mavros extras

Some extra plugins and nodes for [mavros][mr].

ADSB

Publish/subscribe to the location and information of an ADS-B vehicle.

cam_imu_sync

Publish camera trigger data for synchronisation of IMU and camera frames.

debug_value

Subs/Pubs debug msgs from and to the FCU.

distance_sensor

Publish DISTANCE_SENSOR message data from FCU or connected sensors in companion computer.

fake_gps

Sends fake GPS from local position estimation source data (motion capture, vision) to FCU.

gimbal_control

Adds support for Mavlink Gimbal Protocol v2. To publish to tf, set parameter tf_send=True. The implementation of this plugin has been tested with a Freefly Astro with the mapping payload as well as with Auterion Sim. The plugin was built following the specifications available at https://mavlink.io/en/services/gimbal_v2.html with some adaptation to better suit ROS2 and support tf publishing with child frame labels specified by the gimbal_device_id field of gimbal_attitude_msg. This should enable support for multiple gimbal devices on the target platform publishing to different leaves of the tf tree. The assumed frame for each gimbal device is base_link_frd.
When taking control of the gimbal with the GimbalManagerConfigure, sysid_primary can be set to -2, and default gimbal_device_id is 154, though 0 can be used for all gimbal devices. After taking control of the gimbal, you can set RoI’s or manually set the gimbal’s orientation using the service calls provided. The topic publishers for gimbal control have not been successfully validated, though this is possibly due to the implimentation on the Freefly Astro or with Auterion’s simulator. Feel free to reach out to mark.beaty@adinkratech.com with any questions or feedback on this plugin!

gps_input

Send GPS_INPUT messages to the FCU.

gps_status

Publish GPS_RAW and GPS_RTK messages from FCU.

gps_rtk

Sends the RTCM messages to the FCU for the RTK Fix.

log_transfer

Expose firmware functionality, that is related to log transfer

mocap_pose_estimate

Send motion capture pose estimate to FCU. Currently, not used by the FCU. Data can be send via vision_position plugin.

obstacle_distance

Send obstacle distance report to the FCU.

odom

Send odometry to FCU from another estimator.

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Changelog for package mavros_extras

2.10.1 (2025-06-06)

• Initialize last_pos_time with RCL_ROS_TIME
• extras: fix bitset error, lost during merge conflict resolution
• Contributors: Sergei Chashnikov, Vladimir Ermakov

2.10.0 (2025-05-05)

• extras: fix format

• extras: fix build of odom

• extras: fix odid build

• extras: re-generate all cog scripts

• extras: fix odid messages

• extras: fix indent

• Adding OpenDroneID plugin and messages (#3)

• mavros: fix indentation

• Merge branch 'master' into ros2

  * master: 1.20.1 update changelog 1.20.0 update changelog update mavlink dep branch Add missing std_srvs dependency add param to odom plugin add frame_id parameter Fix compile error when compiling with gcc 13

• 1.20.1

• update changelog

• Fix code style: remove trailing whitespace and tabs (Rolling distribution)

• Fix: Corrected compass calibration result report to match mavlink documentation (MAG_CAL_REPORT (192))

• Address Warnings

• re-run ci

• re-run ci

• ament_uncrustify

• Fix cpplint errors

• typo

• Added support for MAV_FRAME::BODY_FRD to landing_target

• 1.20.0

• update changelog

• Add missing std_srvs dependency

• add param to odom plugin

• add frame_id parameter

• Fix compile error when compiling with gcc 13 The error is: src/plugins/mag_calibration_status.cpp:64:22: error: ‘bitset’ is not a member of ‘std’

• Contributors: EnderMandS, Gus Meyer, Kye Morton, Michael Carlstrom, Michal Sojka, Roland Arsenault, Vladimir Ermakov, denis

2.9.0 (2024-10-10)

• extras: fix cmake lint
• extras: fix cpplint errors
• Merge pull request #1994 from evan-palmer/bug-yaml-cpp-humble-build Resolve build error when linking yaml-cpp
• Resolved error in rebase
• Merge branch 'ros2' into bug-yaml-cpp-humble-build
• Resolved linking error with yaml-cpp in pre-Jazzy releases
• Resolved build yaml-cpp build error
• Resolved build error with yaml-cpp
• Contributors: Evan Palmer, Vladimir Ermakov

2.8.0 (2024-06-07)

• gimbal_control: fix build

• gimbal_control: fix using

• gimbal_control: connect service on use

• regenerate all using cogall.sh

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