mavros extras

Some extra plugins and nodes for mavros.

servo_state_publisher

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

px4flow

Plugin for mavros. Publish OPTICAL_FLOW_RAD data.

mocap_pose_estimate

Plugin for mavros, to send mocap data to FCU. Currently, not used by the FCU. Data can be send via vision_position plugin.

px-ros-pkg replacement

Use roslaunch mavros_extras px4flow.launch for that.

Changelog for package mavros_extras

0.29.0 (2019-02-02)

• obstacle_distance: align comments
• obstacle_distance: fixup items after peer review changes include using size_t instead of int for loop variables scale_factor calculation ensures argument are floating point remove unnecessary n variable
• obstacle_distance: combine sensor distances to fit within outgoing message
• gps_rtk: documentation fixes
• Fix broken documentation URLs
• added tf2_eigen to dependencies, so that building with catkin tools does not fail anymore
• Merge branch \'master\' into param-timeout
• mavros_extras: Wheel odometry plugin updated according to the final mavlink WHEEL_DISTANCE message.
• mavros_extras: mavros_plugins.xml fix after bad merge.
• mavros_extras: Wheel odometry plugin, twist covariance matrix non-used diagonal elements zeroed.
• mavros_extras: Wheel odometry plugin, odometry error propagation added respecting kinematics.
• mavros_extras: Wheel odometry plugin travelled distance fixed.
• mavros_extras: Wheel odometry plugin y-speed covariance fixed.
• mavros_extras: Wheel odometry plugin updated to compute accurate speeds from distances using internal timesteps.
• mavros_extras: Wheel odometry plugin fixes after CR.
• mavros_msgs: Float32ArrayStamped replaced by WheelOdomStamped.
• mavros_extras: Wheel odometry plugin added.
• Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Jan Heitmann, Pavlo Kolomiiets, Randy Mackay, Vladimir Ermakov

0.28.0 (2019-01-03)

• odom: add ODOMETRY handler and publisher
• remove newlines after doxygen
• style clean up
• Use component_id to determine message sender
• send out companion status as heartbeat
• 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
• Contributors: TSC21, baumanta

0.27.0 (2018-11-12)

• extras #1110 #1111: add eigen aligment to plugins with eigen-typed members
• Fix odom message to use covariance from msg
• Contributors: Dion Gonano, Vladimir Ermakov

0.26.3 (2018-08-21)

• fixup! b43279058a3029c67ea75b1ecb86442c9dc991d4
• mavros_extras/log_transfer: Log transfer plugin
• Contributors: mlvov

0.26.2 (2018-08-08)

• Fix namespace (std->extras)
• Changing the callback name to rtcm_cb Adding doxygen documentation
• Sort the plugins by alphabetical order
• Put back the casting
• Using size_t instead of int Using the same rtcm_data message Remove int casting
• Moving gps_rtk to mavros_extras
• Contributors: Alexis Paques

0.26.1 (2018-07-19)

• trajectory: update plugin to match mavlink change from trajectory msg to trajectory_representation_waypoints
• Contributors: Martina

0.26.0 (2018-06-06)

• odom: fix mapping for body frame
• Contributors: TSC21

0.25.1 (2018-05-14)

0.25.0 (2018-05-11)

