http://wiki.ros.org/jade/Migration#Eigen_CMake_Module_in_cmake_modules
lib #319, #341: preparation for str->MAV_SENSOR_ORIENTATION func
lib #319: Return quaternion from UAS::sensor_matching()
lib: Remove unneded NodeHandle
launch fix #340: update default component id of PX4.
plugin: sys_status: Add fallback to adressed version request.
Can not remove tf package before #319 is done. tf::Vector3 and other tf1-bullet still in use.
plugin: sys_status: Use broadcast for version request.
fix #71: replace depend tf to tf2_ros.
plugin: Use UAS::syncronized_header() for reduce LOC.
lib #319: use similar names for covariances as eigen vector
lib #319: transform_frame() for Covariance3x3
lib #319: remove unused bullet based transform_frame()
extras: vision_pose #71: Use TF2 listener. Also #319.
plugin #71: Implement TF2 listener. Change param names. Breaks extras.
uas #71: Use single TF2 objects for broadcasting and subscription.
launch: Update configs.
lib: Add UAS::quaternion_to_rpy()
plugin: safety_area #319: Change transform_frame()
plugin: local_position #71 #319: port to TF2 and Eigen
lib: Add UAS::synchonized_header()
plugin: command: Add command broadcasting support.
Perform the autopilot version request as broadcast
lib: Update PX4 mode list
plugin: global_position #325: port tf broadcaster to tf2 Also #71.
plugin: global_position #325: reenable UTM calc
plugin: gps #325: remove gps plugin.
plugin: global_position #325: merge gps_raw_int handler
plugin: setpoint_accel #319: use eigen frame transform. I don't think that PX4 support any other frame than LOCAL_NED. So i removed comment. Also style fix in setpoint_velocity.
plugin: setpoint_velocity #319: use eigen based frame transform.
plugin: setpoint_position #273: remove PX4 quirk, it is fixed.
plugin: ftp: Update command enum.
plugin: imu_pub fix #320: move constants outside class, else runtime linkage error.
plugin: imu_pub #320: first attempt
eigen #319: handy wrappers.
eigen #319: add euler-quat function. Also #321.
test #321: remove duplicated test cases, separate by library. Add test for checking compatibility of tf::quaternionFromRPY() and Eigen based math.
test #321: testing eigen-based transforms. We should check what convention used by tf::Matrix to be sure that our method is compatible.
mavros #319: Add Eigen dependency and cmake rule.
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
cam_imu_sync : fix running
imu_cam_sync : fix formatting
command handling in mavcmd for camera trigger
Camera IMU synchronisation support added
Contributors: Anurag Makineni, Lorenz Meier, Mohammed Kabir, TSC21, Vladimir Ermakov, devbharat

0.12.0 (2015-07-01)

plugin: sys_time, sys_status #266: check that rate is zero
test #321: disable tests for broken transforms.
lib #321: frame transform are broken. again! revert old math. RULE for me: do not accept patch without wide testing from author. That PR changes all plugins code, instead of do API, test and only after that touching working code. My bad.
unittest: added 6x6 Covariance conversion test
frame_conversions: update comments; filter covariance by value of element 0
unittests: corrected outputs from conversion tests
test: other quaternion transform tests
test: UAS::transform_frame_attitude_q()
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
coverity: make them happy
uncrustify: fix style on frame conversions
uncrustify: includes
plugin: sys_status #266: replace period with rate parameter
plugin: sys_time #266: Replace period with rate parameters
frame_conversion: last fix patch
frame_conversions: use inline functions to identify direction of conversion
changed frame conversion func name; add 3x3 cov matrix frame conversion; general doxygen comment cleanup
frame_conversions: added covariance frame conversion for full pose 6x6 matrix
frame_conversions: added frame_conversion specific lib file; applied correct frame conversion between ENU<->NED
sys_status #300: PX4 place in [0] lest significant byte of git hash.
sys_status fix #300: fix u8->hex func.
plugin: waypoint: cosmetics.
vibration_plugin: first commit
Changes some frames from world to body conversion for NED to ENU.
mavsys #293: add --wait option
mavsys: Fix arguments help
mavcmd #293: Add --wait option. New function: util.wait_fcu_connection(timeout=None) implement wait option.
sys_status #300: AUTOPILOT_VERSION APM quirk
mavros #302: fix style
mavros #302: split UAS impl by function blocks
mavros fix #301: move sensor orientation util to UAS
distance_sensor: typo; style fixe
sensor_orientation: list values correction
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: use MAX as last index macro
distance_sensor: changed to usable config
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: updated orientation enum; updated data type
sensor_orientation: included array type on utils.h
sensor_orientation: added sensor orientation matching helper func
distance_sensor: updated config file
distance_sensor: define sensor position through param config
distance_sensor: array limiting; cast correction; other minor correc
distance_sensor: small enhancements
sys_status #293: initialize state topic
sys_status #293: expose connection flag in mavros/State.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.11.2 (2015-04-26)

plugin: param fix #276: add check before reset request downcounter. If on MR request FCU responses param with different [param_index]{.title-ref} do not reset repeat counter to prevent endless loop.
gcs bridge fix #277: add link diagnostics
plugin: setpoint_position #273: add quirk for PX4.
readme: fir glossary misprint
readme: add notes about catkin tool
Contributors: Vladimir Ermakov

0.11.1 (2015-04-06)

scripts #262: update mavwp
scripts #262: mavsetp, new module mavros.setpoint
mavftpfuse #129: cache file attrs
mavparam #262: use get_topic()
mavsys #262: use get_topic()
mavcmd #262: use get_topic()
mavftp #263, #262: use crc32 checksums
python #262: add get_topic()
Update local_position.cpp removed irritating comment
readme: add short glossary
plugin: setpoint_attitude: remove unneded ns
Contributors: Marcel Stuettgen, Vladimir Ermakov

0.11.0 (2015-03-24)

plugin: setpoint_position #247: rename topic
launch #257: rename blacklist.yaml to pluginlists.yaml
node #257: implement while list.
plugin: actuator_control #247: update topic name.
mavros: Initialize UAS before connecting plugin routing. Inspired by #256.
plugin: sys_status: Check sender id. Inspired by #256.
plugin: sys_status: Use WARN severity for unknown levels
uas: Add [UAS::is_my_target()]{.title-ref} Inspired by #256.
plugin: global_position: Fill status and covariance if no raw_fix. Additional fix for #252.
launch: change apm target component id APM uses 1/1 (sys/comp) by default.
plugin: sys_status: publish state msg after updating uas Before this commit, the custom mode string published in the state message was computed using the autopilot type from the previous heartbeat message--not the autopilot type from the current hearbeat message. Normally that isn't a problem, but when running a GCS and mavros concurrently, both connected to an FCU that routes mavlink packets (such as APM), then this causes the custom mode to be computed incorrectly, because the mode string for the GCS's hearbeat packet will be computed using the FCU's autopilot type, and the mode string for the FCU's heartbeat packet will be computed using the GCS's autopilot type.
plugin: global_position: fix nullptr crash This fixes a crash in cases where a GLOBAL_POSITION_INT message is received before a GPS_RAW_INT message, causing the [gps_fix]{.title-ref} pointer member to be dereferenced before it has been set.
msgs: fix spelling, add version rq.
coverity: init ctor in 3dr_radio
launch fix #249: update apm blacklist
launch: rename APM2 to APM.
launch #211: update configs
plugin: gps: remove unused param
plugin: sys_time: remove unused param
launch fix #248: remove radio launch
plugin: 3dr_radio #248: add/remove diag conditionally
plugin: sys_status: move connection params to ns
plugin: sys_time: fix #206 (param ns)
node: Inform what dialect built-in node
plugin: sys_status: Conditionaly add APM diag
plugin: sys_status: fix #244
uas #244: add enum lookups
package: update lic
license #242: update mavros headers
plugin: local_positon: use auto
plugin: imu_pub: Update UAS store.
plugin: gps: remove diag class, change UAS storage API.
plugin api #241: move diag updater to UAS.
plugin api #241: remove global private node handle. Now all plugins should define their local node handle (see dummy.cpp). Also partially does #233 (unmerge setpoint topic namespace).
plugin api #241: remove [get_name()]{.title-ref}
package: mavros now has any-link proxy, not only UDP
Update years. I left gpl header, but it is BSD too.
Add BSD license option #220
plugin: sys_status: AUTOPILOT_VERSION support. Fix #96.
mavros fix #235: Use AsyncSpinner to allow plugins chat. Old single-threaded spinner have a dead-lock if you tried to call a service from for example timer callback. For now i hardcoded thread count (4).
uncrustify: actuator_control
Merge branch 'master' of github.com:mstuettgen/Mavros
fixed missing ;
code cosmetics
further removed unneeded white spaces and minor code cosmetics
fixed timestamp and commented in the not-working function call
code cosmetics, removed whitespaces and re-ordered function signatures
more code comment cosmetic
code comment cosmetic
uncrustify: fix style
readme: add contributing notes
uncrustify: mavros base plugins
uncrustify: mavros lib
uncrustify: mavros headers
tools: add uncrustify cfg for fixing codestyle Actually it different from my codestyle, but much closer than others.
added more const to function calls to ensure data consistency
modified code to fit new message
added group_mix to ActuatorControl.msg and a link to mixing-wiki
plugin: rc_io: Add override support warning
REALLY added ActuatorControl.msg
added ActuatorControl.msg
fixed latest compiler error
renamed cpp file to actuator_control.cpp and added the new plugin to mavros_plugins.xml
removed unneeded Mixinx and reverse_throttle, and unneeded variables in function signatures
inital draft for set_actuator_control plugin
launch: enable setpoint plugins for APM As of ArduCopter 3.2, APM supports position and velocity setpoints via SET_POSITION_TARGET_LOCAL_NED.
plugin: setpoint_velocity: Fix vx setpoint vz should have been vx.
Contributors: Clay McClure, Marcel Stuettgen, Vladimir Ermakov

0.10.2 (2015-02-25)

Document launch files
launch: Fix vim modelines #213
launch #210: blacklist image_pub by px4 default. Fix #210.
Contributors: Clay McClure, Vladimir Ermakov

0.10.1 (2015-02-02)

Fix \@mhkabir name in contributors.
uas #200: Add APM:Rover custom mode decoding. Fix #200.
uas #200: Update APM:Plane and APM:Copter modes.
Contributors: Vladimir Ermakov

0.10.0 (2015-01-24)

mavros #154: Add IO stats to diagnostics. Fix #154.
Add rosindex metadata
plugin: ftp: init ctor.
plugin: sts_time: Code cleanup and codestyle fix.
plugin: command: Quirk for older FCU's (component_id) Older FCU's expect that commands addtessed to MAV_COMP_ID_SYSTEM_CONTROL. Now there parameter: [~cmd/use_comp_id_system_control]{.title-ref}
plugin: rc_io: #185 Use synchronized timestamp.
plugin: gps: #185 use synchronized timestamp common.xml tells that GPS_RAW_INT have time_usec stamps.
uas: Fix ros timestamp calculation. Issues: #186, #185.
plugin: add synchronisation to most plugins (fixed) Closes #186.
readme: Add notes about coordinate frame conversions #49
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.4 (2015-01-06)

plugin: sys_time: enable EMA
Contributors: Mohammed Kabir

0.9.3 (2014-12-30)

plugin: visualization finshed
Restore EMA. Works better for low rates.
Update sys_time.cpp
plugin : add time offset field to dt_diag
Final fixes
minor
plugin : fixes timesync. FCU support checked.
Visualisation system import
param: Fix float copying too
param: Fix missing
param: Trynig to fix 'crosses initialization of XXX' error.
param: Try to fix #170.
Update units
New message, moving average compensation
Initial import new sync interface
plugin: sys_status: Enable TERRAIN health decoding.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.2 (2014-11-04)

0.9.1 (2014-11-03)

Update installation notes for #162
Contributors: Vladimir Ermakov

0.9.0 (2014-11-03)

0.8.2 (2014-11-03)

REP140: update package.xml format. Hydro don't accept this format correctly, but after split i can update.
Contributors: Vladimir Ermakov

0.8.1 (2014-11-02)

fix build deps for gcs_bridge
mavconn #161: Enable rosconsole bridge.
mavconn #161: Move mavconn tests.
mavconn #161: Fix headers used in mavros. Add readme.
mavconn #161: Fix mavros build.
mavconn #161: Move library to its own package Also rosconsole replaced by console_bridge, so now library can be used without ros infrastructure.
plugin: sys_time: Set right suffixes to uint64_t constants. Issue #156.
plugin: sys_time: Add time syncronization diag. Issue #156.
plugin: sys_time: Debug result. Issue #156.
plugin: Store time offset in UAS. TODO: implement fcu_time(). Issue #156.
plugin: sys_time: Fix code style. Also reduce class variables count (most not used outside the method). Issue #156.
Update repo links. Package moved to mavlink organization.
Nanosecond fix
Fix
Fixes
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update CMakeLists.txt
Update mavros_plugins.xml
Update sys_time.cpp
Fix build
sys_time import. Removed all time related stuff from gps and sys_status
Initial sys_time plugin import
plugin: ftp: Bytes written now transfered in payload.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.8.0 (2014-09-22)

plugin: ftp: Disable debugging and change level for some log messages. Issue #128.
plugin: ftp: Translate protocol errors to errno. Issue #128.
scripts: mavftp: Add upload subcommand. Issue #128.
python: Add more ftp utils. Issue #128.
plugin: ftp: Fix write offset calculation. Issue #128.
plugin: ftp: Add . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add support for . Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Add
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Move common mission classes to mavros.mission module. Issue #157.
python: Move useful utils to mavros.param module. Issue #157.
python: Move common utils to mavros.utils module. Issue #157.
python: Create python module for ftp utils. Issue #128, #157.
scripts: ftp: Implement file-like object for IO. Issue #128.
plugin: ftp: Implement write file. Issue #128.
scripts: mavftp: Add remove subcommand. Issue #128.
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add response errno from server.
plugin: ftp: Add support for 'Skip' list entries. Issue #128.
scripts: mavftp: Add mkdir/rmdir support. Issue #128.
plugin: ftp: Add mkdir/rmdir support. Issue #128.
plugins: ftp: Update protocol headers. Issue #128.
Revert "Update package.xml format to REP140 (2)." This reverts commit 81286eb84090a95759591cfab89dd9718ff35b7e. ROS Hydro don't fully support REP140: rospack can't find plugin descriptions. Fix #151.
scripts: mavwp: Fix --follow mode
plugin: imu_pub: Fix RAW_IMU/SCALED_IMU angular scale constant. Fix #152.
launch: remove px4_local_gcs.launch again. It removed in 826be386938c2735c9dab72283ba4ac1c68dc860, but accidentally returned.
extras: launch: Use includes. Fix #144.
launch: PX4: use node.launch in PX4 scripts. Also remove px4_local_gcs.launch: please use [roslaunch mavros px4.launch gcs_url:=udp://\@localhost]{.title-ref} instead. Issue #144.
launch: APM2: Add node.launch and update apm scripts to use it. Issue #144.
plugin: command: Fix CommandInt x,y types.
Update package.xml format to REP140 (2). Fix #104.
launch: Blacklist FTP for APM.
scripts: mavwp: Add decoding for some DO-* mission items.
scripts: mavwp: Add preserve home location option at load operation. Useful if FCU stores home location in WP0 (APM).
Added src location.
Updated README wstool instructions.
plugin: ftp: Init ctor
service: mavftp: Initial import. Issue #128.
plugin: ftp: Implemnet reset call. Sometimes kCmdReset can restore normal operation, but it might be dangerous. Issue #128.
plugin: ftp: Implement call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Fix open error. Issue #128.
plugin: ftp: Implement (read) and . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement method. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement list parsing Issue #128.
plugin: ftp: Fix CRC32 calculation. Issue #128.
plugin: ftp: Add plugin skeleton. Based on QGroundContol QGCUASFileManager.h/cc. Issue #128.
plugin: ftp: Add size info
plugin: ftp: Add plugin service API. Issue #128.
plugin: vfr_hud: Initial import. Also this plugin publish APM specific WIND estimation message. Fix #86.
node: coverity fails at UAS initilizer list
plugin: setpoint_attitude: Init ctor, remove code dup.
cmake: Add check MAVLINK_DIALECT value Fix #139.
Move common cmake rules to modules. Same mech as in [cmake_modules]{.title-ref} package. Issue #139.
launch: corrected launch for gcs bridge
scripts: mavsetp: Fix misprint.
launch files: added px4 launch files for connection with radio and gcs
scripts: mavsetp: Fix twist.angular vector construction. Small style fix.
Update doxygen documentation. Add split lines in UAS, and make UAS.connection atomic. Add rosdoc configuration for mavros_extras.
scripts: mavsetp: corrected API; added possibility of parse angles in dg or rad
scripts: mavsetp: corrected msg API; mavteleop: added prefix to rc override
scripts: mavsetp: added local accel; corrected how the OFFBOARD mode is swtch.
scripts: mavsetp: changed the way offboard mode is switched
node: init ctor (coverity)
nodelib: add std::array header
return msg generator deps for mavconn
scripts: mavsys: Implement set rate command.
scripts: Add mavsys tool. Implented only [mode]{.title-ref} operation. Issue #134.
plugin: sys_status: Implement set_mode service. Previous command shortcut removed. Issue #136, #134.
node: Implement reverse mode lookup. Issue #136.
plugin: sys_status: Move custom mode decoder to UAS. Issue #136.
node: Catch URL open exception. Also update connection pointer type.
nodelib: move sources to subdir
node: Move UAS to mavros namespace
node: Move node code to library.
node: Catch DeviceError; use C++11 foreach shugar.
plugin: command: Add COMMAND_INT suport. Fix #98.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov

0.7.1 (2014-08-25)

plugins: setpoint: Update SET_POSITION_TARGET_LOCAL_NED message. Fix #131.
scripts: mavsetp: Enable OFFBOARD mode. Issue #126.
plugin: command: Add guided_enable shortcut It enable PX4 OFFBOARD mode. Issue #126.
scripts: Add mavsetp script. Only local setpoint for now. Issue #126.
plugins: Change UAS FCU link name. Reduce smart pointer count, that hold fcu link object.
scripts: mavcmd: Add takeoffcur and landcur commands Fix #91, #92. Inspired by #125.
Closes #122, closes #123; plugins: move mocap & vision plugins to extras, change vision plugins name
plugins: UAS remove std::atomic<double> It don't work at some compilers. Issue #89.
plugin: global_position: Fill NavSatFix status filed. Issue #87, #118.
plugins: Add GPS data to UAS
plugins: Move setpoint_mixin.h Fix #120.
plugin: mocap: Fix load. Issue #121.
plugins: global_position: get pose orientation from the one stored in uas
plugins: global_position: use relative_alt on position.z; mavros_plugins.xml - corrected declaration of mocap_pose_estimate
plugin - global_position - changed parameter path / orientation source
launch: APM2 blacklist global_position plugin
plugin: global_position: Unit unification.
plugin: global_position: Move heaedr; Style fix.
added rel_pos and compass_hdg pub; minor corrections
Merge branch 'master' of https://github.com/vooon/mavros into global_position
global_position plugin - initial commit
launch: APM2 blacklist mocap plugin.
Updated mavros_plugins.xml
Fixed dual sources error warning.
Fixed styles.
Minor changes.
added time stamp to received msgs
Removed un-needed times.
Added mocap_pose_estimate plugin.
Code style update
setpoint attitude change - warning message
Update on setpoint_attitude plugin
- changed Twist to TwistStamped
- added reverse_throttle option for throttle control
- use cmd_vel as the same topic to control linear a angular velocities (it's commonly used by controllers)
- added normalization filter to thrust
node: Remove deprecated conn parameters. Fix #108
plugin: vision_speed: Update plugin API.
plugin: setpoint_attitude: Update plugin API.
plugin: setpoint_accel: Update plugin API.
plugin: setpoint_velocity: Update plugin API.
plugin: 3dr_radio: Update plugin API.
plugin: safety_area: Update plugin API.
plugin: setpoint_position: Update plugin API.
plugin: vision_position: Update plugin API.
plugin: local_position: Update plugin API.
plugin: command: Update plugin API.
plugin: rc_io: Update plugin API.
plugin: waypoint: Update plugin API.
plugin: param: Update plugin API.
plugin: gps: Update plugin API.
plugin: imu_pub: Update plugin API.
plugin: sys_status: Update plugin API.
plugin: Update plugin API.
plugins: disable most of plugins
plugin: setpoint_attitude: Add thrust topic. Fix #106.
Fix URLs in readme
mavros -> ros-message parameter fix only parameter1 was forwarded into the ros message
Switch travis to pixhawk dialect. Default dialect build by ros buildfarm. Also remove duplicate ci statuses from mavros readme.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov, mthz

0.7.0 (2014-08-11)

Add package index readme, Fix #101
move mavros to subdirectory, #101
Merge branch 'master' of github.com:vooon/mavros * 'master' of github.com:vooon/mavros: Add link to ros-*-mavlink package wiki page.
plugins: setpoint: Update setpoint message name. Issue #94, Fix #97.
plugin: setpoint_attitude: Update message name. Issues #94, #97.
Add link to ros-*-mavlink package wiki page.
plugin: gps: Fix gcc 4.6 build (atomic). Not recommended to use std::atomic with gcc 4.6. So i limited to prederined atomics for simple types like int, float etc.
plugin: sys_status: Implement PX4 mode decoding. Fix #84.
plugin: gps: Add EPH & EPV to diagnostic. Issue #95
plugin: gps: Move message processing to individual handlers. Issue #95.
plugin: rc_io: Replace override service with topic. (ROS API change). Fix #93.
Add dialect selection notes
plugins: Change severity for param & wp done messages.
plugins: Store raw autopilot & mav type values. This may fix or not issue #89.
plugins: init ctor (coverity)
plugin: imu_pub: Add ATTITUDE_QUATERNION support. Also reduce copy-paste and use mode readable bitmask check. Fix #85.
scriptis: mavcmd: Spelling
scripits: Add mavcmd tool
Add links to mavros_extras
param: sys_status: Option to disable diagnostics (except heartbeat)
plugin: command: Add takeoff and land aliases. Issue #68.
plugin: command: Add quirk for PX4. Fix #82.
plugin: Add UAS.is_px4() helper. Replace some locks with atomic. Issue #82.
launch: Clear PX4 blacklist. Issue #68.
launch: Add target ids. Also fix PX4 wrong ?ids usage (it set mavros ids, not target). Issue #68.
plugin: imu_pub: Fix HRIMU pressure calc. 1 mBar is 100 Pa. Fix #79.
plugins: C++11 chrono want time by ref, return *_DT Fix #80.
plugins: Replace boost threads with C++11. And remove boost thread library from build rules. Issue #80.
plugins: Replace Boost condition variables with C++11 Issue #80.
plugins: Replace boost mutexes with C++11. Issue #80.
travis clang to old, fails on boost signals2 library. disable.
travis: enable clang build.
node: Make project buildable by clang. Clang produce more readable errors and provide some static code analysis, so i want ability to build mavros with that compilator.
plugins: replace initial memset with c++ initializer list
launch: PX4 default ids=1,50. Also waypoint plugin works (with first_pos_control_flight-5273-gd3d5aa9). Issue #68.
launch: Use connection URL
plugin: vision_speed: Initial import. Fix #67.
plugin: sys_status: Add SYSTEM_TIME sync send. Fix #78.
plugin: sys_status: Decode sensor health field. Fix #75.
Add ci badges to readme
plugin: param: erase invalidates iterator. Real error found by coverity :)
plugins: Init ctor
plugins: Add ctor initialization. Coverity recommends init all data members.
test: trying travis-ci && coverity integration. Real ci doing by ros buildfarm.
plugins: Fix clang-check errors.
test: Add tcp client reconnect test. Issue #72.
test: Split open_url test to individual tests. Also removed tcp client deletion on close, heisenbug here. Issue #72.
mavconn: Emit port_closed after thread stop. Also use tx state flag, improve error messages and move io post out of critical section. Issue #72.
mavconn: Fix TCP server client deletion. Issue #72.
test: Remove not needed sleep.
mavconn: Remove new MsgBuffer dup. Message drop if closed. Issue #72.
mavconn: Fix TCP server. Issue #72.
launch: APM2: Blacklist extras.
mavconn: Add mutex to channel allocation.
mavconn: Fix TCP server for gcc 4.6 Fix #74.
Remove libev from package. Issue #72.
mavconn: GCC 4.6 does not support typedef like using. Issue #74.
Merge pull request #73 from vooon/mavconn-revert-asio mavconn: Revert to Boost.ASIO
mavconn: Cleanup boost threads. I will use C++11 standard libs. Issue #72.
mavconn: Remove libev default loop thread. Issue #72.
mavconn: Port MAVConnTCPServer to Boost.ASIO. TCP send test fails. Issue #72.
mavconn: Port MAVConnTCPClient to Boost.ASIO. Also it disables MAVConnTCPServer before i rewrite it. Issue #72.
mavconn: Revert MAConnSerial back to Boost.ASIO. Issue #72.
test: Fix send_message tests. Use C++11. Issue #72.
mavconn: Revert MAVConnUDP back to Boost.ASIO. Also starting to change boost threads and mutexes to C++11. Issue #72.
test: Enable send tests. Issue #72.
test: And hand test for mavconn hangs. Issue #72.
node: Remove anonimous flag from gcs_bridge. Rename node if you want start several copies.
install: Remove duplicate
node: Fix mavros_node termination message. Issue #58.
node: Use URL in mavros_node. Fix #58.
node: Use URL in gcs_bridge. Issue #58.
node: Rename ros_udp to gcs_bridge. Because now it's not UDP only. Issue #58.
Cleanup boost components
mavconn: Implement URL parsing. Supported shemas:
- Serial: [/path/to/serial/device[:baudrate]]{.title-ref}
- Serial: [serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]]{.title-ref}
- UDP: [udp://[bind_host[:port]]@[remote_host[:port]][/?ids=sysid,compid]]{.title-ref}
- TCP client: [tcp://[server_host][:port][/?ids=sysid,compid]]{.title-ref}
* TCP server: [tcp-l://[bind_port][:port][/?ids=sysid,compid]]{.title-ref} Note: ids from URL overrides ids given to open_url(). Issue #58.
test: Add tests for UDP, TCP, SERIAL. Send message testa are broken, need to find workaround. Fix #70.
plugin: vision_position: Add transform timestamp check. Issue #60.
mavconn: Implement TCP server mode. Fix #57.
mavconn: Initial support for TCP client mode. Issue #57.
mavconn: Boost::asio cleanup.
plugin: Remove TimerService from UAS. Fix #59.
plugin: param: Add state check to sheduled pull.
mavparam: Add force pull.
plugin: param: Use ros::Timer for timeouts Also new option for force pull parameters from FCU instead of cache. Fix #59.
Add mavsafety info to README.
launch: Add apm2_radio.launch (for use with 3DR Radio)
plugin: 3dr_radio: Fix build error. Issue #62.
plugin: 3dr_radio: Publish status data for rqt_plot Also tested with SiK 1.7. Fix #62.
plugin: setpoint_attitude: Fix ENU->NED conversion. Fix #64. Related #33, #49.
launch: Add setpoint plugins to APM2 blacklist
plugin: setpoint_attitude: Initial import. XXX: need frame conversion #49. Issue #33, #64.
plugin: Move common tf code to mixin. Remove copy-paste tf_listener. Issue #33.
plugin: setpoint_position: Generalize topic NS with other [setpoint_*]{.title-ref} Issue #33, #61.
plugin: setpoint_accel: Initial import. Issues: #33, #61.
plugin: position_velocity: Initial import. Also it fix ignore mask in setpoint_position. Issues #33, #61.
plugins: 3rd_radio: Initial import. Untested. Issue #61.
scripts: Add mavsafety tool. Also add safety_area to APM2 blacklist. Fix #51.
plugins: safty_area: Initial import. This plugin listen [~/safety_area/set]{.title-ref} and send it's data to FCU. Issue #51.
plugins: position: Add TF rate limit. Issue #33.
plugin: waypoint: Use ros::Timer for timeouts. Also add some debug messages for next debugging PX4. Issue #59.
plugin: sys_status: Use ros::Timer for timeouts Also move message rx to it's own handlers. Issue #59.
Remove rosdep.yaml and update readme
Add deb build notes to readme. Issue #55.
Add sudo notes to readme.
Merge pull request #56 from vooon/54_try_libev Switch to libev
Add libev to README
package: Add temporary rosdep for libev-dev. Issue #54.
mavconn: Move MAVConnUDP to libev. And fix docs in serial. Issue #54.
mavconn: Move MAVConnSerial to libev. Adds stub for open URL function. Issure #54.
Contributors: Vladimir Ermakov, Mohammed Kabir, Nuno Marques, Glenn Gregory

0.6.0 (2014-07-17)

plugin: local_position: Use same timestamp in topic and TF. Issue #33.
plugins: TF thread required, remove notes. Issue #33.
launch: Add example launch for PX4 Issue #45.
plugin: imu_pub: Fix attitude store in UAS Issue #33. Fix #53.
plugins: Disable position topics if tf_listen enabled Also change default frame names: [vision]{.title-ref} and [setpoint]{.title-ref}. Issue #33.
plugins: Fix typo in frame_id params. Issue #33.
plugins: Add vision and setpoint TF listeners Also change parameter names to same style. Issue #33.
plugin: vision_position: Add PositionWithCovarianceStamped option Issue #33.
Add boost filesystem lib to link On some platforms its absence breaks build by: undefined reference to [boost::filesystem::path::codecvt()]{.title-ref}
launch: Add example for APM2 Fix #45.
plugin: setpoint_position: Initial import And some small doc changes in other position plugins. Issue #33.
node: Add connection change message Fix #52.
plugins: vision_position: Initial import TODO: check ENU->NED maths. Issue #33.
plugins: Remove unneded 'FCU' from diag
plugin: local_position: Change plane conversion Bug: #49.
plugin: imu_pub: Fix magnetic vector convertions Bug: #49.
Use dialects list from package
plugin: local_position: Fix orientation source Part of #33.
node: Show target system on startup Fix #47.
plugin: local_position: Initial add Receive LOCAL_POSITION_NED message and publish it via TF and PoseStamped topic in ENU frame. Part of #33.
node: Use boost::make_shared for message allocation Fix #46.
plugins: Use boost::make_shared for message allocation Part of #46.
plugin: imu_pub: Fix misprint in fill function Fix magnetometer vector convertion (HR IMU). Related #33.
plugin: imu_pub: setup cleanup.
Update readme
plugin: gps: Fix gps_vel calculation Fix #42.
plugins: Make name and messages methods const. (breaking). WARNING: this change broke external plugins. Please add const to get_name() and get_supported_messages(). Part of #38.
plugins: Use mavlink_msg*_pack_chan() functions Fix #43.
mavconn: Reuse tx buffer (resize by extents) Part of #38.
mavconn: Do not finalize messages if id pair match mavlink*_pack also do finalize, so explicit finalization just recalculate crc and seq number (doubles work). Test later if we need check seq too.
mavconn: Documentation and cleanup Make MAVConn classes noncopyable. Remove copy-paste copy and following async_write calls. Reserve some space in tx queues. Replace auto_ptr with unique_ptr.
test: Fix header include
mavconn: Fix possible array overrun in channel alocation. Problem found by clang.
fix some roslint errors
mavconn: move headers to include
node: Implement plugin blacklist. New parameter: [~/plugin_blacklist]{.title-ref} lists plugin aliases with glob syntax. Fix #36.
plugins: Change constants to constexpr (for gcc 4.6)
mavconn: Add gencpp dependency (utils.h requiers generated header)
Move duplicate Mavlink.msg copy to utils.h
Remove tests that requires connection to FCU
plugins: imu_pub: Fix PX4 imu/data linear_accelerarion field Should fix: #39.
plugins: imu_pub: Add magnitic covariance Trying to move constants with constexpr. Related: #13.
Remove testing info Need to remove tests that could not run on build farm.
Contributors: Vladimir Ermakov

0.5.0 (2014-06-19)

Remove mavlink submodule and move it to package dependency Bloom release tool don't support git submodules, so i've ceate a package as described in http://wiki.ros.org/bloom/Tutorials/ReleaseThirdParty . Fix #35.
plugins: param: add missing gcc 4.6 fix.
plugins: fix const initializers for gcc 4.6
plugins: imu_pub: fix const initializers for gcc 4.6 Fix for build failure devel-hydro-mavros #4.
Add support for GCC 4.6 (C++0x, ubuntu 12.04) I don't use complete c++11, so we could switch to c++0x if it supported.
plugins: rc_io: Add override rcin service Fix: #22.
plugins: sys_status: fix timeouts Fix #26.
plugins: sys_status: add set stream rate service Some additional testing required. Fix #23.
Remove unused boost libarary: timer Build on jenkins for hydro failed on find boost_timer.
0.4.1
Add changelog for releasing via bloom

0.4.1 (2014-06-11)

node: Show serial link status in diag Now 'FCU connection' shows actual status of connection (HEARTBEATS).
Fix #29. Autostart mavlink via USB on PX4 Changes mavconn interface, adds new parameter.
Fix installation rules. Fix #31.
Setup UDP transport for /mavlink messages
Fix mavlink dialect selection Fix #28.
Add link to wiki.ros.org Part of #27.

0.4.0 (2014-06-07)

Release 0.4.0 And some docs for CommandPlugin.
plugins: command: Command shortcuts Fix #12.
plugins: command: Add ACK waiting list Part of #12.
plugins: command: Initial naive realization. Partial #12, #25.
mavconn: Fix build on Odroid with Ubuntu 13.10 Fix #24.
plugins: rc_io: initial add RC_IO plugin Topics:
- ~/rc/in -- FCU RC inputs in raw microseconds
* ~/rc/out -- FCU Servo outputs Fix #17. Partiall #22.
Fix installation wstool command. [wstool set]{.title-ref}, not [wstool add]{.title-ref}.
Add installation notes to README Installing pymavlink is not required, but try if errors.
Fix headers in README.md
ros_udp: New node for UDP proxing Add some examples to README.md. Fix #21.
sys_status: Add state publication Fix #16.
sys_status: Sent HEARTBEAT if conn_heartbeat > 0 Fix #20.
sys_status: add sensor diagnostic See #16.
sys_status: Add battery status monitoring Fix #19, partial #16.
sys_status: HWSTATUS support Fix #18, partial #20.
plugins: imu_pub: Add RAW_IMU, SCALED_IMU and SCALED_PRESSURE handlers Fix #13. Refactor message processing. Combination of used messages: On APM: ATTITUDE + RAW_IMU + SCALED_PRESSURE On PX4: ATTITUDE + HIGHRES_IMU On other: ATTITUDE + (RAW_IMUHIGHRES_IMU Published topics:
- ~imu/data - ATTITUDE + accel data from *_IMU
- ~imu/data_raw - HIGHRES_IMU or SCALED_IMU or RAW_IMU in that order
- ~imu/mag - magnetometer (same source as data_raw)
- ~imu/temperature - HIGHRES_IMU or SCALED_PRESSURE
- ~imu/atm_pressure - same as temperature
Update readme
mavwp: Add --pull option for 'show' operation. Reread waypoints before show.
MissionPlanner use format QGC WPL, Fix #15 Code cleanup;
Update mavlink version.
Update mavlink version
mavparam: fix #14 support for QGC param files
mavwp: Add mavwp to install

0.3.0 (2014-03-23)

Release 0.3.0
mavwp: Add MAV mission manipulation tool Uses WaypointPlugin ROS API for manipulations with FCU mission.
- show -- show current mission table
- pull -- update waypoint table
- dump -- update and save to file
- load -- loads mission from file
- clear -- delete all waypoints
- setcur -- change current waypoint
- goto -- execute guided goto command (only APM) Currently supports QGroundControl format only.
plugins: wp: Add GOTO, update documentation
plugins: wp: Auto pull
plugins: wp: SetCurrent & Clear now works
plugins: wp: Push service works
plugins: wp: push almost done
plugins: wp: Pull done
plugins: param: remove unused ptr
plugins: wp: mission pull almost done
plugins: wp: Add convertors & handlers
plugins: Waypoint plugin initial
Use C++11 feuture - auto type
plugins: refactor context & link to single UAS class UAS same functions as in QGC.
plugins: Add msgs and srvs for Waypoint plugin
Update mavlink library
Update mavlink version
mavparam: Fix for DroidPlanner param files & cleanup DroidPlanner adds some spaces, don't forget to strip it out. Cleanup unused code from Parameter class.

0.2.0 (2014-01-29)

mavparam: Add MAV parameter manipulation tool Uses ParamPlugin ROS API for manipulating with fcu params.
- load -- load parameter from file
- dump -- dump parameter to file
- get -- get parameter
- set -- set parameter Currently supports MissionPlanner format only. But DroidPlanner uses same format.
Update README and documentation
plugins: param: implement ~param/push service Also implement sync for rosparam:
- ~param/pull service pulls data to rosparam
- ~param/push service send data from rosparam
- ~param/set service update rosparam if success
plugins: param: implement ~param/set service
plugins: param: implement ~param/get service
plugins: param: Implement automatic param list requesting
plugins: use recursive_mutex everywhere
plugins: param now automaticly requests data after connect
plugins: Add common io_service for plugins, implement connection timeout Some plugin require some delayed processes. Now we can use boost::asio::*timer. New parameter:
- ~/conn_timeout connection timeout in seconds
plugins: add param services
mavconn: set thread names WARNING: pthread systems only (BSD/Linux)
plugins: implement parameters fetch service
plugins: fix string copying from mavlink msg
plugins: Setup target in mav_context New params:
- ~target_system_id - FCU System ID
- ~target_component_id - FCU Component ID
plugins: IMU Pub: add stdev parameters, change topic names. Add parameters:
- ~imu/linear_acceleration_stdev - for linear acceleration covariance
- ~imu/angular_velocity_stdev - for angular covariance
- ~imu/orientation_stdev - for orientation covariance Change topic names (as in other IMU drivers):
- ~imu -> ~/imu/data
- ~raw/imu -> ~/imu/data_raw
plugins: Params initial dirty plugin
Fix mavlink dialect choice.
plugins: Add context storage for automatic quirk handling ArduPlilot requires at least 2 quirks:
- STATUSTEXT severity levels
- parameter values is float
Implement MAVLink dialect selection ArduPilotMega is default choice.
doc: add configuration for rosdoc_lite

0.1.0 (2014-01-05)

Version 0.1.0 Milestone 1: all features from mavlink_ros package.xml was updated.
Fix typo and add copyright string NOTE: Please check typos before coping and pasting :)
plugins: gps: Add GPS_RAW_INT handler GPS_STATUS not supported by APM:Plane. ROS dosen't have standard message for satellites information.
mavconn: small debug changes Limit no GCS message to 10 sec.
node: Terminate node on serial port errors
plugins: Add GPS plugin SYSTEM_TIME to TimeReference support. TODO GPS fix.
Fix build and update MAVLink library
plugins: sys_status: Add SYSTEMTEXT handler Two modes:
- standard MAV_SEVERITY values
- APM:Plane (default) TODO: add mavlink dialect selection option
plugins: add some header doxygen tags Add license to Dummy.cpp (plugin template).
plugins: sys_status: Add MEMINFO handler MEMINFO from ardupilotmega.xml message definition. Optional.
update README
update TODO
plugins: Add imu_pub plugin. Publish ATTITUDE and HIGHRES_IMU data. HIGHRES__IMU not tested: Ardupilot sends ATTITUDE only :(
node: publish Mavlink.msg only if listners > 0
plugins: Add sys_status plugin. Initial.
plugins: implement loading & rx routing
plugins: initial
node: Add diagnostics for mavlink interfaces
mavconn: add information log wich serial device we use.
mavconn: fix overloaded MAVConn*::send_message(msg)
mavros: Add mavros_node (currently serial-ros-udp bridge) Message paths: Serial -+-> ROS /mavlink/from +-> UDP gcs_host:port ROS /mavlink/to -+-> Serial UDP bind_host:port -+
Add README and TODO files.
mavconn: fix MAVConnUDP, add mavudpproxy test mavudpproxy -- connection proxy for QGroundControl, also used as test for MAVConnUDP and MAVConnSerial.
mavconn: add UDP support class
mavconn: fix: should use virtual destructor in interface class
mavconn: add getters/setters for sys_id, comp_id; send_message return.
mavconn: simple test. tested with APM:Plane: works.
mavconn: fix linking
mavconn: serial interface
Add mavconn library prototype mavconn - handles MAVLink connections via Serial, UDP and TCP.
Add MAVLink library + build script
Initial Import Mavlink.msg from mavlink_ros package ( https://github.com/mavlink/mavlink_ros ).
Contributors: Vladimir Ermakov

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	mavlink
	angles
	cmake_modules
	catkin
	message_runtime
	rospy
	diagnostic_updater
	eigen_conversions
	libmavconn
	pluginlib
	rosconsole_bridge
	roscpp
	tf2_ros
	diagnostic_msgs
	geometry_msgs
	mavros_msgs
	nav_msgs
	sensor_msgs
	std_msgs
	std_srvs

System Dependencies

Name
eigen
gtest
boost

Dependant Packages

Name	Deps
mavros_extras
test_mavros
rotors_hil_interface

Launch files

launch/px4.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
launch/apm.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
launch/node.launch
- - fcu_url
  - gcs_url
  - tgt_system
  - tgt_component
  - pluginlists_yaml
  - config_yaml
  - log_output [default: screen]
launch/apm2.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
launch/mavlink_bridge.launch
- - ns [default: iris]
  - mavlink_bridge_url [default: udp://127.0.0.1:14553@127.0.0.1:14560]

Messages

No message files found.

Services

No service files found

Plugins

mavros

Recent questions tagged `mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

API Docs
Browse Code
Wiki

Package Summary

Tags	uav mav mavlink plugin apm px4
Version	0.17.5
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2017-02-07
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	uav mav mavlink plugin apm px4
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.

Additional Links

Maintainers

Vladimir Ermakov

Authors

Vladimir Ermakov

mavros/README.md

MAVROS

MAVLink extendable communication node for ROS with proxy for Ground Control Station (e.g. QGroundControl).

ROS API documentation moved to wiki.ros.org.

Features

Communication with autopilot via serial port, UDP or TCP (e.g. PX4 Pro or ArduPilot)
Internal proxy for Ground Control Station (serial, UDP, TCP)
mavlink_ros compatible ROS topics (Mavlink.msg)
Plugin system for ROS-MAVLink translation
Parameter manipulation tool
Waypoint manipulation tool
PX4Flow support (by mavros_extras)
OFFBOARD mode support.

Limitations

Only for linux. Depends on Boost library >= 1.46 (hydro on 12.04). Catkin build system required (tested with ROS Hydro Medusa, Indigo Igloo and Jade Turtle).

This package are dependent on ros-*-mavlink build from mavlink-gbp-release. Since 2014-06-19 it exists in Hydro and Indigo package index (so you can install via rosdep). Since 2015-02-25 exists for Jade too.

