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_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

0.32.0 (2019-07-06)

• use direclty radians in yaml files
• add mav_cmd associated with each point in trajectory plugin
• Fix typo
• Address comments
• Send messages from callback
• Use MountControl Msg
• Add mount control class template
• Contributors: Jaeyoung-Lim, Martina Rivizzigno

0.31.0 (2019-06-07)

• landing_target: fix landing target pose input topic naming
• fix naming for file
• mavros_plugins: fix landing_target plugin init
• landing_target: change topic subscription naming
• extras: mavros_plugins.xml: fix malform on XML file
• landing_target: use m_uas
• visualization: set the frame and child frame id back to map and base_link
• general fixup to update the landing_target codebase
• extras: landing target: improve usability and flexibility
• ident correction
• landing_target: use Eigen::Quaterniond::Identity()
• visualization: small correction on cb
• landing_target: ident correct
• landing_target: ident correction
• renamed copter_visualization to just visualization
• landing_target: target orientation: assess it is not possible
• copter_visualization: add target_size and landing_target subscriber in copter_visualization node, so to publish a marker of the target
• uas_stringify: changed UAS::idx_frame() to UAS::frame_from_str()
• landing_target: removed child_frame_id
• landing_target: minor code tweak/restructure
• landing_target: small correction on math
• landing_target: uncrustify code
• landing_target: updated to TF2 and Eigen math
• landing_target: adapted to latest master code
• landing_target: corrected pkt parser order
• landing_target: added stringify usage on code
• landing_target: added timestamp and target size fields [!Won\'t compile unless a new mavlink release!]
• landing_target: removed PoseWithCovarianceStamped include
• landing_target: remove the need of local_position subscription
• landing_target: fixed local_position subscriber topic name
• landing_target: updated notation and applied correct math to conversions
• landing_target: first commit
• Contributors: TSC21

0.30.0 (2019-05-20)

• Fixed an issue when the laser scan topic contains NaN values they where being sent as 0 distances. (#1218)
• extras #1223: Add eigen aligned allocators to plugin classes.
• gps_rtk: fix multi segment messages
• Update the readme
• Contributors: Dr.-Ing. Amilcar do Carmo Lucas, Jaime Machuca, Vladimir Ermakov

0.29.2 (2019-03-06)

• extras: odom: update velocity covariance fields from \'twist\' to \'velocity_covariance\'
• Contributors: TSC21

0.29.1 (2019-03-03)

• All: catkin lint files
• cmake: fix #1174: add msg deps for package format 2
• mavros_extras: Convert source files to Unix line endings
• Contributors: Pierre Kancir, Vladimir Ermakov, sfalexrog

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