• extras: Refactor Trajectory handle cb
• extras: Refactor Trajectory subscription callbacks
• trajectory: use lambda functions
• trajectory: add time_horizon for trajectory type Bezier
• trajectory: add time_horizon field
• trajectory: fix wrap_pi to have constant time execution
• trajectory: fix email
• trajectory: when receiving mavlink trajectory msg distinguish between types to fill correctly the mavros message
• trajectory: add path callback to support nav_msgs Path
• trajectory: update trajectory_call back so that it distinguish between trajectory types in copy the values
• rename ObstacleAvoidance plugin to Trajectory
• obstacle_avoidance: use cog to fill mavlink and ros messages
• obstacle_avoidance: uncrustify
• mavros_plugins: add obstacle avoidance plugin
• add obstacle_avoidance plugin
• CMakeLists: add obstacle_avoidance plugin
• extras: odom: explicitly set the lambda expression arg types
• extras: odom: use lambda expression to set the transform for twist
• extras: odom: change the way the rotation matrices are init
• extras: odom: set the frame_id to local frame only
• extras: odom: respect the Odometry msg frame spec
• extras: redo odom param processing
• extras: odom: remove unnecessary eigen_conversions/eigen_msg.h include
• extras: odom: fix underlying_type assignment
• extras: odom: update msg spec link
• extras: odom: move frame parsing to init()
• extras: odom: change tf exception handler
• extras: odom: improve way frame naming is handled
• extras: update odom plugin to send ODOMETRY msgs
• extras: smal style fix in vision pose est
• extras: add covariance parsing to vision_speed_estimate (#996)
• Contributors: Martina, Nuno Marques, TSC21, Vladimir Ermakov

0.24.0 (2018-04-05)

• extras: update vision_pose_estimate plugin so it can send the covariance matrix also
• px4flow: sending OPTICAL_FLOW_RAD messages
• Contributors: Oleg Kalachev, TSC21

0.23.3 (2018-03-09)

0.23.2 (2018-03-07)

0.23.1 (2018-02-27)

• odom plugin: initialize matrix with zeros
• extras fix #950: fix unit conversions
• Contributors: ChristophTobler, Vladimir Ermakov

0.23.0 (2018-02-03)

• add MAV_DISTANCE_SENSOR enum to_string
• extras: plugins: obstacle_distance: update to new msg definition and crystalize
• extras: obstacle_distance: increase number of array elements
• extras: plugins: add obstacle_distance plugin
• Fix vision odom.
• Contributors: James Goppert, TSC21

0.22.0 (2017-12-11)

• scripts: Use non global mavros-ns allow to work __ns parameter
• move member variable earth initialization
• Contributors: Shingo Matsuura, Vladimir Ermakov

0.21.5 (2017-11-16)

• extras fix #858: fix vector copy-paste error
• Contributors: Vladimir Ermakov

0.21.4 (2017-11-01)

• ENU<->ECEF transforms fix. (#847)
  • ENU<->ECEF transforms fix.
  • Changes after review. Unit tests added.
• Contributors: pavloblindnology

0.21.3 (2017-10-28)

• mavteleop: Move from iteritems to items for python3 support Items work with python3 and python2.7 Signed-off-by: Patrick Jose Pereira <patrickelectric@gmail.com>
• extras: Configurable base frame id on distance_sensor Fix #835
• debug_msgs: fix typo
• debug_msgs: fix typo
• extras: Use cog to reduce common msg filler code
• add debug plugin
• Contributors: Nuno Marques, Patrick Jose Pereira, TSC21, Vladimir Ermakov

0.21.2 (2017-09-25)

• odom: fix typo
• odom: general fixes and code tighting
• Use tf2 for odom plugin and set reasoable defaults for local pos cov.
• Contributors: James Goppert, TSC21

0.21.1 (2017-09-22)

0.21.0 (2017-09-14)

• IMU and attitude: general clean-up
• Using tabs as the file does
• 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
• Contributors: Alexis Paques, TSC21

0.20.1 (2017-08-28)

0.20.0 (2017-08-23)

• Extras: Distance sensors add RADAR and UNKNOWN type
• Extras: distance sensor don\'t spam when message are bounce back from FCU
• Extras: add ardupilot rangefinder plugin
• [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
• extras: fake_gps: use another method to throttle incoming msgs
• extras: fake_gps: compute vector2d.norm()
• frame tf: move ENU<->ECEF transforms to ftf_frame_conversions.cpp
• extras: fake_gps: use rate instead of period
• extras: fake_gps: style fix
• extras: mocap_fake_gps->fake_gps: generalize plugin and use GeographicLib possibilites
• extras: odom: Minor fixes
• extras: Add odom plugin
• Contributors: James Goppert, Nuno Marques, TSC21, Vladimir Ermakov, khancyr