Connection URL

Connection defined by URL, you can use any supported type for FCU and GCS.

Supported schemas:

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]
TCP server: tcp-l://[bind_host][:port][/?ids=sysid,compid]

Note:

Ids from URL overrides value given by system_id & component_id parameters.
bind_host - default 0.0.0.0 - i.e. IP4 ANY
UDP default ports: 14555 @ 14550
UDP remote address updated every time with incoming packet on bind port.
TCP default port: 5760

Coordinate frames

MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° abount ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Plase read documents from issue #473 for additional information.

All the conversions are handled in src/lib/uas_frame_conversions.cpp and src/lib/uas_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.

Programs

mavros_node – main communication node

Main node. Allow disable GCS proxy by setting empty URL.

Run example (autopilot connected via USB at 921600 baud, GCS running on the host with IP 172.16.254.1):

rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:921600 _gcs_url:=udp://@172.16.254.1

gcs_bridge – additional proxy

Allows you to add a channel for GCS. For example if you need to connect one GCS for HIL and the second on the tablet.

Example (SITL & QGroundControl):

rosrun mavros mavros_node _gcs_url:='udp://:14556@172.16.254.129:14551' &
rosrun mavros gcs_bridge _gcs_url:='udp://@172.16.254.129'

Launch Files

Launch files are provided for use with common FCUs, in particular Pixhawk:

px4.launch – for use with the PX4 Pro flight stack (for VTOL, multicopters and planes)
apm.launch – for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)

Examples:

roslaunch mavros px4.launch 
roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@

Installation

Binary installation (debian)

Since v0.5 that programs available in precompiled debian packages for x86 and amd64 (x86_64). Also v0.9+ exists in ARMv7 repo for Ubuntu armhf. Just use apt-get for installation:

sudo apt-get install ros-jade-mavros ros-jade-mavros-extras

Source installation

Use wstool utility for retriving sources and catkin tool for build.

sudo apt-get install python-catkin-tools python-rosinstall-generator

# 1. unneded if you already has workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
wstool init src

# 2. get source (upstream - released)
rosinstall_generator --upstream mavros | tee /tmp/mavros.rosinstall
# alternative: latest source
rosinstall_generator --upstream-development mavros | tee /tmp/mavros.rosinstall

# 3. latest released mavlink package
# you may run from this line to update ros-*-mavlink package
rosinstall_generator mavlink | tee -a /tmp/mavros.rosinstall

# 4. workspace & deps
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src
rosdep install --from-paths src --ignore-src --rosdistro jade -y

# 5. finally - build
catkin build

Build error. if you has error with missing mavlink_*_t or MAVLINK_MSG_ID_* then you need fresh mavlink package. You may update from ros-shadow-fixed (binary installation) or redo script from step 3.

Important. The current implementation of mavlink does not allow to select dialect in run-time, so mavros package (and all plugin packages) have compile-time option MAVLINK_DIALECT, default is ‘aurdupilotmega’.

If you want change dialect change workspace config:

catkin config --cmake-args -DMAVLINK_DIALECT=common

Contributing

Fork the repo:
Clone the repo (git clone https://github.com/mavlink/mavros.git);
Create a remote connection to your repo (git remote add <remote_repo> git@github.com:<YourGitUser>/mavros.git);
Create a feature/dev branch (git checkout -b <feature_branch>);
Add the changes;
Apply the changes by commiting (git commit -m "<message>" or git commit -a and then write message; if adding new files: git add <path/to/file.ext>);
Check code style uncrustify -c ${ROS_WORKSPACE}/mavros/mavros/tools/uncrustify-cpp.cfg --replace --no-backup <path/to/file.ext>;
Fix small code style errors and typos;
Commit with description like “uncrustify” or “code style fix”. Please avoid changes in program logic (separate commit are better than mix of style and bug fix);
Run tests:
- with catkin_make, issue catkin_make tests and then catkin_make run_tests;
- with catkin tools, issue catkin run_tests;
If everything goes as planned, push the changes (git push -u <remote_repo> <feature_branch>) and issue a pull request.

Glossary

GCS — Ground Control Station
FCU — Flight Control Unit (aka FC)
OBC — OnBoard Computer (your odroid or raspberry)

Links

MAVLink – communication protocol
mavlink_ros – original ROS node (few messages, no proxy)
Pixhawk – Reference hardware platform
PX4 – Reference implementation in the academic community
ArduPilot – tested autopilot APM:Plane (default command set)
QGroundControl – tested ground control station for Android, iOS, Mac OS, Linux and Windows
mavros_extras – extra plugins & node for mavros

CHANGELOG

Changelog for package mavros

0.17.5 (2017-02-07)

Pthread fix for OSX (#650)
- fix pthread and missing defines for osx
- adapted their style using tabs
- fix elif to else
Fixing a typo in HIL_CONTROLS plugin
Contributors: Fadri Furrer, Pavel

0.17.4 (2016-06-23)

Ran uncrustify on hil_controls plugin
Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation
Added a plugin that publishes HIL_CONTROLS as ROS messages
Revert "readme: update CI, no more MAVLINK_DIALECT" This reverts commit 1510deb2c5db12441cf9e44175fdb8a8889a8af6.
readme: update CI, no more MAVLINK_DIALECT
Contributors: Pavel, Vladimir Ermakov

0.17.3 (2016-05-20)

libmavconn #543: support build with mavlink 2.0 capable mavgen
node: Remove warning about MAVLINK_VERSION redefine
Fix bug with orientation in setpoint_raw plugin Fixes a bug where the ned_desired_orientation was not actually passed into set_attitude_target. Instead, the desired_orientation (wrong frame) was passed.
Contributors: Justin Thomas, Vladimir Ermakov

0.17.2 (2016-04-29)

Update README.md
Update README.md Updated / completed examples.
Update README.md
Fix for kinetic std::isnan.
Contributors: James Goppert, Lorenz Meier

0.17.1 (2016-03-28)

lib: Add QLAND mode of APM:Plane https://github.com/mavlink/mavlink/commit/a0ed95c3a7d97a8f8d86ce3f95c4bf269f439c46
Update contributing guide We forgot to mention uncrustify commit.
Treat submarine vehicles like copter vehicles
Contributors: Josh Villbrandt, Vladimir Ermakov

0.17.0 (2016-02-09)

update README
rebased with master
Fixed ROS_BREAK
Updates for ROS_BREAK and code style
Nitpicks and uncrustify
Updated frame transformations and added odom publisher to local position plugin
Contributors: Eddy, Vladimir Ermakov, francois

0.16.6 (2016-02-04)

node fix #494: Report FCU firmware type in rosonsole log
scripts fix #478: Remove guided_enable garbage. I'm missed this when do #407.
Contributors: Vladimir Ermakov

0.16.5 (2016-01-11)

scripts: mavwp #465: Remove WaypointGOTO from scrips and python library
node: Report mavlink package version
lib: Add APM:Plane QuadPlane modes. Sync with: https://github.com/mavlink/mavlink/commit/1fc4aef08a54130f297943c246f95b8c7e37b1bf
readme: pixhawk dialect removed.
Contributors: Vladimir Ermakov

0.16.4 (2015-12-14)

scripts: checkid: be always verbose, add --follow
scripts: fix copyright indent
scripts: mavcmd: Fix bug: param7 not passed to service call!
scripts #382: Add ID checker script. It is not complete, but i hope it helps in current state.
scripts: mavcmd: Add support for broadcast requests
event_launcher: fix bug: Trigger service server is not saved in Launcher Also fixes: environment variables may contain ~ (user dir) in expansion.
using timestamp from mavlink message
Update mavlink message documentation links
lib: update MAV_TYPE stringify
lib: Add RATTITUDE PX4 mode
remove "altitude_" prefix from members
updated copyright
implemented altitude plugin
Contributors: Andreas Antener, Vladimir Ermakov

0.16.3 (2015-11-19)

use safe methods to get imu data in local_position plugin
Contributors: Andreas Antener

0.16.2 (2015-11-17)

transform yaw and yaw rate from enu to ned
Contributors: Andreas Antener

0.16.1 (2015-11-13)

python: fix import error of goto service
don't warn anymore about px4 not supporting rc_io
Contributors: Andreas Antener, Vladimir Ermakov

0.16.0 (2015-11-09)

lib: Update ArduCopter mode list
plugin: sys_status #423: set_mode set arming and HIL flags based on previous state
lib #423: Save base_mode in UAS.
Finalized local position topic names
readme: add link to catkin-tools docs
readme #409: merge mavlink and mavros installation instruction
Fixed redundant rotation of IMU data and redundant orientation data
plugin: setpoint_raw fix #418: add attitude raw setpoint Related #402.
Added velocity output of FCU's local position estimate to ROS node
plugin: sys_status fix #417: remove APM statustext quirk
plugin: waypoint fix #414: remove GOTO service. It is replaced with more standard global setpoint messages.
plugin: setpoint_raw fix #415: add global position target support Related to #402.
plugin: command fix #407: remove guided_enable sevice
plugin: setpoint_raw #402: implement loopback.
plugin: setpoint_raw #402: Initial import.
readme fix #410: use only catkin tool
readme: add defaults for URL
pass new extended state to ros
python: add util to convert pymavlink message to Mavlink.msg
python: convert input to bytearray
python: add payload convertion util
gcs_bridge #394: enable both UDPROS and TCPROS transports
EL: add try-except on handlers
event_launcher: show logfile path
event_launcher #386: expand shell vars for logfile
Mavros library depends on mavros_msgs headers Adding this dependency makes sure that mavros_msgs message headers are generated before the mavros library is built, since it needs those headers.
Contributors: Andreas Antener, Eddy, Jon Binney, Vladimir Ermakov

0.15.0 (2015-09-17)

lib: fix timesync uninit bug. Uninitialized variable caused wrong timestamps with APM.
python #286: use checksum - save ticks
script #385: output to log-file
script #385: remove RosrunHandler and RoslaunchHandler
script #385: attempt to implement rosrun fails. ROSLaunch class wants all node operations from main thread. That is not possible.
script #385: fix shell-killer, but logging are broken and removed
script #385: shell-launcher now works!
script #385: add example configuration
script #385: shell handler done. next - rosparam handling
script #385: starting work on simple shell launcher
scripts: starting event_launcher
python: Remove unneded slice operation. Fix copyright year. [list[:len(list)]]{.title-ref} is equal to [list]{.title-ref}, but creates new list with data from that slice.
updated mavlink byte buffer conversion
plugin: manual_control: Use shared pointer message Fix alphabetic order of msgs.
python: add helper for converting mavros_msgs/Mavlink to pymavlink
Add MANUAL_CONTROL handling with new plugin
Contributors: Andreas Antener, Vladimir Ermakov, v01d

0.14.2 (2015-08-20)

0.14.1 (2015-08-19)

package: Fix depend on rosconsole-bridge
Removed <remap>
Contributors: Vladimir Ermakov, devbharat

0.14.0 (2015-08-17)

python: call of mavros.set_namespace() is required.
scripts: mavftp fix #357: add verify command
scripts: mavftp #357: progressbar on download operation
scripts: mavftp #357: progress bar for upload operation.
scripts: mavftp: New command [cd]{.title-ref}. All path arguments now may handle relative paths.
readme: fix frame tansform section
mavros: readme: update info on frame conversions
mavros: readme: update contribution steps
node: Replace deprecated copy functions. Also allow mavlink to & from topics to be namespaced.
extras: scripts: use API from mavros module
scripts: fix for new message location
python: update mavros lib to new message location
package: remove not exist dependency
plugin: waypoint: Fix message include
plugin: vfr_hud: Fix message include
plugin: rc_io: Fix message include
plugin: param: Fix message include
plugin: ftp: Fix message include
plugin: sys_status: Fix message include
plugin: command: Fix message include
plugin: 3dr_radio: Fix message include
plugin: actuator_control: Fix message include.
msgs: update copyright year
msgs: deprecate mavros::Mavlink and copy utils.
msgs: change description, make catkin lint happy
msgs #354: move all messages to mavros_msgs package.
Minor typo fix.
node: increase diag timer to 2 Hz
node: move diagnostic to AsyncSpinner threads.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.13.1 (2015-08-05)

lib #358: cleanup. Replace UAS::getYaw() with UAS::quaternion_get_yaw().
lib #358: found correct getYaw(). Test for each degrees in -180..180.
test #358: test more different angles. Compare rotation result.
lib #358: try to implement algo from wikipedia.
lib #358: still failing. add recursive test for range -Pi..+Pi
lib #358: try solve issue using older eulerAngles()
lib #358: remove to_rpy test
Merge branch 'master' of github.com:mavlink/mavros * 'master' of github.com:mavlink/mavros: global_position: move relative_alt and compass_heading init back add nav_msgs to dependencies so to make Travis happy global_position: update pose and twist to odom msg
test fix #359: split out quaternion tests.
lib #359: move quaternion utils.
global_position: move relative_alt and compass_heading init back
add nav_msgs to dependencies so to make Travis happy
global_position: update pose and twist to odom msg
test #358: add tests for negative values and quaternion_to_rpy tf2 compatibility check Tests now fails!
sctipts: fix gps topic path
lib: fix input validation in UAS::orientation_from_str()
test: add case for num str->sensor orientation
package: fix CHANGELOG.rst
Contributors: TSC21, Vladimir Ermakov

0.13.0 (2015-08-01)

plugin: setpoint_attitude #352: use new helper.
plugin: sys: Fix cppcheck and YouCompleteMe warnings
plugin: ftp: Fix cppcheck errors.
lib #352: Add helper function UAS::quaternion_to_mavlink()
Fixed bug in send_attitude_target() The transformed quaternion wasn't being passed to set_attitude_target(), resulting in an incorrect attitude setpoint. I've now fixed this issue.
scripts: fix mavwp
test: add test cases for new sensor orientation functions
remove tf1 dep
lib #319: Remove TF types from UAS
plugin: param: new message type: ParamValue
msgs: Move MAV_CMD values to separate msg
plugin: command: fix build
fix whitespaces in python scripts
Merge pull request #312 from mhkabir/cam_imu_sync Camera IMU synchronisation support added
Added launch file for PX4 posix sitl to launch gcs_bridge node for bridging posix and gazebo
scripts: mavftp: little speed up by aligning access to payload length
launch: Add optional log_output arg
Merge branch 'orientation_enum_name' * orientation_enum_name: distance_sensor #342: correct orientation parameter handling. lib #342: try to convert numeric value too px4_config: adapt to distance_sensor params to new features distance_sensor: restructure orientation matching and verification lib #342: Added sensor orientation string repr.
lib #342: try to convert numeric value too
px4_config: adapt to distance_sensor params to new features
lib #342: Added sensor orientation string repr.
launch: update local_position conf
test: Add test for UAS::sensor_orientation_matching()
Update cmake Eigen3 finding rules. Migration described at: http://wiki.ros.org/jade/Migration#Eigen_CMake_Module_in_cmake_modules
lib #319, #341: preparation for str->MAV_SENSOR_ORIENTATION func
lib #319: Return quaternion from UAS::sensor_matching()
lib: Remove unneded NodeHandle
launch fix #340: update default component id of PX4.
plugin: sys_status: Add fallback to adressed version request.
Can not remove tf package before #319 is done. tf::Vector3 and other tf1-bullet still in use.
plugin: sys_status: Use broadcast for version request.
fix #71: replace depend tf to tf2_ros.
plugin: Use UAS::syncronized_header() for reduce LOC.
lib #319: use similar names for covariances as eigen vector
lib #319: transform_frame() for Covariance3x3
lib #319: remove unused bullet based transform_frame()
extras: vision_pose #71: Use TF2 listener. Also #319.
plugin #71: Implement TF2 listener. Change param names. Breaks extras.
uas #71: Use single TF2 objects for broadcasting and subscription.
launch: Update configs.
lib: Add UAS::quaternion_to_rpy()
plugin: safety_area #319: Change transform_frame()
plugin: local_position #71 #319: port to TF2 and Eigen
lib: Add UAS::synchonized_header()
plugin: command: Add command broadcasting support.
Perform the autopilot version request as broadcast
lib: Update PX4 mode list
plugin: global_position #325: port tf broadcaster to tf2 Also #71.
plugin: global_position #325: reenable UTM calc
plugin: gps #325: remove gps plugin.
plugin: global_position #325: merge gps_raw_int handler
plugin: setpoint_accel #319: use eigen frame transform. I don't think that PX4 support any other frame than LOCAL_NED. So i removed comment. Also style fix in setpoint_velocity.
plugin: setpoint_velocity #319: use eigen based frame transform.
plugin: setpoint_position #273: remove PX4 quirk, it is fixed.
plugin: ftp: Update command enum.
plugin: imu_pub fix #320: move constants outside class, else runtime linkage error.
plugin: imu_pub #320: first attempt
eigen #319: handy wrappers.
eigen #319: add euler-quat function. Also #321.
test #321: remove duplicated test cases, separate by library. Add test for checking compatibility of tf::quaternionFromRPY() and Eigen based math.
test #321: testing eigen-based transforms. We should check what convention used by tf::Matrix to be sure that our method is compatible.
mavros #319: Add Eigen dependency and cmake rule.
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
cam_imu_sync : fix running
imu_cam_sync : fix formatting
command handling in mavcmd for camera trigger
Camera IMU synchronisation support added
Contributors: Anurag Makineni, Lorenz Meier, Mohammed Kabir, TSC21, Vladimir Ermakov, devbharat

0.12.0 (2015-07-01)

plugin: sys_time, sys_status #266: check that rate is zero
test #321: disable tests for broken transforms.
lib #321: frame transform are broken. again! revert old math. RULE for me: do not accept patch without wide testing from author. That PR changes all plugins code, instead of do API, test and only after that touching working code. My bad.
unittest: added 6x6 Covariance conversion test
frame_conversions: update comments; filter covariance by value of element 0
unittests: corrected outputs from conversion tests
test: other quaternion transform tests
test: UAS::transform_frame_attitude_q()
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
coverity: make them happy
uncrustify: fix style on frame conversions
uncrustify: includes
plugin: sys_status #266: replace period with rate parameter
plugin: sys_time #266: Replace period with rate parameters
frame_conversion: last fix patch
frame_conversions: use inline functions to identify direction of conversion
changed frame conversion func name; add 3x3 cov matrix frame conversion; general doxygen comment cleanup
frame_conversions: added covariance frame conversion for full pose 6x6 matrix
frame_conversions: added frame_conversion specific lib file; applied correct frame conversion between ENU<->NED
sys_status #300: PX4 place in [0] lest significant byte of git hash.
sys_status fix #300: fix u8->hex func.
plugin: waypoint: cosmetics.
vibration_plugin: first commit
Changes some frames from world to body conversion for NED to ENU.
mavsys #293: add --wait option
mavsys: Fix arguments help
mavcmd #293: Add --wait option. New function: util.wait_fcu_connection(timeout=None) implement wait option.
sys_status #300: AUTOPILOT_VERSION APM quirk
mavros #302: fix style
mavros #302: split UAS impl by function blocks
mavros fix #301: move sensor orientation util to UAS
distance_sensor: typo; style fixe
sensor_orientation: list values correction
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: use MAX as last index macro
distance_sensor: changed to usable config
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: updated orientation enum; updated data type
sensor_orientation: included array type on utils.h
sensor_orientation: added sensor orientation matching helper func
distance_sensor: updated config file
distance_sensor: define sensor position through param config
distance_sensor: array limiting; cast correction; other minor correc
distance_sensor: small enhancements
sys_status #293: initialize state topic
sys_status #293: expose connection flag in mavros/State.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.11.2 (2015-04-26)

plugin: param fix #276: add check before reset request downcounter. If on MR request FCU responses param with different [param_index]{.title-ref} do not reset repeat counter to prevent endless loop.
gcs bridge fix #277: add link diagnostics
plugin: setpoint_position #273: add quirk for PX4.
readme: fir glossary misprint
readme: add notes about catkin tool
Contributors: Vladimir Ermakov

0.11.1 (2015-04-06)

scripts #262: update mavwp
scripts #262: mavsetp, new module mavros.setpoint
mavftpfuse #129: cache file attrs
mavparam #262: use get_topic()
mavsys #262: use get_topic()
mavcmd #262: use get_topic()
mavftp #263, #262: use crc32 checksums
python #262: add get_topic()
Update local_position.cpp removed irritating comment
readme: add short glossary
plugin: setpoint_attitude: remove unneded ns
Contributors: Marcel Stuettgen, Vladimir Ermakov

0.11.0 (2015-03-24)

plugin: setpoint_position #247: rename topic
launch #257: rename blacklist.yaml to pluginlists.yaml
node #257: implement while list.
plugin: actuator_control #247: update topic name.
mavros: Initialize UAS before connecting plugin routing. Inspired by #256.
plugin: sys_status: Check sender id. Inspired by #256.
plugin: sys_status: Use WARN severity for unknown levels
uas: Add [UAS::is_my_target()]{.title-ref} Inspired by #256.
plugin: global_position: Fill status and covariance if no raw_fix. Additional fix for #252.
launch: change apm target component id APM uses 1/1 (sys/comp) by default.
plugin: sys_status: publish state msg after updating uas Before this commit, the custom mode string published in the state message was computed using the autopilot type from the previous heartbeat message--not the autopilot type from the current hearbeat message. Normally that isn't a problem, but when running a GCS and mavros concurrently, both connected to an FCU that routes mavlink packets (such as APM), then this causes the custom mode to be computed incorrectly, because the mode string for the GCS's hearbeat packet will be computed using the FCU's autopilot type, and the mode string for the FCU's heartbeat packet will be computed using the GCS's autopilot type.
plugin: global_position: fix nullptr crash This fixes a crash in cases where a GLOBAL_POSITION_INT message is received before a GPS_RAW_INT message, causing the [gps_fix]{.title-ref} pointer member to be dereferenced before it has been set.
msgs: fix spelling, add version rq.
coverity: init ctor in 3dr_radio
launch fix #249: update apm blacklist
launch: rename APM2 to APM.
launch #211: update configs
plugin: gps: remove unused param
plugin: sys_time: remove unused param
launch fix #248: remove radio launch
plugin: 3dr_radio #248: add/remove diag conditionally
plugin: sys_status: move connection params to ns
plugin: sys_time: fix #206 (param ns)
node: Inform what dialect built-in node
plugin: sys_status: Conditionaly add APM diag
plugin: sys_status: fix #244
uas #244: add enum lookups
package: update lic
license #242: update mavros headers
plugin: local_positon: use auto
plugin: imu_pub: Update UAS store.
plugin: gps: remove diag class, change UAS storage API.
plugin api #241: move diag updater to UAS.
plugin api #241: remove global private node handle. Now all plugins should define their local node handle (see dummy.cpp). Also partially does #233 (unmerge setpoint topic namespace).
plugin api #241: remove [get_name()]{.title-ref}
package: mavros now has any-link proxy, not only UDP
Update years. I left gpl header, but it is BSD too.
Add BSD license option #220
plugin: sys_status: AUTOPILOT_VERSION support. Fix #96.
mavros fix #235: Use AsyncSpinner to allow plugins chat. Old single-threaded spinner have a dead-lock if you tried to call a service from for example timer callback. For now i hardcoded thread count (4).
uncrustify: actuator_control
Merge branch 'master' of github.com:mstuettgen/Mavros
fixed missing ;
code cosmetics
further removed unneeded white spaces and minor code cosmetics
fixed timestamp and commented in the not-working function call
code cosmetics, removed whitespaces and re-ordered function signatures
more code comment cosmetic
code comment cosmetic
uncrustify: fix style
readme: add contributing notes
uncrustify: mavros base plugins
uncrustify: mavros lib
uncrustify: mavros headers
tools: add uncrustify cfg for fixing codestyle Actually it different from my codestyle, but much closer than others.
added more const to function calls to ensure data consistency
modified code to fit new message
added group_mix to ActuatorControl.msg and a link to mixing-wiki
plugin: rc_io: Add override support warning
REALLY added ActuatorControl.msg
added ActuatorControl.msg
fixed latest compiler error
renamed cpp file to actuator_control.cpp and added the new plugin to mavros_plugins.xml
removed unneeded Mixinx and reverse_throttle, and unneeded variables in function signatures
inital draft for set_actuator_control plugin
launch: enable setpoint plugins for APM As of ArduCopter 3.2, APM supports position and velocity setpoints via SET_POSITION_TARGET_LOCAL_NED.
plugin: setpoint_velocity: Fix vx setpoint vz should have been vx.
Contributors: Clay McClure, Marcel Stuettgen, Vladimir Ermakov

0.10.2 (2015-02-25)

Document launch files
launch: Fix vim modelines #213
launch #210: blacklist image_pub by px4 default. Fix #210.
Contributors: Clay McClure, Vladimir Ermakov

0.10.1 (2015-02-02)

Fix \@mhkabir name in contributors.
uas #200: Add APM:Rover custom mode decoding. Fix #200.
uas #200: Update APM:Plane and APM:Copter modes.
Contributors: Vladimir Ermakov

0.10.0 (2015-01-24)

mavros #154: Add IO stats to diagnostics. Fix #154.
Add rosindex metadata
plugin: ftp: init ctor.
plugin: sts_time: Code cleanup and codestyle fix.
plugin: command: Quirk for older FCU's (component_id) Older FCU's expect that commands addtessed to MAV_COMP_ID_SYSTEM_CONTROL. Now there parameter: [~cmd/use_comp_id_system_control]{.title-ref}
plugin: rc_io: #185 Use synchronized timestamp.
plugin: gps: #185 use synchronized timestamp common.xml tells that GPS_RAW_INT have time_usec stamps.
uas: Fix ros timestamp calculation. Issues: #186, #185.
plugin: add synchronisation to most plugins (fixed) Closes #186.
readme: Add notes about coordinate frame conversions #49
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.4 (2015-01-06)

plugin: sys_time: enable EMA
Contributors: Mohammed Kabir

0.9.3 (2014-12-30)

plugin: visualization finshed
Restore EMA. Works better for low rates.
Update sys_time.cpp
plugin : add time offset field to dt_diag
Final fixes
minor
plugin : fixes timesync. FCU support checked.
Visualisation system import
param: Fix float copying too
param: Fix missing
param: Trynig to fix 'crosses initialization of XXX' error.
param: Try to fix #170.
Update units
New message, moving average compensation
Initial import new sync interface
plugin: sys_status: Enable TERRAIN health decoding.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.2 (2014-11-04)

0.9.1 (2014-11-03)

Update installation notes for #162
Contributors: Vladimir Ermakov

0.9.0 (2014-11-03)

0.8.2 (2014-11-03)

REP140: update package.xml format. Hydro don't accept this format correctly, but after split i can update.
Contributors: Vladimir Ermakov

0.8.1 (2014-11-02)

fix build deps for gcs_bridge
mavconn #161: Enable rosconsole bridge.
mavconn #161: Move mavconn tests.
mavconn #161: Fix headers used in mavros. Add readme.
mavconn #161: Fix mavros build.
mavconn #161: Move library to its own package Also rosconsole replaced by console_bridge, so now library can be used without ros infrastructure.
plugin: sys_time: Set right suffixes to uint64_t constants. Issue #156.
plugin: sys_time: Add time syncronization diag. Issue #156.
plugin: sys_time: Debug result. Issue #156.
plugin: Store time offset in UAS. TODO: implement fcu_time(). Issue #156.
plugin: sys_time: Fix code style. Also reduce class variables count (most not used outside the method). Issue #156.
Update repo links. Package moved to mavlink organization.
Nanosecond fix
Fix
Fixes
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update CMakeLists.txt
Update mavros_plugins.xml
Update sys_time.cpp
Fix build
sys_time import. Removed all time related stuff from gps and sys_status
Initial sys_time plugin import
plugin: ftp: Bytes written now transfered in payload.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.8.0 (2014-09-22)

plugin: ftp: Disable debugging and change level for some log messages. Issue #128.
plugin: ftp: Translate protocol errors to errno. Issue #128.
scripts: mavftp: Add upload subcommand. Issue #128.
python: Add more ftp utils. Issue #128.
plugin: ftp: Fix write offset calculation. Issue #128.
plugin: ftp: Add . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add support for . Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Add
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Move common mission classes to mavros.mission module. Issue #157.
python: Move useful utils to mavros.param module. Issue #157.
python: Move common utils to mavros.utils module. Issue #157.
python: Create python module for ftp utils. Issue #128, #157.
scripts: ftp: Implement file-like object for IO. Issue #128.
plugin: ftp: Implement write file. Issue #128.
scripts: mavftp: Add remove subcommand. Issue #128.
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add response errno from server.
plugin: ftp: Add support for 'Skip' list entries. Issue #128.
scripts: mavftp: Add mkdir/rmdir support. Issue #128.
plugin: ftp: Add mkdir/rmdir support. Issue #128.
plugins: ftp: Update protocol headers. Issue #128.
Revert "Update package.xml format to REP140 (2)." This reverts commit 81286eb84090a95759591cfab89dd9718ff35b7e. ROS Hydro don't fully support REP140: rospack can't find plugin descriptions. Fix #151.
scripts: mavwp: Fix --follow mode
plugin: imu_pub: Fix RAW_IMU/SCALED_IMU angular scale constant. Fix #152.
launch: remove px4_local_gcs.launch again. It removed in 826be386938c2735c9dab72283ba4ac1c68dc860, but accidentally returned.
extras: launch: Use includes. Fix #144.
launch: PX4: use node.launch in PX4 scripts. Also remove px4_local_gcs.launch: please use [roslaunch mavros px4.launch gcs_url:=udp://\@localhost]{.title-ref} instead. Issue #144.
launch: APM2: Add node.launch and update apm scripts to use it. Issue #144.
plugin: command: Fix CommandInt x,y types.
Update package.xml format to REP140 (2). Fix #104.
launch: Blacklist FTP for APM.
scripts: mavwp: Add decoding for some DO-* mission items.
scripts: mavwp: Add preserve home location option at load operation. Useful if FCU stores home location in WP0 (APM).
Added src location.
Updated README wstool instructions.
plugin: ftp: Init ctor
service: mavftp: Initial import. Issue #128.
plugin: ftp: Implemnet reset call. Sometimes kCmdReset can restore normal operation, but it might be dangerous. Issue #128.
plugin: ftp: Implement call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Fix open error. Issue #128.
plugin: ftp: Implement (read) and . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement method. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement list parsing Issue #128.
plugin: ftp: Fix CRC32 calculation. Issue #128.
plugin: ftp: Add plugin skeleton. Based on QGroundContol QGCUASFileManager.h/cc. Issue #128.
plugin: ftp: Add size info
plugin: ftp: Add plugin service API. Issue #128.
plugin: vfr_hud: Initial import. Also this plugin publish APM specific WIND estimation message. Fix #86.
node: coverity fails at UAS initilizer list
plugin: setpoint_attitude: Init ctor, remove code dup.
cmake: Add check MAVLINK_DIALECT value Fix #139.
Move common cmake rules to modules. Same mech as in [cmake_modules]{.title-ref} package. Issue #139.
launch: corrected launch for gcs bridge
scripts: mavsetp: Fix misprint.
launch files: added px4 launch files for connection with radio and gcs
scripts: mavsetp: Fix twist.angular vector construction. Small style fix.
Update doxygen documentation. Add split lines in UAS, and make UAS.connection atomic. Add rosdoc configuration for mavros_extras.
scripts: mavsetp: corrected API; added possibility of parse angles in dg or rad
scripts: mavsetp: corrected msg API; mavteleop: added prefix to rc override
scripts: mavsetp: added local accel; corrected how the OFFBOARD mode is swtch.
scripts: mavsetp: changed the way offboard mode is switched
node: init ctor (coverity)
nodelib: add std::array header
return msg generator deps for mavconn
scripts: mavsys: Implement set rate command.
scripts: Add mavsys tool. Implented only [mode]{.title-ref} operation. Issue #134.
plugin: sys_status: Implement set_mode service. Previous command shortcut removed. Issue #136, #134.
node: Implement reverse mode lookup. Issue #136.
plugin: sys_status: Move custom mode decoder to UAS. Issue #136.
node: Catch URL open exception. Also update connection pointer type.
nodelib: move sources to subdir
node: Move UAS to mavros namespace
node: Move node code to library.
node: Catch DeviceError; use C++11 foreach shugar.
plugin: command: Add COMMAND_INT suport. Fix #98.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov

0.7.1 (2014-08-25)

plugins: setpoint: Update SET_POSITION_TARGET_LOCAL_NED message. Fix #131.
scripts: mavsetp: Enable OFFBOARD mode. Issue #126.
plugin: command: Add guided_enable shortcut It enable PX4 OFFBOARD mode. Issue #126.
scripts: Add mavsetp script. Only local setpoint for now. Issue #126.
plugins: Change UAS FCU link name. Reduce smart pointer count, that hold fcu link object.
scripts: mavcmd: Add takeoffcur and landcur commands Fix #91, #92. Inspired by #125.
Closes #122, closes #123; plugins: move mocap & vision plugins to extras, change vision plugins name
plugins: UAS remove std::atomic<double> It don't work at some compilers. Issue #89.
plugin: global_position: Fill NavSatFix status filed. Issue #87, #118.
plugins: Add GPS data to UAS
plugins: Move setpoint_mixin.h Fix #120.
plugin: mocap: Fix load. Issue #121.
plugins: global_position: get pose orientation from the one stored in uas
plugins: global_position: use relative_alt on position.z; mavros_plugins.xml - corrected declaration of mocap_pose_estimate
plugin - global_position - changed parameter path / orientation source
launch: APM2 blacklist global_position plugin
plugin: global_position: Unit unification.
plugin: global_position: Move heaedr; Style fix.
added rel_pos and compass_hdg pub; minor corrections
Merge branch 'master' of https://github.com/vooon/mavros into global_position
global_position plugin - initial commit
launch: APM2 blacklist mocap plugin.
Updated mavros_plugins.xml
Fixed dual sources error warning.
Fixed styles.
Minor changes.
added time stamp to received msgs
Removed un-needed times.
Added mocap_pose_estimate plugin.
Code style update
setpoint attitude change - warning message
Update on setpoint_attitude plugin
- changed Twist to TwistStamped
- added reverse_throttle option for throttle control
- use cmd_vel as the same topic to control linear a angular velocities (it's commonly used by controllers)
- added normalization filter to thrust
node: Remove deprecated conn parameters. Fix #108
plugin: vision_speed: Update plugin API.
plugin: setpoint_attitude: Update plugin API.
plugin: setpoint_accel: Update plugin API.
plugin: setpoint_velocity: Update plugin API.
plugin: 3dr_radio: Update plugin API.
plugin: safety_area: Update plugin API.
plugin: setpoint_position: Update plugin API.
plugin: vision_position: Update plugin API.
plugin: local_position: Update plugin API.
plugin: command: Update plugin API.
plugin: rc_io: Update plugin API.
plugin: waypoint: Update plugin API.
plugin: param: Update plugin API.
plugin: gps: Update plugin API.
plugin: imu_pub: Update plugin API.
plugin: sys_status: Update plugin API.
plugin: Update plugin API.
plugins: disable most of plugins
plugin: setpoint_attitude: Add thrust topic. Fix #106.
Fix URLs in readme
mavros -> ros-message parameter fix only parameter1 was forwarded into the ros message
Switch travis to pixhawk dialect. Default dialect build by ros buildfarm. Also remove duplicate ci statuses from mavros readme.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov, mthz

0.7.0 (2014-08-11)

Add package index readme, Fix #101
move mavros to subdirectory, #101
Merge branch 'master' of github.com:vooon/mavros * 'master' of github.com:vooon/mavros: Add link to ros-*-mavlink package wiki page.
plugins: setpoint: Update setpoint message name. Issue #94, Fix #97.
plugin: setpoint_attitude: Update message name. Issues #94, #97.
Add link to ros-*-mavlink package wiki page.
plugin: gps: Fix gcc 4.6 build (atomic). Not recommended to use std::atomic with gcc 4.6. So i limited to prederined atomics for simple types like int, float etc.
plugin: sys_status: Implement PX4 mode decoding. Fix #84.
plugin: gps: Add EPH & EPV to diagnostic. Issue #95
plugin: gps: Move message processing to individual handlers. Issue #95.
plugin: rc_io: Replace override service with topic. (ROS API change). Fix #93.
Add dialect selection notes
plugins: Change severity for param & wp done messages.
plugins: Store raw autopilot & mav type values. This may fix or not issue #89.
plugins: init ctor (coverity)
plugin: imu_pub: Add ATTITUDE_QUATERNION support. Also reduce copy-paste and use mode readable bitmask check. Fix #85.
scriptis: mavcmd: Spelling
scripits: Add mavcmd tool
Add links to mavros_extras
param: sys_status: Option to disable diagnostics (except heartbeat)
plugin: command: Add takeoff and land aliases. Issue #68.
plugin: command: Add quirk for PX4. Fix #82.
plugin: Add UAS.is_px4() helper. Replace some locks with atomic. Issue #82.
launch: Clear PX4 blacklist. Issue #68.
launch: Add target ids. Also fix PX4 wrong ?ids usage (it set mavros ids, not target). Issue #68.
plugin: imu_pub: Fix HRIMU pressure calc. 1 mBar is 100 Pa. Fix #79.
plugins: C++11 chrono want time by ref, return *_DT Fix #80.
plugins: Replace boost threads with C++11. And remove boost thread library from build rules. Issue #80.
plugins: Replace Boost condition variables with C++11 Issue #80.
plugins: Replace boost mutexes with C++11. Issue #80.
travis clang to old, fails on boost signals2 library. disable.
travis: enable clang build.
node: Make project buildable by clang. Clang produce more readable errors and provide some static code analysis, so i want ability to build mavros with that compilator.
plugins: replace initial memset with c++ initializer list
launch: PX4 default ids=1,50. Also waypoint plugin works (with first_pos_control_flight-5273-gd3d5aa9). Issue #68.
launch: Use connection URL
plugin: vision_speed: Initial import. Fix #67.
plugin: sys_status: Add SYSTEM_TIME sync send. Fix #78.
plugin: sys_status: Decode sensor health field. Fix #75.
Add ci badges to readme
plugin: param: erase invalidates iterator. Real error found by coverity :)
plugins: Init ctor
plugins: Add ctor initialization. Coverity recommends init all data members.
test: trying travis-ci && coverity integration. Real ci doing by ros buildfarm.
plugins: Fix clang-check errors.
test: Add tcp client reconnect test. Issue #72.
test: Split open_url test to individual tests. Also removed tcp client deletion on close, heisenbug here. Issue #72.
mavconn: Emit port_closed after thread stop. Also use tx state flag, improve error messages and move io post out of critical section. Issue #72.
mavconn: Fix TCP server client deletion. Issue #72.
test: Remove not needed sleep.
mavconn: Remove new MsgBuffer dup. Message drop if closed. Issue #72.
mavconn: Fix TCP server. Issue #72.
launch: APM2: Blacklist extras.
mavconn: Add mutex to channel allocation.
mavconn: Fix TCP server for gcc 4.6 Fix #74.
Remove libev from package. Issue #72.
mavconn: GCC 4.6 does not support typedef like using. Issue #74.
Merge pull request #73 from vooon/mavconn-revert-asio mavconn: Revert to Boost.ASIO
mavconn: Cleanup boost threads. I will use C++11 standard libs. Issue #72.
mavconn: Remove libev default loop thread. Issue #72.
mavconn: Port MAVConnTCPServer to Boost.ASIO. TCP send test fails. Issue #72.
mavconn: Port MAVConnTCPClient to Boost.ASIO. Also it disables MAVConnTCPServer before i rewrite it. Issue #72.
mavconn: Revert MAConnSerial back to Boost.ASIO. Issue #72.
test: Fix send_message tests. Use C++11. Issue #72.
mavconn: Revert MAVConnUDP back to Boost.ASIO. Also starting to change boost threads and mutexes to C++11. Issue #72.
test: Enable send tests. Issue #72.
test: And hand test for mavconn hangs. Issue #72.
node: Remove anonimous flag from gcs_bridge. Rename node if you want start several copies.
install: Remove duplicate
node: Fix mavros_node termination message. Issue #58.
node: Use URL in mavros_node. Fix #58.
node: Use URL in gcs_bridge. Issue #58.
node: Rename ros_udp to gcs_bridge. Because now it's not UDP only. Issue #58.
Cleanup boost components
mavconn: Implement URL parsing. Supported shemas:
- Serial: [/path/to/serial/device[:baudrate]]{.title-ref}
- Serial: [serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]]{.title-ref}
- UDP: [udp://[bind_host[:port]]@[remote_host[:port]][/?ids=sysid,compid]]{.title-ref}
- TCP client: [tcp://[server_host][:port][/?ids=sysid,compid]]{.title-ref}
* TCP server: [tcp-l://[bind_port][:port][/?ids=sysid,compid]]{.title-ref} Note: ids from URL overrides ids given to open_url(). Issue #58.
test: Add tests for UDP, TCP, SERIAL. Send message testa are broken, need to find workaround. Fix #70.
plugin: vision_position: Add transform timestamp check. Issue #60.
mavconn: Implement TCP server mode. Fix #57.
mavconn: Initial support for TCP client mode. Issue #57.
mavconn: Boost::asio cleanup.
plugin: Remove TimerService from UAS. Fix #59.
plugin: param: Add state check to sheduled pull.
mavparam: Add force pull.
plugin: param: Use ros::Timer for timeouts Also new option for force pull parameters from FCU instead of cache. Fix #59.
Add mavsafety info to README.
launch: Add apm2_radio.launch (for use with 3DR Radio)
plugin: 3dr_radio: Fix build error. Issue #62.
plugin: 3dr_radio: Publish status data for rqt_plot Also tested with SiK 1.7. Fix #62.
plugin: setpoint_attitude: Fix ENU->NED conversion. Fix #64. Related #33, #49.
launch: Add setpoint plugins to APM2 blacklist
plugin: setpoint_attitude: Initial import. XXX: need frame conversion #49. Issue #33, #64.
plugin: Move common tf code to mixin. Remove copy-paste tf_listener. Issue #33.
plugin: setpoint_position: Generalize topic NS with other [setpoint_*]{.title-ref} Issue #33, #61.
plugin: setpoint_accel: Initial import. Issues: #33, #61.
plugin: position_velocity: Initial import. Also it fix ignore mask in setpoint_position. Issues #33, #61.
plugins: 3rd_radio: Initial import. Untested. Issue #61.
scripts: Add mavsafety tool. Also add safety_area to APM2 blacklist. Fix #51.
plugins: safty_area: Initial import. This plugin listen [~/safety_area/set]{.title-ref} and send it's data to FCU. Issue #51.
plugins: position: Add TF rate limit. Issue #33.
plugin: waypoint: Use ros::Timer for timeouts. Also add some debug messages for next debugging PX4. Issue #59.
plugin: sys_status: Use ros::Timer for timeouts Also move message rx to it's own handlers. Issue #59.
Remove rosdep.yaml and update readme
Add deb build notes to readme. Issue #55.
Add sudo notes to readme.
Merge pull request #56 from vooon/54_try_libev Switch to libev
Add libev to README
package: Add temporary rosdep for libev-dev. Issue #54.
mavconn: Move MAVConnUDP to libev. And fix docs in serial. Issue #54.
mavconn: Move MAVConnSerial to libev. Adds stub for open URL function. Issure #54.
Contributors: Vladimir Ermakov, Mohammed Kabir, Nuno Marques, Glenn Gregory

0.6.0 (2014-07-17)

plugin: local_position: Use same timestamp in topic and TF. Issue #33.
plugins: TF thread required, remove notes. Issue #33.
launch: Add example launch for PX4 Issue #45.
plugin: imu_pub: Fix attitude store in UAS Issue #33. Fix #53.
plugins: Disable position topics if tf_listen enabled Also change default frame names: [vision]{.title-ref} and [setpoint]{.title-ref}. Issue #33.
plugins: Fix typo in frame_id params. Issue #33.
plugins: Add vision and setpoint TF listeners Also change parameter names to same style. Issue #33.
plugin: vision_position: Add PositionWithCovarianceStamped option Issue #33.
Add boost filesystem lib to link On some platforms its absence breaks build by: undefined reference to [boost::filesystem::path::codecvt()]{.title-ref}
launch: Add example for APM2 Fix #45.
plugin: setpoint_position: Initial import And some small doc changes in other position plugins. Issue #33.
node: Add connection change message Fix #52.
plugins: vision_position: Initial import TODO: check ENU->NED maths. Issue #33.
plugins: Remove unneded 'FCU' from diag
plugin: local_position: Change plane conversion Bug: #49.
plugin: imu_pub: Fix magnetic vector convertions Bug: #49.
Use dialects list from package
plugin: local_position: Fix orientation source Part of #33.
node: Show target system on startup Fix #47.
plugin: local_position: Initial add Receive LOCAL_POSITION_NED message and publish it via TF and PoseStamped topic in ENU frame. Part of #33.
node: Use boost::make_shared for message allocation Fix #46.
plugins: Use boost::make_shared for message allocation Part of #46.
plugin: imu_pub: Fix misprint in fill function Fix magnetometer vector convertion (HR IMU). Related #33.
plugin: imu_pub: setup cleanup.
Update readme
plugin: gps: Fix gps_vel calculation Fix #42.
plugins: Make name and messages methods const. (breaking). WARNING: this change broke external plugins. Please add const to get_name() and get_supported_messages(). Part of #38.
plugins: Use mavlink_msg*_pack_chan() functions Fix #43.
mavconn: Reuse tx buffer (resize by extents) Part of #38.
mavconn: Do not finalize messages if id pair match mavlink*_pack also do finalize, so explicit finalization just recalculate crc and seq number (doubles work). Test later if we need check seq too.
mavconn: Documentation and cleanup Make MAVConn classes noncopyable. Remove copy-paste copy and following async_write calls. Reserve some space in tx queues. Replace auto_ptr with unique_ptr.
test: Fix header include
mavconn: Fix possible array overrun in channel alocation. Problem found by clang.
fix some roslint errors
mavconn: move headers to include
node: Implement plugin blacklist. New parameter: [~/plugin_blacklist]{.title-ref} lists plugin aliases with glob syntax. Fix #36.
plugins: Change constants to constexpr (for gcc 4.6)
mavconn: Add gencpp dependency (utils.h requiers generated header)
Move duplicate Mavlink.msg copy to utils.h
Remove tests that requires connection to FCU
plugins: imu_pub: Fix PX4 imu/data linear_accelerarion field Should fix: #39.
plugins: imu_pub: Add magnitic covariance Trying to move constants with constexpr. Related: #13.
Remove testing info Need to remove tests that could not run on build farm.
Contributors: Vladimir Ermakov

0.5.0 (2014-06-19)

Remove mavlink submodule and move it to package dependency Bloom release tool don't support git submodules, so i've ceate a package as described in http://wiki.ros.org/bloom/Tutorials/ReleaseThirdParty . Fix #35.
plugins: param: add missing gcc 4.6 fix.
plugins: fix const initializers for gcc 4.6
plugins: imu_pub: fix const initializers for gcc 4.6 Fix for build failure devel-hydro-mavros #4.
Add support for GCC 4.6 (C++0x, ubuntu 12.04) I don't use complete c++11, so we could switch to c++0x if it supported.
plugins: rc_io: Add override rcin service Fix: #22.
plugins: sys_status: fix timeouts Fix #26.
plugins: sys_status: add set stream rate service Some additional testing required. Fix #23.
Remove unused boost libarary: timer Build on jenkins for hydro failed on find boost_timer.
0.4.1
Add changelog for releasing via bloom

0.4.1 (2014-06-11)

node: Show serial link status in diag Now 'FCU connection' shows actual status of connection (HEARTBEATS).
Fix #29. Autostart mavlink via USB on PX4 Changes mavconn interface, adds new parameter.
Fix installation rules. Fix #31.
Setup UDP transport for /mavlink messages
Fix mavlink dialect selection Fix #28.
Add link to wiki.ros.org Part of #27.

