mavros extras

Some extra plugins and nodes for mavros.

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.

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.

px4flow

Publish OPTICAL_FLOW_RAD data from FCU or PX4Flow module.

rangefinder

Publish RANGEFINDER message data from FCU sensors in companion computer.

trajectory

Receive planned path from the FCU and send back corrected path (collision free, smoothed) to the FCU.

wheel_odometry

Compute and publish wheel odometry coming from FCU sensors.

vibration

Publish VIBRATION message data from FCU.

vision_pose_estimate

Send vision pose estimate to FCU.

vision_speed_estimate

Send vision speed estimate to FCU.

companion_process_status

Send companion process status report to the FCU.

servo_state_publisher

Convert mavros_msgs/RCOut to sensor_msgs/JointState messages. It is required to bind URDF model and real servos.

px-ros-pkg replacement

Use roslaunch mavros_extras px4flow.launch for that.

Changelog for package mavros_extras

2.6.0 (2023-09-09)

• switch to use tf2_eigen.hpp, but that drops support for EOL distros
• ament uncrustify
• cog: regenerate all

• 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

• Merge pull request #1889 from MKargus0/feature/fix_landing_target_time_conversion Fixed header.stamp conversion in landing target

• fixed style

• fixed header.stamp conversion in landing target

• Merge pull request #1871 from Vladislavert/feature/optical_flow_msg Addition of New OpticalFlow.msg

• Added geometry_msgs/Vector3 to OpticalFlow.msg

• Added vectors to the message OpticalFlow.msg

• Added message optical flow

• Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings

• mavros_extras: Fix some init order warnings

• Suppress warnings from included headers

• 1.16.0

• update changelog

• 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, Mikhail Kolodochka, Morten Fyhn Amundsen, Vladimir Ermakov, Vladislavert

2.5.0 (2023-05-05)

2.4.0 (2022-12-30)

• extras: uncrustify
• extras: fix build, 2
• extras: fix build
• extras: fix cog

• 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 #1811 from scoutdi/debug-float-array Implement debug float array handler

• Implement debug float array handler Co-authored-by: Morten Fyhn Amundsen <morten.f.amundsen@scoutdi.com>

• Merge pull request #1807 from scoutdi/fix-bitwise-comparison mavros_extras: Fix a comparison that shouldn\'t be bitwise

• Merge pull request #1808 from scoutdi/fix-sequence-point-warning mavros_extras: Fix a sequence point warning

• mavros_extras: Fix a sequence point warning

• mavros_extras: Fix a comparison that shouldn\'t be bitwise

• Merge pull request #1805 from scoutdi/fix-latlon-check mavros_extras: Fix buggy check for lat/lon ignored

• mavros_extras: Fix buggy check for lat/lon ignored

• Contributors: Morten Fyhn Amundsen, Sverre Velten Rothmund, Vladimir Ermakov

2.3.0 (2022-09-24)

• extras: fix linter errors
• extras: fix toMsg
• extras: fix build
• extras: port guided_target
• 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

• 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

• Contributors: Sanket Sharma, Vladimir Ermakov

2.2.0 (2022-06-27)

• extras: fix build
• 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

• cmake: hide -std=c++2a

• Merge pull request #1744 from amilcarlucas/pr_gimbal_diagnostics_fixes mount_control.cpp: detect MOUNT_ORIENTATION stale messages

• extras: fix cog re to extract plugin name

1.17.0 (2023-09-09)

• Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
• mavros_extras: Fix some init order warnings
• Suppress warnings from included headers
• Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.16.0 (2023-05-05)

• 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, Vladimir Ermakov

1.15.0 (2022-12-30)