0.19.0 (2017-05-05)

• extras: fix package link
• extras: Fix adsb plugin
• extras: Add ADSB plugin
• Add frame transform for vibration levels (#690)
  • add frame transform for accel vibration levels
  • use vectorEigenToMsg
  • unscrustify
• Contributors: Nuno Marques, Vladimir Ermakov

0.18.7 (2017-02-24)

• vision plugin : Add missing transform
• Contributors: Kabir Mohammed

0.18.6 (2017-02-07)

0.18.5 (2016-12-12)

0.18.4 (2016-11-11)

• Code clean-up
• code style fix
• markup changes
• Fake gps plugin
• Update README for all packages
• Contributors: Vilhjalmur, Vladimir Ermakov, vilhjalmur89

0.18.3 (2016-07-07)

0.18.2 (2016-06-30)

0.18.1 (2016-06-24)

0.18.0 (2016-06-23)

• extras #560: remove cv_bridge and image_transport deps
• extras: Update UAS
• extras:vision_speed_estimate: Update API
• extras:vision_pose_estimate: Update API
• extras:px4flow: Update API
• extras:mocap_pose_estimate: Update API
• extras:distance_sensor: Update API
• extras:cam_imu_sync: Update API
• extras: Automatic update by sed
• extras: prepare to update
• extras #560: Remove image streaming over mavlink support. Use external RTP streamer, e.g. https://github.com/ProjectArtemis/gst_video_server
• Contributors: Vladimir Ermakov

0.17.3 (2016-05-20)

0.17.2 (2016-04-29)

0.17.1 (2016-03-28)

• ran uncrustify
• fixed typos
• use CUBE_LIST for faster rendering
• limit track size
• use local variable
• fixed indentation
• added rc modes
• moved rc to rc_override_control()
• replaced tabulations with spaces (4)
• introducing RC modes
• fixed
• quality added
• added visualization for local setpoints
• Contributors: Joey Gong, francois

0.17.0 (2016-02-09)

• rebased with master
• ran uncrustify
• removed duplicate include
• use MarkerArray for vehicle model
• Updated frame transformations and added odom publisher to local position plugin
• Contributors: Eddy, francois

0.16.6 (2016-02-04)

• extras: uncrustify
• added tf
• comments
• configurable vehicle model
• Contributors: Vladimir Ermakov, francois

0.16.5 (2016-01-11)

0.16.4 (2015-12-14)

0.16.3 (2015-11-19)

0.16.2 (2015-11-17)

0.16.1 (2015-11-13)

0.16.0 (2015-11-09)

• gcs_bridge #394: enable both UDPROS and TCPROS transports
• extras fix #392: add additional subscription for PoseWithCovarianceStamped
• Contributors: Vladimir Ermakov

0.15.0 (2015-09-17)

• extras #387: fix header stamp in joint_states
• extras fix #387: SSP node done.
• extras #387: subscriber works, node almost done
• extras #387: load URDF
• extras #387: initial import of servo_status_publisher
• Contributors: Vladimir Ermakov

0.14.2 (2015-08-20)

• extras: fix catkin lint warnings
• Contributors: Vladimir Ermakov

0.14.1 (2015-08-19)

0.14.0 (2015-08-17)

• extras: gcs node: replace deprecated copy function
• extras: scripts: use API from mavros module
• package: remove not exist dependency
• extras: vibration: Fix message include
• extras: px4flow: Fix message include
• extras: cam_imu_sync: Fix message include
• extras: update package description
• msgs: deprecate mavros::Mavlink and copy utils.
• msgs #354: move all messages to mavros_msgs package.
• opencv 3.0/2.4 header compatibility
• fix orientation empty error
• Contributors: Vladimir Ermakov, andre-nguyen, v01d