0.4.0 (2014-06-07)

Release 0.4.0 And some docs for CommandPlugin.
plugins: command: Command shortcuts Fix #12.
plugins: command: Add ACK waiting list Part of #12.
plugins: command: Initial naive realization. Partial #12, #25.
mavconn: Fix build on Odroid with Ubuntu 13.10 Fix #24.
plugins: rc_io: initial add RC_IO plugin Topics:
- ~/rc/in -- FCU RC inputs in raw microseconds
* ~/rc/out -- FCU Servo outputs Fix #17. Partiall #22.
Fix installation wstool command. [wstool set]{.title-ref}, not [wstool add]{.title-ref}.
Add installation notes to README Installing pymavlink is not required, but try if errors.
Fix headers in README.md
ros_udp: New node for UDP proxing Add some examples to README.md. Fix #21.
sys_status: Add state publication Fix #16.
sys_status: Sent HEARTBEAT if conn_heartbeat > 0 Fix #20.
sys_status: add sensor diagnostic See #16.
sys_status: Add battery status monitoring Fix #19, partial #16.
sys_status: HWSTATUS support Fix #18, partial #20.
plugins: imu_pub: Add RAW_IMU, SCALED_IMU and SCALED_PRESSURE handlers Fix #13. Refactor message processing. Combination of used messages: On APM: ATTITUDE + RAW_IMU + SCALED_PRESSURE On PX4: ATTITUDE + HIGHRES_IMU On other: ATTITUDE + (RAW_IMUHIGHRES_IMU Published topics:
- ~imu/data - ATTITUDE + accel data from *_IMU
- ~imu/data_raw - HIGHRES_IMU or SCALED_IMU or RAW_IMU in that order
- ~imu/mag - magnetometer (same source as data_raw)
- ~imu/temperature - HIGHRES_IMU or SCALED_PRESSURE
- ~imu/atm_pressure - same as temperature
Update readme
mavwp: Add --pull option for 'show' operation. Reread waypoints before show.
MissionPlanner use format QGC WPL, Fix #15 Code cleanup;
Update mavlink version.
Update mavlink version
mavparam: fix #14 support for QGC param files
mavwp: Add mavwp to install

0.3.0 (2014-03-23)

Release 0.3.0
mavwp: Add MAV mission manipulation tool Uses WaypointPlugin ROS API for manipulations with FCU mission.
- show -- show current mission table
- pull -- update waypoint table
- dump -- update and save to file
- load -- loads mission from file
- clear -- delete all waypoints
- setcur -- change current waypoint
- goto -- execute guided goto command (only APM) Currently supports QGroundControl format only.
plugins: wp: Add GOTO, update documentation
plugins: wp: Auto pull
plugins: wp: SetCurrent & Clear now works
plugins: wp: Push service works
plugins: wp: push almost done
plugins: wp: Pull done
plugins: param: remove unused ptr
plugins: wp: mission pull almost done
plugins: wp: Add convertors & handlers
plugins: Waypoint plugin initial
Use C++11 feuture - auto type
plugins: refactor context & link to single UAS class UAS same functions as in QGC.
plugins: Add msgs and srvs for Waypoint plugin
Update mavlink library
Update mavlink version
mavparam: Fix for DroidPlanner param files & cleanup DroidPlanner adds some spaces, don't forget to strip it out. Cleanup unused code from Parameter class.

0.2.0 (2014-01-29)

mavparam: Add MAV parameter manipulation tool Uses ParamPlugin ROS API for manipulating with fcu params.
- load -- load parameter from file
- dump -- dump parameter to file
- get -- get parameter
- set -- set parameter Currently supports MissionPlanner format only. But DroidPlanner uses same format.
Update README and documentation
plugins: param: implement ~param/push service Also implement sync for rosparam:
- ~param/pull service pulls data to rosparam
- ~param/push service send data from rosparam
- ~param/set service update rosparam if success
plugins: param: implement ~param/set service
plugins: param: implement ~param/get service
plugins: param: Implement automatic param list requesting
plugins: use recursive_mutex everywhere
plugins: param now automaticly requests data after connect
plugins: Add common io_service for plugins, implement connection timeout Some plugin require some delayed processes. Now we can use boost::asio::*timer. New parameter:
- ~/conn_timeout connection timeout in seconds
plugins: add param services
mavconn: set thread names WARNING: pthread systems only (BSD/Linux)
plugins: implement parameters fetch service
plugins: fix string copying from mavlink msg
plugins: Setup target in mav_context New params:
- ~target_system_id - FCU System ID
- ~target_component_id - FCU Component ID
plugins: IMU Pub: add stdev parameters, change topic names. Add parameters:
- ~imu/linear_acceleration_stdev - for linear acceleration covariance
- ~imu/angular_velocity_stdev - for angular covariance
- ~imu/orientation_stdev - for orientation covariance Change topic names (as in other IMU drivers):
- ~imu -> ~/imu/data
- ~raw/imu -> ~/imu/data_raw
plugins: Params initial dirty plugin
Fix mavlink dialect choice.
plugins: Add context storage for automatic quirk handling ArduPlilot requires at least 2 quirks:
- STATUSTEXT severity levels
- parameter values is float
Implement MAVLink dialect selection ArduPilotMega is default choice.
doc: add configuration for rosdoc_lite

0.1.0 (2014-01-05)

Version 0.1.0 Milestone 1: all features from mavlink_ros package.xml was updated.
Fix typo and add copyright string NOTE: Please check typos before coping and pasting :)
plugins: gps: Add GPS_RAW_INT handler GPS_STATUS not supported by APM:Plane. ROS dosen't have standard message for satellites information.
mavconn: small debug changes Limit no GCS message to 10 sec.
node: Terminate node on serial port errors
plugins: Add GPS plugin SYSTEM_TIME to TimeReference support. TODO GPS fix.
Fix build and update MAVLink library
plugins: sys_status: Add SYSTEMTEXT handler Two modes:
- standard MAV_SEVERITY values
- APM:Plane (default) TODO: add mavlink dialect selection option
plugins: add some header doxygen tags Add license to Dummy.cpp (plugin template).
plugins: sys_status: Add MEMINFO handler MEMINFO from ardupilotmega.xml message definition. Optional.
update README
update TODO
plugins: Add imu_pub plugin. Publish ATTITUDE and HIGHRES_IMU data. HIGHRES__IMU not tested: Ardupilot sends ATTITUDE only :(
node: publish Mavlink.msg only if listners > 0
plugins: Add sys_status plugin. Initial.
plugins: implement loading & rx routing
plugins: initial
node: Add diagnostics for mavlink interfaces
mavconn: add information log wich serial device we use.
mavconn: fix overloaded MAVConn*::send_message(msg)
mavros: Add mavros_node (currently serial-ros-udp bridge) Message paths: Serial -+-> ROS /mavlink/from +-> UDP gcs_host:port ROS /mavlink/to -+-> Serial UDP bind_host:port -+
Add README and TODO files.
mavconn: fix MAVConnUDP, add mavudpproxy test mavudpproxy -- connection proxy for QGroundControl, also used as test for MAVConnUDP and MAVConnSerial.
mavconn: add UDP support class
mavconn: fix: should use virtual destructor in interface class
mavconn: add getters/setters for sys_id, comp_id; send_message return.
mavconn: simple test. tested with APM:Plane: works.
mavconn: fix linking
mavconn: serial interface
Add mavconn library prototype mavconn - handles MAVLink connections via Serial, UDP and TCP.
Add MAVLink library + build script
Initial Import Mavlink.msg from mavlink_ros package ( https://github.com/mavlink/mavlink_ros ).
Contributors: Vladimir Ermakov

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	mavlink
	angles
	cmake_modules
	catkin
	message_runtime
	rospy
	diagnostic_updater
	eigen_conversions
	libmavconn
	pluginlib
	rosconsole_bridge
	roscpp
	tf2_ros
	diagnostic_msgs
	geometry_msgs
	mavros_msgs
	nav_msgs
	sensor_msgs
	std_msgs
	std_srvs

System Dependencies

Name
eigen
gtest
boost

Dependant Packages

Name	Deps
mavros_extras
test_mavros
rotors_gazebo_plugins

Launch files

launch/px4.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
launch/apm.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
launch/node.launch
- - fcu_url
  - gcs_url
  - tgt_system
  - tgt_component
  - pluginlists_yaml
  - config_yaml
  - log_output [default: screen]
launch/apm2.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
launch/mavlink_bridge.launch
- - ns [default: iris]
  - mavlink_bridge_url [default: udp://127.0.0.1:14553@127.0.0.1:14560]

Messages

No message files found.

Services

No service files found

Plugins

mavros

Recent questions tagged `mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

mavros package from mavros repo

libmavconn mavros mavros_extras

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.8.6
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	hydro-devel
Last Updated	2015-03-04
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	uav mav mavlink plugin apm px4
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

MAVROS -- MAVLink extendable communication node for ROS with UDP proxy for Ground Control Station.

Additional Links

Maintainers

Vladimir Ermakov

Authors

Vladimir Ermakov

mavros/README.md

MAVROS

MAVLink extendable communication node for ROS with proxy for Ground Control Station (e.g. QGroundControl).

ROS API documentation moved to wiki.ros.org.

Features

Communication with autopilot via serial port, UDP or TCP (e.g. ArduPilot)
Internal proxy for Ground Control Station (serial, UDP, TCP)
mavlink_ros compatible ROS topics (Mavlink.msg)
Plugin system for ROS-MAVLink translation
Parameter manipulation tool
Waypoint manipulation tool
PX4Flow support (by mavros_extras)

Limitations

Only for linux. Depends on Boost library >= 1.46 (hydro on 12.04). Catkin build system required (tested with ROS Hydro Medusa and Indigo Igloo).

This package are dependent on ros-*-mavlink build from mavlink-gbp-release. Since 2014-06-19 it exists in hydro and indigo package index (so you can install via rosdep).

Connection URL

New in 0.7.0. Connection now defined by URL, you can use any supported type for FCU and GCS.

Supported schemas:

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]
TCP server: tcp-l://[bind_port][:port][/?ids=sysid,compid]

Note: ids from URL overrides ids given by system_id & component_id parameters.

Programs

mavros_node – main communication node

Main node. Allow disable GCS proxy by setting empty URL.

Run example:

rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:115200 _gcs_url:=tcp-l://

gcs_bridge – additional UDP proxy

Allows you to add a channel for GCS. For example if you need to connect one GCS for HIL and the second on the tablet.

Previous name: ros_udp.

Example (HIL & DroidPlanner):

rosrun mavros mavros_node _gcs_url:='udp://:14556@hil-host:14551' &
rosrun mavros gcs_bridge _gcs_url:='udp://@nexus7'

mavparam – parameter manipulation

Just see --help.

Examples:

rosrun mavros mavparam dump /tmp/apm.param
rosrun mavros mavparam load /tmp/apm2.param

mavwp – mission manipulation

See --help.

Examples:

rosrun mavros mavwp show -p
rosrun mavros dump /tmp/mission.txt

mavsafety – safety tool

See --help.

Examples:

rosrun mavros mavsafety arm
rosrun mavros mavsafety disarm

mavcmd – commander tool

See --help.

Examples:

rosrun mavros mavcmd takeoff 20 15 0 0 50
rosrun mavros mavcmd sethome --current-gps 0 0 0

Installation

Use wstool utility for installation. In your workspace do:

wstool init src (if not already initialized)
wstool set -t src mavros --git https://github.com/mavlink/mavros.git
wstool update -t src
rosdep install --from-paths src --ignore-src --rosdistro hydro -y

Then use regular catkin_make for build and install. Notes: since v0.5 (and #35) mavlink submodule moved to special ROS 3rd party package ros-*-mavlink.

Important. The current implementation of mavlink does not allow to select dialect in run-time, so mavros package (and all plugin packages) have compile-time option MAVLINK_DIALECT, default is ‘aurdupilotmega’.

If you want change dialect you can:

Add cmake definition to catkin: catkin_make -DMAVLINK_DIALECT=pixhawk
Edit configuration by catkin_make edit_cache
Use cmake-gui build, better: it creates drop-down list with all available dialects plus it will be used in next catkin_make edit_cache. Ubuntu: sudo apt-get install cmake-qt-gui

Installing ros-*-mavlink from source

If rosdep could not install mavlink library, you could install it from source:

mkdir -p ~/ros_deps/src
cd ~/ros_deps
rosinstall_generator mavlink | tee rosinstall.yaml
wstool init src ./rosinstall.yaml
catkin_make_isolated --install-space $ROSINSTALL --install -DCMAKE_BUILD_TYPE=Release

$ROSINSTALL must be writable for user or you can add sudo -s to last command. Or you could build debian package by pulling right bloom branch from mavlink-gbp-release (common naming: debian/<rosdistro>/<osdistro>/<package>) using dh binary.

Links

MAVLink – communication protocol
mavlink_ros – original ROS node (few messages, no proxy)
ArduPilot – tested autopilot APM:Plane (default command set)
QGroundControl – tested ground control station for linux
DroidPlanner – tested GCS for Android
mavros_extras – extra plugins & node for mavros

CHANGELOG

Changelog for package mavros

0.8.6 (2015-03-04)

plugin: param: Fix build error #237. Master alredy fixed, see #170.
Contributors: Vladimir Ermakov

0.8.5 (2014-11-04)

0.8.4 (2014-11-03)

0.8.3 (2014-11-03)

0.8.2
prepare minor release 0.8.2 for hydro
Contributors: Vladimir Ermakov

0.8.2 (2014-11-03)

0.8.1 (2014-11-02)

fix build deps for gcs_bridge
mavconn #161: Enable rosconsole bridge.
mavconn #161: Move mavconn tests.
mavconn #161: Fix headers used in mavros. Add readme.
mavconn #161: Fix mavros build.
mavconn #161: Move library to its own package Also rosconsole replaced by console_bridge, so now library can be used without ros infrastructure.
plugin: sys_time: Set right suffixes to uint64_t constants. Issue #156.
plugin: sys_time: Add time syncronization diag. Issue #156.
plugin: sys_time: Debug result. Issue #156.
plugin: Store time offset in UAS. TODO: implement fcu_time(). Issue #156.
plugin: sys_time: Fix code style. Also reduce class variables count (most not used outside the method). Issue #156.
Update repo links. Package moved to mavlink organization.
Nanosecond fix
Fix
Fixes
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update CMakeLists.txt
Update mavros_plugins.xml
Update sys_time.cpp
Fix build
sys_time import. Removed all time related stuff from gps and sys_status
Initial sys_time plugin import
plugin: ftp: Bytes written now transfered in payload.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.8.0 (2014-09-22)

plugin: ftp: Disable debugging and change level for some log messages. Issue #128.
plugin: ftp: Translate protocol errors to errno. Issue #128.
scripts: mavftp: Add upload subcommand. Issue #128.
python: Add more ftp utils. Issue #128.
plugin: ftp: Fix write offset calculation. Issue #128.
plugin: ftp: Add . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add support for . Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Add
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Move common mission classes to mavros.mission module. Issue #157.
python: Move useful utils to mavros.param module. Issue #157.
python: Move common utils to mavros.utils module. Issue #157.
python: Create python module for ftp utils. Issue #128, #157.
scripts: ftp: Implement file-like object for IO. Issue #128.
plugin: ftp: Implement write file. Issue #128.
scripts: mavftp: Add remove subcommand. Issue #128.
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add response errno from server.
plugin: ftp: Add support for 'Skip' list entries. Issue #128.
scripts: mavftp: Add mkdir/rmdir support. Issue #128.
plugin: ftp: Add mkdir/rmdir support. Issue #128.
plugins: ftp: Update protocol headers. Issue #128.
Revert "Update package.xml format to REP140 (2)." This reverts commit 81286eb84090a95759591cfab89dd9718ff35b7e. ROS Hydro don't fully support REP140: rospack can't find plugin descriptions. Fix #151.
scripts: mavwp: Fix --follow mode
plugin: imu_pub: Fix RAW_IMU/SCALED_IMU angular scale constant. Fix #152.
launch: remove px4_local_gcs.launch again. It removed in 826be386938c2735c9dab72283ba4ac1c68dc860, but accidentally returned.
extras: launch: Use includes. Fix #144.
launch: PX4: use node.launch in PX4 scripts. Also remove px4_local_gcs.launch: please use [roslaunch mavros px4.launch gcs_url:=udp://\@localhost]{.title-ref} instead. Issue #144.
launch: APM2: Add node.launch and update apm scripts to use it. Issue #144.
plugin: command: Fix CommandInt x,y types.
Update package.xml format to REP140 (2). Fix #104.
launch: Blacklist FTP for APM.
scripts: mavwp: Add decoding for some DO-* mission items.
scripts: mavwp: Add preserve home location option at load operation. Useful if FCU stores home location in WP0 (APM).
Added src location.
Updated README wstool instructions.
plugin: ftp: Init ctor
service: mavftp: Initial import. Issue #128.
plugin: ftp: Implemnet reset call. Sometimes kCmdReset can restore normal operation, but it might be dangerous. Issue #128.
plugin: ftp: Implement call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Fix open error. Issue #128.
plugin: ftp: Implement (read) and . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement method. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement list parsing Issue #128.
plugin: ftp: Fix CRC32 calculation. Issue #128.
plugin: ftp: Add plugin skeleton. Based on QGroundContol QGCUASFileManager.h/cc. Issue #128.
plugin: ftp: Add size info
plugin: ftp: Add plugin service API. Issue #128.
plugin: vfr_hud: Initial import. Also this plugin publish APM specific WIND estimation message. Fix #86.
node: coverity fails at UAS initilizer list
plugin: setpoint_attitude: Init ctor, remove code dup.
cmake: Add check MAVLINK_DIALECT value Fix #139.
Move common cmake rules to modules. Same mech as in [cmake_modules]{.title-ref} package. Issue #139.
launch: corrected launch for gcs bridge
scripts: mavsetp: Fix misprint.
launch files: added px4 launch files for connection with radio and gcs
scripts: mavsetp: Fix twist.angular vector construction. Small style fix.
Update doxygen documentation. Add split lines in UAS, and make UAS.connection atomic. Add rosdoc configuration for mavros_extras.
scripts: mavsetp: corrected API; added possibility of parse angles in dg or rad
scripts: mavsetp: corrected msg API; mavteleop: added prefix to rc override
scripts: mavsetp: added local accel; corrected how the OFFBOARD mode is swtch.
scripts: mavsetp: changed the way offboard mode is switched
node: init ctor (coverity)
nodelib: add std::array header
return msg generator deps for mavconn
scripts: mavsys: Implement set rate command.
scripts: Add mavsys tool. Implented only [mode]{.title-ref} operation. Issue #134.
plugin: sys_status: Implement set_mode service. Previous command shortcut removed. Issue #136, #134.
node: Implement reverse mode lookup. Issue #136.
plugin: sys_status: Move custom mode decoder to UAS. Issue #136.
node: Catch URL open exception. Also update connection pointer type.
nodelib: move sources to subdir
node: Move UAS to mavros namespace
node: Move node code to library.
node: Catch DeviceError; use C++11 foreach shugar.
plugin: command: Add COMMAND_INT suport. Fix #98.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov

0.7.1 (2014-08-25)

plugins: setpoint: Update SET_POSITION_TARGET_LOCAL_NED message. Fix #131.
scripts: mavsetp: Enable OFFBOARD mode. Issue #126.
plugin: command: Add guided_enable shortcut It enable PX4 OFFBOARD mode. Issue #126.
scripts: Add mavsetp script. Only local setpoint for now. Issue #126.
plugins: Change UAS FCU link name. Reduce smart pointer count, that hold fcu link object.
scripts: mavcmd: Add takeoffcur and landcur commands Fix #91, #92. Inspired by #125.
Closes #122, closes #123; plugins: move mocap & vision plugins to extras, change vision plugins name
plugins: UAS remove std::atomic<double> It don't work at some compilers. Issue #89.
plugin: global_position: Fill NavSatFix status filed. Issue #87, #118.
plugins: Add GPS data to UAS
plugins: Move setpoint_mixin.h Fix #120.
plugin: mocap: Fix load. Issue #121.
plugins: global_position: get pose orientation from the one stored in uas
plugins: global_position: use relative_alt on position.z; mavros_plugins.xml - corrected declaration of mocap_pose_estimate
plugin - global_position - changed parameter path / orientation source
launch: APM2 blacklist global_position plugin
plugin: global_position: Unit unification.
plugin: global_position: Move heaedr; Style fix.
added rel_pos and compass_hdg pub; minor corrections
Merge branch 'master' of https://github.com/vooon/mavros into global_position
global_position plugin - initial commit
launch: APM2 blacklist mocap plugin.
Updated mavros_plugins.xml
Fixed dual sources error warning.
Fixed styles.
Minor changes.
added time stamp to received msgs
Removed un-needed times.
Added mocap_pose_estimate plugin.
Code style update
setpoint attitude change - warning message
Update on setpoint_attitude plugin
- changed Twist to TwistStamped
- added reverse_throttle option for throttle control
- use cmd_vel as the same topic to control linear a angular velocities (it's commonly used by controllers)
- added normalization filter to thrust
node: Remove deprecated conn parameters. Fix #108
plugin: vision_speed: Update plugin API.
plugin: setpoint_attitude: Update plugin API.
plugin: setpoint_accel: Update plugin API.
plugin: setpoint_velocity: Update plugin API.
plugin: 3dr_radio: Update plugin API.
plugin: safety_area: Update plugin API.
plugin: setpoint_position: Update plugin API.
plugin: vision_position: Update plugin API.
plugin: local_position: Update plugin API.
plugin: command: Update plugin API.
plugin: rc_io: Update plugin API.
plugin: waypoint: Update plugin API.
plugin: param: Update plugin API.
plugin: gps: Update plugin API.
plugin: imu_pub: Update plugin API.
plugin: sys_status: Update plugin API.
plugin: Update plugin API.
plugins: disable most of plugins
plugin: setpoint_attitude: Add thrust topic. Fix #106.
Fix URLs in readme
mavros -> ros-message parameter fix only parameter1 was forwarded into the ros message
Switch travis to pixhawk dialect. Default dialect build by ros buildfarm. Also remove duplicate ci statuses from mavros readme.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov, mthz

0.7.0 (2014-08-11)

Add package index readme, Fix #101
move mavros to subdirectory, #101
Merge branch 'master' of github.com:vooon/mavros * 'master' of github.com:vooon/mavros: Add link to ros-*-mavlink package wiki page.
plugins: setpoint: Update setpoint message name. Issue #94, Fix #97.
plugin: setpoint_attitude: Update message name. Issues #94, #97.
Add link to ros-*-mavlink package wiki page.
plugin: gps: Fix gcc 4.6 build (atomic). Not recommended to use std::atomic with gcc 4.6. So i limited to prederined atomics for simple types like int, float etc.
plugin: sys_status: Implement PX4 mode decoding. Fix #84.
plugin: gps: Add EPH & EPV to diagnostic. Issue #95
plugin: gps: Move message processing to individual handlers. Issue #95.
plugin: rc_io: Replace override service with topic. (ROS API change). Fix #93.
Add dialect selection notes
plugins: Change severity for param & wp done messages.
plugins: Store raw autopilot & mav type values. This may fix or not issue #89.
plugins: init ctor (coverity)
plugin: imu_pub: Add ATTITUDE_QUATERNION support. Also reduce copy-paste and use mode readable bitmask check. Fix #85.
scriptis: mavcmd: Spelling
scripits: Add mavcmd tool
Add links to mavros_extras
param: sys_status: Option to disable diagnostics (except heartbeat)
plugin: command: Add takeoff and land aliases. Issue #68.
plugin: command: Add quirk for PX4. Fix #82.
plugin: Add UAS.is_px4() helper. Replace some locks with atomic. Issue #82.
launch: Clear PX4 blacklist. Issue #68.
launch: Add target ids. Also fix PX4 wrong ?ids usage (it set mavros ids, not target). Issue #68.
plugin: imu_pub: Fix HRIMU pressure calc. 1 mBar is 100 Pa. Fix #79.
plugins: C++11 chrono want time by ref, return *_DT Fix #80.
plugins: Replace boost threads with C++11. And remove boost thread library from build rules. Issue #80.
plugins: Replace Boost condition variables with C++11 Issue #80.
plugins: Replace boost mutexes with C++11. Issue #80.
travis clang to old, fails on boost signals2 library. disable.
travis: enable clang build.
node: Make project buildable by clang. Clang produce more readable errors and provide some static code analysis, so i want ability to build mavros with that compilator.
plugins: replace initial memset with c++ initializer list
launch: PX4 default ids=1,50. Also waypoint plugin works (with first_pos_control_flight-5273-gd3d5aa9). Issue #68.
launch: Use connection URL
plugin: vision_speed: Initial import. Fix #67.
plugin: sys_status: Add SYSTEM_TIME sync send. Fix #78.
plugin: sys_status: Decode sensor health field. Fix #75.
Add ci badges to readme
plugin: param: erase invalidates iterator. Real error found by coverity :)
plugins: Init ctor
plugins: Add ctor initialization. Coverity recommends init all data members.
test: trying travis-ci && coverity integration. Real ci doing by ros buildfarm.
plugins: Fix clang-check errors.
test: Add tcp client reconnect test. Issue #72.
test: Split open_url test to individual tests. Also removed tcp client deletion on close, heisenbug here. Issue #72.
mavconn: Emit port_closed after thread stop. Also use tx state flag, improve error messages and move io post out of critical section. Issue #72.
mavconn: Fix TCP server client deletion. Issue #72.
test: Remove not needed sleep.
mavconn: Remove new MsgBuffer dup. Message drop if closed. Issue #72.
mavconn: Fix TCP server. Issue #72.
launch: APM2: Blacklist extras.
mavconn: Add mutex to channel allocation.
mavconn: Fix TCP server for gcc 4.6 Fix #74.
Remove libev from package. Issue #72.
mavconn: GCC 4.6 does not support typedef like using. Issue #74.
Merge pull request #73 from vooon/mavconn-revert-asio mavconn: Revert to Boost.ASIO
mavconn: Cleanup boost threads. I will use C++11 standard libs. Issue #72.
mavconn: Remove libev default loop thread. Issue #72.
mavconn: Port MAVConnTCPServer to Boost.ASIO. TCP send test fails. Issue #72.
mavconn: Port MAVConnTCPClient to Boost.ASIO. Also it disables MAVConnTCPServer before i rewrite it. Issue #72.
mavconn: Revert MAConnSerial back to Boost.ASIO. Issue #72.
test: Fix send_message tests. Use C++11. Issue #72.
mavconn: Revert MAVConnUDP back to Boost.ASIO. Also starting to change boost threads and mutexes to C++11. Issue #72.
test: Enable send tests. Issue #72.
test: And hand test for mavconn hangs. Issue #72.
node: Remove anonimous flag from gcs_bridge. Rename node if you want start several copies.
install: Remove duplicate
node: Fix mavros_node termination message. Issue #58.
node: Use URL in mavros_node. Fix #58.
node: Use URL in gcs_bridge. Issue #58.
node: Rename ros_udp to gcs_bridge. Because now it's not UDP only. Issue #58.
Cleanup boost components
mavconn: Implement URL parsing. Supported shemas:
- Serial: [/path/to/serial/device[:baudrate]]{.title-ref}
- Serial: [serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]]{.title-ref}
- UDP: [udp://[bind_host[:port]]@[remote_host[:port]][/?ids=sysid,compid]]{.title-ref}
- TCP client: [tcp://[server_host][:port][/?ids=sysid,compid]]{.title-ref}
* TCP server: [tcp-l://[bind_port][:port][/?ids=sysid,compid]]{.title-ref} Note: ids from URL overrides ids given to open_url(). Issue #58.
test: Add tests for UDP, TCP, SERIAL. Send message testa are broken, need to find workaround. Fix #70.
plugin: vision_position: Add transform timestamp check. Issue #60.
mavconn: Implement TCP server mode. Fix #57.
mavconn: Initial support for TCP client mode. Issue #57.
mavconn: Boost::asio cleanup.
plugin: Remove TimerService from UAS. Fix #59.
plugin: param: Add state check to sheduled pull.
mavparam: Add force pull.
plugin: param: Use ros::Timer for timeouts Also new option for force pull parameters from FCU instead of cache. Fix #59.
Add mavsafety info to README.
launch: Add apm2_radio.launch (for use with 3DR Radio)
plugin: 3dr_radio: Fix build error. Issue #62.
plugin: 3dr_radio: Publish status data for rqt_plot Also tested with SiK 1.7. Fix #62.
plugin: setpoint_attitude: Fix ENU->NED conversion. Fix #64. Related #33, #49.
launch: Add setpoint plugins to APM2 blacklist
plugin: setpoint_attitude: Initial import. XXX: need frame conversion #49. Issue #33, #64.
plugin: Move common tf code to mixin. Remove copy-paste tf_listener. Issue #33.
plugin: setpoint_position: Generalize topic NS with other [setpoint_*]{.title-ref} Issue #33, #61.
plugin: setpoint_accel: Initial import. Issues: #33, #61.
plugin: position_velocity: Initial import. Also it fix ignore mask in setpoint_position. Issues #33, #61.
plugins: 3rd_radio: Initial import. Untested. Issue #61.
scripts: Add mavsafety tool. Also add safety_area to APM2 blacklist. Fix #51.
plugins: safty_area: Initial import. This plugin listen [~/safety_area/set]{.title-ref} and send it's data to FCU. Issue #51.
plugins: position: Add TF rate limit. Issue #33.
plugin: waypoint: Use ros::Timer for timeouts. Also add some debug messages for next debugging PX4. Issue #59.
plugin: sys_status: Use ros::Timer for timeouts Also move message rx to it's own handlers. Issue #59.
Remove rosdep.yaml and update readme
Add deb build notes to readme. Issue #55.
Add sudo notes to readme.
Merge pull request #56 from vooon/54_try_libev Switch to libev
Add libev to README
package: Add temporary rosdep for libev-dev. Issue #54.
mavconn: Move MAVConnUDP to libev. And fix docs in serial. Issue #54.
mavconn: Move MAVConnSerial to libev. Adds stub for open URL function. Issure #54.
Contributors: Vladimir Ermakov, M.H.Kabir, Nuno Marques, Glenn Gregory

0.6.0 (2014-07-17)

plugin: local_position: Use same timestamp in topic and TF. Issue #33.
plugins: TF thread required, remove notes. Issue #33.
launch: Add example launch for PX4 Issue #45.
plugin: imu_pub: Fix attitude store in UAS Issue #33. Fix #53.
plugins: Disable position topics if tf_listen enabled Also change default frame names: [vision]{.title-ref} and [setpoint]{.title-ref}. Issue #33.
plugins: Fix typo in frame_id params. Issue #33.
plugins: Add vision and setpoint TF listeners Also change parameter names to same style. Issue #33.
plugin: vision_position: Add PositionWithCovarianceStamped option Issue #33.
Add boost filesystem lib to link On some platforms its absence breaks build by: undefined reference to [boost::filesystem::path::codecvt()]{.title-ref}
launch: Add example for APM2 Fix #45.
plugin: setpoint_position: Initial import And some small doc changes in other position plugins. Issue #33.
node: Add connection change message Fix #52.
plugins: vision_position: Initial import TODO: check ENU->NED maths. Issue #33.
plugins: Remove unneded 'FCU' from diag
plugin: local_position: Change plane conversion Bug: #49.
plugin: imu_pub: Fix magnetic vector convertions Bug: #49.
Use dialects list from package
plugin: local_position: Fix orientation source Part of #33.
node: Show target system on startup Fix #47.
plugin: local_position: Initial add Receive LOCAL_POSITION_NED message and publish it via TF and PoseStamped topic in ENU frame. Part of #33.
node: Use boost::make_shared for message allocation Fix #46.
plugins: Use boost::make_shared for message allocation Part of #46.
plugin: imu_pub: Fix misprint in fill function Fix magnetometer vector convertion (HR IMU). Related #33.
plugin: imu_pub: setup cleanup.
Update readme
plugin: gps: Fix gps_vel calculation Fix #42.
plugins: Make name and messages methods const. (breaking). WARNING: this change broke external plugins. Please add const to get_name() and get_supported_messages(). Part of #38.
plugins: Use mavlink_msg*_pack_chan() functions Fix #43.
mavconn: Reuse tx buffer (resize by extents) Part of #38.
mavconn: Do not finalize messages if id pair match mavlink*_pack also do finalize, so explicit finalization just recalculate crc and seq number (doubles work). Test later if we need check seq too.
mavconn: Documentation and cleanup Make MAVConn classes noncopyable. Remove copy-paste copy and following async_write calls. Reserve some space in tx queues. Replace auto_ptr with unique_ptr.
test: Fix header include
mavconn: Fix possible array overrun in channel alocation. Problem found by clang.
fix some roslint errors
mavconn: move headers to include
node: Implement plugin blacklist. New parameter: [~/plugin_blacklist]{.title-ref} lists plugin aliases with glob syntax. Fix #36.
plugins: Change constants to constexpr (for gcc 4.6)
mavconn: Add gencpp dependency (utils.h requiers generated header)
Move duplicate Mavlink.msg copy to utils.h
Remove tests that requires connection to FCU
plugins: imu_pub: Fix PX4 imu/data linear_accelerarion field Should fix: #39.
plugins: imu_pub: Add magnitic covariance Trying to move constants with constexpr. Related: #13.
Remove testing info Need to remove tests that could not run on build farm.
Contributors: Vladimir Ermakov

0.5.0 (2014-06-19)

Remove mavlink submodule and move it to package dependency Bloom release tool don't support git submodules, so i've ceate a package as described in http://wiki.ros.org/bloom/Tutorials/ReleaseThirdParty . Fix #35.
plugins: param: add missing gcc 4.6 fix.
plugins: fix const initializers for gcc 4.6
plugins: imu_pub: fix const initializers for gcc 4.6 Fix for build failure devel-hydro-mavros #4.
Add support for GCC 4.6 (C++0x, ubuntu 12.04) I don't use complete c++11, so we could switch to c++0x if it supported.
plugins: rc_io: Add override rcin service Fix: #22.
plugins: sys_status: fix timeouts Fix #26.
plugins: sys_status: add set stream rate service Some additional testing required. Fix #23.
Remove unused boost libarary: timer Build on jenkins for hydro failed on find boost_timer.
0.4.1
Add changelog for releasing via bloom

0.4.1 (2014-06-11)

node: Show serial link status in diag Now 'FCU connection' shows actual status of connection (HEARTBEATS).
Fix #29. Autostart mavlink via USB on PX4 Changes mavconn interface, adds new parameter.
Fix installation rules. Fix #31.
Setup UDP transport for /mavlink messages
Fix mavlink dialect selection Fix #28.
Add link to wiki.ros.org Part of #27.

0.4.0 (2014-06-07)

Release 0.4.0 And some docs for CommandPlugin.
plugins: command: Command shortcuts Fix #12.
plugins: command: Add ACK waiting list Part of #12.
plugins: command: Initial naive realization. Partial #12, #25.
mavconn: Fix build on Odroid with Ubuntu 13.10 Fix #24.
plugins: rc_io: initial add RC_IO plugin Topics:
- ~/rc/in -- FCU RC inputs in raw microseconds
* ~/rc/out -- FCU Servo outputs Fix #17. Partiall #22.
Fix installation wstool command. [wstool set]{.title-ref}, not [wstool add]{.title-ref}.
Add installation notes to README Installing pymavlink is not required, but try if errors.
Fix headers in README.md
ros_udp: New node for UDP proxing Add some examples to README.md. Fix #21.
sys_status: Add state publication Fix #16.
sys_status: Sent HEARTBEAT if conn_heartbeat > 0 Fix #20.
sys_status: add sensor diagnostic See #16.
sys_status: Add battery status monitoring Fix #19, partial #16.
sys_status: HWSTATUS support Fix #18, partial #20.
plugins: imu_pub: Add RAW_IMU, SCALED_IMU and SCALED_PRESSURE handlers Fix #13. Refactor message processing. Combination of used messages: On APM: ATTITUDE + RAW_IMU + SCALED_PRESSURE On PX4: ATTITUDE + HIGHRES_IMU On other: ATTITUDE + (RAW_IMUHIGHRES_IMU Published topics:
- ~imu/data - ATTITUDE + accel data from *_IMU
- ~imu/data_raw - HIGHRES_IMU or SCALED_IMU or RAW_IMU in that order
- ~imu/mag - magnetometer (same source as data_raw)
- ~imu/temperature - HIGHRES_IMU or SCALED_PRESSURE
- ~imu/atm_pressure - same as temperature
Update readme
mavwp: Add --pull option for 'show' operation. Reread waypoints before show.
MissionPlanner use format QGC WPL, Fix #15 Code cleanup;
Update mavlink version.
Update mavlink version
mavparam: fix #14 support for QGC param files
mavwp: Add mavwp to install

0.3.0 (2014-03-23)

Release 0.3.0
mavwp: Add MAV mission manipulation tool Uses WaypointPlugin ROS API for manipulations with FCU mission.
- show -- show current mission table
- pull -- update waypoint table
- dump -- update and save to file
- load -- loads mission from file
- clear -- delete all waypoints
- setcur -- change current waypoint
- goto -- execute guided goto command (only APM) Currently supports QGroundControl format only.
plugins: wp: Add GOTO, update documentation
plugins: wp: Auto pull
plugins: wp: SetCurrent & Clear now works
plugins: wp: Push service works
plugins: wp: push almost done
plugins: wp: Pull done
plugins: param: remove unused ptr
plugins: wp: mission pull almost done
plugins: wp: Add convertors & handlers
plugins: Waypoint plugin initial
Use C++11 feuture - auto type
plugins: refactor context & link to single UAS class UAS same functions as in QGC.
plugins: Add msgs and srvs for Waypoint plugin
Update mavlink library
Update mavlink version
mavparam: Fix for DroidPlanner param files & cleanup DroidPlanner adds some spaces, don't forget to strip it out. Cleanup unused code from Parameter class.