• Merge pull request #1811 from scoutdi/debug-float-array Implement debug float array handler
• Implement debug float array handler Co-authored-by: Morten Fyhn Amundsen <morten.f.amundsen@scoutdi.com>
• Merge pull request #1807 from scoutdi/fix-bitwise-comparison mavros_extras: Fix a comparison that shouldn\'t be bitwise
• Merge pull request #1808 from scoutdi/fix-sequence-point-warning mavros_extras: Fix a sequence point warning
• mavros_extras: Fix a sequence point warning
• mavros_extras: Fix a comparison that shouldn\'t be bitwise
• Merge pull request #1805 from scoutdi/fix-latlon-check mavros_extras: Fix buggy check for lat/lon ignored
• mavros_extras: Fix buggy check for lat/lon ignored
• Contributors: Morten Fyhn Amundsen, Sverre Velten Rothmund, Vladimir Ermakov

1.14.0 (2022-09-24)

• 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 #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 #1735 from clydemcqueen/fix_1734 Fix crash in vision_pose plugin
• Remove unrelated log message
• Initialize last_transform_stamp with RCL_ROS_TIME, fixes #1734
• Merge pull request #1727 from BV-OpenSource/pr-cellular-status Pr cellular status
• uncrustify cellular_status.cpp
• Add CellularStatus plugin and message
• Merge pull request #1702 from amilcarlucas/mount_diagnostics Mount control plugin: add configurable diagnostics
• mount_control.cpp: use mount_nh for params to keep similarities with other plugins set diag settings before add()
• Mount control plugin: add configurable diagnostics
• Merge pull request #1700 from oroelipas/fix-obstacle-distance Fix obstacle distance
• 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.
• Contributors: Clyde McQueen, Dr.-Ing. Amilcar do Carmo Lucas, Rui Mendes, Vladimir Ermakov, oroel

2.1.1 (2022-03-02)

• plugins: Fix misprint Fix #1709
• Contributors: Vladimir Ermakov

2.1.0 (2022-02-02)

• plugins: fix topic names to use prefix for namespaced ones
• plugins: fix topic names to use prefix for namespaced ones
• ci: fix several lint warnings
• extras: terrain: fix copy-paste artifact
• extras: port terrain plugin

• 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 #1677 from AndersonRayner/add_terrain Add plugin for reporting terrain height estimate from the FCU

• 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

• 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

• Merge pull request #1675 from BOB4Drone/ros2 fix bof

• Update mag_calibration_status.cpp

• fix code style fix code style

• Update mag_calibration_status.cpp

• fix misprint and use size() fix misprint and use size()

• fix bof fix #1668

• extras: trajectory: backport #1667

• extras: trajectory: make linter happy after #1667

• Merge pull request #1667 from BOB4Drone/ros2 fix bof

• fix bof

• 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

• Merge pull request #1660 from scoutdi/fix-warnings Fix warnings

• mavros_extras: Fix some warnings

• extras: fix parameter name

• extras: fix topic names

• Contributors: BOB4Drone, Morten Fyhn Amundsen, Vladimir Ermakov, matt

2.0.5 (2021-11-28)

• extras: make cpplint happy
• extras: fix most of build errors of SSP
• extras: servo_state_publisher ported. almost...
• extras: start porting servo_state_publisher
• extras: make cpplint happy
• extras: fix some linter errors. Do you know how to make me mad? Just let ament_uncrustify and ament_cpplint require opposite requirements!
• fix some build warnings; drop old copter vis

• 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

• extras: fix some more lint warns

• plugin: fix some compile warnings

• cmake: require C++20 to build all modules

• extras: port distance_sensor plugin

• extras: fix camera plugin

• extras: port camera plugin

• lib: ignore MAVPACKED-related warnings from mavlink

• extras: distance_sensor: revert back to zero quaternion Fix #1653

• msgs: update conversion header

• Merge branch \'master\' into ros2 * master: 1.11.1 update changelog lib: fix build

• 1.11.1

• update changelog

• 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

• extras: landing_target: fix misprint

• 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

• Merge pull request #1651 from Jaeyoung-Lim/pr-image-capture-plugin Add camera plugin for interfacing with mavlink camera protocol

• Merge pull request #1652 from scoutdi/avoid-uninit-orientation distance_sensor: Initialize sensor orientation quaternion to zero

• Use meters for relative altitude

• distance_sensor: Initialize sensor orientation quaternion to zero Without this, you\'ll get random garbage data for the quaternion field of the DISTANCE_SENSOR MAVLink messages sent to the autopilot. The quaternion field should be set to zero when unused, according to the MAVLink message\'s field description.