0.13.1 (2015-08-05)

0.13.0 (2015-08-01)

• extras: mocap fix #352: use new helper for quaternion.
• Merge pull request #312 from mhkabir/cam_imu_sync Camera IMU synchronisation support added
• distance_sensor #342: correct orientation parameter handling.
• distance_sensor: restructure orientation matching and verification
• lib #319: Return quaternion from UAS::sensor_matching()
• launch fix #340: update default component id of PX4.
• extras: distance_sensor #71: Purt to TF2.
• plugin: Use UAS::syncronized_header() for reduce LOC.
• extras: vision_pose #71: Use TF2 listener. Also #319.
• launch: Update configs.
• extras: viz #336: convert plugin to node.
• extras: vision_speed #319: use eigen based transform
• extras: vibration: Use UAS::synchronized_header()
• extras: px4flow #319: change transform_frame()
• extras: mocap #319: use eigen based transform
• Camera IMU synchronisation support added
• Contributors: Mohammed Kabir, TSC21, Vladimir Ermakov

0.12.0 (2015-07-01)

• coverity: make them happy
• 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 frame_conversion specific lib file; applied correct frame conversion between ENU<->NED
• vibration_plugin: changed vibration to Vector3
• vibration_plugin: msg reformulation
• vibration_plugin: first commit
• Changes some frames from world to body conversion for NED to ENU.
• mavros #302: fix style
• mavros fix #301: move sensor orientation util to UAS
• distance_sensor: typo; style fixe
• sensor_orientation: corrected rotation set sequence
• sensor_orientation: updated orientation enum; updated data type
• sensor_orientation: removed unecessary sum on setting rotation
• sensor_orientation: added sensor orientation matching helper func
• distance_sensor: minor correction
• distance_sensor: sensor position cond changed
• distance_sensor: tweak param check; cond routines
• distance_sensor: removed unnecessary comment line
• distance_sensor: ctor list update
• distance_sensor: define sensor position through param config
• distance_sensor: minor comment identation correction
• distance_sensor: tf::Transform creation optional
• distance_sensor: add tf_broadcaster between \'fcu\' and the distance sensor
• distance_sensor: remove commented code
• distance_sensor: removed dbg msg
• distance_sensor: cov condition defined
• distance_sensor: covariance condition changed
• distance_sensor: conditional state change
• distance_sensor: covariance condition set - correction
• distance_sensor: covariance condition set
• distance_sensor: ctor list update (corrected)
• distance_sensor: ctor list update
• distance_sensor: ctor list update
• distance_sensor: small correction
• distance_sensor: uncrustify
• distance_sensor: array limiting; cast correction; other minor correc
• distance_sensor: travis build correction
• distance_sensor: uncrustify distance_sensor.cpp
• distance_sensor: small corrections on variable definitions, method calls
• distance_sensor: small enhancements
• distance_sensor #292: uncrustify
• distance_sensor #292: fix travis build.
• distance_sensor #292: implement message handling
• distance_sensor #292: parse mapping configuration.
• distance_sensor: remove DistanceSensor.msg from CMakeList
• distance_sensor: removed DistanceSensor.msg
• distance_sensor: -> use std Range.msg -> published frame_id in topics are dinamic - depend on type and id of the sensor
• distance_sensor: comment correction
• distance_sensor: minor correction
• distance_sensor: minor fixes that include use Range.msg to Laser data
• distance_sensor: add plugin file
• distance_sensor plugin: first commit!
• Contributors: TSC21, Tony Baltovski, Vladimir Ermakov

0.11.2 (2015-04-26)

• gcs bridge fix #277: add link diagnostics
• Contributors: Vladimir Ermakov

0.11.1 (2015-04-06)