0.2.0 (2014-01-29)

mavparam: Add MAV parameter manipulation tool Uses ParamPlugin ROS API for manipulating with fcu params.
- load -- load parameter from file
- dump -- dump parameter to file
- get -- get parameter
- set -- set parameter Currently supports MissionPlanner format only. But DroidPlanner uses same format.
Update README and documentation
plugins: param: implement ~param/push service Also implement sync for rosparam:
- ~param/pull service pulls data to rosparam
- ~param/push service send data from rosparam
- ~param/set service update rosparam if success
plugins: param: implement ~param/set service
plugins: param: implement ~param/get service
plugins: param: Implement automatic param list requesting
plugins: use recursive_mutex everywhere
plugins: param now automaticly requests data after connect
plugins: Add common io_service for plugins, implement connection timeout Some plugin require some delayed processes. Now we can use boost::asio::*timer. New parameter:
- ~/conn_timeout connection timeout in seconds
plugins: add param services
mavconn: set thread names WARNING: pthread systems only (BSD/Linux)
plugins: implement parameters fetch service
plugins: fix string copying from mavlink msg
plugins: Setup target in mav_context New params:
- ~target_system_id - FCU System ID
- ~target_component_id - FCU Component ID
plugins: IMU Pub: add stdev parameters, change topic names. Add parameters:
- ~imu/linear_acceleration_stdev - for linear acceleration covariance
- ~imu/angular_velocity_stdev - for angular covariance
- ~imu/orientation_stdev - for orientation covariance Change topic names (as in other IMU drivers):
- ~imu -> ~/imu/data
- ~raw/imu -> ~/imu/data_raw
plugins: Params initial dirty plugin
Fix mavlink dialect choice.
plugins: Add context storage for automatic quirk handling ArduPlilot requires at least 2 quirks:
- STATUSTEXT severity levels
- parameter values is float
Implement MAVLink dialect selection ArduPilotMega is default choice.
doc: add configuration for rosdoc_lite

0.1.0 (2014-01-05)

Version 0.1.0 Milestone 1: all features from mavlink_ros package.xml was updated.
Fix typo and add copyright string NOTE: Please check typos before coping and pasting :)
plugins: gps: Add GPS_RAW_INT handler GPS_STATUS not supported by APM:Plane. ROS dosen't have standard message for satellites information.
mavconn: small debug changes Limit no GCS message to 10 sec.
node: Terminate node on serial port errors
plugins: Add GPS plugin SYSTEM_TIME to TimeReference support. TODO GPS fix.
Fix build and update MAVLink library
plugins: sys_status: Add SYSTEMTEXT handler Two modes:
- standard MAV_SEVERITY values
- APM:Plane (default) TODO: add mavlink dialect selection option
plugins: add some header doxygen tags Add license to Dummy.cpp (plugin template).
plugins: sys_status: Add MEMINFO handler MEMINFO from ardupilotmega.xml message definition. Optional.
update README
update TODO
plugins: Add imu_pub plugin. Publish ATTITUDE and HIGHRES_IMU data. HIGHRES__IMU not tested: Ardupilot sends ATTITUDE only :(
node: publish Mavlink.msg only if listners > 0
plugins: Add sys_status plugin. Initial.
plugins: implement loading & rx routing
plugins: initial
node: Add diagnostics for mavlink interfaces
mavconn: add information log wich serial device we use.
mavconn: fix overloaded MAVConn*::send_message(msg)
mavros: Add mavros_node (currently serial-ros-udp bridge) Message paths: Serial -+-> ROS /mavlink/from +-> UDP gcs_host:port ROS /mavlink/to -+-> Serial UDP bind_host:port -+
Add README and TODO files.
mavconn: fix MAVConnUDP, add mavudpproxy test mavudpproxy -- connection proxy for QGroundControl, also used as test for MAVConnUDP and MAVConnSerial.
mavconn: add UDP support class
mavconn: fix: should use virtual destructor in interface class
mavconn: add getters/setters for sys_id, comp_id; send_message return.
mavconn: simple test. tested with APM:Plane: works.
mavconn: fix linking
mavconn: serial interface
Add mavconn library prototype mavconn - handles MAVLink connections via Serial, UDP and TCP.
Add MAVLink library + build script
Initial Import Mavlink.msg from mavlink_ros package ( https://github.com/mavlink/mavlink_ros ).
Contributors: Vladimir Ermakov

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	diagnostic_msgs
	diagnostic_updater
	message_generation
	pluginlib
	roscpp
	rospy
	geometry_msgs
	sensor_msgs
	std_msgs
	std_srvs
	tf
	mavlink
	angles
	libmavconn
	rosconsole_bridge
	catkin
	message_runtime

System Dependencies

Name
boost
gtest

Dependant Packages

Name	Deps
mavros_extras
rosjava_messages

Launch files

launch/px4.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 50]
launch/px4_radio.launch
- - fcu_url [default: /dev/ttyUSB0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 50]
launch/node.launch
- - fcu_url
  - gcs_url
  - tgt_system
  - tgt_component
  - blacklist_yaml
  - config_yaml
launch/apm2.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 50]
launch/apm2_radio.launch
- - fcu_url [default: /dev/ttyUSB0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 50]

Messages

Services

Plugins

mavros

Recent questions tagged `mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

API Docs
Browse Code
Wiki

Package Summary

Tags	uav mav mavlink plugin apm px4
Version	1.20.0
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	master
Last Updated	2024-10-10
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	uav mav mavlink plugin apm px4
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.

Additional Links

Maintainers

Vladimir Ermakov

Authors

Vladimir Ermakov

mavros/README.md

MAVROS

MAVLink extendable communication node for ROS with proxy for Ground Control Station (e.g. QGroundControl).

ROS API documentation moved to wiki.ros.org.

Features

Communication with autopilot via serial port, UDP or TCP (e.g. PX4 Pro or ArduPilot)
Internal proxy for Ground Control Station (serial, UDP, TCP)
Plugin system for ROS-MAVLink translation
Parameter manipulation tool
Waypoint manipulation tool
PX4Flow support (by mavros_extras)
OFFBOARD mode support
Geographic coordinates conversions.

Limitations

Only for Linux. Depends on Boost library, GCC 4.8+ (C++11 support). Catkin build system required.

This package are dependent on ros-*-mavlink build from mavlink-gbp-release. It exists in ROS package index and usually updates each month.

Connection URL

Connection defined by URL, you can use any supported type for FCU and GCS.

Supported schemas:

Serial: /path/to/serial/device[:baudrate]
Serial: serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]
Serial with hardware flow control: serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid]
UDP: udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid]
UDP broadcast until GCS discovery: udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid]
UDP broadcast (permanent): udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid]
TCP client: tcp://[server_host][:port][/?ids=sysid,compid]
TCP server: tcp-l://[bind_host][:port][/?ids=sysid,compid]

Note:

Ids from URL overrides value given by system_id & component_id parameters.
bind_host - default 0.0.0.0 - i.e. IP4 ANY
UDP default ports: 14555 @ 14550
UDP remote address updated every time with incoming packet on bind port.
TCP default port: 5760

Coordinate frames

MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Please read documents from issue #473 for additional information.

All the conversions are handled in src/lib/ftf_frame_conversions.cpp and src/lib/ftf_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.

MAVROS also allows conversion of geodetic and geocentric coordinates through GeographicLib given that:

geographic_msgs and NatSatFix.msg require the LLA fields to be filled in WGS-84 datum, meaning that the altitude should be the height above the WGS-84 ellipsoid. For that, a conversion from the height above the geoid (AMSL, considering the egm96 geoid model) to height above the WGS-84 ellipsoid, and vice-versa, is available and used in several plugins;
According to ROS REP 105, the earth frame should be propagated in ECEF (Earth-Centered, Earth-Fixed) local coordinates. For that, the functionalities of GeographicLib are used in order to allow conversion from geodetic coordinates to geocentric coordinates;
The translation from GPS coordinates to local geocentric coordinates require the definition of a local origin on the map frame, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in the global_position plugin.

Programs

mavros_node – main communication node

Main node. Allow disable GCS proxy by setting empty URL.

Run example (autopilot connected via USB at 921600 baud, GCS running on the host with IP 172.16.254.1):

rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:921600 _gcs_url:=udp://@172.16.254.1

gcs_bridge – additional proxy

Allows you to add a channel for GCS. For example if you need to connect one GCS for HIL and the second on the tablet.

Example (SITL & QGroundControl):

rosrun mavros mavros_node _gcs_url:='udp://:14556@172.16.254.129:14551' &
rosrun mavros gcs_bridge _gcs_url:='udp://@172.16.254.129'

Launch Files

Launch files are provided for use with common FCUs, in particular Pixhawk:

px4.launch – for use with the PX4 Autopilot (for VTOL, multicopters and planes)
apm.launch – for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)

Examples:

roslaunch mavros px4.launch
roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@

Installation

Required dependencies

Most of the ROS dependencies are supported and installed by rosdep, including external libraries as Eigen and Boost.

GeographicLib can be installed by apt-get and it is already included on the rosdep of MAVROS package. It is also possible to compile it and install it from src but be advised to have the proper install directories the same as the ones of the apt-get install, in order to make sure that the FindGeographicLib.cmake finds the required shared libraries (libGeographic.so).

Since GeographicLib requires certain datasets (mainly the geoid dataset) so to fulfill certain calculations, these need to be installed manually by the user using geographiclib-tools, which can be installed by apt-get in Debian systems. For a quicker procedure, just run the available script in the “mavros/scripts” folder, install_geographiclib_datasets.sh.

Note that if you are using an older MAVROS release source install and want to update to a new one, remember to run rosdep update before running rosdep install --from-paths ${ROS_WORKSPACE} --ignore-src --rosdistro=${ROSDISTRO}, with ROS_WORKSPACE your src folder of catkin workspace. This will allow updating the rosdep list and install the required dependencies when issuing rosdep install.

:bangbang: The geoid dataset is mandatory to allow the conversion between heights in order to respect ROS msg API. Not having the dataset available will shutdown the mavros_node :bangbang:

:heavy_exclamation_mark:Run install_geographiclib_datasets.sh to install all datasets or geographiclib-datasets-download egm96_5 (Debian 7, Ubuntu 14.04, 14.10), geographiclib-get-geoids egm96-5 (Debian 8, Fedora 22, Ubuntu 15.04 or later) to install the geoid dataset only:heavy_exclamation_mark:

Binary installation (deb)

ROS repository has binary packages for Ubuntu x86, amd64 (x86_64) and armhf (ARMv7). Kinetic also support Debian Jessie amd64 and arm64 (ARMv8).

Just use apt-get for installation:

sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras

Then install GeographicLib datasets by running the install_geographiclib_datasets.sh script:

wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh

Source installation

Use wstool utility for retrieving sources and catkin tool for build.

NOTE: The source installation instructions are for the ROS Kinetic release.

sudo apt-get install python-catkin-tools python-rosinstall-generator -y
# For Noetic use that:
# sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y

# 1. Create the workspace: unneeded if you already has workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
wstool init src

# 2. Install MAVLink
#    we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall

# 3. Install MAVROS: get source (upstream - released)
rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
# alternative: latest source
# rosinstall_generator --upstream-development mavros | tee -a /tmp/mavros.rosinstall
# For fetching all the dependencies into your catkin_ws, just add '--deps' to the above scripts
# ex: rosinstall_generator --upstream mavros --deps | tee -a /tmp/mavros.rosinstall

# 4. Create workspace & deps
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y

# 5. Install GeographicLib datasets:
./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

# 6. Build source
catkin build

# 7. Make sure that you use setup.bash or setup.zsh from workspace.
#    Else rosrun can't find nodes from this workspace.
source devel/setup.bash

Build error. if you has error with missing mavlink* then you need fresh mavlink package. You may update from ros-shadow-fixed (binary installation) or redo script steps 2 & 4.

Note. Since MAVLink 2.0 merged (0.18) all dialects supported by same binary. Unfortunately overlap of v1.0 message ID’s not fully handled, first loaded message forbid further changes. Load order always:

common
ardupilotmega
alphabetical ordered list
…

Note: MAVLINK_DIALECT not used anymore.

Troubleshooting

Error: serial0: receive: End of file

This issue should have been solve in mavros v0.23.2, it was found to be a Boost.ASIO error and should be fix in release > v1.12.0 ( >Boost 1.66).

Contributing

See CONTRIBUTING.md.

Glossary

GCS — Ground Control Station
FCU — Flight Control Unit (aka FC)
OBC — OnBoard Computer (your odroid or raspberry)

Links

MAVLink – The communication protocol for Drones, used by flight controllers, ground control stations, and peripherals
mavlink_ros – original ROS node (few messages, no proxy)
Pixhawk – Open Standards for drone hardware
PX4 Autopilot – Flight Controller with support for most vehicle types and hardened/tested MAVROS support
ArduPilot – tested autopilot APM:Plane (default command set)
QGroundControl – Ground Control Station for MAVLink autopilots, with tested support for Android, iOS, Mac OS, Linux, and Windows
mavros_extras – extra plugins & node for mavros

CHANGELOG

Changelog for package mavros

1.20.0 (2024-10-10)

add param to odom plugin
add frame_id parameter
Contributors: EnderMandS

1.19.0 (2024-06-06)

gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Contributors: Beniamino Pozzan

1.18.0 (2024-03-03)

sys_status.cpp: improve timeout code
sys_status.cpp: Add a SYS_STATUS message publisher
Contributors: Dr.-Ing. Amilcar do Carmo Lucas

1.17.0 (2023-09-09)

cog: regenerate all
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov, natmol

1.16.0 (2023-05-05)

Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Lucas Walter, Shu-Nong Wu, Vladimir Ermakov

1.15.0 (2022-12-30)

Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.14.0 (2022-09-24)

scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1744 from amilcarlucas/pr_gimbal_diagnostics_fixes mount_control.cpp: detect MOUNT_ORIENTATION stale messages
mount_control.cpp: detect MOUNT_ORIENTATION stale messages correct MountConfigure response success correct constructor initialization order some gimbals send negated/inverted angle measurements, correct that to obey the MAVLink frame convention using run-time parameters
Merge pull request #1743 from amilcarlucas/pr_apm_config apm_config.yaml: add mount configuration
apm_config.yaml: add mount configuration
Merge pull request #1732 from amilcarlucas/pr-meminfo-fix MEMINFO fixes
sys_status.cpp fix free memory for values > 64KiB
Merge pull request #1716 from amilcarlucas/avoid-harcoded-values sys_status.cpp: do not use harcoded constants
Merge pull request #1711 from amilcarlucas/diagnose-up-to-n-batteries Diagnose up-to 10 batteries
*_config.yaml: document usage of multiple batteries diagnostics
sys_status.cpp: fix compilation
sys_status.cpp: support diagnostics on up-to 10 batteries Uses as many battery monitors as the user specified in min_voltage parameter. Add myself as a contributor, this is not my first patch to this file
Merge pull request #1712 from amilcarlucas/fix-disabled-diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag
sys_status.cpp: do not use harcoded constants
sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics Use atomic variable to prevent potential threading problems
sys_status.cpp: fix enabling of mem_diag and hwst_diag
Merge pull request #1704 from amilcarlucas/correct-bat-voltages sys_status.cpp: Do not use battery1 voltage for all batteries.
sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). Support both cell and total voltages above 65V Support up-to 14S batteries If available, add cell voltage information to the battery diagnostic
Merge pull request #1707 from amilcarlucas/ignore-gimbal-sys-status sys_status.cpp: ignore sys_status mavlink messages from gimbals
sys_status.cpp: ignore sys_status mavlink messages from gimbals
Merge pull request #1703 from amilcarlucas/remove-deprecated-battery2 sys_status.cpp: remove deprecated BATTERY2 mavlink message support
sys_status.cpp: remove deprecated BATTERY2 mavlink message support
Merge pull request #1696 from okalachev/patch-2 Disable startup_px4_usb_quirk in px4_config.yaml
Disable startup_px4_usb_quirk in px4_config.yaml
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Sanket Sharma, Vladimir Ermakov, acxz

1.13.0 (2022-01-13)

Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
Contributors: Vladimir Ermakov

1.12.2 (2021-12-12)

Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Contributors: Oleg Kalachev, Vladimir Ermakov, hs293go

1.12.1 (2021-11-29)

mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.12.0 (2021-11-27)

Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
lib: fix mission frame debug print
Contributors: Alexander Sherikov, Vladimir Ermakov

1.11.1 (2021-11-24)

lib: fix build
Contributors: Vladimir Ermakov

1.11.0 (2021-11-24)

lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
Contributors: Jaeyoung-Lim, Vladimir Ermakov

1.10.0 (2021-11-04)

Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
Contributors: David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Marcelino Almeida, Val Doroshchuk, Vladimir Ermakov

1.9.0 (2021-09-09)

Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: reformat xml
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, Karthik Desai, Vladimir Ermakov

1.8.0 (2021-05-05)

lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
convert whole expression to mm
Contributors: Alexey Rogachevskiy, Thomas, Vladimir Ermakov

1.7.1 (2021-04-05)

re-generate all pymavlink enums
Contributors: Vladimir Ermakov

1.7.0 (2021-04-05)

lib: re-generate the code
plugins: mission: re-generate the code
MissionBase: correction to file information
MissionBase: add copyright from origional waypoint.cpp
uncrustify
whitespace
add rallypoint and geofence plugins to mavros plugins xml
add rallypoint and geofence plugins to CMakeList
Geofence: add geofence plugin
Rallypoint: add rallypoint plugin
Waypoint: inherit MissionBase class for mission protocol
MissionBase: breakout mission protocol from waypoint.cpp
README: Update PX4 Autopilot references Much needed fixes to clarify the project is named correctly throughout the README for the PX4 Autopilot, QGroundControl, and MAVLink
Fix https://github.com/mavlink/mavros/issues/849
Contributors: Charlie-Burge, Ramon Roche, Tobias Fischer, Vladimir Ermakov

1.6.0 (2021-02-15)

fix inconsistency in direction of yaw when using set_position in BODY frames and fix problems with yaw in setponit_raw
Contributors: zhouzhiwen2000

1.5.2 (2021-02-02)

readme: add source install note for Noetic release
Contributors: Vladimir Ermakov

1.5.1 (2021-01-04)

Fix tests for renaming of ECEF cases Introduced in 6234af29
Initialise message structures Uninitialised Mavlink 2 extension fields were sent if the fields were not later set. Initialising the fields to zero is the default value for extension fields and appears to the receiver as though sender is unaware of Mavlink 2. Instances were found with regex below, more may exist: mavlink::[\^:]+::msg::[\^:={]+ ?[\^:={]*;
Contributors: Rob Clarke

1.5.0 (2020-11-11)

mavros/sys_status: Fill flight_custom_version field
mavros: Add override specifiers
mavros: Move ECEF tf enums to separate enum class This avoids a bunch of unhandled switch cases, and should improve type safety a bit.
Contributors: Morten Fyhn Amundsen

1.4.0 (2020-09-11)

mavros: use mavlink::minimal:: after incompatible changes in mavlink package Incompatible change: https://github.com/mavlink/mavlink/pull/1463 Fix: #1483, https://github.com/mavlink/mavlink/issues/1474
fixes based on vooon's review
fix issue what we couldn't set real parameters to 0.0 in mavros
Add error message
Fixed compilation error: publish std_msgs::String, not std::string for gcs_ip
Dispatch GCS IP address
Contributors: Artem Batalov, Marcelino, Morten Fyhn Amundsen, Vladimir Ermakov, Øystein Skotheim

1.3.0 (2020-08-08)

fake_gps.cpp: implement speed accuracy
fake_gps.cpp: Add mocap_withcovariance configuration parameter
fake_gps.cpp: add initial support for GPS_INPUT MAVLink message
apm.launch: Avoid warning: Warning: You are using <arg> inside an <include> tag with the default=XY attribute - which is superfluous. Use value=XY instead for less confusion. Attribute name: respawn_mavros
Added support for MavProxy parameter file format
Ignore read-only parameters and statistics parameters in push operations
fix indentation
transform based on coordinate_frame
wind plugin: fix ArduPilot wind transformation
Contributors: Ben Wolsieffer, Dr.-Ing. Amilcar do Carmo Lucas, Yuan, Yuan Xu

1.2.0 (2020-05-22)

has_capability only works for enums
Uncrustify
Reworked Waypoint plugin to use capabilities_cb Additionally added helper functions has_capability and has_capabilities so that people can use either ints or enums to check if the UAS has a capability. This might make accepting capabilities as a parameter moot though.
Added alias for capabilities enum to UAS
Added alias for capabilities enum to UAS
Added a capabilities change cb queue Plugins can now write functions that they add to the capabilities_cb_vec. These functions will be called only when there is a change to the capabilities themselves not whenever the known status of the fcu_capabilities change. These functions should have a parameter of type mavlink::common::MAV_PROTOCOL_CAPABILITY which is essentially just a uint64_t however being more opinionated is helpful when looking for what the canonical enum names are in the mavlink project header files.
Uncrustify
Fixed Removed Uncrustify Option I'm not sure why this didn't break when I ran uncrustify previously but it seems that the align_number_left option was removed a while ago with this merge request but I may be mistaken https://github.com/uncrustify/uncrustify/pull/1393 I replaced it which align_number_right=true since it seems to be the inverse of align_number_left=true.
Removed deprecated MAV_FRAME values
Removed use of variant in favor of templates Since ROS messages are now the storage type in the node, providing to and from conversion functions is sufficient and can be better expressed with function templates.
Encode factor returns double
Changed encoding factor cog code
Uncrustify changes
Added new parameter to config.yamls
Updated waypoint plugin to support MISSION_ITEM_INT These changes add a new parameter use_mission_item_int, which allows users to prefer the old behavior. These changes also verify that the flight controller supports _INT messages since APM only sends REQUEST_ITEM messages even though it accepts _INT items back. This commit is functional and tested with the APM stack only. PX4 sitl jmavsim threw: WP: upload failed: Command is not supported. FCU: IGN MISSION_ITEM: Busy
Removed x_lat, y_long, z_alt from WP These values seemed to be used due to the fact that double had a greater resolution than float and doubles are used in the ros msg. However they were only ever used for printing. Since the int version of these messages has a greater resolution I figure it is more useful to print the true value in the mavlink message rather than the ros message value
Replaced MISSION_ITEM
add yaw to CMD_DO_SET_HOME
fix local angular velocity
Contributors: Braedon, David Jablonski, Martina Rivizzigno

1.1.0 (2020-04-04)

fixed styling
fixed indent from using spaces
updates apmrover2 modes and allows for arduboat mode changes
mavsafety kill feature for emergency stop
Include trajectory_msgs in CMakeLists.txt This allows build to complete successfully.
Contributors: Anthony Goeckner, Matt Koos, aykutkabaoglu

1.0.0 (2020-01-01)

0.33.4 (2019-12-12)

Replaced estimator status hardcoded definition with cog.
Refactor.
Replaced bool with git add -u as already done.
Added a publisher for estimator status message received from mavlink in sys_status.
Contributors: saifullah3396

0.33.3 (2019-11-13)

package: fix 6fa58e59 - main package depends on trajectory_msgs, not extras
Contributors: Vladimir Ermakov

0.33.2 (2019-11-13)

0.33.1 (2019-11-11)

Add mutex
Initialize type mask
Handle frame with StaticTF
Handle different frames
Set yaw rate from message inputs
Add setpoint trajectory reset interface
Fix trajectory timestamp
Address comments
Pass reference with oneshot timers
Set typemasks correctly
Address more style comments
Address style comments
Visualize desired trajectory
Handle end of trajectory correctly
Remove message handlers
Add setpoint_trajectory plugin template
resolved merge conflict
Contributors: David Jablonski, Jaeyoung-Lim

0.33.0 (2019-10-10)

Add vtol transition service
CleanUp
Update frame name in px4_config to match ROS standards
Enable publishing multiple static tfs at once, publish standard static tfs
moving ACK_TIMEOUT_DEFAULT out of class
cog: Update all generated code
mavros/src/plugins/command.cpp: one more style fix
mavros/src/plugins/command.cpp: style fixes
mavros/src/plugins/command.cpp: command_ack_timeout ms -> s
mavros/src/plugins/command.cpp: command_ack_timeout_ms int -> double
mavros/src/plugins/command.cpp: uncrustify
mavros/src/plugins/command.cpp: parameter for command's ack timeout Sometimes commands take more time than default 5 seconds. Due to a low bandwidth of UART and a high rate of some mavlink streams. To eliminate this problem it's better to provide the parameter to configure the command's ack timeout.
added manual flag to mavros/state
Use GeoPoseStamped messages
Fix build
Add callback for SET_POSITION_TARGET_GLBOAL_INT
Contributors: David Jablonski, Jaeyoung-Lim, Sergei Zobov, Vladimir Ermakov, kamilritz

0.32.2 (2019-09-09)

uncrustify
Add boolean to check if IMU data has been received Follow sensor_msgs/Imu convention when data not present
Uncrustify the GPS_GLOBAL_ORIGIN handler in global_position
Fix global origin conversion to ecef (was using amsl where hae was required) Summary: Fix global origin conversion to ecef (was using amsl where hae was required)
moved code to end of function
added amount of satellites to global_position/raw/
Contributors: David Jablonski, Nick Steele, Rob Clarke, Robert Clarke

0.32.1 (2019-08-08)

uncrustify
Removed tf loop
made small edit to handle augmented gps fix
added a check for gps fix before setting origin for global_position/local odometry topic
Contributors: Eric, Lucas Hill

0.32.0 (2019-07-06)

use direclty radians in yaml files
A simple typo error has fixed. (#1260)
- fix: a typing error "alredy" to "already"
- Fix: typo error (helth -> health)
Contributors: Martina Rivizzigno, 강정석

0.31.0 (2019-06-07)

readme: fix udp-pb formatting
launch config: landing_target: fix and improve parameter list
remove duplicated landing_target parameters
enum_to_string: simplify landing_target_type_from_str
enum_to_string: update enumerations and checksum
extras: landing target: improve usability and flexibility
remove landing_target from blacklist
update to use pymavlink generator
px4_config: landing_target: minor correction
mav_frame: add frames of reference to wiki page; reference them on config
landing_target: removed child_frame_id
landing_target: minor code tweak/restructure
landing_target: uncrustify code
landing_target: updated to TF2 and Eigen math
landing_target: adapted to latest master code
landing_target: added timestamp and target size fields [!Won't compile unless a new mavlink release!]
landing_target: first commit
Switch to double-reflections instead of axes-reassignments
specialize transform_frame_ned_enu and transform_frame_enu_ned for type Vector3d such that input vectors containing a NAN can be correctly transformed
Update README.md update misspelling
Contributors: Julian Kent, Martina Rivizzigno, Shingo Matsuura, TSC21, Vladimir Ermakov

0.30.0 (2019-05-20)

Filter heartbeats by component id as well This addresses #1107 and #1227, by filtering incoming heartbeats by component ids before publishing the state.
mavros/src/plugins/command.cpp: log if command's wait ack timeout (#1222)
- mavros/src/plugins/command.cpp: log if command's wait ack timeout
- mavros/src/plugins/command.cpp: log timeout in wait_ack_for
local_position fix #1220: initialize flags
plugin waypoint: fix spelling
Fix leading space before setpoint_raw This causes an error when running `roslaunch`: ` error loading <rosparam> tag: file /opt/ros/kinetic/share/mavros/launch/apm_config.yaml contains invalid YAML: while parsing a block mapping in "<string>", line 4, column 1: startup_px4_usb_quirk: false ^ expected <block end>, but found '<block mapping start>' in "<string>", line 103, column 2: setpoint_raw: ^ XML is <rosparam command="load" file="$(arg config_yaml)"/> The traceback for the exception was written to the log file`
global_position.cpp: spell in comment
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Josh Veitch-Michaelis, Nico van Duijn, Sergey Zobov, Vladimir Ermakov

0.29.2 (2019-03-06)

0.29.1 (2019-03-03)

All: catkin lint files
Update apm_config.yaml Setting thrust_scaling in the setpoint_raw message (in my case, to use /mavros/setpoint_raw/attitude) Without it, when using Gazebo, get the following problem "Recieved thrust, but ignore_thrust is true: the most likely cause of this is a failure to specify the thrust_scaling parameters on px4/apm_config.yaml. Actuation will be ignored." from the function void attitude_cb in setpoint_raw.cpp (http://docs.ros.org/kinetic/api/mavros/html/setpoint__raw_8cpp_source.html)
cmake: fix #1174: add msg deps for package format 2
Issue #1174 Added dependency for mavros_msgs and mavros
Contributors: Adam Watkins, KiloNovemberDelta, Pierre Kancir, Vladimir Ermakov

0.29.0 (2019-02-02)

Fix broken documentation URLs
px4_config: set the thrust_scaling to one by default
local_position: add an aditional topic for velocity on the local frame
Merge pull request #1136 from angri/param-timeout Request timed up parameters as soon as possible
Merge branch 'master' into param-timeout
plugin:param added logging regarding rerequests
plugin:param fixed second and consequent timeouts in requesting list
mavros_extras: Wheel odometry plugin updated according to the final mavlink WHEEL_DISTANCE message.
mavros_extras: Wheel odometry plugin fixes after CR.
mavros_extras: Wheel odometry plugin added.
mavsys: add do_message_interval
sys_status: add set_message_interval service
lib: fix MAV_COMPONENT to_string
lib: update sensor orientations
plugin:param rerequest timed out parameters asap Avoid vaiting for the next timeout
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Pavlo Kolomiiets, Randy Mackay, TSC21, Vladimir Ermakov, angri

0.28.0 (2019-01-03)

plugin:param: publish new param value
Merge pull request #1148 from Kiwa21/pr-param-value param plugin : add msg and publisher to catch latest param value
sys_status: fix build
sys_state: Small cleanup of #1150
VehicleInfo : add srv into sys_status plugin to request basic info from vehicle
sys_status: Fix #1151 bug - incorrect hex print
plugins:sys_status: Update diag decoder
frame_tf: mavlink_urt_to_covariance_matrix: make matrix symetrical
uas_data: add comment on the reverse tf fcu_frd->fcu
odom: add ODOMETRY handler and publisher
Handle LOCAL_POSITION_NED_COV messages, add pose_cov, velocity_cov, accel topics
sys_status : add MAV_TYPE as a parameter
rc_io: extend handle_servo_output_raw to 16 channels
param plugin : add msg and publisher to catch latest param value
plugin:command: Update for C++11, style fix Signed-off-by: Vladimir Ermakov <<vooon341@gmail.com>>
Fixed NavSatFix bug in mavcmd takeoffcur and landcur
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940 Remove unnecessary functools
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940
Fix mavros/param.py to work in python2 and python3, #940
correct the to_string function
set value back to 30
add autogenerated to_string function
style clean up
Use component_id to determine message sender
change message name from COMPANION_STATUS to COMPANION_PROCESS_STATUS
change message to include pid
Change from specific avoidance status message to a more generic companion status message
add plugin to receive avoidance status message
Added RPYrT and uncrustified. Pushing version without spaces. Version with tabs? Fixed all? Finally fixed. Fixed requestes by \@vooon Fixed a def. Fixed log format. Fixed time for log.
apm_config: enable timesync and system for ardupilot
Contributors: Dan Nix, Gregoire Linard, Oleg Kalachev, Randy Mackay, TSC21, Vladimir Ermakov, baumanta, fnoop, pedro-roque

0.27.0 (2018-11-12)

fix: a typing error "alredy" to "already"
plugins #1110 #1111: add eigen aligment to plugins with eigen-typed members
plugins: fix style
with this fix ,it will avoid eigen error on 32 bits system
Add service to send mavlink TRIGG_INTERVAL commands Adapt trigger_control service to current mavlink cmd spec. Add a new service to change trigger interval and integration time
launch: fix #1080: APM now support mocap messages
Contributors: Gaogeolone, Moritz Zimmermann, Vladimir Ermakov, rapsealk

0.26.3 (2018-08-21)

test: Fix sensor orientation. RPY 315 was removed in recent mavlink. https://github.com/mavlink/mavlink/commit/3d94bccfedc5fc7f2ffad247adecff0c2dc03501
lib: update generated entries
Contributors: Vladimir Ermakov

0.26.2 (2018-08-08)

Moving gps_rtk to mavros_extras
Update copyright name
Updating the gps_rtk plugin to fit mavros guidelines:
- Updating max_frag_len to allow changes in size in MAVLink seamlessly
- Using std::copy instead of memset
- Zero fill with std::fill
- Preapply the sequence flags
- Use of std iterators
- Add the maximal data size in the mavros_msgs
uncrustify
Update comments for the renaming
Renaming the GPS RTK module, Adding fragmentation, Changing the RTCM message
RTK Plugin; to forward RTCM messages Signed-off-by: Alexis Paques <<alexis.paques@gmail.com>>
Contributors: Alexis Paques

0.26.1 (2018-07-19)

setpoint_velocity: fix yaw rate setpoint rotation
lib fix #1051: Add APM BOAT modes support. Currently SURFACE_BOAT uses same code as Rover2, just different vehicle type.
Contributors: TSC21, Vladimir Ermakov

0.26.0 (2018-06-06)

lib: add tunable timeout to gcs_quiet_mode
udp bridge: pass only HEARTBEATs when GCS is offline
sys_time : add advanced timesync algorithm
libmavconn: add scheme for permanent UDP broadcasting
GPS accuracy wo approximations (#1034)
- GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT.
* GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT if on mavlink v2.0, or on DOP values otherwise.
- GPS accuracy update.
Contributors: Mohammed Kabir, Oleg Kalachev, Pavlo Kolomiiets, Vladimir Ermakov

0.25.1 (2018-05-14)

0.25.0 (2018-05-11)

wind plugin: uncrustify
use eigen and tf conversions (fix conventions), sync timestamp, fix typos
add wind estimation plugin
launch: fix style and keep apm.launch consistent with px4.launch
Updated apm.launch to forward new fcu_protocol parameter
glob pos plugin: correct gps velocity convention (NEU->ENU)
Split temperature publisher.
setpoint_raw: correct yaw transform; remove yaw transform methods
extras: odom: improve way frame naming is handled
extras: update odom plugin to send ODOMETRY msgs
lib: enum_to_string: update enums
setpoint_attitude: rename topic from target_attitude to attitude
imu plugin: fix pressure units
imu plugin: publish differential pressure (#1001)
- imu plugin: publish differential pressure
- imu plugin: fix doxygen snippets
lib: add PX4 mode AUTO.PRECLAND
extras: add covariance parsing to vision_speed_estimate (#996)
Contributors: Anthony Lamping, Nuno Marques, Oleg Kalachev, Sondre Engebråten, TSC21, Thomas Stastny, Timo Hinzmann, Vladimir Ermakov

0.24.0 (2018-04-05)

frame_tf: add assertion over size of covariance matrix URT
extras: update vision_pose_estimate plugin so it can send the covariance matrix also
plugins fix #990: Explicitly cast boolean values. Else someone can shoot in his foot.
Update Readme for serial0: receive: End of file
launch : remove vision_pose_estimate from blacklist on ardupilot
plugin: ftp: fix typo
Add ability to send STATUSTEXT messages
Contributors: Anass Al, Andrei Korigodski, Pierre Kancir, TSC21, Vladimir Ermakov

0.23.3 (2018-03-09)

lib: simplify geolib cmake module, try to fix CI
Contributors: Vladimir Ermakov

0.23.2 (2018-03-07)

launch: add optional respawn_mavros arg
Contributors: Anthony Lamping

0.23.1 (2018-02-27)

lib: Update to_string
plugin fix #957: set MISSION_ITEM::mission_type
Contributors: Vladimir Ermakov

0.23.0 (2018-02-03)

launch fix #935: use orientation convention from message descr https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR
Blacklist HIL for APM since it is not relevent
add MAV_DISTANCE_SENSOR enum to_string
px4: add fcu_protocol argument to choose mavlink v1.0 or v2.0 to start mavros in node.launch
node: add fcu_protocol parameter to be able to choose mavlink v1.0 or v2.0 when starting mavros node
mavros: default fcu_protocol parameter to mavlink v2.0
manual_control: [send]{.title-ref} topic for sending MANUAL_CONTROL message to FCU
imu plugin: fix doxygen comments
imu plugin: change sufixes to match the body coordinate frame
Fix vision odom.
IMU plugin: add raw IMU conversion for PX4
mention rotation convention and fix NED to ENU description
Contributors: ChristophTobler, James Goppert, James Mare, Martina, Oleg Kalachev, TSC21, Vladimir Ermakov

0.22.0 (2017-12-11)

scripts: Use non global mavros-ns allow to work __ns parameter
update script to support cycle_time on cmd trigger_control
plugin: Fix setpoint_position code style
Global position setpoint plugin (#764)
- fix fake gps rate
- fix
- fix plugin_list
- fix
- add global position setpoint plugin
- add plugin to CMakeList
- fix bugs
- add altitude
- move GPS setpoints to setpoint_position plugin
- fix gps setpoint subscriber name
- move GeographicLib::Geocentric earth inside callback
- add warning msg if timestamp is not updates
- Fix ROS_WARN
doc: move contributing.md to root
tools: add cogall.sh
split contribuion guide to GH file
Readme: add help for cog (#876)
Setpoints: remove mav_frame string for local variable
Setpoints: add params for initial frame
Setpoint_velocity: uncrustify
Setpoint_position: uncrustify
Setpoints: add service to specify frame
Fix typo #867
Improve output of script, replace which with more reliable hash #867
Ensure dataset files exist, not just directories #867
Remove previous duplicated link
Fixed issue link.
Fixed section header. Ready for troubleshooting PR.
Pushing troubleshooting section for Mavros.
Contributors: Mohamed Abdelkader Zahana, Pierre Kancir, Vladimir Ermakov, andresR8, fnoop, khancyr, pedro-roque

0.21.5 (2017-11-16)

Yet another formatting.
px4_config.yaml updated. Minor formatting update.
global_position/raw/gps_vel should still be in earth fixed frame.
GPS fix's frame_id changed to body-fixed.
global_position/local angular twist changed from NANs to zeroes to be able to show in RViz.
readme: source install: add note on fetching all the deps
geolib_dataset: script: fix interpreter
Contributors: Pavlo Kolomiiets, TSC21

0.21.4 (2017-11-01)

lib ftf: update dox, uncrustify
ENU<->ECEF transforms fix. (#847)
- ENU<->ECEF transforms fix.
- Changes after review. Unit tests added.
test: fix copy-paste error in frame_tf
Contributors: Vladimir Ermakov, pavloblindnology

0.21.3 (2017-10-28)

Update geographiclib script to work with zsh
scripts: fix typos and improve help messages consistency commad -> command safty -> safety Start help messages with a capital letter.
uncrustify
plugin waypoints: Use stamped message
plugin waypoint: Add MISSION_ITEM_REACHED publisher * Changes to be committed: modified: mavros/src/plugins/waypoint.cpp modified: mavros_msgs/CMakeLists.txt new file: mavros_msgs/srv/WaypointReached.srv
- change reached service name to classic topic
- Changed reached service to topic
- removed unused file
- Removed WaypointReached service
- Change reached message type to std_msgs::UInt16
- Delete WaypointReached.srv
- Restore WaypointPush.srv
- Fix tipo
- Update waypoint.cpp
launch: sync APM and PX4 configs
add debug plugin
Contributors: Jonas Vautherin, Patrick Jose Pereira, TSC21, Vladimir Ermakov, gui2dev

0.21.2 (2017-09-25)

plugin: setpoint_attitude: Finish Andres fix
fix: attitude callback trigger
lib uas: remove inline on not inlined method
odom: general fixes and code tighting
Use tf2 for odom plugin and set reasoable defaults for local pos cov.
Contributors: Andres Rengifo, James Goppert, TSC21, Vladimir Ermakov

0.21.1 (2017-09-22)

mavsys: mode: add solutions for setting AUTO.MISSION and AUTO.LOITER modes (#814)
- mavsys: add notes on how to change mode to AUTO.MISSION on PX4 Pro
- enum_to_string: update enums
- mavsys: mode: move AUTO submodes info to argparser
- sys_status: leave note that MAV_TYPE_ONBOARD_CONTROLLER will be supported on PX4
- mavsys: mode: add note on changing to AUTO.LOITER
Solve the subscriber initialization
lib frame_tf: Add to_eigen() helper
Contributors: Alexis Paques, Nuno Marques, Vladimir Ermakov

0.21.0 (2017-09-14)

plugin waypoint: Uncrustify, update init list
lib: Add to_sting for MAV_MISSION_RESULT
plugin waypoint: Rename current seq in wp list message
waypoint: Publish current waypoint seq
waypoint partial: Check parameter first with hasParam
waypoint partial: Documentation updates
waypoint: Document mid level helpers and fix indenting on rx handlers
waypoint: Document rx handlers
waypoint partial: Move FCU detection to connection_cb
waypoint partial: recommended changes to mavwp
waypoint partial: code style cleanup
waypoint partial: enable only on apm but allow override with parameter
waypoint partial: Handle case when partial push is out of range with local list and uncrustify
waypoint partial: enable only on apm through yaml
waypoint partial: stopped partial push from clearing parts of local waypoint copy
waypoint partial: uncrustify
waypoint partial: extend mavwp cli tool to do partial updating in push
waypoint partial: extended push in waypoint plugin to implement push partial
waypoint: uncrustify
waypoint: handle invalid_sequence mission_ack to prevent TXWP failure
Partial waypoint: added wp_transfered to push partial service response
Partial waypoint: renamed mavwp partial load arguments for consistency
Partial waypoint: fixed end index and added partial tx state
Partial Waypoint: handle service call in waypoint plugin
Partial waypoint: added partial updating to mavwp
imu_plugin: remove documentation of override func
imu plugin: uncrustify
imu plugin: don't be so explicit about in/out params
imu plugin: fix indentation
imu plugin: update setup_covariance method to use Eigen capabilities
imu plugin: use simpler format for one line comments
imu plugin: add code snippets to Doxygen documentation
IMU and attitude: general clean-up
CMake: explicitly link the atomic library (#797) For arm & mips architecture, the linker must explicitly be asked to link the atomic library (with [-latomic]{.title-ref}). Otherwise, the linking fails with: ` | devel/lib/libmavros.so: undefined reference to `__atomic_load_8' | devel/lib/libmavros.so: undefined reference to `__atomic_store_8' | collect2: error: ld returned 1 exit status[ Linking `atomic]{.title-ref} unconditionally as library is strictly needed only for arm & mips, but it seems not to imply any further differences with other architectures. Hence, this commit simply adds [atomic]{.title-ref} unconditionally for a uniform handling of all machine architectures. This is an alternative solution to the proposed solution in #790. The issue was discovered cross-compiling mavros in meta-ros, the OpenEmbedded layer for ROS. Some further pointers are available at: https://github.com/bmwcarit/meta-ros/issues/525 Signed-off-by: Lukas Bulwahn <<lukas.bulwahn@gmail.com>>
setpoint_attitude: privatize message_filters subscribers
Updating comments for PX4Flow
Removing copter_visualization from the yaml files. Adding odometry to apm_config Changing frame_id to base_link for vibration
Update the apm_config and px4flow_config files
Update configuration from mavros_extras
Updating default settings from px4.yaml
- global_position/tf/send default to false
- imu, checked
- local_position/tf/send default to false
- local_position/tf/send_fcu default to false
- mission/pull_after_gcs default to true
Update time reference to fcu Adding global_frame_id: 'earth' to apm_config
fcu to base_link
Changing fcu_utm to fcu
Solving default frame consistency in config files
Contributors: Alexis Paques, James Mare, James Stewart, Lukas Bulwahn, TSC21, Vladimir Ermakov