• Address review comments

• Add camera plugin for interfacing with mavlink camera protocol Add camera image captured message for handling camera trigger information

• extras: port fake_gps

• extras: port tunnel

• extras: update metadata

• extras: port hil

• extras: fix odom

• extras: port odom

• extras: port px4flow

• extras: fix some linter warnings

• extras: fix some linter warnings

• extras: fix some linter warnings

• extras: fix some linter warnings

• extras: port wheel_odometry (partially)

• extras: port vision_speed

• extras: port vibration

• extras: port vfr_hud

• extras: port trajectory

• extras: port rangefinder

• extras: port onboard computer status, play_tune

• extras: fix linter warnings

• extras: port obstacle_distance

• extras: update metadata xml

• extras: port mount_control

• extras: fix build for Foxy

• extras: port mocap

• extras: port mag cal status

• extras: port log_transfer

• extras: fix rtcm seq

• extras: port gps_rtk

• extras: port gps_input

• extras: fixing some linter warnings

• extras: fixing some linter warnings

• Contributors: Jaeyoung-Lim, Morten Fyhn Amundsen, 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: remove safety_area as outdated

• extras: port esc_telemetry

• extras: port esc_status plugin

• extras: porting gps_status

• 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 #1625 from scoutdi/tunnel-plugin Plugin for TUNNEL messages

• Tunnel: Check for invalid payload length

• mavros_extras: Create tunnel plugin

• Merge pull request #1605 from Peter010103/ros2 mavros_extras: Ported vision_pose_estimate plugin for ROS2

• 1.9.0

• update changelog

• Merge pull request #1621 from amilcarlucas/pr/mount-control-spelling Spelling corrections

• Spelling corrections

• Merge pull request #1615 from amilcarlucas/pr/erase-logs This adds functionality to erase all logs on the SD card via mavlink

• Merge pull request #1618 from amilcarlucas/pr/GPS_INPUT-plugin Added GPS_INPUT plugin

• This adds functionality to erase all logs on the SD card via mavlink

• Added GPS_INPUT plugin

• Merge pull request #1606 from BV-OpenSource/master Add Mount angles message for communications with ardupilotmega.

• Merge branch \'master\' into master

• Update esc_status plugin with datatype change on MAVLink. ESC_INFO MAVLink message was updated to have negative temperates and also at a different resolution. This commit updates those changes on this side.

• Convert status data from cdeg to rad.

• Publish quaternion information with Mount Status mavlink message.

• Add missing subscription.

• extras: port cam_imu_sync

• extras: re-generate cog

• extras: port debug_value

• Remove Mount_Status plugin. Add Status data to Mount_Control plugin. Remove Mount_Status message.

• extras: fix build, add UAS::send_massage(msg, compid)

• extras: port companion_process_status

• msgs: re-generate file lists

• 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.

• extras: esc_telemetry: fix build

• extras: fix esc_telemetry centi-volt/amp conversion

• extras: uncrustify all plugins

• extras: reformat plugins xml

• extras: fix apm esc_telemetry

• actually allocate memory for the telemetry information

• fixed some compile errors

• added esc_telemetry plugin

• Add Mount angles message for communications with ardupilotmega.

• Added subscriber callback function for ROS2

• Added initialise function in vision_pose_estimate

• Boilerplate vision_pose_estimate plugin

• extras: landing_target: disable tf listener, it segfaults

• extras: regenerate plugins xml, ament_uncrustify

• mavros_extras: improve landing_target logging

• mavros_extras: ported landing_target plugin to ros2

• Reset calibration flag when re-calibrating. Prevent wrong data output.

• 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.

• extras: port 3dr radio

• extras: add urdf package

• extras: adsb: begin porting to ros2

• Contributors: Abhijith Thottumadayil Jagadeesh, Andr