• mavftpfuse #129: done! Fix #129.
• mavftpfuse #129: cache file attrs
• mavftpfuse #129: initial import
• Contributors: Vladimir Ermakov

0.11.0 (2015-03-24)

• extras: vision_pose #247: rename topic
• extras: launch #257: use white list for px4flow. Also updates config #211.
• uncrustify and fix #207
• uncrustify extras
• package: update lic
• license #242: update mavros_extras headers
• 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()
• Add BSD license option #220
• uncrustify: mocap plugin
• Switched from mavlink VICON_POSITION_ESTIMATE to ATT_POS_MOCAP.
• Contributors: Tony Baltovski, Vladimir Ermakov

0.10.2 (2015-02-25)

• launch: Fix vim modelines #213
• Contributors: Vladimir Ermakov

0.10.1 (2015-02-02)

• Fix \@mhkabir name in contributors.
• Updated mavros_extra README to explain the vision_estimate plugin should be used for the mocap data currently.
• Update px4flow.cpp
• plguin: px4flow: Remove all ref to old message
• Merge remote-tracking branch \'upstream/master\' into optflow_rad Conflicts: mavros_extras/CMakeLists.txt
• Update
• Clean up
• New interface commit
• Add new interface. Raw message only for now. Removed the tx functionality as it doesn\'t make much sense.
• Contributors: Mohammed Kabir, Tony Baltovski, Vladimir Ermakov

0.10.0 (2015-01-24)

• mocap_pose_estimate: Switched from pose to poseStamped.
• Contributors: Tony Baltovski

0.9.4 (2015-01-06)

0.9.3 (2014-12-30)

• Initiliser fix
• plugin: visualisation - Fixes CI build
• plugin: visualisation
• plugin: visualization minor patch
• plugin: visualization finshed
• Contributors: Mohammed Kabir

0.9.2 (2014-11-04)

0.9.1 (2014-11-03)

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)

• mavconn #161: Fix headers used in mavros. Add readme.
• Update repo links. Package moved to mavlink organization.
• Contributors: Vladimir Ermakov

0.8.0 (2014-09-22)

• 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.
• Added arming/disarming for att mode.
• Added arming and disarming via mavteleop.
• extras: mocap: Fix param/topic namespace. Fix #150.
• extras: launch: Use includes. Fix #144.
• Update package.xml format to REP140 (2). Fix #104.
• extras: launch: Fix typos.
• extras: launch: Add teleop launch script.
• extras: mavteleop: Dirty implementation of position control mode. Issue #133.
• extras: mavteleop: Implement velocity setpoint control. Issue #133.
• extras: mavteleop: Implement attitude control mode. Issue #133.
• extras: Use cmake modules. Issue #139.
• Update doxygen documentation. Add split lines in UAS, and make UAS.connection atomic. Add rosdoc configuration for mavros_extras.
• scripts: mavsetp: corrected msg API; mavteleop: added prefix to rc override
• scripts: Initial import mavteleop Now it\'s just proof of concept. Implemented only RC override of RPYT channels. Issue #133.
• node: Catch URL open exception. Also update connection pointer type.
• Contributors: Nuno Marques, Tony Baltovski, Vladimir Ermakov

0.7.1 (2014-08-25)

• plugins: Change UAS FCU link name. Reduce smart pointer count, that hold fcu link object.
• Plugins: finish moving plugins
• Closes #122, closes #123; plugins: move mocap & vision plugins to extras, change vision plugins name
• launch: Add example launch for #103.
• extras: image_pub: Update plugin API.
• extras: px4flow: Update plugin API.
• plugins: disable most of plugins
• extras: init ctor
• extras: Fix package URLs
• test: temporary travis hack (manually download latest mavlink deb)
• Update readme
• Contributors: Nuno Marques, Vladimir Ermakov

0.7.0 (2014-08-12)

• move exras to subdirectory, #101
• Contributors: Vladimir Ermakov, Mohammed Kabir