0.20.1 (2017-08-28)

0.20.0 (2017-08-23)

update generated code in plugins
update generated code
geolib: datasets: warn when not installed; update install script; launch SIGINT when not installed (#778)
- geolib: make dataset install mandatory
- travis_ci: install python3; use geographiclib-datasets-download
- CMakeLists.txt: set datasets path
- travis_ci: create a path for the geoid dataset
- travis_ci: remove python3 install
- CMakeLists.txt: remove restriction regarding the geoid model
- CMakeLists.txt: only launch a warning if the geoid dataset is not installed
- CMakeLists.txt: simplify dataset path search and presentation
- scripts: install_geographiclib_datasets becomes version aware
- uas_data: dataset init: shutdown node if exception caught
- README: update GeographicLib info; geolib install script: check for more OS versions
- uas_data: small typo fix
- install_geolib_datasets: some fix
- CMakeLists.txt: be more clear on geoid dataset fault
- CMakeLists: push check geolib datasets to a cmake module
- travis_ci: update ppa repository
- uas_data: shutdown node and increase log level instead
- install_geographiclib_datasets: simplify script to only check download script version available
- uas_data: remove signal.h import
HIL Plugin
- add HilSensor.msg, HilStateQuaternion.msg, and add them in CMakeLists.txt
- Add hil_sensor.cpp plugin to send HIL_SENSOR mavlink message to FCU.
- fix HilSensor.msg. Make it more compact.
- Fix HilStateQuaternion.msg. Make it more compact.
- Add hil_state_quaternion plugin
- fix files: some variable names were wrong+some syntax problems
- fix syntax error in plugin .cpp files, make msg files match corresponding mavlink definitions
- fix plugin source files
- fix syntax
- fix function name. It was wrong.
- add HIL_GPS plugin
- add HilGPS.msg to CMakeList
- fix missing semicolon
- fix call of class name
- Add ACTUATOR_CONTROL_TARGET MAVLink message
- fix code
- increase number of fake satellites
- control sensor and control rates
- change control rate
- change control rate
- fix fake gps rate
- fix
- fix plugin_list
- fix
- remove unnecessary hil_sensor_mixin
- update HilSensor.msg and usage
- update HilStateQuaterion.msg and usage
- redo some changes; update HilGPS.msg and usage
- update hil_controls msg - use array of floats for aux channels
- merge actuator_control with actuator_control_target
- remove hil_sensor_mixin.h
- update actuator_control logic
- merge all plugins into a single one
- delete the remaining plugin files
- update description
- redo some changes; reduce LOC
- fix type cast on gps coord
- add HIL_OPTICAL_FLOW send based on OpticalFlowRad sub
- update authors list
- update subscribers names
- refactor gps coord convention
- add HIL_RC_INPUTS_RAW sender; cog protec msg structure and content
- apply correct rc_in translation; redo cog
- apply proper rotations and frame transforms
- remote throttle
- fix typo and msg api
- small changes
- refactor rcin_raw_cb
- new refactor to rcin_raw_cb arrays
- update velocity to meters
- readjust all the units so to match mavlink msg def
- update cog
- correct cog conversion
- refefine msg definitions to remove overhead
- hil: apply frame transform to body frame
apm_config.yaml: change prevent collision in distance_sensor id
Extras: add ardupilot rangefinder plugin
msgs fix #625: Rename SetMode.Response.success to mode_sent
[WIP] Plugins: setpoint_attitude: add sync between thrust and attitude (#700)
- plugins: setpoint_attitude: add sync between throttle and attitude topics to be sent together
- plugins: typo correction: replace throttle with thrust
- plugins: msgs: setpoint_attitude: replaces Float32Stamped for Thrust msg
- plugins: setpoint_attitude: add sync between twist and thrust (RPY+Thrust)
- setpoint_attitude: update the logic of thrust normalization verification
- setpoint_attitude: implement sync between tf listener and thrust subscriber
- TF sync listener: generalize topic type that can be syncronized with TF2
- TF2ListenerMixin: keep class template, use template for tf sync method only
- TF2ListenerMixin: fix and improve sync tf2_start method
- general update to yaml config files and parameters
- setpoint_attitude: add note on Thrust sub name
- setpoint_attitude: TF sync: pass subscriber pointer instead of binding it
apm_config: add mavros_extras/fake_gps plugin param config
px4_config: add gps_rate param
frame tf: move ENU<->ECEF transforms to ftf_frame_conversions.cpp
extras: mocap_fake_gps->fake_gps: generalize plugin and use GeographicLib possibilites
UAS: Share egm96_5 geoid via UAS class
Move FindGeographicLib.cmake to libmavconn, that simplify installation, simplify datasets instattator
Use GeographicLib tools to guarantee ROS msg def and enhance features (#693)
- first commit
- Check for GeographicLib first without having to install it from the beginning each compile time
- add necessary cmake files
- remove gps_conversions.h and use GeographicLib to obtain the UTM coordinates
- move conversion functions to utils.h
- geographic conversions: update CMakeLists and package.xml
- geographic conversions: force download of the datasets
- geographic conversions: remove unneeded cmake module
- dependencies: use SHARED libs of geographiclib
- dependencies: correct FindGeographicLib.cmake so it can work for common Debian platforms
- CMakeList: do not be so restrict about GeographicLib dependency
- global position: odometry-use ECEF instead of UTM; update other fields
- global position: make travis happy
- global position: fix ident
- global_position: apply correct frames and frame transforms given each coordinate frame
- global_position: convert rcvd global origin to ECEF
- global_position: be more explicit about the ecef-enu transform
- global position: use home position as origin of map frame
- global position: minor refactoring
- global position: shield code with exception catch
- fix identation
- move dataset install to script; update README with new functionalities
- update README with warning
- global_position: fix identation
- update HomePosition to be consistent with the conversions in global_position to ensure the correct transformation of height
- home|global_position: fix compile errors, logic and dependencies
- home position: add height conversion
- travis: update to get datasets
- install geo dataset: update to verify alternative dataset folders
- travis: remove dataset install to allow clean build
- hp and gp: initialize geoid dataset once and make it thread safe
- README: update description relative to GeographicLib; fix typos
- global position: improve doxygen references
- README: update with some tips on rosdep install
[WIP] Set framework to define offset between global origin and current local position (#691)
- add handlers for GPS_GLOBAL_ORIGIN and SET_GPS_GLOBAL_ORIGIN
- fix cast of encoding types
- refactor gps coord conversions
- uncrustify
- global_position: add LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET handler
- global_position: add trasform sender for offset
- global_origin: refactor covariance matrix
- global_position: update copyright
- global_position: add initial support to REP 105
- px4_config: global_position: update frame description
- global_position: correct identation
- global position: be consistent with frame and methods names (ecef!=wgs84, frame_id!=global_frame_id)
- global_position: updates to code structure
- global_position: fix identation
lib: frame_tf: Style fix
extras: odom: Minor fixes
extras: Add odom plugin
lib: frame_tf: Add support for 6d and 9d covariance matrices
Contributors: James Goppert, Nuno Marques, TSC21, Vladimir Ermakov, khancyr

0.19.0 (2017-05-05)

launch: remove setpoint-attitude from apm blacklist
lib: cleanup in enum_to_string
extras: Add ADSB plugin
plugin: home_position: Log poll
plugin: home_position: Log report
plugin #695: Fix plugin
plugin: Add home_position
Added SAFETY_ALLOWED_AREA rx handler (#689)
- Added SAFETY_ALLOWED_AREA rx handler and publish PolygonStamped msg with the 2 points
- add resize to array to avoid sigfault
lib: Fix millis timesync passthrough
Plugin: Add unstamped Twist subscriber for setpoint_velocity
uas: Move timesync_mode enum to utils.h + fixes That enum are used for utils too, but forward declaration of class internal enum is impossible.
sys_time: Add timesync mode selection parameter.
sys_time : add multi-mode timesync
uas : add multi-mode timesync
uas : add multi-mode timesync
launch fix #670: Add configuration of distance_sensor plugin for APM
Contributors: Kabir Mohammed, Nuno Marques, Pierre Kancir, Randy Mackay, Vladimir Ermakov

0.18.7 (2017-02-24)

readme: Add serial-hwfc:// proto
trigger interface : rename to cycle_time to be consistent with PX4
Contributors: Kabir Mohammed, Vladimir Ermakov

0.18.6 (2017-02-07)

lib #626: Porting of PR #650 - Fix OSX pthread set name.
uas fix #639: Remove Boost::signals2 from UAS
Plugins: system_status change status field to system_status Add comment to State.msg for system_status enum
Plugins: add system_status to state message
Contributors: Fadri Furrer, Pierre Kancir, Vladimir Ermakov

0.18.5 (2016-12-12)

lib: update ArduPilot modes
Contributors: Randy Mackay

0.18.4 (2016-11-11)

lib: Add ArduSub modes
readme: Fix mavlink rosinstall_generator call
mavros: README.md: its -> it's Here "it's" is a short form for "it is".
add hil_actuator_controls mavlink message
lib: Make cog.py scrips compatioble with Py3
plugin:sys_status: Add logging health report
Update README for all packages
Update README.md Fix instructions: Only the Kinetic distro actually works for MAVLink 2.0
Contributors: Beat Kung, Georgii Staroselskii, Lorenz Meier, Vladimir Ermakov

0.18.3 (2016-07-07)

plugin:param: Use mavlink::set_string() helper
Update README.md
Update README.md Fix very confusing instructions mixing steps.
Update README.md
Update README.md
python #569: convert_to_rosmsg() support for 2.0. NO SIGNING.
python #569: Update mavlink.convert_to_bytes()
Contributors: Lorenz Meier, Vladimir Ermakov

0.18.2 (2016-06-30)

plugin:sys_status: Fix STATUSTEXT log prefix
Contributors: Vladimir Ermakov

0.18.1 (2016-06-24)

lib: Fix base mode flag check
plugins: Move pluginlib macros.h to tail
plugin:param fix #559: Ignore PX4 _HASH_CHECK param
Contributors: Vladimir Ermakov

0.18.0 (2016-06-23)

lib #439: MAV_CMD to_string is not required.
plugin:sys_status #458: Hanlde BATTERY_STATUS (PX4)
plugin:sys_status fix #458: Use sensor_msgs/BatteryState message. Minimal data, for all other need to handle BATTERY_STATUS.
plugin:command fix #561: PX4 now sends COMMAND_ACK. And like APM do not check confirmation field. :)
readme #544: add udp-b://@ URL
plugin:hil_controls: Update plugin API
Merge branch 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros into pvechersky-feature/hil_controls_plugin * 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros: Adding anchor to the HIL_CONTROLS message reference link Ran uncrustify on hil_controls plugin Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation Added a plugin that publishes HIL_CONTROLS as ROS messages
node: fix subscription message type checks
plugin: use mavlink::to_string() for std::array<char, N>
readme: update CI, no more MAVLINK_DIALECT
plugin:waypoint: Fix target id's on MISSION_ITEM
node: Add ~fcu_protocol parameter
Ran uncrustify on hil_controls plugin
Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation
node: set gcs_url on internal GCS bridge diag hardware Id
plugins: Use UAS::msg_set_target()
Added a plugin that publishes HIL_CONTROLS as ROS messages
lib: PX4 add AUTO.FOLLOW_TARGET
mavros: Update tests
extras: Update UAS
UAS: Update plugins for FTF module
UAS: move enum stringify functions
lib: Generate MAV_SENSOR_ORIENTATION
UAS: move MAV_SENSOR_ORIENTATION out
UAS: Move transformation utilities to ftf module
plugin:rc_io: Fix log printf-format warning
make GCC 4.8 happy. (travis)
gcs_bridge: done
param:ftp: Update API
plugin:param: Works. Tested on APM
plugin:param: Update, almost work
plugin:waypoint: Fix Item - ROS binding
Message type mismatch code do not work
plugin:waypoint: Update API
plugin:sys_time: Update API
plugin:sys_status: Update API
plugin:setpoint_raw: Update API
plugin:setpoint_attitude: Update API
plugin:setpoint_accel: Update API
plugin:setpoint_velocity: Update API
plugin:setpoint_position: Update API
plugin:vfr_hud: Update API
plugin:safety_area: Update API
plugin:rc_io: Update API
plugin:manual_control: Update API, fix uas init
plugin:local_position: Update API
plugin:imu_pub: Update API
plugin:global_position: Update API
mavros: make_handle() this shouldn't be const
plugin:common: Update API
plugin:altitude: uncrustify
plugins: Rutine sed + fix misprint
plugin:altitude: Update API
plugins: Automatic replacement of routine API changes (sed)
plugin:actuator_control: Update API
plugin:3dr_radio: Update API
node: Update plugin loading and message routing
node: type_info -> SIGSEGV
node: prepare new plugin loading
node: Rename plugib base class - API incompatible to old class
labmavconn: finding sigsegv
Contributors: Pavel, Vladimir Ermakov

0.17.3 (2016-05-20)

libmavconn #543: support build with mavlink 2.0 capable mavgen
node: Remove warning about MAVLINK_VERSION redefine
Fix bug with orientation in setpoint_raw plugin Fixes a bug where the ned_desired_orientation was not actually passed into set_attitude_target. Instead, the desired_orientation (wrong frame) was passed.
Contributors: Justin Thomas, Vladimir Ermakov

0.17.2 (2016-04-29)

Update README.md
Update README.md Updated / completed examples.
Update README.md
Fix for kinetic std::isnan.
Contributors: James Goppert, Lorenz Meier

0.17.1 (2016-03-28)

lib: Add QLAND mode of APM:Plane https://github.com/mavlink/mavlink/commit/a0ed95c3a7d97a8f8d86ce3f95c4bf269f439c46
Update contributing guide We forgot to mention uncrustify commit.
Treat submarine vehicles like copter vehicles
Contributors: Josh Villbrandt, Vladimir Ermakov

0.17.0 (2016-02-09)

update README
rebased with master
Fixed ROS_BREAK
Updates for ROS_BREAK and code style
Nitpicks and uncrustify
Updated frame transformations and added odom publisher to local position plugin
Contributors: Eddy, Vladimir Ermakov, francois

0.16.6 (2016-02-04)

node fix #494: Report FCU firmware type in rosonsole log
scripts fix #478: Remove guided_enable garbage. I'm missed this when do #407.
Contributors: Vladimir Ermakov

0.16.5 (2016-01-11)

scripts: mavwp #465: Remove WaypointGOTO from scrips and python library
node: Report mavlink package version
lib: Add APM:Plane QuadPlane modes. Sync with: https://github.com/mavlink/mavlink/commit/1fc4aef08a54130f297943c246f95b8c7e37b1bf
readme: pixhawk dialect removed.
Contributors: Vladimir Ermakov

0.16.4 (2015-12-14)

scripts: checkid: be always verbose, add --follow
scripts: fix copyright indent
scripts: mavcmd: Fix bug: param7 not passed to service call!
scripts #382: Add ID checker script. It is not complete, but i hope it helps in current state.
scripts: mavcmd: Add support for broadcast requests
event_launcher: fix bug: Trigger service server is not saved in Launcher Also fixes: environment variables may contain ~ (user dir) in expansion.
using timestamp from mavlink message
Update mavlink message documentation links
lib: update MAV_TYPE stringify
lib: Add RATTITUDE PX4 mode
remove "altitude_" prefix from members
updated copyright
implemented altitude plugin
Contributors: Andreas Antener, Vladimir Ermakov

0.16.3 (2015-11-19)

use safe methods to get imu data in local_position plugin
Contributors: Andreas Antener

0.16.2 (2015-11-17)

transform yaw and yaw rate from enu to ned
Contributors: Andreas Antener

0.16.1 (2015-11-13)

python: fix import error of goto service
don't warn anymore about px4 not supporting rc_io
Contributors: Andreas Antener, Vladimir Ermakov

0.16.0 (2015-11-09)

lib: Update ArduCopter mode list
plugin: sys_status #423: set_mode set arming and HIL flags based on previous state
lib #423: Save base_mode in UAS.
Finalized local position topic names
readme: add link to catkin-tools docs
readme #409: merge mavlink and mavros installation instruction
Fixed redundant rotation of IMU data and redundant orientation data
plugin: setpoint_raw fix #418: add attitude raw setpoint Related #402.
Added velocity output of FCU's local position estimate to ROS node
plugin: sys_status fix #417: remove APM statustext quirk
plugin: waypoint fix #414: remove GOTO service. It is replaced with more standard global setpoint messages.
plugin: setpoint_raw fix #415: add global position target support Related to #402.
plugin: command fix #407: remove guided_enable sevice
plugin: setpoint_raw #402: implement loopback.
plugin: setpoint_raw #402: Initial import.
readme fix #410: use only catkin tool
readme: add defaults for URL
pass new extended state to ros
python: add util to convert pymavlink message to Mavlink.msg
python: convert input to bytearray
python: add payload convertion util
gcs_bridge #394: enable both UDPROS and TCPROS transports
EL: add try-except on handlers
event_launcher: show logfile path
event_launcher #386: expand shell vars for logfile
Mavros library depends on mavros_msgs headers Adding this dependency makes sure that mavros_msgs message headers are generated before the mavros library is built, since it needs those headers.
Contributors: Andreas Antener, Eddy, Jon Binney, Vladimir Ermakov

0.15.0 (2015-09-17)

lib: fix timesync uninit bug. Uninitialized variable caused wrong timestamps with APM.
python #286: use checksum - save ticks
script #385: output to log-file
script #385: remove RosrunHandler and RoslaunchHandler
script #385: attempt to implement rosrun fails. ROSLaunch class wants all node operations from main thread. That is not possible.
script #385: fix shell-killer, but logging are broken and removed
script #385: shell-launcher now works!
script #385: add example configuration
script #385: shell handler done. next - rosparam handling
script #385: starting work on simple shell launcher
scripts: starting event_launcher
python: Remove unneded slice operation. Fix copyright year. [list[:len(list)]]{.title-ref} is equal to [list]{.title-ref}, but creates new list with data from that slice.
updated mavlink byte buffer conversion
plugin: manual_control: Use shared pointer message Fix alphabetic order of msgs.
python: add helper for converting mavros_msgs/Mavlink to pymavlink
Add MANUAL_CONTROL handling with new plugin
Contributors: Andreas Antener, Vladimir Ermakov, v01d

0.14.2 (2015-08-20)

0.14.1 (2015-08-19)

package: Fix depend on rosconsole-bridge
Removed <remap>
Contributors: Vladimir Ermakov, devbharat

0.14.0 (2015-08-17)

python: call of mavros.set_namespace() is required.
scripts: mavftp fix #357: add verify command
scripts: mavftp #357: progressbar on download operation
scripts: mavftp #357: progress bar for upload operation.
scripts: mavftp: New command [cd]{.title-ref}. All path arguments now may handle relative paths.
readme: fix frame tansform section
mavros: readme: update info on frame conversions
mavros: readme: update contribution steps
node: Replace deprecated copy functions. Also allow mavlink to & from topics to be namespaced.
extras: scripts: use API from mavros module
scripts: fix for new message location
python: update mavros lib to new message location
package: remove not exist dependency
plugin: waypoint: Fix message include
plugin: vfr_hud: Fix message include
plugin: rc_io: Fix message include
plugin: param: Fix message include
plugin: ftp: Fix message include
plugin: sys_status: Fix message include
plugin: command: Fix message include
plugin: 3dr_radio: Fix message include
plugin: actuator_control: Fix message include.
msgs: update copyright year
msgs: deprecate mavros::Mavlink and copy utils.
msgs: change description, make catkin lint happy
msgs #354: move all messages to mavros_msgs package.
Minor typo fix.
node: increase diag timer to 2 Hz
node: move diagnostic to AsyncSpinner threads.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.13.1 (2015-08-05)

lib #358: cleanup. Replace UAS::getYaw() with UAS::quaternion_get_yaw().
lib #358: found correct getYaw(). Test for each degrees in -180..180.
test #358: test more different angles. Compare rotation result.
lib #358: try to implement algo from wikipedia.
lib #358: still failing. add recursive test for range -Pi..+Pi
lib #358: try solve issue using older eulerAngles()
lib #358: remove to_rpy test
Merge branch 'master' of github.com:mavlink/mavros * 'master' of github.com:mavlink/mavros: global_position: move relative_alt and compass_heading init back add nav_msgs to dependencies so to make Travis happy global_position: update pose and twist to odom msg
test fix #359: split out quaternion tests.
lib #359: move quaternion utils.
global_position: move relative_alt and compass_heading init back
add nav_msgs to dependencies so to make Travis happy
global_position: update pose and twist to odom msg
test #358: add tests for negative values and quaternion_to_rpy tf2 compatibility check Tests now fails!
sctipts: fix gps topic path
lib: fix input validation in UAS::orientation_from_str()
test: add case for num str->sensor orientation
package: fix CHANGELOG.rst
Contributors: TSC21, Vladimir Ermakov

0.13.0 (2015-08-01)

plugin: setpoint_attitude #352: use new helper.
plugin: sys: Fix cppcheck and YouCompleteMe warnings
plugin: ftp: Fix cppcheck errors.
lib #352: Add helper function UAS::quaternion_to_mavlink()
Fixed bug in send_attitude_target() The transformed quaternion wasn't being passed to set_attitude_target(), resulting in an incorrect attitude setpoint. I've now fixed this issue.
scripts: fix mavwp
test: add test cases for new sensor orientation functions
remove tf1 dep
lib #319: Remove TF types from UAS
plugin: param: new message type: ParamValue
msgs: Move MAV_CMD values to separate msg
plugin: command: fix build
fix whitespaces in python scripts
Merge pull request #312 from mhkabir/cam_imu_sync Camera IMU synchronisation support added
Added launch file for PX4 posix sitl to launch gcs_bridge node for bridging posix and gazebo
scripts: mavftp: little speed up by aligning access to payload length
launch: Add optional log_output arg
Merge branch 'orientation_enum_name' * orientation_enum_name: distance_sensor #342: correct orientation parameter handling. lib #342: try to convert numeric value too px4_config: adapt to distance_sensor params to new features distance_sensor: restructure orientation matching and verification lib #342: Added sensor orientation string repr.
lib #342: try to convert numeric value too
px4_config: adapt to distance_sensor params to new features
lib #342: Added sensor orientation string repr.
launch: update local_position conf
test: Add test for UAS::sensor_orientation_matching()
Update cmake Eigen3 finding rules. Migration described at: http://wiki.ros.org/jade/Migration#Eigen_CMake_Module_in_cmake_modules
lib #319, #341: preparation for str->MAV_SENSOR_ORIENTATION func
lib #319: Return quaternion from UAS::sensor_matching()
lib: Remove unneded NodeHandle
launch fix #340: update default component id of PX4.
plugin: sys_status: Add fallback to adressed version request.
Can not remove tf package before #319 is done. tf::Vector3 and other tf1-bullet still in use.
plugin: sys_status: Use broadcast for version request.
fix #71: replace depend tf to tf2_ros.
plugin: Use UAS::syncronized_header() for reduce LOC.
lib #319: use similar names for covariances as eigen vector
lib #319: transform_frame() for Covariance3x3
lib #319: remove unused bullet based transform_frame()
extras: vision_pose #71: Use TF2 listener. Also #319.
plugin #71: Implement TF2 listener. Change param names. Breaks extras.
uas #71: Use single TF2 objects for broadcasting and subscription.
launch: Update configs.
lib: Add UAS::quaternion_to_rpy()
plugin: safety_area #319: Change transform_frame()
plugin: local_position #71 #319: port to TF2 and Eigen
lib: Add UAS::synchonized_header()
plugin: command: Add command broadcasting support.
Perform the autopilot version request as broadcast
lib: Update PX4 mode list
plugin: global_position #325: port tf broadcaster to tf2 Also #71.
plugin: global_position #325: reenable UTM calc
plugin: gps #325: remove gps plugin.
plugin: global_position #325: merge gps_raw_int handler
plugin: setpoint_accel #319: use eigen frame transform. I don't think that PX4 support any other frame than LOCAL_NED. So i removed comment. Also style fix in setpoint_velocity.
plugin: setpoint_velocity #319: use eigen based frame transform.
plugin: setpoint_position #273: remove PX4 quirk, it is fixed.
plugin: ftp: Update command enum.
plugin: imu_pub fix #320: move constants outside class, else runtime linkage error.
plugin: imu_pub #320: first attempt
eigen #319: handy wrappers.
eigen #319: add euler-quat function. Also #321.
test #321: remove duplicated test cases, separate by library. Add test for checking compatibility of tf::quaternionFromRPY() and Eigen based math.
test #321: testing eigen-based transforms. We should check what convention used by tf::Matrix to be sure that our method is compatible.
mavros #319: Add Eigen dependency and cmake rule.
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
cam_imu_sync : fix running
imu_cam_sync : fix formatting
command handling in mavcmd for camera trigger
Camera IMU synchronisation support added
Contributors: Anurag Makineni, Lorenz Meier, Mohammed Kabir, TSC21, Vladimir Ermakov, devbharat

0.12.0 (2015-07-01)

plugin: sys_time, sys_status #266: check that rate is zero
test #321: disable tests for broken transforms.
lib #321: frame transform are broken. again! revert old math. RULE for me: do not accept patch without wide testing from author. That PR changes all plugins code, instead of do API, test and only after that touching working code. My bad.
unittest: added 6x6 Covariance conversion test
frame_conversions: update comments; filter covariance by value of element 0
unittests: corrected outputs from conversion tests
test: other quaternion transform tests
test: UAS::transform_frame_attitude_q()
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
coverity: make them happy
uncrustify: fix style on frame conversions
uncrustify: includes
plugin: sys_status #266: replace period with rate parameter
plugin: sys_time #266: Replace period with rate parameters
frame_conversion: last fix patch
frame_conversions: use inline functions to identify direction of conversion
changed frame conversion func name; add 3x3 cov matrix frame conversion; general doxygen comment cleanup
frame_conversions: added covariance frame conversion for full pose 6x6 matrix
frame_conversions: added frame_conversion specific lib file; applied correct frame conversion between ENU<->NED
sys_status #300: PX4 place in [0] lest significant byte of git hash.
sys_status fix #300: fix u8->hex func.
plugin: waypoint: cosmetics.
vibration_plugin: first commit
Changes some frames from world to body conversion for NED to ENU.
mavsys #293: add --wait option
mavsys: Fix arguments help
mavcmd #293: Add --wait option. New function: util.wait_fcu_connection(timeout=None) implement wait option.
sys_status #300: AUTOPILOT_VERSION APM quirk
mavros #302: fix style
mavros #302: split UAS impl by function blocks
mavros fix #301: move sensor orientation util to UAS
distance_sensor: typo; style fixe
sensor_orientation: list values correction
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: use MAX as last index macro
distance_sensor: changed to usable config
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: updated orientation enum; updated data type
sensor_orientation: included array type on utils.h
sensor_orientation: added sensor orientation matching helper func
distance_sensor: updated config file
distance_sensor: define sensor position through param config
distance_sensor: array limiting; cast correction; other minor correc
distance_sensor: small enhancements
sys_status #293: initialize state topic
sys_status #293: expose connection flag in mavros/State.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.11.2 (2015-04-26)

plugin: param fix #276: add check before reset request downcounter. If on MR request FCU responses param with different [param_index]{.title-ref} do not reset repeat counter to prevent endless loop.
gcs bridge fix #277: add link diagnostics
plugin: setpoint_position #273: add quirk for PX4.
readme: fir glossary misprint
readme: add notes about catkin tool
Contributors: Vladimir Ermakov

0.11.1 (2015-04-06)

scripts #262: update mavwp
scripts #262: mavsetp, new module mavros.setpoint
mavftpfuse #129: cache file attrs
mavparam #262: use get_topic()
mavsys #262: use get_topic()
mavcmd #262: use get_topic()
mavftp #263, #262: use crc32 checksums
python #262: add get_topic()
Update local_position.cpp removed irritating comment
readme: add short glossary
plugin: setpoint_attitude: remove unneded ns
Contributors: Marcel Stuettgen, Vladimir Ermakov

0.11.0 (2015-03-24)

plugin: setpoint_position #247: rename topic
launch #257: rename blacklist.yaml to pluginlists.yaml
node #257: implement while list.
plugin: actuator_control #247: update topic name.
mavros: Initialize UAS before connecting plugin routing. Inspired by #256.
plugin: sys_status: Check sender id. Inspired by #256.
plugin: sys_status: Use WARN severity for unknown levels
uas: Add [UAS::is_my_target()]{.title-ref} Inspired by #256.
plugin: global_position: Fill status and covariance if no raw_fix. Additional fix for #252.
launch: change apm target component id APM uses 1/1 (sys/comp) by default.
plugin: sys_status: publish state msg after updating uas Before this commit, the custom mode string published in the state message was computed using the autopilot type from the previous heartbeat message--not the autopilot type from the current hearbeat message. Normally that isn't a problem, but when running a GCS and mavros concurrently, both connected to an FCU that routes mavlink packets (such as APM), then this causes the custom mode to be computed incorrectly, because the mode string for the GCS's hearbeat packet will be computed using the FCU's autopilot type, and the mode string for the FCU's heartbeat packet will be computed using the GCS's autopilot type.
plugin: global_position: fix nullptr crash This fixes a crash in cases where a GLOBAL_POSITION_INT message is received before a GPS_RAW_INT message, causing the [gps_fix]{.title-ref} pointer member to be dereferenced before it has been set.
msgs: fix spelling, add version rq.
coverity: init ctor in 3dr_radio
launch fix #249: update apm blacklist
launch: rename APM2 to APM.
launch #211: update configs
plugin: gps: remove unused param
plugin: sys_time: remove unused param
launch fix #248: remove radio launch
plugin: 3dr_radio #248: add/remove diag conditionally
plugin: sys_status: move connection params to ns
plugin: sys_time: fix #206 (param ns)
node: Inform what dialect built-in node
plugin: sys_status: Conditionaly add APM diag
plugin: sys_status: fix #244
uas #244: add enum lookups
package: update lic
license #242: update mavros headers
plugin: local_positon: use auto
plugin: imu_pub: Update UAS store.
plugin: gps: remove diag class, change UAS storage API.
plugin api #241: move diag updater to UAS.
plugin api #241: remove global private node handle. Now all plugins should define their local node handle (see dummy.cpp). Also partially does #233 (unmerge setpoint topic namespace).
plugin api #241: remove [get_name()]{.title-ref}
package: mavros now has any-link proxy, not only UDP
Update years. I left gpl header, but it is BSD too.
Add BSD license option #220
plugin: sys_status: AUTOPILOT_VERSION support. Fix #96.
mavros fix #235: Use AsyncSpinner to allow plugins chat. Old single-threaded spinner have a dead-lock if you tried to call a service from for example timer callback. For now i hardcoded thread count (4).
uncrustify: actuator_control
Merge branch 'master' of github.com:mstuettgen/Mavros
fixed missing ;
code cosmetics
further removed unneeded white spaces and minor code cosmetics
fixed timestamp and commented in the not-working function call
code cosmetics, removed whitespaces and re-ordered function signatures
more code comment cosmetic
code comment cosmetic
uncrustify: fix style
readme: add contributing notes
uncrustify: mavros base plugins
uncrustify: mavros lib
uncrustify: mavros headers
tools: add uncrustify cfg for fixing codestyle Actually it different from my codestyle, but much closer than others.
added more const to function calls to ensure data consistency
modified code to fit new message
added group_mix to ActuatorControl.msg and a link to mixing-wiki
plugin: rc_io: Add override support warning
REALLY added ActuatorControl.msg
added ActuatorControl.msg
fixed latest compiler error
renamed cpp file to actuator_control.cpp and added the new plugin to mavros_plugins.xml
removed unneeded Mixinx and reverse_throttle, and unneeded variables in function signatures
inital draft for set_actuator_control plugin
launch: enable setpoint plugins for APM As of ArduCopter 3.2, APM supports position and velocity setpoints via SET_POSITION_TARGET_LOCAL_NED.
plugin: setpoint_velocity: Fix vx setpoint vz should have been vx.
Contributors: Clay McClure, Marcel Stuettgen, Vladimir Ermakov

0.10.2 (2015-02-25)

Document launch files
launch: Fix vim modelines #213
launch #210: blacklist image_pub by px4 default. Fix #210.
Contributors: Clay McClure, Vladimir Ermakov

0.10.1 (2015-02-02)

Fix \@mhkabir name in contributors.
uas #200: Add APM:Rover custom mode decoding. Fix #200.
uas #200: Update APM:Plane and APM:Copter modes.
Contributors: Vladimir Ermakov

0.10.0 (2015-01-24)

mavros #154: Add IO stats to diagnostics. Fix #154.
Add rosindex metadata
plugin: ftp: init ctor.
plugin: sts_time: Code cleanup and codestyle fix.
plugin: command: Quirk for older FCU's (component_id) Older FCU's expect that commands addtessed to MAV_COMP_ID_SYSTEM_CONTROL. Now there parameter: [~cmd/use_comp_id_system_control]{.title-ref}
plugin: rc_io: #185 Use synchronized timestamp.
plugin: gps: #185 use synchronized timestamp common.xml tells that GPS_RAW_INT have time_usec stamps.
uas: Fix ros timestamp calculation. Issues: #186, #185.
plugin: add synchronisation to most plugins (fixed) Closes #186.
readme: Add notes about coordinate frame conversions #49
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.4 (2015-01-06)

plugin: sys_time: enable EMA
Contributors: Mohammed Kabir

0.9.3 (2014-12-30)

plugin: visualization finshed
Restore EMA. Works better for low rates.
Update sys_time.cpp
plugin : add time offset field to dt_diag
Final fixes
minor
plugin : fixes timesync. FCU support checked.
Visualisation system import
param: Fix float copying too
param: Fix missing
param: Trynig to fix 'crosses initialization of XXX' error.
param: Try to fix #170.
Update units
New message, moving average compensation
Initial import new sync interface
plugin: sys_status: Enable TERRAIN health decoding.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.2 (2014-11-04)

0.9.1 (2014-11-03)

Update installation notes for #162
Contributors: Vladimir Ermakov

0.9.0 (2014-11-03)

0.8.2 (2014-11-03)

REP140: update package.xml format. Hydro don't accept this format correctly, but after split i can update.
Contributors: Vladimir Ermakov

0.8.1 (2014-11-02)

fix build deps for gcs_bridge
mavconn #161: Enable rosconsole bridge.
mavconn #161: Move mavconn tests.
mavconn #161: Fix headers used in mavros. Add readme.
mavconn #161: Fix mavros build.
mavconn #161: Move library to its own package Also rosconsole replaced by console_bridge, so now library can be used without ros infrastructure.
plugin: sys_time: Set right suffixes to uint64_t constants. Issue #156.
plugin: sys_time: Add time syncronization diag. Issue #156.
plugin: sys_time: Debug result. Issue #156.
plugin: Store time offset in UAS. TODO: implement fcu_time(). Issue #156.
plugin: sys_time: Fix code style. Also reduce class variables count (most not used outside the method). Issue #156.
Update repo links. Package moved to mavlink organization.
Nanosecond fix
Fix
Fixes
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update CMakeLists.txt
Update mavros_plugins.xml
Update sys_time.cpp
Fix build
sys_time import. Removed all time related stuff from gps and sys_status
Initial sys_time plugin import
plugin: ftp: Bytes written now transfered in payload.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.8.0 (2014-09-22)

plugin: ftp: Disable debugging and change level for some log messages. Issue #128.
plugin: ftp: Translate protocol errors to errno. Issue #128.
scripts: mavftp: Add upload subcommand. Issue #128.
python: Add more ftp utils. Issue #128.
plugin: ftp: Fix write offset calculation. Issue #128.
plugin: ftp: Add . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add support for . Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Add
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Move common mission classes to mavros.mission module. Issue #157.
python: Move useful utils to mavros.param module. Issue #157.
python: Move common utils to mavros.utils module. Issue #157.
python: Create python module for ftp utils. Issue #128, #157.
scripts: ftp: Implement file-like object for IO. Issue #128.
plugin: ftp: Implement write file. Issue #128.
scripts: mavftp: Add remove subcommand. Issue #128.
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add response errno from server.
plugin: ftp: Add support for 'Skip' list entries. Issue #128.
scripts: mavftp: Add mkdir/rmdir support. Issue #128.
plugin: ftp: Add mkdir/rmdir support. Issue #128.
plugins: ftp: Update protocol headers. Issue #128.
Revert "Update package.xml format to REP140 (2)." This reverts commit 81286eb84090a95759591cfab89dd9718ff35b7e. ROS Hydro don't fully support REP140: rospack can't find plugin descriptions. Fix #151.
scripts: mavwp: Fix --follow mode
plugin: imu_pub: Fix RAW_IMU/SCALED_IMU angular scale constant. Fix #152.
launch: remove px4_local_gcs.launch again. It removed in 826be386938c2735c9dab72283ba4ac1c68dc860, but accidentally returned.
extras: launch: Use includes. Fix #144.
launch: PX4: use node.launch in PX4 scripts. Also remove px4_local_gcs.launch: please use [roslaunch mavros px4.launch gcs_url:=udp://\@localhost]{.title-ref} instead. Issue #144.
launch: APM2: Add node.launch and update apm scripts to use it. Issue #144.
plugin: command: Fix CommandInt x,y types.
Update package.xml format to REP140 (2). Fix #104.
launch: Blacklist FTP for APM.
scripts: mavwp: Add decoding for some DO-* mission items.
scripts: mavwp: Add preserve home location option at load operation. Useful if FCU stores home location in WP0 (APM).
Added src location.
Updated README wstool instructions.
plugin: ftp: Init ctor
service: mavftp: Initial import. Issue #128.
plugin: ftp: Implemnet reset call. Sometimes kCmdReset can restore normal operation, but it might be dangerous. Issue #128.
plugin: ftp: Implement call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Fix open error. Issue #128.
plugin: ftp: Implement (read) and . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement method. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement list parsing Issue #128.
plugin: ftp: Fix CRC32 calculation. Issue #128.
plugin: ftp: Add plugin skeleton. Based on QGroundContol QGCUASFileManager.h/cc. Issue #128.
plugin: ftp: Add size info
plugin: ftp: Add plugin service API. Issue #128.
plugin: vfr_hud: Initial import. Also this plugin publish APM specific WIND estimation message. Fix #86.
node: coverity fails at UAS initilizer list
plugin: setpoint_attitude: Init ctor, remove code dup.
cmake: Add check MAVLINK_DIALECT value Fix #139.
Move common cmake rules to modules. Same mech as in [cmake_modules]{.title-ref} package. Issue #139.
launch: corrected launch for gcs bridge
scripts: mavsetp: Fix misprint.
launch files: added px4 launch files for connection with radio and gcs
scripts: mavsetp: Fix twist.angular vector construction. Small style fix.
Update doxygen documentation. Add split lines in UAS, and make UAS.connection atomic. Add rosdoc configuration for mavros_extras.
scripts: mavsetp: corrected API; added possibility of parse angles in dg or rad
scripts: mavsetp: corrected msg API; mavteleop: added prefix to rc override
scripts: mavsetp: added local accel; corrected how the OFFBOARD mode is swtch.
scripts: mavsetp: changed the way offboard mode is switched
node: init ctor (coverity)
nodelib: add std::array header
return msg generator deps for mavconn
scripts: mavsys: Implement set rate command.
scripts: Add mavsys tool. Implented only [mode]{.title-ref} operation. Issue #134.
plugin: sys_status: Implement set_mode service. Previous command shortcut removed. Issue #136, #134.
node: Implement reverse mode lookup. Issue #136.
plugin: sys_status: Move custom mode decoder to UAS. Issue #136.
node: Catch URL open exception. Also update connection pointer type.
nodelib: move sources to subdir
node: Move UAS to mavros namespace
node: Move node code to library.
node: Catch DeviceError; use C++11 foreach shugar.
plugin: command: Add COMMAND_INT suport. Fix #98.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov

0.7.1 (2014-08-25)

plugins: setpoint: Update SET_POSITION_TARGET_LOCAL_NED message. Fix #131.
scripts: mavsetp: Enable OFFBOARD mode. Issue #126.
plugin: command: Add guided_enable shortcut It enable PX4 OFFBOARD mode. Issue #126.
scripts: Add mavsetp script. Only local setpoint for now. Issue #126.
plugins: Change UAS FCU link name. Reduce smart pointer count, that hold fcu link object.
scripts: mavcmd: Add takeoffcur and landcur commands Fix #91, #92. Inspired by #125.
Closes #122, closes #123; plugins: move mocap & vision plugins to extras, change vision plugins name
plugins: UAS remove std::atomic<double> It don't work at some compilers. Issue #89.
plugin: global_position: Fill NavSatFix status filed. Issue #87, #118.
plugins: Add GPS data to UAS
plugins: Move setpoint_mixin.h Fix #120.
plugin: mocap: Fix load. Issue #121.
plugins: global_position: get pose orientation from the one stored in uas
plugins: global_position: use relative_alt on position.z; mavros_plugins.xml - corrected declaration of mocap_pose_estimate
plugin - global_position - changed parameter path / orientation source
launch: APM2 blacklist global_position plugin
plugin: global_position: Unit unification.
plugin: global_position: Move heaedr; Style fix.
added rel_pos and compass_hdg pub; minor corrections
Merge branch 'master' of https://github.com/vooon/mavros into global_position
global_position plugin - initial commit
launch: APM2 blacklist mocap plugin.
Updated mavros_plugins.xml
Fixed dual sources error warning.
Fixed styles.
Minor changes.
added time stamp to received msgs
Removed un-needed times.
Added mocap_pose_estimate plugin.
Code style update
setpoint attitude change - warning message
Update on setpoint_attitude plugin
- changed Twist to TwistStamped
- added reverse_throttle option for throttle control
- use cmd_vel as the same topic to control linear a angular velocities (it's commonly used by controllers)
- added normalization filter to thrust
node: Remove deprecated conn parameters. Fix #108
plugin: vision_speed: Update plugin API.
plugin: setpoint_attitude: Update plugin API.
plugin: setpoint_accel: Update plugin API.
plugin: setpoint_velocity: Update plugin API.
plugin: 3dr_radio: Update plugin API.
plugin: safety_area: Update plugin API.
plugin: setpoint_position: Update plugin API.
plugin: vision_position: Update plugin API.
plugin: local_position: Update plugin API.
plugin: command: Update plugin API.
plugin: rc_io: Update plugin API.
plugin: waypoint: Update plugin API.
plugin: param: Update plugin API.
plugin: gps: Update plugin API.
plugin: imu_pub: Update plugin API.
plugin: sys_status: Update plugin API.
plugin: Update plugin API.
plugins: disable most of plugins
plugin: setpoint_attitude: Add thrust topic. Fix #106.
Fix URLs in readme
mavros -> ros-message parameter fix only parameter1 was forwarded into the ros message
Switch travis to pixhawk dialect. Default dialect build by ros buildfarm. Also remove duplicate ci statuses from mavros readme.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov, mthz

0.7.0 (2014-08-11)

Add package index readme, Fix #101
move mavros to subdirectory, #101
Merge branch 'master' of github.com:vooon/mavros * 'master' of github.com:vooon/mavros: Add link to ros-*-mavlink package wiki page.
plugins: setpoint: Update setpoint message name. Issue #94, Fix #97.
plugin: setpoint_attitude: Update message name. Issues #94, #97.
Add link to ros-*-mavlink package wiki page.
plugin: gps: Fix gcc 4.6 build (atomic). Not recommended to use std::atomic with gcc 4.6. So i limited to prederined atomics for simple types like int, float etc.
plugin: sys_status: Implement PX4 mode decoding. Fix #84.
plugin: gps: Add EPH & EPV to diagnostic. Issue #95
plugin: gps: Move message processing to individual handlers. Issue #95.
plugin: rc_io: Replace override service with topic. (ROS API change). Fix #93.
Add dialect selection notes
plugins: Change severity for param & wp done messages.
plugins: Store raw autopilot & mav type values. This may fix or not issue #89.
plugins: init ctor (coverity)
plugin: imu_pub: Add ATTITUDE_QUATERNION support. Also reduce copy-paste and use mode readable bitmask check. Fix #85.
scriptis: mavcmd: Spelling
scripits: Add mavcmd tool
Add links to mavros_extras
param: sys_status: Option to disable diagnostics (except heartbeat)
plugin: command: Add takeoff and land aliases. Issue #68.
plugin: command: Add quirk for PX4. Fix #82.
plugin: Add UAS.is_px4() helper. Replace some locks with atomic. Issue #82.
launch: Clear PX4 blacklist. Issue #68.
launch: Add target ids. Also fix PX4 wrong ?ids usage (it set mavros ids, not target). Issue #68.
plugin: imu_pub: Fix HRIMU pressure calc. 1 mBar is 100 Pa. Fix #79.
plugins: C++11 chrono want time by ref, return *_DT Fix #80.
plugins: Replace boost threads with C++11. And remove boost thread library from build rules. Issue #80.
plugins: Replace Boost condition variables with C++11 Issue #80.
plugins: Replace boost mutexes with C++11. Issue #80.
travis clang to old, fails on boost signals2 library. disable.
travis: enable clang build.
node: Make project buildable by clang. Clang produce more readable errors and provide some static code analysis, so i want ability to build mavros with that compilator.
plugins: replace initial memset with c++ initializer list
launch: PX4 default ids=1,50. Also waypoint plugin works (with first_pos_control_flight-5273-gd3d5aa9). Issue #68.
launch: Use connection URL
plugin: vision_speed: Initial import. Fix #67.
plugin: sys_status: Add SYSTEM_TIME sync send. Fix #78.
plugin: sys_status: Decode sensor health field. Fix #75.
Add ci badges to readme
plugin: param: erase invalidates iterator. Real error found by coverity :)
plugins: Init ctor
plugins: Add ctor initialization. Coverity recommends init all data members.
test: trying travis-ci && coverity integration. Real ci doing by ros buildfarm.
plugins: Fix clang-check errors.
test: Add tcp client reconnect test. Issue #72.
test: Split open_url test to individual tests. Also removed tcp client deletion on close, heisenbug here. Issue #72.
mavconn: Emit port_closed after thread stop. Also use tx state flag, improve error messages and move io post out of critical section. Issue #72.
mavconn: Fix TCP server client deletion. Issue #72.
test: Remove not needed sleep.
mavconn: Remove new MsgBuffer dup. Message drop if closed. Issue #72.
mavconn: Fix TCP server. Issue #72.
launch: APM2: Blacklist extras.
mavconn: Add mutex to channel allocation.
mavconn: Fix TCP server for gcc 4.6 Fix #74.
Remove libev from package. Issue #72.
mavconn: GCC 4.6 does not support typedef like using. Issue #74.
Merge pull request #73 from vooon/mavconn-revert-asio mavconn: Revert to Boost.ASIO
mavconn: Cleanup boost threads. I will use C++11 standard libs. Issue #72.
mavconn: Remove libev default loop thread. Issue #72.
mavconn: Port MAVConnTCPServer to Boost.ASIO. TCP send test fails. Issue #72.
mavconn: Port MAVConnTCPClient to Boost.ASIO. Also it disables MAVConnTCPServer before i rewrite it. Issue #72.
mavconn: Revert MAConnSerial back to Boost.ASIO. Issue #72.
test: Fix send_message tests. Use C++11. Issue #72.
mavconn: Revert MAVConnUDP back to Boost.ASIO. Also starting to change boost threads and mutexes to C++11. Issue #72.
test: Enable send tests. Issue #72.
test: And hand test for mavconn hangs. Issue #72.
node: Remove anonimous flag from gcs_bridge. Rename node if you want start several copies.
install: Remove duplicate
node: Fix mavros_node termination message. Issue #58.
node: Use URL in mavros_node. Fix #58.
node: Use URL in gcs_bridge. Issue #58.
node: Rename ros_udp to gcs_bridge. Because now it's not UDP only. Issue #58.
Cleanup boost components
mavconn: Implement URL parsing. Supported shemas:
- Serial: [/path/to/serial/device[:baudrate]]{.title-ref}
- Serial: [serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]]{.title-ref}
- UDP: [udp://[bind_host[:port]]@[remote_host[:port]][/?ids=sysid,compid]]{.title-ref}
- TCP client: [tcp://[server_host][:port][/?ids=sysid,compid]]{.title-ref}
* TCP server: [tcp-l://[bind_port][:port][/?ids=sysid,compid]]{.title-ref} Note: ids from URL overrides ids given to open_url(). Issue #58.
test: Add tests for UDP, TCP, SERIAL. Send message testa are broken, need to find workaround. Fix #70.
plugin: vision_position: Add transform timestamp check. Issue #60.
mavconn: Implement TCP server mode. Fix #57.
mavconn: Initial support for TCP client mode. Issue #57.
mavconn: Boost::asio cleanup.
plugin: Remove TimerService from UAS. Fix #59.
plugin: param: Add state check to sheduled pull.
mavparam: Add force pull.
plugin: param: Use ros::Timer for timeouts Also new option for force pull parameters from FCU instead of cache. Fix #59.
Add mavsafety info to README.
launch: Add apm2_radio.launch (for use with 3DR Radio)
plugin: 3dr_radio: Fix build error. Issue #62.
plugin: 3dr_radio: Publish status data for rqt_plot Also tested with SiK 1.7. Fix #62.
plugin: setpoint_attitude: Fix ENU->NED conversion. Fix #64. Related #33, #49.
launch: Add setpoint plugins to APM2 blacklist
plugin: setpoint_attitude: Initial import. XXX: need frame conversion #49. Issue #33, #64.
plugin: Move common tf code to mixin. Remove copy-paste tf_listener. Issue #33.
plugin: setpoint_position: Generalize topic NS with other [setpoint_*]{.title-ref} Issue #33, #61.
plugin: setpoint_accel: Initial import. Issues: #33, #61.
plugin: position_velocity: Initial import. Also it fix ignore mask in setpoint_position. Issues #33, #61.
plugins: 3rd_radio: Initial import. Untested. Issue #61.
scripts: Add mavsafety tool. Also add safety_area to APM2 blacklist. Fix #51.
plugins: safty_area: Initial import. This plugin listen [~/safety_area/set]{.title-ref} and send it's data to FCU. Issue #51.
plugins: position: Add TF rate limit. Issue #33.
plugin: waypoint: Use ros::Timer for timeouts. Also add some debug messages for next debugging PX4. Issue #59.
plugin: sys_status: Use ros::Timer for timeouts Also move message rx to it's own handlers. Issue #59.
Remove rosdep.yaml and update readme
Add deb build notes to readme. Issue #55.
Add sudo notes to readme.
Merge pull request #56 from vooon/54_try_libev Switch to libev
Add libev to README
package: Add temporary rosdep for libev-dev. Issue #54.
mavconn: Move MAVConnUDP to libev. And fix docs in serial. Issue #54.
mavconn: Move MAVConnSerial to libev. Adds stub for open URL function. Issure #54.
Contributors: Vladimir Ermakov, Mohammed Kabir, Nuno Marques, Glenn Gregory

0.6.0 (2014-07-17)

plugin: local_position: Use same timestamp in topic and TF. Issue #33.
plugins: TF thread required, remove notes. Issue #33.
launch: Add example launch for PX4 Issue #45.
plugin: imu_pub: Fix attitude store in UAS Issue #33. Fix #53.
plugins: Disable position topics if tf_listen enabled Also change default frame names: [vision]{.title-ref} and [setpoint]{.title-ref}. Issue #33.
plugins: Fix typo in frame_id params. Issue #33.
plugins: Add vision and setpoint TF listeners Also change parameter names to same style. Issue #33.
plugin: vision_position: Add PositionWithCovarianceStamped option Issue #33.
Add boost filesystem lib to link On some platforms its absence breaks build by: undefined reference to [boost::filesystem::path::codecvt()]{.title-ref}
launch: Add example for APM2 Fix #45.
plugin: setpoint_position: Initial import And some small doc changes in other position plugins. Issue #33.
node: Add connection change message Fix #52.
plugins: vision_position: Initial import TODO: check ENU->NED maths. Issue #33.
plugins: Remove unneded 'FCU' from diag
plugin: local_position: Change plane conversion Bug: #49.
plugin: imu_pub: Fix magnetic vector convertions Bug: #49.
Use dialects list from package
plugin: local_position: Fix orientation source Part of #33.
node: Show target system on startup Fix #47.
plugin: local_position: Initial add Receive LOCAL_POSITION_NED message and publish it via TF and PoseStamped topic in ENU frame. Part of #33.
node: Use boost::make_shared for message allocation Fix #46.
plugins: Use boost::make_shared for message allocation Part of #46.
plugin: imu_pub: Fix misprint in fill function Fix magnetometer vector convertion (HR IMU). Related #33.
plugin: imu_pub: setup cleanup.
Update readme
plugin: gps: Fix gps_vel calculation Fix #42.
plugins: Make name and messages methods const. (breaking). WARNING: this change broke external plugins. Please add const to get_name() and get_supported_messages(). Part of #38.
plugins: Use mavlink_msg*_pack_chan() functions Fix #43.
mavconn: Reuse tx buffer (resize by extents) Part of #38.
mavconn: Do not finalize messages if id pair match mavlink*_pack also do finalize, so explicit finalization just recalculate crc and seq number (doubles work). Test later if we need check seq too.
mavconn: Documentation and cleanup Make MAVConn classes noncopyable. Remove copy-paste copy and following async_write calls. Reserve some space in tx queues. Replace auto_ptr with unique_ptr.
test: Fix header include
mavconn: Fix possible array overrun in channel alocation. Problem found by clang.
fix some roslint errors
mavconn: move headers to include
node: Implement plugin blacklist. New parameter: [~/plugin_blacklist]{.title-ref} lists plugin aliases with glob syntax. Fix #36.
plugins: Change constants to constexpr (for gcc 4.6)
mavconn: Add gencpp dependency (utils.h requiers generated header)
Move duplicate Mavlink.msg copy to utils.h
Remove tests that requires connection to FCU
plugins: imu_pub: Fix PX4 imu/data linear_accelerarion field Should fix: #39.
plugins: imu_pub: Add magnitic covariance Trying to move constants with constexpr. Related: #13.
Remove testing info Need to remove tests that could not run on build farm.
Contributors: Vladimir Ermakov

0.5.0 (2014-06-19)

Remove mavlink submodule and move it to package dependency Bloom release tool don't support git submodules, so i've ceate a package as described in http://wiki.ros.org/bloom/Tutorials/ReleaseThirdParty . Fix #35.
plugins: param: add missing gcc 4.6 fix.
plugins: fix const initializers for gcc 4.6
plugins: imu_pub: fix const initializers for gcc 4.6 Fix for build failure devel-hydro-mavros #4.
Add support for GCC 4.6 (C++0x, ubuntu 12.04) I don't use complete c++11, so we could switch to c++0x if it supported.
plugins: rc_io: Add override rcin service Fix: #22.
plugins: sys_status: fix timeouts Fix #26.
plugins: sys_status: add set stream rate service Some additional testing required. Fix #23.
Remove unused boost libarary: timer Build on jenkins for hydro failed on find boost_timer.
0.4.1
Add changelog for releasing via bloom

0.4.1 (2014-06-11)

node: Show serial link status in diag Now 'FCU connection' shows actual status of connection (HEARTBEATS).
Fix #29. Autostart mavlink via USB on PX4 Changes mavconn interface, adds new parameter.
Fix installation rules. Fix #31.
Setup UDP transport for /mavlink messages
Fix mavlink dialect selection Fix #28.
Add link to wiki.ros.org Part of #27.

0.4.0 (2014-06-07)

Release 0.4.0 And some docs for CommandPlugin.
plugins: command: Command shortcuts Fix #12.
plugins: command: Add ACK waiting list Part of #12.
plugins: command: Initial naive realization. Partial #12, #25.
mavconn: Fix build on Odroid with Ubuntu 13.10 Fix #24.
plugins: rc_io: initial add RC_IO plugin Topics:
- ~/rc/in -- FCU RC inputs in raw microseconds
* ~/rc/out -- FCU Servo outputs Fix #17. Partiall #22.
Fix installation wstool command. [wstool set]{.title-ref}, not [wstool add]{.title-ref}.
Add installation notes to README Installing pymavlink is not required, but try if errors.
Fix headers in README.md
ros_udp: New node for UDP proxing Add some examples to README.md. Fix #21.
sys_status: Add state publication Fix #16.
sys_status: Sent HEARTBEAT if conn_heartbeat > 0 Fix #20.
sys_status: add sensor diagnostic See #16.
sys_status: Add battery status monitoring Fix #19, partial #16.
sys_status: HWSTATUS support Fix #18, partial #20.
plugins: imu_pub: Add RAW_IMU, SCALED_IMU and SCALED_PRESSURE handlers Fix #13. Refactor message processing. Combination of used messages: On APM: ATTITUDE + RAW_IMU + SCALED_PRESSURE On PX4: ATTITUDE + HIGHRES_IMU On other: ATTITUDE + (RAW_IMUHIGHRES_IMU Published topics:
- ~imu/data - ATTITUDE + accel data from *_IMU
- ~imu/data_raw - HIGHRES_IMU or SCALED_IMU or RAW_IMU in that order
- ~imu/mag - magnetometer (same source as data_raw)
- ~imu/temperature - HIGHRES_IMU or SCALED_PRESSURE
- ~imu/atm_pressure - same as temperature
Update readme
mavwp: Add --pull option for 'show' operation. Reread waypoints before show.
MissionPlanner use format QGC WPL, Fix #15 Code cleanup;
Update mavlink version.
Update mavlink version
mavparam: fix #14 support for QGC param files
mavwp: Add mavwp to install

0.3.0 (2014-03-23)

Release 0.3.0
mavwp: Add MAV mission manipulation tool Uses WaypointPlugin ROS API for manipulations with FCU mission.
- show -- show current mission table
- pull -- update waypoint table
- dump -- update and save to file
- load -- loads mission from file
- clear -- delete all waypoints
- setcur -- change current waypoint
- goto -- execute guided goto command (only APM) Currently supports QGroundControl format only.
plugins: wp: Add GOTO, update documentation
plugins: wp: Auto pull
plugins: wp: SetCurrent & Clear now works
plugins: wp: Push service works
plugins: wp: push almost done
plugins: wp: Pull done
plugins: param: remove unused ptr
plugins: wp: mission pull almost done
plugins: wp: Add convertors & handlers
plugins: Waypoint plugin initial
Use C++11 feuture - auto type
plugins: refactor context & link to single UAS class UAS same functions as in QGC.
plugins: Add msgs and srvs for Waypoint plugin
Update mavlink library
Update mavlink version
mavparam: Fix for DroidPlanner param files & cleanup DroidPlanner adds some spaces, don't forget to strip it out. Cleanup unused code from Parameter class.

0.2.0 (2014-01-29)

mavparam: Add MAV parameter manipulation tool Uses ParamPlugin ROS API for manipulating with fcu params.
- load -- load parameter from file
- dump -- dump parameter to file
- get -- get parameter
- set -- set parameter Currently supports MissionPlanner format only. But DroidPlanner uses same format.
Update README and documentation
plugins: param: implement ~param/push service Also implement sync for rosparam:
- ~param/pull service pulls data to rosparam
- ~param/push service send data from rosparam
- ~param/set service update rosparam if success
plugins: param: implement ~param/set service
plugins: param: implement ~param/get service
plugins: param: Implement automatic param list requesting
plugins: use recursive_mutex everywhere
plugins: param now automaticly requests data after connect
plugins: Add common io_service for plugins, implement connection timeout Some plugin require some delayed processes. Now we can use boost::asio::*timer. New parameter:
- ~/conn_timeout connection timeout in seconds
plugins: add param services
mavconn: set thread names WARNING: pthread systems only (BSD/Linux)
plugins: implement parameters fetch service
plugins: fix string copying from mavlink msg
plugins: Setup target in mav_context New params:
- ~target_system_id - FCU System ID
- ~target_component_id - FCU Component ID
plugins: IMU Pub: add stdev parameters, change topic names. Add parameters:
- ~imu/linear_acceleration_stdev - for linear acceleration covariance
- ~imu/angular_velocity_stdev - for angular covariance
- ~imu/orientation_stdev - for orientation covariance Change topic names (as in other IMU drivers):
- ~imu -> ~/imu/data
- ~raw/imu -> ~/imu/data_raw
plugins: Params initial dirty plugin
Fix mavlink dialect choice.
plugins: Add context storage for automatic quirk handling ArduPlilot requires at least 2 quirks:
- STATUSTEXT severity levels
- parameter values is float
Implement MAVLink dialect selection ArduPilotMega is default choice.
doc: add configuration for rosdoc_lite

0.1.0 (2014-01-05)

Version 0.1.0 Milestone 1: all features from mavlink_ros package.xml was updated.
Fix typo and add copyright string NOTE: Please check typos before coping and pasting :)
plugins: gps: Add GPS_RAW_INT handler GPS_STATUS not supported by APM:Plane. ROS dosen't have standard message for satellites information.
mavconn: small debug changes Limit no GCS message to 10 sec.
node: Terminate node on serial port errors
plugins: Add GPS plugin SYSTEM_TIME to TimeReference support. TODO GPS fix.
Fix build and update MAVLink library
plugins: sys_status: Add SYSTEMTEXT handler Two modes:
- standard MAV_SEVERITY values
- APM:Plane (default) TODO: add mavlink dialect selection option
plugins: add some header doxygen tags Add license to Dummy.cpp (plugin template).
plugins: sys_status: Add MEMINFO handler MEMINFO from ardupilotmega.xml message definition. Optional.
update README
update TODO
plugins: Add imu_pub plugin. Publish ATTITUDE and HIGHRES_IMU data. HIGHRES__IMU not tested: Ardupilot sends ATTITUDE only :(
node: publish Mavlink.msg only if listners > 0
plugins: Add sys_status plugin. Initial.
plugins: implement loading & rx routing
plugins: initial
node: Add diagnostics for mavlink interfaces
mavconn: add information log wich serial device we use.
mavconn: fix overloaded MAVConn*::send_message(msg)
mavros: Add mavros_node (currently serial-ros-udp bridge) Message paths: Serial -+-> ROS /mavlink/from +-> UDP gcs_host:port ROS /mavlink/to -+-> Serial UDP bind_host:port -+
Add README and TODO files.
mavconn: fix MAVConnUDP, add mavudpproxy test mavudpproxy -- connection proxy for QGroundControl, also used as test for MAVConnUDP and MAVConnSerial.
mavconn: add UDP support class
mavconn: fix: should use virtual destructor in interface class
mavconn: add getters/setters for sys_id, comp_id; send_message return.
mavconn: simple test. tested with APM:Plane: works.
mavconn: fix linking
mavconn: serial interface
Add mavconn library prototype mavconn - handles MAVLink connections via Serial, UDP and TCP.
Add MAVLink library + build script
Initial Import Mavlink.msg from mavlink_ros package ( https://github.com/mavlink/mavlink_ros ).
Contributors: Vladimir Ermakov

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	mavlink
	angles
	cmake_modules
	catkin
	message_runtime
	rospy
	rosunit
	diagnostic_updater
	eigen_conversions
	libmavconn
	pluginlib
	rosconsole_bridge
	roscpp
	tf2_ros
	tf2_eigen
	diagnostic_msgs
	geometry_msgs
	mavros_msgs
	nav_msgs
	sensor_msgs
	geographic_msgs
	trajectory_msgs
	std_msgs
	std_srvs

System Dependencies

Name
eigen
geographiclib
geographiclib-tools
gtest
boost

Dependant Packages

Name	Deps
mavros_extras
test_mavros

Launch files

launch/px4.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - respawn_mavros [default: $(arg respawn_mavros)]
launch/apm.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
launch/node.launch
- - fcu_url
  - gcs_url
  - tgt_system
  - tgt_component
  - pluginlists_yaml
  - config_yaml
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
launch/apm2.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
launch/mavlink_bridge.launch
- - ns [default: iris]
  - mavlink_bridge_url [default: udp://127.0.0.1:14553@127.0.0.1:14560]

Messages

No message files found.

Services

No service files found

Plugins

mavros

Recent questions tagged `mavros` at Robotics Stack Exchange

API Docs Browse Code Wiki

mavros package from mavros repo

libmavconn mavros mavros_extras mavros_msgs test_mavros

API Docs
Browse Code
Wiki

Package Summary

Tags	uav mav mavlink plugin apm px4
Version	1.20.0
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/mavlink/mavros.git
VCS Type	git
VCS Version	master
Last Updated	2024-10-10
Dev Status	DEVELOPED
CI status	Latest build history: Mon, 12 Jun 2023 13:40:12 GMT (last 5 of 58 builds) #146 12-Jun-2023 13:08 40 / 40 #145 05-May-2023 17:08 40 / 40 #144 16-Feb-2023 16:08 40 / 40 #143 03-Jan-2023 18:08 40 / 40 #142 30-Dec-2022 15:08 40 / 40
Released	RELEASED
Tags	uav mav mavlink plugin apm px4
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.

Additional Links

Maintainers

Vladimir Ermakov

Authors

Vladimir Ermakov

mavros/README.md

MAVROS

MAVLink extendable communication node for ROS with proxy for Ground Control Station (e.g. QGroundControl).

ROS API documentation moved to wiki.ros.org.

Features

Communication with autopilot via serial port, UDP or TCP (e.g. PX4 Pro or ArduPilot)
Internal proxy for Ground Control Station (serial, UDP, TCP)
Plugin system for ROS-MAVLink translation
Parameter manipulation tool
Waypoint manipulation tool
PX4Flow support (by mavros_extras)
OFFBOARD mode support
Geographic coordinates conversions.

Limitations

Only for Linux. Depends on Boost library, GCC 4.8+ (C++11 support). Catkin build system required.

This package are dependent on ros-*-mavlink build from mavlink-gbp-release. It exists in ROS package index and usually updates each month.

Connection URL

Connection defined by URL, you can use any supported type for FCU and GCS.

Supported schemas:

Serial: /path/to/serial/device[:baudrate]
Serial: serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]
Serial with hardware flow control: serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid]
UDP: udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid]
UDP broadcast until GCS discovery: udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid]
UDP broadcast (permanent): udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid]
TCP client: tcp://[server_host][:port][/?ids=sysid,compid]
TCP server: tcp-l://[bind_host][:port][/?ids=sysid,compid]

Note:

Ids from URL overrides value given by system_id & component_id parameters.
bind_host - default 0.0.0.0 - i.e. IP4 ANY
UDP default ports: 14555 @ 14550
UDP remote address updated every time with incoming packet on bind port.
TCP default port: 5760

Coordinate frames

MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Please read documents from issue #473 for additional information.

All the conversions are handled in src/lib/ftf_frame_conversions.cpp and src/lib/ftf_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.

MAVROS also allows conversion of geodetic and geocentric coordinates through GeographicLib given that:

geographic_msgs and NatSatFix.msg require the LLA fields to be filled in WGS-84 datum, meaning that the altitude should be the height above the WGS-84 ellipsoid. For that, a conversion from the height above the geoid (AMSL, considering the egm96 geoid model) to height above the WGS-84 ellipsoid, and vice-versa, is available and used in several plugins;
According to ROS REP 105, the earth frame should be propagated in ECEF (Earth-Centered, Earth-Fixed) local coordinates. For that, the functionalities of GeographicLib are used in order to allow conversion from geodetic coordinates to geocentric coordinates;
The translation from GPS coordinates to local geocentric coordinates require the definition of a local origin on the map frame, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in the global_position plugin.

Programs

mavros_node – main communication node

Main node. Allow disable GCS proxy by setting empty URL.

Run example (autopilot connected via USB at 921600 baud, GCS running on the host with IP 172.16.254.1):

rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:921600 _gcs_url:=udp://@172.16.254.1

gcs_bridge – additional proxy

Allows you to add a channel for GCS. For example if you need to connect one GCS for HIL and the second on the tablet.

Example (SITL & QGroundControl):

rosrun mavros mavros_node _gcs_url:='udp://:14556@172.16.254.129:14551' &
rosrun mavros gcs_bridge _gcs_url:='udp://@172.16.254.129'

Launch Files

Launch files are provided for use with common FCUs, in particular Pixhawk:

px4.launch – for use with the PX4 Autopilot (for VTOL, multicopters and planes)
apm.launch – for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)

Examples:

roslaunch mavros px4.launch
roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@

Installation

Required dependencies

Most of the ROS dependencies are supported and installed by rosdep, including external libraries as Eigen and Boost.

GeographicLib can be installed by apt-get and it is already included on the rosdep of MAVROS package. It is also possible to compile it and install it from src but be advised to have the proper install directories the same as the ones of the apt-get install, in order to make sure that the FindGeographicLib.cmake finds the required shared libraries (libGeographic.so).

Since GeographicLib requires certain datasets (mainly the geoid dataset) so to fulfill certain calculations, these need to be installed manually by the user using geographiclib-tools, which can be installed by apt-get in Debian systems. For a quicker procedure, just run the available script in the “mavros/scripts” folder, install_geographiclib_datasets.sh.

Note that if you are using an older MAVROS release source install and want to update to a new one, remember to run rosdep update before running rosdep install --from-paths ${ROS_WORKSPACE} --ignore-src --rosdistro=${ROSDISTRO}, with ROS_WORKSPACE your src folder of catkin workspace. This will allow updating the rosdep list and install the required dependencies when issuing rosdep install.

:bangbang: The geoid dataset is mandatory to allow the conversion between heights in order to respect ROS msg API. Not having the dataset available will shutdown the mavros_node :bangbang:

:heavy_exclamation_mark:Run install_geographiclib_datasets.sh to install all datasets or geographiclib-datasets-download egm96_5 (Debian 7, Ubuntu 14.04, 14.10), geographiclib-get-geoids egm96-5 (Debian 8, Fedora 22, Ubuntu 15.04 or later) to install the geoid dataset only:heavy_exclamation_mark:

Binary installation (deb)

ROS repository has binary packages for Ubuntu x86, amd64 (x86_64) and armhf (ARMv7). Kinetic also support Debian Jessie amd64 and arm64 (ARMv8).

Just use apt-get for installation:

sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras

Then install GeographicLib datasets by running the install_geographiclib_datasets.sh script:

wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh

Source installation

Use wstool utility for retrieving sources and catkin tool for build.

NOTE: The source installation instructions are for the ROS Kinetic release.

sudo apt-get install python-catkin-tools python-rosinstall-generator -y
# For Noetic use that:
# sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y

# 1. Create the workspace: unneeded if you already has workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
wstool init src

# 2. Install MAVLink
#    we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall

# 3. Install MAVROS: get source (upstream - released)
rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
# alternative: latest source
# rosinstall_generator --upstream-development mavros | tee -a /tmp/mavros.rosinstall
# For fetching all the dependencies into your catkin_ws, just add '--deps' to the above scripts
# ex: rosinstall_generator --upstream mavros --deps | tee -a /tmp/mavros.rosinstall

# 4. Create workspace & deps
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y

# 5. Install GeographicLib datasets:
./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

# 6. Build source
catkin build

# 7. Make sure that you use setup.bash or setup.zsh from workspace.
#    Else rosrun can't find nodes from this workspace.
source devel/setup.bash

Build error. if you has error with missing mavlink* then you need fresh mavlink package. You may update from ros-shadow-fixed (binary installation) or redo script steps 2 & 4.

Note. Since MAVLink 2.0 merged (0.18) all dialects supported by same binary. Unfortunately overlap of v1.0 message ID’s not fully handled, first loaded message forbid further changes. Load order always:

common
ardupilotmega
alphabetical ordered list
…

Note: MAVLINK_DIALECT not used anymore.

Troubleshooting

Error: serial0: receive: End of file

This issue should have been solve in mavros v0.23.2, it was found to be a Boost.ASIO error and should be fix in release > v1.12.0 ( >Boost 1.66).

Contributing

See CONTRIBUTING.md.

Glossary

GCS — Ground Control Station
FCU — Flight Control Unit (aka FC)
OBC — OnBoard Computer (your odroid or raspberry)

Links

MAVLink – The communication protocol for Drones, used by flight controllers, ground control stations, and peripherals
mavlink_ros – original ROS node (few messages, no proxy)
Pixhawk – Open Standards for drone hardware
PX4 Autopilot – Flight Controller with support for most vehicle types and hardened/tested MAVROS support
ArduPilot – tested autopilot APM:Plane (default command set)
QGroundControl – Ground Control Station for MAVLink autopilots, with tested support for Android, iOS, Mac OS, Linux, and Windows
mavros_extras – extra plugins & node for mavros

CHANGELOG

Changelog for package mavros

1.20.0 (2024-10-10)

add param to odom plugin
add frame_id parameter
Contributors: EnderMandS

1.19.0 (2024-06-06)

gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
Contributors: Beniamino Pozzan

1.18.0 (2024-03-03)

sys_status.cpp: improve timeout code
sys_status.cpp: Add a SYS_STATUS message publisher
Contributors: Dr.-Ing. Amilcar do Carmo Lucas

1.17.0 (2023-09-09)

cog: regenerate all
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877. * Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
mavros: Remove extra ';'
Suppress warnings from included headers
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov, natmol

1.16.0 (2023-05-05)

Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
made it such that the gp_origin topic published latched.
Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
use hpp instead of deprecated .h pluginlib headers
Contributors: Lucas Walter, Shu-Nong Wu, Vladimir Ermakov

1.15.0 (2022-12-30)

Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.14.0 (2022-09-24)

scripts: waypoint and param files are text, not binary Fix #1784
Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
add cmake module path for geographiclib on debian based systems
Merge pull request #1744 from amilcarlucas/pr_gimbal_diagnostics_fixes mount_control.cpp: detect MOUNT_ORIENTATION stale messages
mount_control.cpp: detect MOUNT_ORIENTATION stale messages correct MountConfigure response success correct constructor initialization order some gimbals send negated/inverted angle measurements, correct that to obey the MAVLink frame convention using run-time parameters
Merge pull request #1743 from amilcarlucas/pr_apm_config apm_config.yaml: add mount configuration
apm_config.yaml: add mount configuration
Merge pull request #1732 from amilcarlucas/pr-meminfo-fix MEMINFO fixes
sys_status.cpp fix free memory for values > 64KiB
Merge pull request #1716 from amilcarlucas/avoid-harcoded-values sys_status.cpp: do not use harcoded constants
Merge pull request #1711 from amilcarlucas/diagnose-up-to-n-batteries Diagnose up-to 10 batteries
*_config.yaml: document usage of multiple batteries diagnostics
sys_status.cpp: fix compilation
sys_status.cpp: support diagnostics on up-to 10 batteries Uses as many battery monitors as the user specified in min_voltage parameter. Add myself as a contributor, this is not my first patch to this file
Merge pull request #1712 from amilcarlucas/fix-disabled-diagnostics sys_status.cpp: fix enabling of mem_diag and hwst_diag
sys_status.cpp: do not use harcoded constants
sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics Use atomic variable to prevent potential threading problems
sys_status.cpp: fix enabling of mem_diag and hwst_diag
Merge pull request #1704 from amilcarlucas/correct-bat-voltages sys_status.cpp: Do not use battery1 voltage for all batteries.
sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix). Support both cell and total voltages above 65V Support up-to 14S batteries If available, add cell voltage information to the battery diagnostic
Merge pull request #1707 from amilcarlucas/ignore-gimbal-sys-status sys_status.cpp: ignore sys_status mavlink messages from gimbals
sys_status.cpp: ignore sys_status mavlink messages from gimbals
Merge pull request #1703 from amilcarlucas/remove-deprecated-battery2 sys_status.cpp: remove deprecated BATTERY2 mavlink message support
sys_status.cpp: remove deprecated BATTERY2 mavlink message support
Merge pull request #1696 from okalachev/patch-2 Disable startup_px4_usb_quirk in px4_config.yaml
Disable startup_px4_usb_quirk in px4_config.yaml
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Oleg Kalachev, Sanket Sharma, Vladimir Ermakov, acxz

1.13.0 (2022-01-13)

Merge pull request #1690 from mavlink/fix-enum_sensor_orientation Fix enum sensor_orientation
py-lib: fix compatibility with py3 for Noetic
test: add checks for ROTATION_CUSTOM
lib: Fix rotation search for CUSTOM Fix #1688.
Contributors: Vladimir Ermakov

1.12.2 (2021-12-12)

Merge pull request #1672 from okalachev/patch-1 Set time/publish_sim_time to false by default
Set time/publish_sim_time to false by default
Merge pull request #1669 from Hs293Go/master plugin: setpoint_raw: move getParam to initializer
plugin: setpoint_raw: move getParam to initializer Repeatedly getting the thrust_scaling parameter in a callback that can be invoked from a fast control loop may fail spuriously and trigger a fatal error
Contributors: Oleg Kalachev, Vladimir Ermakov, hs293go

1.12.1 (2021-11-29)

mavconn: fix connection issue introduced by #1658
Merge pull request #1660 from scoutdi/fix-warnings Fix warnings
mavros: Fix some warnings
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.12.0 (2021-11-27)

Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs
Fix multiple bugs
- fix bad_weak_ptr on connect and disconnect
- introduce new API to avoid thread race when assigning callbacks
- fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.
lib: fix mission frame debug print
Contributors: Alexander Sherikov, Vladimir Ermakov

1.11.1 (2021-11-24)

lib: fix build
Contributors: Vladimir Ermakov

1.11.0 (2021-11-24)

lib: fix ftf warnings
plugin: setpoint_raw: fix misprint
plugin: sys: fix compillation error
plugin: initialize quaternions with identity Eigen::Quaternion[d|f] () does not initialize with zeroes or identity. So we must initialize with identity vector objects that can be left unassigned. Related to #1652
plugin: sys: Use wall timers for connection management Fixes #1629
Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol
Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information
Contributors: Jaeyoung-Lim, Vladimir Ermakov

1.10.0 (2021-11-04)

Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
Merge pull request #1627 from marcelino-pensa/bug/ma-prevent-race-condition Node dying when calling /mavros/param/pull
Remove reference
Catch std::length_error in send_message Instead of crashing the process
Merge pull request #1623 from amilcarlucas/pr/more-typo-fixes More typo fixes
sys_time.cpp: typo
Merge pull request #1622 from dayjaby/sys_time_pub_clock sys_time: publish /clock for simulation times
sys_time: publish /clock for simulation times
Contributors: David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Marcelino Almeida, Val Doroshchuk, Vladimir Ermakov

1.9.0 (2021-09-09)

Merge pull request #1616 from amilcarlucas/pr/RC_CHANNELS-mavlink2-extensions Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels….
Changed OverrideRCIn to 18 channels
Merge pull request #1617 from amilcarlucas/pr/NAV_CONTROLLER_OUTPUT-plugin Added NAV_CONTROLLER_OUTPUT Plugin
Merge pull request #1619 from amilcarlucas/pr/BATTERY2-topic publish BATTERY2 message as /mavros/battery2 topic
publish BATTERY2 message as /mavros/battery2 topic
Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
Added NAV_CONTROLLER_OUTPUT Plugin
Merge branch 'master' into master
plugins: reformat xml
Exclude changes to launch files.
Delete debug files.
Apply uncrustify changes.
Move Compass calibration report to extras. Rewrite code based on instructions.
Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
Contributors: André Filipe, BV-OpenSource, Karthik Desai, Vladimir Ermakov

1.8.0 (2021-05-05)

lib: ftf: allow both Quaterniond and Quaternionf for quaternion_to_mavlink()
extras: distance_sensor: rename param for custom orientation, apply uncrustify
px4_config: Add distance_sensor parameters
convert whole expression to mm
Contributors: Alexey Rogachevskiy, Thomas, Vladimir Ermakov

1.7.1 (2021-04-05)

re-generate all pymavlink enums
Contributors: Vladimir Ermakov

1.7.0 (2021-04-05)

lib: re-generate the code
plugins: mission: re-generate the code
MissionBase: correction to file information
MissionBase: add copyright from origional waypoint.cpp
uncrustify
whitespace
add rallypoint and geofence plugins to mavros plugins xml
add rallypoint and geofence plugins to CMakeList
Geofence: add geofence plugin
Rallypoint: add rallypoint plugin
Waypoint: inherit MissionBase class for mission protocol
MissionBase: breakout mission protocol from waypoint.cpp
README: Update PX4 Autopilot references Much needed fixes to clarify the project is named correctly throughout the README for the PX4 Autopilot, QGroundControl, and MAVLink
Fix https://github.com/mavlink/mavros/issues/849
Contributors: Charlie-Burge, Ramon Roche, Tobias Fischer, Vladimir Ermakov

1.6.0 (2021-02-15)

fix inconsistency in direction of yaw when using set_position in BODY frames and fix problems with yaw in setponit_raw
Contributors: zhouzhiwen2000

1.5.2 (2021-02-02)

readme: add source install note for Noetic release
Contributors: Vladimir Ermakov

1.5.1 (2021-01-04)

Fix tests for renaming of ECEF cases Introduced in 6234af29
Initialise message structures Uninitialised Mavlink 2 extension fields were sent if the fields were not later set. Initialising the fields to zero is the default value for extension fields and appears to the receiver as though sender is unaware of Mavlink 2. Instances were found with regex below, more may exist: mavlink::[\^:]+::msg::[\^:={]+ ?[\^:={]*;
Contributors: Rob Clarke

1.5.0 (2020-11-11)

mavros/sys_status: Fill flight_custom_version field
mavros: Add override specifiers
mavros: Move ECEF tf enums to separate enum class This avoids a bunch of unhandled switch cases, and should improve type safety a bit.
Contributors: Morten Fyhn Amundsen

1.4.0 (2020-09-11)

mavros: use mavlink::minimal:: after incompatible changes in mavlink package Incompatible change: https://github.com/mavlink/mavlink/pull/1463 Fix: #1483, https://github.com/mavlink/mavlink/issues/1474
fixes based on vooon's review
fix issue what we couldn't set real parameters to 0.0 in mavros
Add error message
Fixed compilation error: publish std_msgs::String, not std::string for gcs_ip
Dispatch GCS IP address
Contributors: Artem Batalov, Marcelino, Morten Fyhn Amundsen, Vladimir Ermakov, Øystein Skotheim

1.3.0 (2020-08-08)

fake_gps.cpp: implement speed accuracy
fake_gps.cpp: Add mocap_withcovariance configuration parameter
fake_gps.cpp: add initial support for GPS_INPUT MAVLink message
apm.launch: Avoid warning: Warning: You are using <arg> inside an <include> tag with the default=XY attribute - which is superfluous. Use value=XY instead for less confusion. Attribute name: respawn_mavros
Added support for MavProxy parameter file format
Ignore read-only parameters and statistics parameters in push operations
fix indentation
transform based on coordinate_frame
wind plugin: fix ArduPilot wind transformation
Contributors: Ben Wolsieffer, Dr.-Ing. Amilcar do Carmo Lucas, Yuan, Yuan Xu

1.2.0 (2020-05-22)

has_capability only works for enums
Uncrustify
Reworked Waypoint plugin to use capabilities_cb Additionally added helper functions has_capability and has_capabilities so that people can use either ints or enums to check if the UAS has a capability. This might make accepting capabilities as a parameter moot though.
Added alias for capabilities enum to UAS
Added alias for capabilities enum to UAS
Added a capabilities change cb queue Plugins can now write functions that they add to the capabilities_cb_vec. These functions will be called only when there is a change to the capabilities themselves not whenever the known status of the fcu_capabilities change. These functions should have a parameter of type mavlink::common::MAV_PROTOCOL_CAPABILITY which is essentially just a uint64_t however being more opinionated is helpful when looking for what the canonical enum names are in the mavlink project header files.
Uncrustify
Fixed Removed Uncrustify Option I'm not sure why this didn't break when I ran uncrustify previously but it seems that the align_number_left option was removed a while ago with this merge request but I may be mistaken https://github.com/uncrustify/uncrustify/pull/1393 I replaced it which align_number_right=true since it seems to be the inverse of align_number_left=true.
Removed deprecated MAV_FRAME values
Removed use of variant in favor of templates Since ROS messages are now the storage type in the node, providing to and from conversion functions is sufficient and can be better expressed with function templates.
Encode factor returns double
Changed encoding factor cog code
Uncrustify changes
Added new parameter to config.yamls
Updated waypoint plugin to support MISSION_ITEM_INT These changes add a new parameter use_mission_item_int, which allows users to prefer the old behavior. These changes also verify that the flight controller supports _INT messages since APM only sends REQUEST_ITEM messages even though it accepts _INT items back. This commit is functional and tested with the APM stack only. PX4 sitl jmavsim threw: WP: upload failed: Command is not supported. FCU: IGN MISSION_ITEM: Busy
Removed x_lat, y_long, z_alt from WP These values seemed to be used due to the fact that double had a greater resolution than float and doubles are used in the ros msg. However they were only ever used for printing. Since the int version of these messages has a greater resolution I figure it is more useful to print the true value in the mavlink message rather than the ros message value
Replaced MISSION_ITEM
add yaw to CMD_DO_SET_HOME
fix local angular velocity
Contributors: Braedon, David Jablonski, Martina Rivizzigno

1.1.0 (2020-04-04)

fixed styling
fixed indent from using spaces
updates apmrover2 modes and allows for arduboat mode changes
mavsafety kill feature for emergency stop
Include trajectory_msgs in CMakeLists.txt This allows build to complete successfully.
Contributors: Anthony Goeckner, Matt Koos, aykutkabaoglu

1.0.0 (2020-01-01)

0.33.4 (2019-12-12)

Replaced estimator status hardcoded definition with cog.
Refactor.
Replaced bool with git add -u as already done.
Added a publisher for estimator status message received from mavlink in sys_status.
Contributors: saifullah3396

0.33.3 (2019-11-13)

package: fix 6fa58e59 - main package depends on trajectory_msgs, not extras
Contributors: Vladimir Ermakov

0.33.2 (2019-11-13)

0.33.1 (2019-11-11)

Add mutex
Initialize type mask
Handle frame with StaticTF
Handle different frames
Set yaw rate from message inputs
Add setpoint trajectory reset interface
Fix trajectory timestamp
Address comments
Pass reference with oneshot timers
Set typemasks correctly
Address more style comments
Address style comments
Visualize desired trajectory
Handle end of trajectory correctly
Remove message handlers
Add setpoint_trajectory plugin template
resolved merge conflict
Contributors: David Jablonski, Jaeyoung-Lim

0.33.0 (2019-10-10)

Add vtol transition service
CleanUp
Update frame name in px4_config to match ROS standards
Enable publishing multiple static tfs at once, publish standard static tfs
moving ACK_TIMEOUT_DEFAULT out of class
cog: Update all generated code
mavros/src/plugins/command.cpp: one more style fix
mavros/src/plugins/command.cpp: style fixes
mavros/src/plugins/command.cpp: command_ack_timeout ms -> s
mavros/src/plugins/command.cpp: command_ack_timeout_ms int -> double
mavros/src/plugins/command.cpp: uncrustify
mavros/src/plugins/command.cpp: parameter for command's ack timeout Sometimes commands take more time than default 5 seconds. Due to a low bandwidth of UART and a high rate of some mavlink streams. To eliminate this problem it's better to provide the parameter to configure the command's ack timeout.
added manual flag to mavros/state
Use GeoPoseStamped messages
Fix build
Add callback for SET_POSITION_TARGET_GLBOAL_INT
Contributors: David Jablonski, Jaeyoung-Lim, Sergei Zobov, Vladimir Ermakov, kamilritz

0.32.2 (2019-09-09)

uncrustify
Add boolean to check if IMU data has been received Follow sensor_msgs/Imu convention when data not present
Uncrustify the GPS_GLOBAL_ORIGIN handler in global_position
Fix global origin conversion to ecef (was using amsl where hae was required) Summary: Fix global origin conversion to ecef (was using amsl where hae was required)
moved code to end of function
added amount of satellites to global_position/raw/
Contributors: David Jablonski, Nick Steele, Rob Clarke, Robert Clarke

0.32.1 (2019-08-08)

uncrustify
Removed tf loop
made small edit to handle augmented gps fix
added a check for gps fix before setting origin for global_position/local odometry topic
Contributors: Eric, Lucas Hill

0.32.0 (2019-07-06)

use direclty radians in yaml files
A simple typo error has fixed. (#1260)
- fix: a typing error "alredy" to "already"
- Fix: typo error (helth -> health)
Contributors: Martina Rivizzigno, 강정석

0.31.0 (2019-06-07)

readme: fix udp-pb formatting
launch config: landing_target: fix and improve parameter list
remove duplicated landing_target parameters
enum_to_string: simplify landing_target_type_from_str
enum_to_string: update enumerations and checksum
extras: landing target: improve usability and flexibility
remove landing_target from blacklist
update to use pymavlink generator
px4_config: landing_target: minor correction
mav_frame: add frames of reference to wiki page; reference them on config
landing_target: removed child_frame_id
landing_target: minor code tweak/restructure
landing_target: uncrustify code
landing_target: updated to TF2 and Eigen math
landing_target: adapted to latest master code
landing_target: added timestamp and target size fields [!Won't compile unless a new mavlink release!]
landing_target: first commit
Switch to double-reflections instead of axes-reassignments
specialize transform_frame_ned_enu and transform_frame_enu_ned for type Vector3d such that input vectors containing a NAN can be correctly transformed
Update README.md update misspelling
Contributors: Julian Kent, Martina Rivizzigno, Shingo Matsuura, TSC21, Vladimir Ermakov

0.30.0 (2019-05-20)

Filter heartbeats by component id as well This addresses #1107 and #1227, by filtering incoming heartbeats by component ids before publishing the state.
mavros/src/plugins/command.cpp: log if command's wait ack timeout (#1222)
- mavros/src/plugins/command.cpp: log if command's wait ack timeout
- mavros/src/plugins/command.cpp: log timeout in wait_ack_for
local_position fix #1220: initialize flags
plugin waypoint: fix spelling
Fix leading space before setpoint_raw This causes an error when running `roslaunch`: ` error loading <rosparam> tag: file /opt/ros/kinetic/share/mavros/launch/apm_config.yaml contains invalid YAML: while parsing a block mapping in "<string>", line 4, column 1: startup_px4_usb_quirk: false ^ expected <block end>, but found '<block mapping start>' in "<string>", line 103, column 2: setpoint_raw: ^ XML is <rosparam command="load" file="$(arg config_yaml)"/> The traceback for the exception was written to the log file`
global_position.cpp: spell in comment
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Josh Veitch-Michaelis, Nico van Duijn, Sergey Zobov, Vladimir Ermakov

0.29.2 (2019-03-06)

0.29.1 (2019-03-03)

All: catkin lint files
Update apm_config.yaml Setting thrust_scaling in the setpoint_raw message (in my case, to use /mavros/setpoint_raw/attitude) Without it, when using Gazebo, get the following problem "Recieved thrust, but ignore_thrust is true: the most likely cause of this is a failure to specify the thrust_scaling parameters on px4/apm_config.yaml. Actuation will be ignored." from the function void attitude_cb in setpoint_raw.cpp (http://docs.ros.org/kinetic/api/mavros/html/setpoint__raw_8cpp_source.html)
cmake: fix #1174: add msg deps for package format 2
Issue #1174 Added dependency for mavros_msgs and mavros
Contributors: Adam Watkins, KiloNovemberDelta, Pierre Kancir, Vladimir Ermakov

0.29.0 (2019-02-02)

Fix broken documentation URLs
px4_config: set the thrust_scaling to one by default
local_position: add an aditional topic for velocity on the local frame
Merge pull request #1136 from angri/param-timeout Request timed up parameters as soon as possible
Merge branch 'master' into param-timeout
plugin:param added logging regarding rerequests
plugin:param fixed second and consequent timeouts in requesting list
mavros_extras: Wheel odometry plugin updated according to the final mavlink WHEEL_DISTANCE message.
mavros_extras: Wheel odometry plugin fixes after CR.
mavros_extras: Wheel odometry plugin added.
mavsys: add do_message_interval
sys_status: add set_message_interval service
lib: fix MAV_COMPONENT to_string
lib: update sensor orientations
plugin:param rerequest timed out parameters asap Avoid vaiting for the next timeout
Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Pavlo Kolomiiets, Randy Mackay, TSC21, Vladimir Ermakov, angri

0.28.0 (2019-01-03)

plugin:param: publish new param value
Merge pull request #1148 from Kiwa21/pr-param-value param plugin : add msg and publisher to catch latest param value
sys_status: fix build
sys_state: Small cleanup of #1150
VehicleInfo : add srv into sys_status plugin to request basic info from vehicle
sys_status: Fix #1151 bug - incorrect hex print
plugins:sys_status: Update diag decoder
frame_tf: mavlink_urt_to_covariance_matrix: make matrix symetrical
uas_data: add comment on the reverse tf fcu_frd->fcu
odom: add ODOMETRY handler and publisher
Handle LOCAL_POSITION_NED_COV messages, add pose_cov, velocity_cov, accel topics
sys_status : add MAV_TYPE as a parameter
rc_io: extend handle_servo_output_raw to 16 channels
param plugin : add msg and publisher to catch latest param value
plugin:command: Update for C++11, style fix Signed-off-by: Vladimir Ermakov <<vooon341@gmail.com>>
Fixed NavSatFix bug in mavcmd takeoffcur and landcur
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940 Remove unnecessary functools
Fix mavros/param.py to work in python2 and python3, #940 Simplify python3 fixes, #940
Fix mavros/param.py to work in python2 and python3, #940
correct the to_string function
set value back to 30
add autogenerated to_string function
style clean up
Use component_id to determine message sender
change message name from COMPANION_STATUS to COMPANION_PROCESS_STATUS
change message to include pid
Change from specific avoidance status message to a more generic companion status message
add plugin to receive avoidance status message
Added RPYrT and uncrustified. Pushing version without spaces. Version with tabs? Fixed all? Finally fixed. Fixed requestes by \@vooon Fixed a def. Fixed log format. Fixed time for log.
apm_config: enable timesync and system for ardupilot
Contributors: Dan Nix, Gregoire Linard, Oleg Kalachev, Randy Mackay, TSC21, Vladimir Ermakov, baumanta, fnoop, pedro-roque

0.27.0 (2018-11-12)

fix: a typing error "alredy" to "already"
plugins #1110 #1111: add eigen aligment to plugins with eigen-typed members
plugins: fix style
with this fix ,it will avoid eigen error on 32 bits system
Add service to send mavlink TRIGG_INTERVAL commands Adapt trigger_control service to current mavlink cmd spec. Add a new service to change trigger interval and integration time
launch: fix #1080: APM now support mocap messages
Contributors: Gaogeolone, Moritz Zimmermann, Vladimir Ermakov, rapsealk

0.26.3 (2018-08-21)

test: Fix sensor orientation. RPY 315 was removed in recent mavlink. https://github.com/mavlink/mavlink/commit/3d94bccfedc5fc7f2ffad247adecff0c2dc03501
lib: update generated entries
Contributors: Vladimir Ermakov

0.26.2 (2018-08-08)

Moving gps_rtk to mavros_extras
Update copyright name
Updating the gps_rtk plugin to fit mavros guidelines:
- Updating max_frag_len to allow changes in size in MAVLink seamlessly
- Using std::copy instead of memset
- Zero fill with std::fill
- Preapply the sequence flags
- Use of std iterators
- Add the maximal data size in the mavros_msgs
uncrustify
Update comments for the renaming
Renaming the GPS RTK module, Adding fragmentation, Changing the RTCM message
RTK Plugin; to forward RTCM messages Signed-off-by: Alexis Paques <<alexis.paques@gmail.com>>
Contributors: Alexis Paques

0.26.1 (2018-07-19)

setpoint_velocity: fix yaw rate setpoint rotation
lib fix #1051: Add APM BOAT modes support. Currently SURFACE_BOAT uses same code as Rover2, just different vehicle type.
Contributors: TSC21, Vladimir Ermakov

0.26.0 (2018-06-06)

lib: add tunable timeout to gcs_quiet_mode
udp bridge: pass only HEARTBEATs when GCS is offline
sys_time : add advanced timesync algorithm
libmavconn: add scheme for permanent UDP broadcasting
GPS accuracy wo approximations (#1034)
- GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT.
* GPS horizontal and vertical accuracy are based now on h_acc, v_acc of GPS_RAW_INT if on mavlink v2.0, or on DOP values otherwise.
- GPS accuracy update.
Contributors: Mohammed Kabir, Oleg Kalachev, Pavlo Kolomiiets, Vladimir Ermakov

0.25.1 (2018-05-14)

0.25.0 (2018-05-11)

wind plugin: uncrustify
use eigen and tf conversions (fix conventions), sync timestamp, fix typos
add wind estimation plugin
launch: fix style and keep apm.launch consistent with px4.launch
Updated apm.launch to forward new fcu_protocol parameter
glob pos plugin: correct gps velocity convention (NEU->ENU)
Split temperature publisher.
setpoint_raw: correct yaw transform; remove yaw transform methods
extras: odom: improve way frame naming is handled
extras: update odom plugin to send ODOMETRY msgs
lib: enum_to_string: update enums
setpoint_attitude: rename topic from target_attitude to attitude
imu plugin: fix pressure units
imu plugin: publish differential pressure (#1001)
- imu plugin: publish differential pressure
- imu plugin: fix doxygen snippets
lib: add PX4 mode AUTO.PRECLAND
extras: add covariance parsing to vision_speed_estimate (#996)
Contributors: Anthony Lamping, Nuno Marques, Oleg Kalachev, Sondre Engebråten, TSC21, Thomas Stastny, Timo Hinzmann, Vladimir Ermakov

0.24.0 (2018-04-05)

frame_tf: add assertion over size of covariance matrix URT
extras: update vision_pose_estimate plugin so it can send the covariance matrix also
plugins fix #990: Explicitly cast boolean values. Else someone can shoot in his foot.
Update Readme for serial0: receive: End of file
launch : remove vision_pose_estimate from blacklist on ardupilot
plugin: ftp: fix typo
Add ability to send STATUSTEXT messages
Contributors: Anass Al, Andrei Korigodski, Pierre Kancir, TSC21, Vladimir Ermakov

0.23.3 (2018-03-09)

lib: simplify geolib cmake module, try to fix CI
Contributors: Vladimir Ermakov

0.23.2 (2018-03-07)

launch: add optional respawn_mavros arg
Contributors: Anthony Lamping

0.23.1 (2018-02-27)

lib: Update to_string
plugin fix #957: set MISSION_ITEM::mission_type
Contributors: Vladimir Ermakov

0.23.0 (2018-02-03)

launch fix #935: use orientation convention from message descr https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR
Blacklist HIL for APM since it is not relevent
add MAV_DISTANCE_SENSOR enum to_string
px4: add fcu_protocol argument to choose mavlink v1.0 or v2.0 to start mavros in node.launch
node: add fcu_protocol parameter to be able to choose mavlink v1.0 or v2.0 when starting mavros node
mavros: default fcu_protocol parameter to mavlink v2.0
manual_control: [send]{.title-ref} topic for sending MANUAL_CONTROL message to FCU
imu plugin: fix doxygen comments
imu plugin: change sufixes to match the body coordinate frame
Fix vision odom.
IMU plugin: add raw IMU conversion for PX4
mention rotation convention and fix NED to ENU description
Contributors: ChristophTobler, James Goppert, James Mare, Martina, Oleg Kalachev, TSC21, Vladimir Ermakov

0.22.0 (2017-12-11)

scripts: Use non global mavros-ns allow to work __ns parameter
update script to support cycle_time on cmd trigger_control
plugin: Fix setpoint_position code style
Global position setpoint plugin (#764)
- fix fake gps rate
- fix
- fix plugin_list
- fix
- add global position setpoint plugin
- add plugin to CMakeList
- fix bugs
- add altitude
- move GPS setpoints to setpoint_position plugin
- fix gps setpoint subscriber name
- move GeographicLib::Geocentric earth inside callback
- add warning msg if timestamp is not updates
- Fix ROS_WARN
doc: move contributing.md to root
tools: add cogall.sh
split contribuion guide to GH file
Readme: add help for cog (#876)
Setpoints: remove mav_frame string for local variable
Setpoints: add params for initial frame
Setpoint_velocity: uncrustify
Setpoint_position: uncrustify
Setpoints: add service to specify frame
Fix typo #867
Improve output of script, replace which with more reliable hash #867
Ensure dataset files exist, not just directories #867
Remove previous duplicated link
Fixed issue link.
Fixed section header. Ready for troubleshooting PR.
Pushing troubleshooting section for Mavros.
Contributors: Mohamed Abdelkader Zahana, Pierre Kancir, Vladimir Ermakov, andresR8, fnoop, khancyr, pedro-roque

0.21.5 (2017-11-16)

Yet another formatting.
px4_config.yaml updated. Minor formatting update.
global_position/raw/gps_vel should still be in earth fixed frame.
GPS fix's frame_id changed to body-fixed.
global_position/local angular twist changed from NANs to zeroes to be able to show in RViz.
readme: source install: add note on fetching all the deps
geolib_dataset: script: fix interpreter
Contributors: Pavlo Kolomiiets, TSC21

0.21.4 (2017-11-01)

lib ftf: update dox, uncrustify
ENU<->ECEF transforms fix. (#847)
- ENU<->ECEF transforms fix.
- Changes after review. Unit tests added.
test: fix copy-paste error in frame_tf
Contributors: Vladimir Ermakov, pavloblindnology

0.21.3 (2017-10-28)

Update geographiclib script to work with zsh
scripts: fix typos and improve help messages consistency commad -> command safty -> safety Start help messages with a capital letter.
uncrustify
plugin waypoints: Use stamped message
plugin waypoint: Add MISSION_ITEM_REACHED publisher * Changes to be committed: modified: mavros/src/plugins/waypoint.cpp modified: mavros_msgs/CMakeLists.txt new file: mavros_msgs/srv/WaypointReached.srv
- change reached service name to classic topic
- Changed reached service to topic
- removed unused file
- Removed WaypointReached service
- Change reached message type to std_msgs::UInt16
- Delete WaypointReached.srv
- Restore WaypointPush.srv
- Fix tipo
- Update waypoint.cpp
launch: sync APM and PX4 configs
add debug plugin
Contributors: Jonas Vautherin, Patrick Jose Pereira, TSC21, Vladimir Ermakov, gui2dev

0.21.2 (2017-09-25)

plugin: setpoint_attitude: Finish Andres fix
fix: attitude callback trigger
lib uas: remove inline on not inlined method
odom: general fixes and code tighting
Use tf2 for odom plugin and set reasoable defaults for local pos cov.
Contributors: Andres Rengifo, James Goppert, TSC21, Vladimir Ermakov

0.21.1 (2017-09-22)

mavsys: mode: add solutions for setting AUTO.MISSION and AUTO.LOITER modes (#814)
- mavsys: add notes on how to change mode to AUTO.MISSION on PX4 Pro
- enum_to_string: update enums
- mavsys: mode: move AUTO submodes info to argparser
- sys_status: leave note that MAV_TYPE_ONBOARD_CONTROLLER will be supported on PX4
- mavsys: mode: add note on changing to AUTO.LOITER
Solve the subscriber initialization
lib frame_tf: Add to_eigen() helper
Contributors: Alexis Paques, Nuno Marques, Vladimir Ermakov

0.21.0 (2017-09-14)

plugin waypoint: Uncrustify, update init list
lib: Add to_sting for MAV_MISSION_RESULT
plugin waypoint: Rename current seq in wp list message
waypoint: Publish current waypoint seq
waypoint partial: Check parameter first with hasParam
waypoint partial: Documentation updates
waypoint: Document mid level helpers and fix indenting on rx handlers
waypoint: Document rx handlers
waypoint partial: Move FCU detection to connection_cb
waypoint partial: recommended changes to mavwp
waypoint partial: code style cleanup
waypoint partial: enable only on apm but allow override with parameter
waypoint partial: Handle case when partial push is out of range with local list and uncrustify
waypoint partial: enable only on apm through yaml
waypoint partial: stopped partial push from clearing parts of local waypoint copy
waypoint partial: uncrustify
waypoint partial: extend mavwp cli tool to do partial updating in push
waypoint partial: extended push in waypoint plugin to implement push partial
waypoint: uncrustify
waypoint: handle invalid_sequence mission_ack to prevent TXWP failure
Partial waypoint: added wp_transfered to push partial service response
Partial waypoint: renamed mavwp partial load arguments for consistency
Partial waypoint: fixed end index and added partial tx state
Partial Waypoint: handle service call in waypoint plugin
Partial waypoint: added partial updating to mavwp
imu_plugin: remove documentation of override func
imu plugin: uncrustify
imu plugin: don't be so explicit about in/out params
imu plugin: fix indentation
imu plugin: update setup_covariance method to use Eigen capabilities
imu plugin: use simpler format for one line comments
imu plugin: add code snippets to Doxygen documentation
IMU and attitude: general clean-up
CMake: explicitly link the atomic library (#797) For arm & mips architecture, the linker must explicitly be asked to link the atomic library (with [-latomic]{.title-ref}). Otherwise, the linking fails with: ` | devel/lib/libmavros.so: undefined reference to `__atomic_load_8' | devel/lib/libmavros.so: undefined reference to `__atomic_store_8' | collect2: error: ld returned 1 exit status[ Linking `atomic]{.title-ref} unconditionally as library is strictly needed only for arm & mips, but it seems not to imply any further differences with other architectures. Hence, this commit simply adds [atomic]{.title-ref} unconditionally for a uniform handling of all machine architectures. This is an alternative solution to the proposed solution in #790. The issue was discovered cross-compiling mavros in meta-ros, the OpenEmbedded layer for ROS. Some further pointers are available at: https://github.com/bmwcarit/meta-ros/issues/525 Signed-off-by: Lukas Bulwahn <<lukas.bulwahn@gmail.com>>
setpoint_attitude: privatize message_filters subscribers
Updating comments for PX4Flow
Removing copter_visualization from the yaml files. Adding odometry to apm_config Changing frame_id to base_link for vibration
Update the apm_config and px4flow_config files
Update configuration from mavros_extras
Updating default settings from px4.yaml
- global_position/tf/send default to false
- imu, checked
- local_position/tf/send default to false
- local_position/tf/send_fcu default to false
- mission/pull_after_gcs default to true
Update time reference to fcu Adding global_frame_id: 'earth' to apm_config
fcu to base_link
Changing fcu_utm to fcu
Solving default frame consistency in config files
Contributors: Alexis Paques, James Mare, James Stewart, Lukas Bulwahn, TSC21, Vladimir Ermakov

0.20.1 (2017-08-28)

0.20.0 (2017-08-23)

update generated code in plugins
update generated code
geolib: datasets: warn when not installed; update install script; launch SIGINT when not installed (#778)
- geolib: make dataset install mandatory
- travis_ci: install python3; use geographiclib-datasets-download
- CMakeLists.txt: set datasets path
- travis_ci: create a path for the geoid dataset
- travis_ci: remove python3 install
- CMakeLists.txt: remove restriction regarding the geoid model
- CMakeLists.txt: only launch a warning if the geoid dataset is not installed
- CMakeLists.txt: simplify dataset path search and presentation
- scripts: install_geographiclib_datasets becomes version aware
- uas_data: dataset init: shutdown node if exception caught
- README: update GeographicLib info; geolib install script: check for more OS versions
- uas_data: small typo fix
- install_geolib_datasets: some fix
- CMakeLists.txt: be more clear on geoid dataset fault
- CMakeLists: push check geolib datasets to a cmake module
- travis_ci: update ppa repository
- uas_data: shutdown node and increase log level instead
- install_geographiclib_datasets: simplify script to only check download script version available
- uas_data: remove signal.h import
HIL Plugin
- add HilSensor.msg, HilStateQuaternion.msg, and add them in CMakeLists.txt
- Add hil_sensor.cpp plugin to send HIL_SENSOR mavlink message to FCU.
- fix HilSensor.msg. Make it more compact.
- Fix HilStateQuaternion.msg. Make it more compact.
- Add hil_state_quaternion plugin
- fix files: some variable names were wrong+some syntax problems
- fix syntax error in plugin .cpp files, make msg files match corresponding mavlink definitions
- fix plugin source files
- fix syntax
- fix function name. It was wrong.
- add HIL_GPS plugin
- add HilGPS.msg to CMakeList
- fix missing semicolon
- fix call of class name
- Add ACTUATOR_CONTROL_TARGET MAVLink message
- fix code
- increase number of fake satellites
- control sensor and control rates
- change control rate
- change control rate
- fix fake gps rate
- fix
- fix plugin_list
- fix
- remove unnecessary hil_sensor_mixin
- update HilSensor.msg and usage
- update HilStateQuaterion.msg and usage
- redo some changes; update HilGPS.msg and usage
- update hil_controls msg - use array of floats for aux channels
- merge actuator_control with actuator_control_target
- remove hil_sensor_mixin.h
- update actuator_control logic
- merge all plugins into a single one
- delete the remaining plugin files
- update description
- redo some changes; reduce LOC
- fix type cast on gps coord
- add HIL_OPTICAL_FLOW send based on OpticalFlowRad sub
- update authors list
- update subscribers names
- refactor gps coord convention
- add HIL_RC_INPUTS_RAW sender; cog protec msg structure and content
- apply correct rc_in translation; redo cog
- apply proper rotations and frame transforms
- remote throttle
- fix typo and msg api
- small changes
- refactor rcin_raw_cb
- new refactor to rcin_raw_cb arrays
- update velocity to meters
- readjust all the units so to match mavlink msg def
- update cog
- correct cog conversion
- refefine msg definitions to remove overhead
- hil: apply frame transform to body frame
apm_config.yaml: change prevent collision in distance_sensor id
Extras: add ardupilot rangefinder plugin
msgs fix #625: Rename SetMode.Response.success to mode_sent
[WIP] Plugins: setpoint_attitude: add sync between thrust and attitude (#700)
- plugins: setpoint_attitude: add sync between throttle and attitude topics to be sent together
- plugins: typo correction: replace throttle with thrust
- plugins: msgs: setpoint_attitude: replaces Float32Stamped for Thrust msg
- plugins: setpoint_attitude: add sync between twist and thrust (RPY+Thrust)
- setpoint_attitude: update the logic of thrust normalization verification
- setpoint_attitude: implement sync between tf listener and thrust subscriber
- TF sync listener: generalize topic type that can be syncronized with TF2
- TF2ListenerMixin: keep class template, use template for tf sync method only
- TF2ListenerMixin: fix and improve sync tf2_start method
- general update to yaml config files and parameters
- setpoint_attitude: add note on Thrust sub name
- setpoint_attitude: TF sync: pass subscriber pointer instead of binding it
apm_config: add mavros_extras/fake_gps plugin param config
px4_config: add gps_rate param
frame tf: move ENU<->ECEF transforms to ftf_frame_conversions.cpp
extras: mocap_fake_gps->fake_gps: generalize plugin and use GeographicLib possibilites
UAS: Share egm96_5 geoid via UAS class
Move FindGeographicLib.cmake to libmavconn, that simplify installation, simplify datasets instattator
Use GeographicLib tools to guarantee ROS msg def and enhance features (#693)
- first commit
- Check for GeographicLib first without having to install it from the beginning each compile time
- add necessary cmake files
- remove gps_conversions.h and use GeographicLib to obtain the UTM coordinates
- move conversion functions to utils.h
- geographic conversions: update CMakeLists and package.xml
- geographic conversions: force download of the datasets
- geographic conversions: remove unneeded cmake module
- dependencies: use SHARED libs of geographiclib
- dependencies: correct FindGeographicLib.cmake so it can work for common Debian platforms
- CMakeList: do not be so restrict about GeographicLib dependency
- global position: odometry-use ECEF instead of UTM; update other fields
- global position: make travis happy
- global position: fix ident
- global_position: apply correct frames and frame transforms given each coordinate frame
- global_position: convert rcvd global origin to ECEF
- global_position: be more explicit about the ecef-enu transform
- global position: use home position as origin of map frame
- global position: minor refactoring
- global position: shield code with exception catch
- fix identation
- move dataset install to script; update README with new functionalities
- update README with warning
- global_position: fix identation
- update HomePosition to be consistent with the conversions in global_position to ensure the correct transformation of height
- home|global_position: fix compile errors, logic and dependencies
- home position: add height conversion
- travis: update to get datasets
- install geo dataset: update to verify alternative dataset folders
- travis: remove dataset install to allow clean build
- hp and gp: initialize geoid dataset once and make it thread safe
- README: update description relative to GeographicLib; fix typos
- global position: improve doxygen references
- README: update with some tips on rosdep install
[WIP] Set framework to define offset between global origin and current local position (#691)
- add handlers for GPS_GLOBAL_ORIGIN and SET_GPS_GLOBAL_ORIGIN
- fix cast of encoding types
- refactor gps coord conversions
- uncrustify
- global_position: add LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET handler
- global_position: add trasform sender for offset
- global_origin: refactor covariance matrix
- global_position: update copyright
- global_position: add initial support to REP 105
- px4_config: global_position: update frame description
- global_position: correct identation
- global position: be consistent with frame and methods names (ecef!=wgs84, frame_id!=global_frame_id)
- global_position: updates to code structure
- global_position: fix identation
lib: frame_tf: Style fix
extras: odom: Minor fixes
extras: Add odom plugin
lib: frame_tf: Add support for 6d and 9d covariance matrices
Contributors: James Goppert, Nuno Marques, TSC21, Vladimir Ermakov, khancyr

0.19.0 (2017-05-05)

launch: remove setpoint-attitude from apm blacklist
lib: cleanup in enum_to_string
extras: Add ADSB plugin
plugin: home_position: Log poll
plugin: home_position: Log report
plugin #695: Fix plugin
plugin: Add home_position
Added SAFETY_ALLOWED_AREA rx handler (#689)
- Added SAFETY_ALLOWED_AREA rx handler and publish PolygonStamped msg with the 2 points
- add resize to array to avoid sigfault
lib: Fix millis timesync passthrough
Plugin: Add unstamped Twist subscriber for setpoint_velocity
uas: Move timesync_mode enum to utils.h + fixes That enum are used for utils too, but forward declaration of class internal enum is impossible.
sys_time: Add timesync mode selection parameter.
sys_time : add multi-mode timesync
uas : add multi-mode timesync
uas : add multi-mode timesync
launch fix #670: Add configuration of distance_sensor plugin for APM
Contributors: Kabir Mohammed, Nuno Marques, Pierre Kancir, Randy Mackay, Vladimir Ermakov

0.18.7 (2017-02-24)

readme: Add serial-hwfc:// proto
trigger interface : rename to cycle_time to be consistent with PX4
Contributors: Kabir Mohammed, Vladimir Ermakov

0.18.6 (2017-02-07)

lib #626: Porting of PR #650 - Fix OSX pthread set name.
uas fix #639: Remove Boost::signals2 from UAS
Plugins: system_status change status field to system_status Add comment to State.msg for system_status enum
Plugins: add system_status to state message
Contributors: Fadri Furrer, Pierre Kancir, Vladimir Ermakov

0.18.5 (2016-12-12)

lib: update ArduPilot modes
Contributors: Randy Mackay

0.18.4 (2016-11-11)

lib: Add ArduSub modes
readme: Fix mavlink rosinstall_generator call
mavros: README.md: its -> it's Here "it's" is a short form for "it is".
add hil_actuator_controls mavlink message
lib: Make cog.py scrips compatioble with Py3
plugin:sys_status: Add logging health report
Update README for all packages
Update README.md Fix instructions: Only the Kinetic distro actually works for MAVLink 2.0
Contributors: Beat Kung, Georgii Staroselskii, Lorenz Meier, Vladimir Ermakov

0.18.3 (2016-07-07)

plugin:param: Use mavlink::set_string() helper
Update README.md
Update README.md Fix very confusing instructions mixing steps.
Update README.md
Update README.md
python #569: convert_to_rosmsg() support for 2.0. NO SIGNING.
python #569: Update mavlink.convert_to_bytes()
Contributors: Lorenz Meier, Vladimir Ermakov

0.18.2 (2016-06-30)

plugin:sys_status: Fix STATUSTEXT log prefix
Contributors: Vladimir Ermakov

0.18.1 (2016-06-24)

lib: Fix base mode flag check
plugins: Move pluginlib macros.h to tail
plugin:param fix #559: Ignore PX4 _HASH_CHECK param
Contributors: Vladimir Ermakov

0.18.0 (2016-06-23)

lib #439: MAV_CMD to_string is not required.
plugin:sys_status #458: Hanlde BATTERY_STATUS (PX4)
plugin:sys_status fix #458: Use sensor_msgs/BatteryState message. Minimal data, for all other need to handle BATTERY_STATUS.
plugin:command fix #561: PX4 now sends COMMAND_ACK. And like APM do not check confirmation field. :)
readme #544: add udp-b://@ URL
plugin:hil_controls: Update plugin API
Merge branch 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros into pvechersky-feature/hil_controls_plugin * 'feature/hil_controls_plugin' of https://github.com/pvechersky/mavros: Adding anchor to the HIL_CONTROLS message reference link Ran uncrustify on hil_controls plugin Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation Added a plugin that publishes HIL_CONTROLS as ROS messages
node: fix subscription message type checks
plugin: use mavlink::to_string() for std::array<char, N>
readme: update CI, no more MAVLINK_DIALECT
plugin:waypoint: Fix target id's on MISSION_ITEM
node: Add ~fcu_protocol parameter
Ran uncrustify on hil_controls plugin
Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation
node: set gcs_url on internal GCS bridge diag hardware Id
plugins: Use UAS::msg_set_target()
Added a plugin that publishes HIL_CONTROLS as ROS messages
lib: PX4 add AUTO.FOLLOW_TARGET
mavros: Update tests
extras: Update UAS
UAS: Update plugins for FTF module
UAS: move enum stringify functions
lib: Generate MAV_SENSOR_ORIENTATION
UAS: move MAV_SENSOR_ORIENTATION out
UAS: Move transformation utilities to ftf module
plugin:rc_io: Fix log printf-format warning
make GCC 4.8 happy. (travis)
gcs_bridge: done
param:ftp: Update API
plugin:param: Works. Tested on APM
plugin:param: Update, almost work
plugin:waypoint: Fix Item - ROS binding
Message type mismatch code do not work
plugin:waypoint: Update API
plugin:sys_time: Update API
plugin:sys_status: Update API
plugin:setpoint_raw: Update API
plugin:setpoint_attitude: Update API
plugin:setpoint_accel: Update API
plugin:setpoint_velocity: Update API
plugin:setpoint_position: Update API
plugin:vfr_hud: Update API
plugin:safety_area: Update API
plugin:rc_io: Update API
plugin:manual_control: Update API, fix uas init
plugin:local_position: Update API
plugin:imu_pub: Update API
plugin:global_position: Update API
mavros: make_handle() this shouldn't be const
plugin:common: Update API
plugin:altitude: uncrustify
plugins: Rutine sed + fix misprint
plugin:altitude: Update API
plugins: Automatic replacement of routine API changes (sed)
plugin:actuator_control: Update API
plugin:3dr_radio: Update API
node: Update plugin loading and message routing
node: type_info -> SIGSEGV
node: prepare new plugin loading
node: Rename plugib base class - API incompatible to old class
labmavconn: finding sigsegv
Contributors: Pavel, Vladimir Ermakov

0.17.3 (2016-05-20)

libmavconn #543: support build with mavlink 2.0 capable mavgen
node: Remove warning about MAVLINK_VERSION redefine
Fix bug with orientation in setpoint_raw plugin Fixes a bug where the ned_desired_orientation was not actually passed into set_attitude_target. Instead, the desired_orientation (wrong frame) was passed.
Contributors: Justin Thomas, Vladimir Ermakov

0.17.2 (2016-04-29)

Update README.md
Update README.md Updated / completed examples.
Update README.md
Fix for kinetic std::isnan.
Contributors: James Goppert, Lorenz Meier

0.17.1 (2016-03-28)

lib: Add QLAND mode of APM:Plane https://github.com/mavlink/mavlink/commit/a0ed95c3a7d97a8f8d86ce3f95c4bf269f439c46
Update contributing guide We forgot to mention uncrustify commit.
Treat submarine vehicles like copter vehicles
Contributors: Josh Villbrandt, Vladimir Ermakov

0.17.0 (2016-02-09)

update README
rebased with master
Fixed ROS_BREAK
Updates for ROS_BREAK and code style
Nitpicks and uncrustify
Updated frame transformations and added odom publisher to local position plugin
Contributors: Eddy, Vladimir Ermakov, francois

0.16.6 (2016-02-04)

node fix #494: Report FCU firmware type in rosonsole log
scripts fix #478: Remove guided_enable garbage. I'm missed this when do #407.
Contributors: Vladimir Ermakov

0.16.5 (2016-01-11)

scripts: mavwp #465: Remove WaypointGOTO from scrips and python library
node: Report mavlink package version
lib: Add APM:Plane QuadPlane modes. Sync with: https://github.com/mavlink/mavlink/commit/1fc4aef08a54130f297943c246f95b8c7e37b1bf
readme: pixhawk dialect removed.
Contributors: Vladimir Ermakov

0.16.4 (2015-12-14)

scripts: checkid: be always verbose, add --follow
scripts: fix copyright indent
scripts: mavcmd: Fix bug: param7 not passed to service call!
scripts #382: Add ID checker script. It is not complete, but i hope it helps in current state.
scripts: mavcmd: Add support for broadcast requests
event_launcher: fix bug: Trigger service server is not saved in Launcher Also fixes: environment variables may contain ~ (user dir) in expansion.
using timestamp from mavlink message
Update mavlink message documentation links
lib: update MAV_TYPE stringify
lib: Add RATTITUDE PX4 mode
remove "altitude_" prefix from members
updated copyright
implemented altitude plugin
Contributors: Andreas Antener, Vladimir Ermakov

0.16.3 (2015-11-19)

use safe methods to get imu data in local_position plugin
Contributors: Andreas Antener

0.16.2 (2015-11-17)

transform yaw and yaw rate from enu to ned
Contributors: Andreas Antener

0.16.1 (2015-11-13)

python: fix import error of goto service
don't warn anymore about px4 not supporting rc_io
Contributors: Andreas Antener, Vladimir Ermakov

0.16.0 (2015-11-09)

lib: Update ArduCopter mode list
plugin: sys_status #423: set_mode set arming and HIL flags based on previous state
lib #423: Save base_mode in UAS.
Finalized local position topic names
readme: add link to catkin-tools docs
readme #409: merge mavlink and mavros installation instruction
Fixed redundant rotation of IMU data and redundant orientation data
plugin: setpoint_raw fix #418: add attitude raw setpoint Related #402.
Added velocity output of FCU's local position estimate to ROS node
plugin: sys_status fix #417: remove APM statustext quirk
plugin: waypoint fix #414: remove GOTO service. It is replaced with more standard global setpoint messages.
plugin: setpoint_raw fix #415: add global position target support Related to #402.
plugin: command fix #407: remove guided_enable sevice
plugin: setpoint_raw #402: implement loopback.
plugin: setpoint_raw #402: Initial import.
readme fix #410: use only catkin tool
readme: add defaults for URL
pass new extended state to ros
python: add util to convert pymavlink message to Mavlink.msg
python: convert input to bytearray
python: add payload convertion util
gcs_bridge #394: enable both UDPROS and TCPROS transports
EL: add try-except on handlers
event_launcher: show logfile path
event_launcher #386: expand shell vars for logfile
Mavros library depends on mavros_msgs headers Adding this dependency makes sure that mavros_msgs message headers are generated before the mavros library is built, since it needs those headers.
Contributors: Andreas Antener, Eddy, Jon Binney, Vladimir Ermakov

0.15.0 (2015-09-17)

lib: fix timesync uninit bug. Uninitialized variable caused wrong timestamps with APM.
python #286: use checksum - save ticks
script #385: output to log-file
script #385: remove RosrunHandler and RoslaunchHandler
script #385: attempt to implement rosrun fails. ROSLaunch class wants all node operations from main thread. That is not possible.
script #385: fix shell-killer, but logging are broken and removed
script #385: shell-launcher now works!
script #385: add example configuration
script #385: shell handler done. next - rosparam handling
script #385: starting work on simple shell launcher
scripts: starting event_launcher
python: Remove unneded slice operation. Fix copyright year. [list[:len(list)]]{.title-ref} is equal to [list]{.title-ref}, but creates new list with data from that slice.
updated mavlink byte buffer conversion
plugin: manual_control: Use shared pointer message Fix alphabetic order of msgs.
python: add helper for converting mavros_msgs/Mavlink to pymavlink
Add MANUAL_CONTROL handling with new plugin
Contributors: Andreas Antener, Vladimir Ermakov, v01d

0.14.2 (2015-08-20)

0.14.1 (2015-08-19)

package: Fix depend on rosconsole-bridge
Removed <remap>
Contributors: Vladimir Ermakov, devbharat

0.14.0 (2015-08-17)

python: call of mavros.set_namespace() is required.
scripts: mavftp fix #357: add verify command
scripts: mavftp #357: progressbar on download operation
scripts: mavftp #357: progress bar for upload operation.
scripts: mavftp: New command [cd]{.title-ref}. All path arguments now may handle relative paths.
readme: fix frame tansform section
mavros: readme: update info on frame conversions
mavros: readme: update contribution steps
node: Replace deprecated copy functions. Also allow mavlink to & from topics to be namespaced.
extras: scripts: use API from mavros module
scripts: fix for new message location
python: update mavros lib to new message location
package: remove not exist dependency
plugin: waypoint: Fix message include
plugin: vfr_hud: Fix message include
plugin: rc_io: Fix message include
plugin: param: Fix message include
plugin: ftp: Fix message include
plugin: sys_status: Fix message include
plugin: command: Fix message include
plugin: 3dr_radio: Fix message include
plugin: actuator_control: Fix message include.
msgs: update copyright year
msgs: deprecate mavros::Mavlink and copy utils.
msgs: change description, make catkin lint happy
msgs #354: move all messages to mavros_msgs package.
Minor typo fix.
node: increase diag timer to 2 Hz
node: move diagnostic to AsyncSpinner threads.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.13.1 (2015-08-05)

lib #358: cleanup. Replace UAS::getYaw() with UAS::quaternion_get_yaw().
lib #358: found correct getYaw(). Test for each degrees in -180..180.
test #358: test more different angles. Compare rotation result.
lib #358: try to implement algo from wikipedia.
lib #358: still failing. add recursive test for range -Pi..+Pi
lib #358: try solve issue using older eulerAngles()
lib #358: remove to_rpy test
Merge branch 'master' of github.com:mavlink/mavros * 'master' of github.com:mavlink/mavros: global_position: move relative_alt and compass_heading init back add nav_msgs to dependencies so to make Travis happy global_position: update pose and twist to odom msg
test fix #359: split out quaternion tests.
lib #359: move quaternion utils.
global_position: move relative_alt and compass_heading init back
add nav_msgs to dependencies so to make Travis happy
global_position: update pose and twist to odom msg
test #358: add tests for negative values and quaternion_to_rpy tf2 compatibility check Tests now fails!
sctipts: fix gps topic path
lib: fix input validation in UAS::orientation_from_str()
test: add case for num str->sensor orientation
package: fix CHANGELOG.rst
Contributors: TSC21, Vladimir Ermakov

0.13.0 (2015-08-01)

plugin: setpoint_attitude #352: use new helper.
plugin: sys: Fix cppcheck and YouCompleteMe warnings
plugin: ftp: Fix cppcheck errors.
lib #352: Add helper function UAS::quaternion_to_mavlink()
Fixed bug in send_attitude_target() The transformed quaternion wasn't being passed to set_attitude_target(), resulting in an incorrect attitude setpoint. I've now fixed this issue.
scripts: fix mavwp
test: add test cases for new sensor orientation functions
remove tf1 dep
lib #319: Remove TF types from UAS
plugin: param: new message type: ParamValue
msgs: Move MAV_CMD values to separate msg
plugin: command: fix build
fix whitespaces in python scripts
Merge pull request #312 from mhkabir/cam_imu_sync Camera IMU synchronisation support added
Added launch file for PX4 posix sitl to launch gcs_bridge node for bridging posix and gazebo
scripts: mavftp: little speed up by aligning access to payload length
launch: Add optional log_output arg
Merge branch 'orientation_enum_name' * orientation_enum_name: distance_sensor #342: correct orientation parameter handling. lib #342: try to convert numeric value too px4_config: adapt to distance_sensor params to new features distance_sensor: restructure orientation matching and verification lib #342: Added sensor orientation string repr.
lib #342: try to convert numeric value too
px4_config: adapt to distance_sensor params to new features
lib #342: Added sensor orientation string repr.
launch: update local_position conf
test: Add test for UAS::sensor_orientation_matching()
Update cmake Eigen3 finding rules. Migration described at: http://wiki.ros.org/jade/Migration#Eigen_CMake_Module_in_cmake_modules
lib #319, #341: preparation for str->MAV_SENSOR_ORIENTATION func
lib #319: Return quaternion from UAS::sensor_matching()
lib: Remove unneded NodeHandle
launch fix #340: update default component id of PX4.
plugin: sys_status: Add fallback to adressed version request.
Can not remove tf package before #319 is done. tf::Vector3 and other tf1-bullet still in use.
plugin: sys_status: Use broadcast for version request.
fix #71: replace depend tf to tf2_ros.
plugin: Use UAS::syncronized_header() for reduce LOC.
lib #319: use similar names for covariances as eigen vector
lib #319: transform_frame() for Covariance3x3
lib #319: remove unused bullet based transform_frame()
extras: vision_pose #71: Use TF2 listener. Also #319.
plugin #71: Implement TF2 listener. Change param names. Breaks extras.
uas #71: Use single TF2 objects for broadcasting and subscription.
launch: Update configs.
lib: Add UAS::quaternion_to_rpy()
plugin: safety_area #319: Change transform_frame()
plugin: local_position #71 #319: port to TF2 and Eigen
lib: Add UAS::synchonized_header()
plugin: command: Add command broadcasting support.
Perform the autopilot version request as broadcast
lib: Update PX4 mode list
plugin: global_position #325: port tf broadcaster to tf2 Also #71.
plugin: global_position #325: reenable UTM calc
plugin: gps #325: remove gps plugin.
plugin: global_position #325: merge gps_raw_int handler
plugin: setpoint_accel #319: use eigen frame transform. I don't think that PX4 support any other frame than LOCAL_NED. So i removed comment. Also style fix in setpoint_velocity.
plugin: setpoint_velocity #319: use eigen based frame transform.
plugin: setpoint_position #273: remove PX4 quirk, it is fixed.
plugin: ftp: Update command enum.
plugin: imu_pub fix #320: move constants outside class, else runtime linkage error.
plugin: imu_pub #320: first attempt
eigen #319: handy wrappers.
eigen #319: add euler-quat function. Also #321.
test #321: remove duplicated test cases, separate by library. Add test for checking compatibility of tf::quaternionFromRPY() and Eigen based math.
test #321: testing eigen-based transforms. We should check what convention used by tf::Matrix to be sure that our method is compatible.
mavros #319: Add Eigen dependency and cmake rule.
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
cam_imu_sync : fix running
imu_cam_sync : fix formatting
command handling in mavcmd for camera trigger
Camera IMU synchronisation support added
Contributors: Anurag Makineni, Lorenz Meier, Mohammed Kabir, TSC21, Vladimir Ermakov, devbharat

0.12.0 (2015-07-01)

plugin: sys_time, sys_status #266: check that rate is zero
test #321: disable tests for broken transforms.
lib #321: frame transform are broken. again! revert old math. RULE for me: do not accept patch without wide testing from author. That PR changes all plugins code, instead of do API, test and only after that touching working code. My bad.
unittest: added 6x6 Covariance conversion test
frame_conversions: update comments; filter covariance by value of element 0
unittests: corrected outputs from conversion tests
test: other quaternion transform tests
test: UAS::transform_frame_attitude_q()
test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
test: test for UAS::transform_frame_xyz()
test: Initial import test_frame_conv
coverity: make them happy
uncrustify: fix style on frame conversions
uncrustify: includes
plugin: sys_status #266: replace period with rate parameter
plugin: sys_time #266: Replace period with rate parameters
frame_conversion: last fix patch
frame_conversions: use inline functions to identify direction of conversion
changed frame conversion func name; add 3x3 cov matrix frame conversion; general doxygen comment cleanup
frame_conversions: added covariance frame conversion for full pose 6x6 matrix
frame_conversions: added frame_conversion specific lib file; applied correct frame conversion between ENU<->NED
sys_status #300: PX4 place in [0] lest significant byte of git hash.
sys_status fix #300: fix u8->hex func.
plugin: waypoint: cosmetics.
vibration_plugin: first commit
Changes some frames from world to body conversion for NED to ENU.
mavsys #293: add --wait option
mavsys: Fix arguments help
mavcmd #293: Add --wait option. New function: util.wait_fcu_connection(timeout=None) implement wait option.
sys_status #300: AUTOPILOT_VERSION APM quirk
mavros #302: fix style
mavros #302: split UAS impl by function blocks
mavros fix #301: move sensor orientation util to UAS
distance_sensor: typo; style fixe
sensor_orientation: list values correction
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: use MAX as last index macro
distance_sensor: changed to usable config
launch: APM:Plane 3.3.0 now support local_position. Blacklist distance_sensor.
sensor_orientation: updated orientation enum; updated data type
sensor_orientation: included array type on utils.h
sensor_orientation: added sensor orientation matching helper func
distance_sensor: updated config file
distance_sensor: define sensor position through param config
distance_sensor: array limiting; cast correction; other minor correc
distance_sensor: small enhancements
sys_status #293: initialize state topic
sys_status #293: expose connection flag in mavros/State.
Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.11.2 (2015-04-26)

plugin: param fix #276: add check before reset request downcounter. If on MR request FCU responses param with different [param_index]{.title-ref} do not reset repeat counter to prevent endless loop.
gcs bridge fix #277: add link diagnostics
plugin: setpoint_position #273: add quirk for PX4.
readme: fir glossary misprint
readme: add notes about catkin tool
Contributors: Vladimir Ermakov

0.11.1 (2015-04-06)

scripts #262: update mavwp
scripts #262: mavsetp, new module mavros.setpoint
mavftpfuse #129: cache file attrs
mavparam #262: use get_topic()
mavsys #262: use get_topic()
mavcmd #262: use get_topic()
mavftp #263, #262: use crc32 checksums
python #262: add get_topic()
Update local_position.cpp removed irritating comment
readme: add short glossary
plugin: setpoint_attitude: remove unneded ns
Contributors: Marcel Stuettgen, Vladimir Ermakov

0.11.0 (2015-03-24)

plugin: setpoint_position #247: rename topic
launch #257: rename blacklist.yaml to pluginlists.yaml
node #257: implement while list.
plugin: actuator_control #247: update topic name.
mavros: Initialize UAS before connecting plugin routing. Inspired by #256.
plugin: sys_status: Check sender id. Inspired by #256.
plugin: sys_status: Use WARN severity for unknown levels
uas: Add [UAS::is_my_target()]{.title-ref} Inspired by #256.
plugin: global_position: Fill status and covariance if no raw_fix. Additional fix for #252.
launch: change apm target component id APM uses 1/1 (sys/comp) by default.
plugin: sys_status: publish state msg after updating uas Before this commit, the custom mode string published in the state message was computed using the autopilot type from the previous heartbeat message--not the autopilot type from the current hearbeat message. Normally that isn't a problem, but when running a GCS and mavros concurrently, both connected to an FCU that routes mavlink packets (such as APM), then this causes the custom mode to be computed incorrectly, because the mode string for the GCS's hearbeat packet will be computed using the FCU's autopilot type, and the mode string for the FCU's heartbeat packet will be computed using the GCS's autopilot type.
plugin: global_position: fix nullptr crash This fixes a crash in cases where a GLOBAL_POSITION_INT message is received before a GPS_RAW_INT message, causing the [gps_fix]{.title-ref} pointer member to be dereferenced before it has been set.
msgs: fix spelling, add version rq.
coverity: init ctor in 3dr_radio
launch fix #249: update apm blacklist
launch: rename APM2 to APM.
launch #211: update configs
plugin: gps: remove unused param
plugin: sys_time: remove unused param
launch fix #248: remove radio launch
plugin: 3dr_radio #248: add/remove diag conditionally
plugin: sys_status: move connection params to ns
plugin: sys_time: fix #206 (param ns)
node: Inform what dialect built-in node
plugin: sys_status: Conditionaly add APM diag
plugin: sys_status: fix #244
uas #244: add enum lookups
package: update lic
license #242: update mavros headers
plugin: local_positon: use auto
plugin: imu_pub: Update UAS store.
plugin: gps: remove diag class, change UAS storage API.
plugin api #241: move diag updater to UAS.
plugin api #241: remove global private node handle. Now all plugins should define their local node handle (see dummy.cpp). Also partially does #233 (unmerge setpoint topic namespace).
plugin api #241: remove [get_name()]{.title-ref}
package: mavros now has any-link proxy, not only UDP
Update years. I left gpl header, but it is BSD too.
Add BSD license option #220
plugin: sys_status: AUTOPILOT_VERSION support. Fix #96.
mavros fix #235: Use AsyncSpinner to allow plugins chat. Old single-threaded spinner have a dead-lock if you tried to call a service from for example timer callback. For now i hardcoded thread count (4).
uncrustify: actuator_control
Merge branch 'master' of github.com:mstuettgen/Mavros
fixed missing ;
code cosmetics
further removed unneeded white spaces and minor code cosmetics
fixed timestamp and commented in the not-working function call
code cosmetics, removed whitespaces and re-ordered function signatures
more code comment cosmetic
code comment cosmetic
uncrustify: fix style
readme: add contributing notes
uncrustify: mavros base plugins
uncrustify: mavros lib
uncrustify: mavros headers
tools: add uncrustify cfg for fixing codestyle Actually it different from my codestyle, but much closer than others.
added more const to function calls to ensure data consistency
modified code to fit new message
added group_mix to ActuatorControl.msg and a link to mixing-wiki
plugin: rc_io: Add override support warning
REALLY added ActuatorControl.msg
added ActuatorControl.msg
fixed latest compiler error
renamed cpp file to actuator_control.cpp and added the new plugin to mavros_plugins.xml
removed unneeded Mixinx and reverse_throttle, and unneeded variables in function signatures
inital draft for set_actuator_control plugin
launch: enable setpoint plugins for APM As of ArduCopter 3.2, APM supports position and velocity setpoints via SET_POSITION_TARGET_LOCAL_NED.
plugin: setpoint_velocity: Fix vx setpoint vz should have been vx.
Contributors: Clay McClure, Marcel Stuettgen, Vladimir Ermakov

0.10.2 (2015-02-25)

Document launch files
launch: Fix vim modelines #213
launch #210: blacklist image_pub by px4 default. Fix #210.
Contributors: Clay McClure, Vladimir Ermakov

0.10.1 (2015-02-02)

Fix \@mhkabir name in contributors.
uas #200: Add APM:Rover custom mode decoding. Fix #200.
uas #200: Update APM:Plane and APM:Copter modes.
Contributors: Vladimir Ermakov

0.10.0 (2015-01-24)

mavros #154: Add IO stats to diagnostics. Fix #154.
Add rosindex metadata
plugin: ftp: init ctor.
plugin: sts_time: Code cleanup and codestyle fix.
plugin: command: Quirk for older FCU's (component_id) Older FCU's expect that commands addtessed to MAV_COMP_ID_SYSTEM_CONTROL. Now there parameter: [~cmd/use_comp_id_system_control]{.title-ref}
plugin: rc_io: #185 Use synchronized timestamp.
plugin: gps: #185 use synchronized timestamp common.xml tells that GPS_RAW_INT have time_usec stamps.
uas: Fix ros timestamp calculation. Issues: #186, #185.
plugin: add synchronisation to most plugins (fixed) Closes #186.
readme: Add notes about coordinate frame conversions #49
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.4 (2015-01-06)

plugin: sys_time: enable EMA
Contributors: Mohammed Kabir

0.9.3 (2014-12-30)

plugin: visualization finshed
Restore EMA. Works better for low rates.
Update sys_time.cpp
plugin : add time offset field to dt_diag
Final fixes
minor
plugin : fixes timesync. FCU support checked.
Visualisation system import
param: Fix float copying too
param: Fix missing
param: Trynig to fix 'crosses initialization of XXX' error.
param: Try to fix #170.
Update units
New message, moving average compensation
Initial import new sync interface
plugin: sys_status: Enable TERRAIN health decoding.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.9.2 (2014-11-04)

0.9.1 (2014-11-03)

Update installation notes for #162
Contributors: Vladimir Ermakov

0.9.0 (2014-11-03)

0.8.2 (2014-11-03)

REP140: update package.xml format. Hydro don't accept this format correctly, but after split i can update.
Contributors: Vladimir Ermakov

0.8.1 (2014-11-02)

fix build deps for gcs_bridge
mavconn #161: Enable rosconsole bridge.
mavconn #161: Move mavconn tests.
mavconn #161: Fix headers used in mavros. Add readme.
mavconn #161: Fix mavros build.
mavconn #161: Move library to its own package Also rosconsole replaced by console_bridge, so now library can be used without ros infrastructure.
plugin: sys_time: Set right suffixes to uint64_t constants. Issue #156.
plugin: sys_time: Add time syncronization diag. Issue #156.
plugin: sys_time: Debug result. Issue #156.
plugin: Store time offset in UAS. TODO: implement fcu_time(). Issue #156.
plugin: sys_time: Fix code style. Also reduce class variables count (most not used outside the method). Issue #156.
Update repo links. Package moved to mavlink organization.
Nanosecond fix
Fix
Fixes
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update sys_time.cpp
Update CMakeLists.txt
Update mavros_plugins.xml
Update sys_time.cpp
Fix build
sys_time import. Removed all time related stuff from gps and sys_status
Initial sys_time plugin import
plugin: ftp: Bytes written now transfered in payload.
Contributors: Mohammed Kabir, Vladimir Ermakov

0.8.0 (2014-09-22)

plugin: ftp: Disable debugging and change level for some log messages. Issue #128.
plugin: ftp: Translate protocol errors to errno. Issue #128.
scripts: mavftp: Add upload subcommand. Issue #128.
python: Add more ftp utils. Issue #128.
plugin: ftp: Fix write offset calculation. Issue #128.
plugin: ftp: Add . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add support for . Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Add
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
python: Move common mission classes to mavros.mission module. Issue #157.
python: Move useful utils to mavros.param module. Issue #157.
python: Move common utils to mavros.utils module. Issue #157.
python: Create python module for ftp utils. Issue #128, #157.
scripts: ftp: Implement file-like object for IO. Issue #128.
plugin: ftp: Implement write file. Issue #128.
scripts: mavftp: Add remove subcommand. Issue #128.
plugin: ftp: Add call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Add response errno from server.
plugin: ftp: Add support for 'Skip' list entries. Issue #128.
scripts: mavftp: Add mkdir/rmdir support. Issue #128.
plugin: ftp: Add mkdir/rmdir support. Issue #128.
plugins: ftp: Update protocol headers. Issue #128.
Revert "Update package.xml format to REP140 (2)." This reverts commit 81286eb84090a95759591cfab89dd9718ff35b7e. ROS Hydro don't fully support REP140: rospack can't find plugin descriptions. Fix #151.
scripts: mavwp: Fix --follow mode
plugin: imu_pub: Fix RAW_IMU/SCALED_IMU angular scale constant. Fix #152.
launch: remove px4_local_gcs.launch again. It removed in 826be386938c2735c9dab72283ba4ac1c68dc860, but accidentally returned.
extras: launch: Use includes. Fix #144.
launch: PX4: use node.launch in PX4 scripts. Also remove px4_local_gcs.launch: please use [roslaunch mavros px4.launch gcs_url:=udp://\@localhost]{.title-ref} instead. Issue #144.
launch: APM2: Add node.launch and update apm scripts to use it. Issue #144.
plugin: command: Fix CommandInt x,y types.
Update package.xml format to REP140 (2). Fix #104.
launch: Blacklist FTP for APM.
scripts: mavwp: Add decoding for some DO-* mission items.
scripts: mavwp: Add preserve home location option at load operation. Useful if FCU stores home location in WP0 (APM).
Added src location.
Updated README wstool instructions.
plugin: ftp: Init ctor
service: mavftp: Initial import. Issue #128.
plugin: ftp: Implemnet reset call. Sometimes kCmdReset can restore normal operation, but it might be dangerous. Issue #128.
plugin: ftp: Implement call. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Fix open error. Issue #128.
plugin: ftp: Implement (read) and . Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement method. Issue [\#128](https://github.com/vooon/mavros/issues/128).
plugin: ftp: Implement list parsing Issue #128.
plugin: ftp: Fix CRC32 calculation. Issue #128.
plugin: ftp: Add plugin skeleton. Based on QGroundContol QGCUASFileManager.h/cc. Issue #128.
plugin: ftp: Add size info
plugin: ftp: Add plugin service API. Issue #128.
plugin: vfr_hud: Initial import. Also this plugin publish APM specific WIND estimation message. Fix #86.
node: coverity fails at UAS initilizer list
plugin: setpoint_attitude: Init ctor, remove code dup.
cmake: Add check MAVLINK_DIALECT value Fix #139.
Move common cmake rules to modules. Same mech as in [cmake_modules]{.title-ref} package. Issue #139.
launch: corrected launch for gcs bridge
scripts: mavsetp: Fix misprint.
launch files: added px4 launch files for connection with radio and gcs
scripts: mavsetp: Fix twist.angular vector construction. Small style fix.
Update doxygen documentation. Add split lines in UAS, and make UAS.connection atomic. Add rosdoc configuration for mavros_extras.
scripts: mavsetp: corrected API; added possibility of parse angles in dg or rad
scripts: mavsetp: corrected msg API; mavteleop: added prefix to rc override
scripts: mavsetp: added local accel; corrected how the OFFBOARD mode is swtch.
scripts: mavsetp: changed the way offboard mode is switched
node: init ctor (coverity)
nodelib: add std::array header
return msg generator deps for mavconn
scripts: mavsys: Implement set rate command.
scripts: Add mavsys tool. Implented only [mode]{.title-ref} operation. Issue #134.
plugin: sys_status: Implement set_mode service. Previous command shortcut removed. Issue #136, #134.
node: Implement reverse mode lookup. Issue #136.
plugin: sys_status: Move custom mode decoder to UAS. Issue #136.
node: Catch URL open exception. Also update connection pointer type.
nodelib: move sources to subdir
node: Move UAS to mavros namespace
node: Move node code to library.
node: Catch DeviceError; use C++11 foreach shugar.
plugin: command: Add COMMAND_INT suport. Fix #98.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov

0.7.1 (2014-08-25)

plugins: setpoint: Update SET_POSITION_TARGET_LOCAL_NED message. Fix #131.
scripts: mavsetp: Enable OFFBOARD mode. Issue #126.
plugin: command: Add guided_enable shortcut It enable PX4 OFFBOARD mode. Issue #126.
scripts: Add mavsetp script. Only local setpoint for now. Issue #126.
plugins: Change UAS FCU link name. Reduce smart pointer count, that hold fcu link object.
scripts: mavcmd: Add takeoffcur and landcur commands Fix #91, #92. Inspired by #125.
Closes #122, closes #123; plugins: move mocap & vision plugins to extras, change vision plugins name
plugins: UAS remove std::atomic<double> It don't work at some compilers. Issue #89.
plugin: global_position: Fill NavSatFix status filed. Issue #87, #118.
plugins: Add GPS data to UAS
plugins: Move setpoint_mixin.h Fix #120.
plugin: mocap: Fix load. Issue #121.
plugins: global_position: get pose orientation from the one stored in uas
plugins: global_position: use relative_alt on position.z; mavros_plugins.xml - corrected declaration of mocap_pose_estimate
plugin - global_position - changed parameter path / orientation source
launch: APM2 blacklist global_position plugin
plugin: global_position: Unit unification.
plugin: global_position: Move heaedr; Style fix.
added rel_pos and compass_hdg pub; minor corrections
Merge branch 'master' of https://github.com/vooon/mavros into global_position
global_position plugin - initial commit
launch: APM2 blacklist mocap plugin.
Updated mavros_plugins.xml
Fixed dual sources error warning.
Fixed styles.
Minor changes.
added time stamp to received msgs
Removed un-needed times.
Added mocap_pose_estimate plugin.
Code style update
setpoint attitude change - warning message
Update on setpoint_attitude plugin
- changed Twist to TwistStamped
- added reverse_throttle option for throttle control
- use cmd_vel as the same topic to control linear a angular velocities (it's commonly used by controllers)
- added normalization filter to thrust
node: Remove deprecated conn parameters. Fix #108
plugin: vision_speed: Update plugin API.
plugin: setpoint_attitude: Update plugin API.
plugin: setpoint_accel: Update plugin API.
plugin: setpoint_velocity: Update plugin API.
plugin: 3dr_radio: Update plugin API.
plugin: safety_area: Update plugin API.
plugin: setpoint_position: Update plugin API.
plugin: vision_position: Update plugin API.
plugin: local_position: Update plugin API.
plugin: command: Update plugin API.
plugin: rc_io: Update plugin API.
plugin: waypoint: Update plugin API.
plugin: param: Update plugin API.
plugin: gps: Update plugin API.
plugin: imu_pub: Update plugin API.
plugin: sys_status: Update plugin API.
plugin: Update plugin API.
plugins: disable most of plugins
plugin: setpoint_attitude: Add thrust topic. Fix #106.
Fix URLs in readme
mavros -> ros-message parameter fix only parameter1 was forwarded into the ros message
Switch travis to pixhawk dialect. Default dialect build by ros buildfarm. Also remove duplicate ci statuses from mavros readme.
Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov, mthz

0.7.0 (2014-08-11)

Add package index readme, Fix #101
move mavros to subdirectory, #101
Merge branch 'master' of github.com:vooon/mavros * 'master' of github.com:vooon/mavros: Add link to ros-*-mavlink package wiki page.
plugins: setpoint: Update setpoint message name. Issue #94, Fix #97.
plugin: setpoint_attitude: Update message name. Issues #94, #97.
Add link to ros-*-mavlink package wiki page.
plugin: gps: Fix gcc 4.6 build (atomic). Not recommended to use std::atomic with gcc 4.6. So i limited to prederined atomics for simple types like int, float etc.
plugin: sys_status: Implement PX4 mode decoding. Fix #84.
plugin: gps: Add EPH & EPV to diagnostic. Issue #95
plugin: gps: Move message processing to individual handlers. Issue #95.
plugin: rc_io: Replace override service with topic. (ROS API change). Fix #93.
Add dialect selection notes
plugins: Change severity for param & wp done messages.
plugins: Store raw autopilot & mav type values. This may fix or not issue #89.
plugins: init ctor (coverity)
plugin: imu_pub: Add ATTITUDE_QUATERNION support. Also reduce copy-paste and use mode readable bitmask check. Fix #85.
scriptis: mavcmd: Spelling
scripits: Add mavcmd tool
Add links to mavros_extras
param: sys_status: Option to disable diagnostics (except heartbeat)
plugin: command: Add takeoff and land aliases. Issue #68.
plugin: command: Add quirk for PX4. Fix #82.
plugin: Add UAS.is_px4() helper. Replace some locks with atomic. Issue #82.
launch: Clear PX4 blacklist. Issue #68.
launch: Add target ids. Also fix PX4 wrong ?ids usage (it set mavros ids, not target). Issue #68.
plugin: imu_pub: Fix HRIMU pressure calc. 1 mBar is 100 Pa. Fix #79.
plugins: C++11 chrono want time by ref, return *_DT Fix #80.
plugins: Replace boost threads with C++11. And remove boost thread library from build rules. Issue #80.
plugins: Replace Boost condition variables with C++11 Issue #80.
plugins: Replace boost mutexes with C++11. Issue #80.
travis clang to old, fails on boost signals2 library. disable.
travis: enable clang build.
node: Make project buildable by clang. Clang produce more readable errors and provide some static code analysis, so i want ability to build mavros with that compilator.
plugins: replace initial memset with c++ initializer list
launch: PX4 default ids=1,50. Also waypoint plugin works (with first_pos_control_flight-5273-gd3d5aa9). Issue #68.
launch: Use connection URL
plugin: vision_speed: Initial import. Fix #67.
plugin: sys_status: Add SYSTEM_TIME sync send. Fix #78.
plugin: sys_status: Decode sensor health field. Fix #75.
Add ci badges to readme
plugin: param: erase invalidates iterator. Real error found by coverity :)
plugins: Init ctor
plugins: Add ctor initialization. Coverity recommends init all data members.
test: trying travis-ci && coverity integration. Real ci doing by ros buildfarm.
plugins: Fix clang-check errors.
test: Add tcp client reconnect test. Issue #72.
test: Split open_url test to individual tests. Also removed tcp client deletion on close, heisenbug here. Issue #72.
mavconn: Emit port_closed after thread stop. Also use tx state flag, improve error messages and move io post out of critical section. Issue #72.
mavconn: Fix TCP server client deletion. Issue #72.
test: Remove not needed sleep.
mavconn: Remove new MsgBuffer dup. Message drop if closed. Issue #72.
mavconn: Fix TCP server. Issue #72.
launch: APM2: Blacklist extras.
mavconn: Add mutex to channel allocation.
mavconn: Fix TCP server for gcc 4.6 Fix #74.
Remove libev from package. Issue #72.
mavconn: GCC 4.6 does not support typedef like using. Issue #74.
Merge pull request #73 from vooon/mavconn-revert-asio mavconn: Revert to Boost.ASIO
mavconn: Cleanup boost threads. I will use C++11 standard libs. Issue #72.
mavconn: Remove libev default loop thread. Issue #72.
mavconn: Port MAVConnTCPServer to Boost.ASIO. TCP send test fails. Issue #72.
mavconn: Port MAVConnTCPClient to Boost.ASIO. Also it disables MAVConnTCPServer before i rewrite it. Issue #72.
mavconn: Revert MAConnSerial back to Boost.ASIO. Issue #72.
test: Fix send_message tests. Use C++11. Issue #72.
mavconn: Revert MAVConnUDP back to Boost.ASIO. Also starting to change boost threads and mutexes to C++11. Issue #72.
test: Enable send tests. Issue #72.
test: And hand test for mavconn hangs. Issue #72.
node: Remove anonimous flag from gcs_bridge. Rename node if you want start several copies.
install: Remove duplicate
node: Fix mavros_node termination message. Issue #58.
node: Use URL in mavros_node. Fix #58.
node: Use URL in gcs_bridge. Issue #58.
node: Rename ros_udp to gcs_bridge. Because now it's not UDP only. Issue #58.
Cleanup boost components
mavconn: Implement URL parsing. Supported shemas:
- Serial: [/path/to/serial/device[:baudrate]]{.title-ref}
- Serial: [serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]]{.title-ref}
- UDP: [udp://[bind_host[:port]]@[remote_host[:port]][/?ids=sysid,compid]]{.title-ref}
- TCP client: [tcp://[server_host][:port][/?ids=sysid,compid]]{.title-ref}
* TCP server: [tcp-l://[bind_port][:port][/?ids=sysid,compid]]{.title-ref} Note: ids from URL overrides ids given to open_url(). Issue #58.
test: Add tests for UDP, TCP, SERIAL. Send message testa are broken, need to find workaround. Fix #70.
plugin: vision_position: Add transform timestamp check. Issue #60.
mavconn: Implement TCP server mode. Fix #57.
mavconn: Initial support for TCP client mode. Issue #57.
mavconn: Boost::asio cleanup.
plugin: Remove TimerService from UAS. Fix #59.
plugin: param: Add state check to sheduled pull.
mavparam: Add force pull.
plugin: param: Use ros::Timer for timeouts Also new option for force pull parameters from FCU instead of cache. Fix #59.
Add mavsafety info to README.
launch: Add apm2_radio.launch (for use with 3DR Radio)
plugin: 3dr_radio: Fix build error. Issue #62.
plugin: 3dr_radio: Publish status data for rqt_plot Also tested with SiK 1.7. Fix #62.
plugin: setpoint_attitude: Fix ENU->NED conversion. Fix #64. Related #33, #49.
launch: Add setpoint plugins to APM2 blacklist
plugin: setpoint_attitude: Initial import. XXX: need frame conversion #49. Issue #33, #64.
plugin: Move common tf code to mixin. Remove copy-paste tf_listener. Issue #33.
plugin: setpoint_position: Generalize topic NS with other [setpoint_*]{.title-ref} Issue #33, #61.
plugin: setpoint_accel: Initial import. Issues: #33, #61.
plugin: position_velocity: Initial import. Also it fix ignore mask in setpoint_position. Issues #33, #61.
plugins: 3rd_radio: Initial import. Untested. Issue #61.
scripts: Add mavsafety tool. Also add safety_area to APM2 blacklist. Fix #51.
plugins: safty_area: Initial import. This plugin listen [~/safety_area/set]{.title-ref} and send it's data to FCU. Issue #51.
plugins: position: Add TF rate limit. Issue #33.
plugin: waypoint: Use ros::Timer for timeouts. Also add some debug messages for next debugging PX4. Issue #59.
plugin: sys_status: Use ros::Timer for timeouts Also move message rx to it's own handlers. Issue #59.
Remove rosdep.yaml and update readme
Add deb build notes to readme. Issue #55.
Add sudo notes to readme.
Merge pull request #56 from vooon/54_try_libev Switch to libev
Add libev to README
package: Add temporary rosdep for libev-dev. Issue #54.
mavconn: Move MAVConnUDP to libev. And fix docs in serial. Issue #54.
mavconn: Move MAVConnSerial to libev. Adds stub for open URL function. Issure #54.
Contributors: Vladimir Ermakov, Mohammed Kabir, Nuno Marques, Glenn Gregory

0.6.0 (2014-07-17)

plugin: local_position: Use same timestamp in topic and TF. Issue #33.
plugins: TF thread required, remove notes. Issue #33.
launch: Add example launch for PX4 Issue #45.
plugin: imu_pub: Fix attitude store in UAS Issue #33. Fix #53.
plugins: Disable position topics if tf_listen enabled Also change default frame names: [vision]{.title-ref} and [setpoint]{.title-ref}. Issue #33.
plugins: Fix typo in frame_id params. Issue #33.
plugins: Add vision and setpoint TF listeners Also change parameter names to same style. Issue #33.
plugin: vision_position: Add PositionWithCovarianceStamped option Issue #33.
Add boost filesystem lib to link On some platforms its absence breaks build by: undefined reference to [boost::filesystem::path::codecvt()]{.title-ref}
launch: Add example for APM2 Fix #45.
plugin: setpoint_position: Initial import And some small doc changes in other position plugins. Issue #33.
node: Add connection change message Fix #52.
plugins: vision_position: Initial import TODO: check ENU->NED maths. Issue #33.
plugins: Remove unneded 'FCU' from diag
plugin: local_position: Change plane conversion Bug: #49.
plugin: imu_pub: Fix magnetic vector convertions Bug: #49.
Use dialects list from package
plugin: local_position: Fix orientation source Part of #33.
node: Show target system on startup Fix #47.
plugin: local_position: Initial add Receive LOCAL_POSITION_NED message and publish it via TF and PoseStamped topic in ENU frame. Part of #33.
node: Use boost::make_shared for message allocation Fix #46.
plugins: Use boost::make_shared for message allocation Part of #46.
plugin: imu_pub: Fix misprint in fill function Fix magnetometer vector convertion (HR IMU). Related #33.
plugin: imu_pub: setup cleanup.
Update readme
plugin: gps: Fix gps_vel calculation Fix #42.
plugins: Make name and messages methods const. (breaking). WARNING: this change broke external plugins. Please add const to get_name() and get_supported_messages(). Part of #38.
plugins: Use mavlink_msg*_pack_chan() functions Fix #43.
mavconn: Reuse tx buffer (resize by extents) Part of #38.
mavconn: Do not finalize messages if id pair match mavlink*_pack also do finalize, so explicit finalization just recalculate crc and seq number (doubles work). Test later if we need check seq too.
mavconn: Documentation and cleanup Make MAVConn classes noncopyable. Remove copy-paste copy and following async_write calls. Reserve some space in tx queues. Replace auto_ptr with unique_ptr.
test: Fix header include
mavconn: Fix possible array overrun in channel alocation. Problem found by clang.
fix some roslint errors
mavconn: move headers to include
node: Implement plugin blacklist. New parameter: [~/plugin_blacklist]{.title-ref} lists plugin aliases with glob syntax. Fix #36.
plugins: Change constants to constexpr (for gcc 4.6)
mavconn: Add gencpp dependency (utils.h requiers generated header)
Move duplicate Mavlink.msg copy to utils.h
Remove tests that requires connection to FCU
plugins: imu_pub: Fix PX4 imu/data linear_accelerarion field Should fix: #39.
plugins: imu_pub: Add magnitic covariance Trying to move constants with constexpr. Related: #13.
Remove testing info Need to remove tests that could not run on build farm.
Contributors: Vladimir Ermakov

0.5.0 (2014-06-19)

Remove mavlink submodule and move it to package dependency Bloom release tool don't support git submodules, so i've ceate a package as described in http://wiki.ros.org/bloom/Tutorials/ReleaseThirdParty . Fix #35.
plugins: param: add missing gcc 4.6 fix.
plugins: fix const initializers for gcc 4.6
plugins: imu_pub: fix const initializers for gcc 4.6 Fix for build failure devel-hydro-mavros #4.
Add support for GCC 4.6 (C++0x, ubuntu 12.04) I don't use complete c++11, so we could switch to c++0x if it supported.
plugins: rc_io: Add override rcin service Fix: #22.
plugins: sys_status: fix timeouts Fix #26.
plugins: sys_status: add set stream rate service Some additional testing required. Fix #23.
Remove unused boost libarary: timer Build on jenkins for hydro failed on find boost_timer.
0.4.1
Add changelog for releasing via bloom

0.4.1 (2014-06-11)

node: Show serial link status in diag Now 'FCU connection' shows actual status of connection (HEARTBEATS).
Fix #29. Autostart mavlink via USB on PX4 Changes mavconn interface, adds new parameter.
Fix installation rules. Fix #31.
Setup UDP transport for /mavlink messages
Fix mavlink dialect selection Fix #28.
Add link to wiki.ros.org Part of #27.

0.4.0 (2014-06-07)

Release 0.4.0 And some docs for CommandPlugin.
plugins: command: Command shortcuts Fix #12.
plugins: command: Add ACK waiting list Part of #12.
plugins: command: Initial naive realization. Partial #12, #25.
mavconn: Fix build on Odroid with Ubuntu 13.10 Fix #24.
plugins: rc_io: initial add RC_IO plugin Topics:
- ~/rc/in -- FCU RC inputs in raw microseconds
* ~/rc/out -- FCU Servo outputs Fix #17. Partiall #22.
Fix installation wstool command. [wstool set]{.title-ref}, not [wstool add]{.title-ref}.
Add installation notes to README Installing pymavlink is not required, but try if errors.
Fix headers in README.md
ros_udp: New node for UDP proxing Add some examples to README.md. Fix #21.
sys_status: Add state publication Fix #16.
sys_status: Sent HEARTBEAT if conn_heartbeat > 0 Fix #20.
sys_status: add sensor diagnostic See #16.
sys_status: Add battery status monitoring Fix #19, partial #16.
sys_status: HWSTATUS support Fix #18, partial #20.
plugins: imu_pub: Add RAW_IMU, SCALED_IMU and SCALED_PRESSURE handlers Fix #13. Refactor message processing. Combination of used messages: On APM: ATTITUDE + RAW_IMU + SCALED_PRESSURE On PX4: ATTITUDE + HIGHRES_IMU On other: ATTITUDE + (RAW_IMUHIGHRES_IMU Published topics:
- ~imu/data - ATTITUDE + accel data from *_IMU
- ~imu/data_raw - HIGHRES_IMU or SCALED_IMU or RAW_IMU in that order
- ~imu/mag - magnetometer (same source as data_raw)
- ~imu/temperature - HIGHRES_IMU or SCALED_PRESSURE
- ~imu/atm_pressure - same as temperature
Update readme
mavwp: Add --pull option for 'show' operation. Reread waypoints before show.
MissionPlanner use format QGC WPL, Fix #15 Code cleanup;
Update mavlink version.
Update mavlink version
mavparam: fix #14 support for QGC param files
mavwp: Add mavwp to install

0.3.0 (2014-03-23)

Release 0.3.0
mavwp: Add MAV mission manipulation tool Uses WaypointPlugin ROS API for manipulations with FCU mission.
- show -- show current mission table
- pull -- update waypoint table
- dump -- update and save to file
- load -- loads mission from file
- clear -- delete all waypoints
- setcur -- change current waypoint
- goto -- execute guided goto command (only APM) Currently supports QGroundControl format only.
plugins: wp: Add GOTO, update documentation
plugins: wp: Auto pull
plugins: wp: SetCurrent & Clear now works
plugins: wp: Push service works
plugins: wp: push almost done
plugins: wp: Pull done
plugins: param: remove unused ptr
plugins: wp: mission pull almost done
plugins: wp: Add convertors & handlers
plugins: Waypoint plugin initial
Use C++11 feuture - auto type
plugins: refactor context & link to single UAS class UAS same functions as in QGC.
plugins: Add msgs and srvs for Waypoint plugin
Update mavlink library
Update mavlink version
mavparam: Fix for DroidPlanner param files & cleanup DroidPlanner adds some spaces, don't forget to strip it out. Cleanup unused code from Parameter class.

0.2.0 (2014-01-29)

mavparam: Add MAV parameter manipulation tool Uses ParamPlugin ROS API for manipulating with fcu params.
- load -- load parameter from file
- dump -- dump parameter to file
- get -- get parameter
- set -- set parameter Currently supports MissionPlanner format only. But DroidPlanner uses same format.
Update README and documentation
plugins: param: implement ~param/push service Also implement sync for rosparam:
- ~param/pull service pulls data to rosparam
- ~param/push service send data from rosparam
- ~param/set service update rosparam if success
plugins: param: implement ~param/set service
plugins: param: implement ~param/get service
plugins: param: Implement automatic param list requesting
plugins: use recursive_mutex everywhere
plugins: param now automaticly requests data after connect
plugins: Add common io_service for plugins, implement connection timeout Some plugin require some delayed processes. Now we can use boost::asio::*timer. New parameter:
- ~/conn_timeout connection timeout in seconds
plugins: add param services
mavconn: set thread names WARNING: pthread systems only (BSD/Linux)
plugins: implement parameters fetch service
plugins: fix string copying from mavlink msg
plugins: Setup target in mav_context New params:
- ~target_system_id - FCU System ID
- ~target_component_id - FCU Component ID
plugins: IMU Pub: add stdev parameters, change topic names. Add parameters:
- ~imu/linear_acceleration_stdev - for linear acceleration covariance
- ~imu/angular_velocity_stdev - for angular covariance
- ~imu/orientation_stdev - for orientation covariance Change topic names (as in other IMU drivers):
- ~imu -> ~/imu/data
- ~raw/imu -> ~/imu/data_raw
plugins: Params initial dirty plugin
Fix mavlink dialect choice.
plugins: Add context storage for automatic quirk handling ArduPlilot requires at least 2 quirks:
- STATUSTEXT severity levels
- parameter values is float
Implement MAVLink dialect selection ArduPilotMega is default choice.
doc: add configuration for rosdoc_lite

0.1.0 (2014-01-05)

Version 0.1.0 Milestone 1: all features from mavlink_ros package.xml was updated.
Fix typo and add copyright string NOTE: Please check typos before coping and pasting :)
plugins: gps: Add GPS_RAW_INT handler GPS_STATUS not supported by APM:Plane. ROS dosen't have standard message for satellites information.
mavconn: small debug changes Limit no GCS message to 10 sec.
node: Terminate node on serial port errors
plugins: Add GPS plugin SYSTEM_TIME to TimeReference support. TODO GPS fix.
Fix build and update MAVLink library
plugins: sys_status: Add SYSTEMTEXT handler Two modes:
- standard MAV_SEVERITY values
- APM:Plane (default) TODO: add mavlink dialect selection option
plugins: add some header doxygen tags Add license to Dummy.cpp (plugin template).
plugins: sys_status: Add MEMINFO handler MEMINFO from ardupilotmega.xml message definition. Optional.
update README
update TODO
plugins: Add imu_pub plugin. Publish ATTITUDE and HIGHRES_IMU data. HIGHRES__IMU not tested: Ardupilot sends ATTITUDE only :(
node: publish Mavlink.msg only if listners > 0
plugins: Add sys_status plugin. Initial.
plugins: implement loading & rx routing
plugins: initial
node: Add diagnostics for mavlink interfaces
mavconn: add information log wich serial device we use.
mavconn: fix overloaded MAVConn*::send_message(msg)
mavros: Add mavros_node (currently serial-ros-udp bridge) Message paths: Serial -+-> ROS /mavlink/from +-> UDP gcs_host:port ROS /mavlink/to -+-> Serial UDP bind_host:port -+
Add README and TODO files.
mavconn: fix MAVConnUDP, add mavudpproxy test mavudpproxy -- connection proxy for QGroundControl, also used as test for MAVConnUDP and MAVConnSerial.
mavconn: add UDP support class
mavconn: fix: should use virtual destructor in interface class
mavconn: add getters/setters for sys_id, comp_id; send_message return.
mavconn: simple test. tested with APM:Plane: works.
mavconn: fix linking
mavconn: serial interface
Add mavconn library prototype mavconn - handles MAVLink connections via Serial, UDP and TCP.
Add MAVLink library + build script
Initial Import Mavlink.msg from mavlink_ros package ( https://github.com/mavlink/mavlink_ros ).
Contributors: Vladimir Ermakov

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	mavlink
	angles
	cmake_modules
	catkin
	message_runtime
	rospy
	rosunit
	diagnostic_updater
	eigen_conversions
	libmavconn
	pluginlib
	rosconsole_bridge
	roscpp
	tf2_ros
	tf2_eigen
	diagnostic_msgs
	geometry_msgs
	mavros_msgs
	nav_msgs
	sensor_msgs
	geographic_msgs
	trajectory_msgs
	std_msgs
	std_srvs

System Dependencies

Name
eigen
geographiclib
geographiclib-tools
gtest
boost

Dependant Packages

Name	Deps
clover
heifu_diagnostic
heifu_mavros
heifu_simple_waypoint
mavros_extras
test_mavros
rotors_gazebo_plugins

Launch files

launch/px4.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
  - respawn_mavros [default: $(arg respawn_mavros)]
launch/apm.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
launch/node.launch
- - fcu_url
  - gcs_url
  - tgt_system
  - tgt_component
  - pluginlists_yaml
  - config_yaml
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
launch/apm2.launch
- - fcu_url [default: /dev/ttyACM0:57600]
  - gcs_url [default: ]
  - tgt_system [default: 1]
  - tgt_component [default: 1]
  - log_output [default: screen]
  - fcu_protocol [default: v2.0]
  - respawn_mavros [default: false]
launch/mavlink_bridge.launch
- - ns [default: iris]
  - mavlink_bridge_url [default: udp://127.0.0.1:14553@127.0.0.1:14560]

Messages

No message files found.

Services

No service files found

Plugins

mavros

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