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rosflight_pkgs: rosflight | rosflight_firmware | rosflight_msgs | rosflight_sim | rosflight_utils

Package Summary

Package for interfacing to the ROSflight autopilot firmware over MAVLink

rosflight_pkgs: rosflight | rosflight_firmware | rosflight_msgs | rosflight_sim | rosflight_utils

Package Summary

Package for interfacing to the ROSflight autopilot firmware over MAVLink

Overview

This package provides a ROS interface to an autopilot running the ROSflight firmware. For more documentation, see http://rosflight.org.

Sample Usage

The following command will run the node that interfaces the autopilot with ROS running on the onboard computer (this must be run on a computer that is physically connected to the autopilot via USB or serial):

$ rosrun rosflight rosflight_io _port:=/dev/ttyUSB0

Nodes

rosflight_io

Interfaces between ROS on the onboard computer and the ROSflight firmware on the autopilot. Streams sensor data to the onboard computer and control and configuration commands to the autopilot. Sensor stream topics are only advertised if they are being transmitted by the autopilot.

Subscribed Topics

command (rosflight_msgs/Command)

Published Topics

imu/data (sensor_msgs/Imu) imu/temperature (sensor_msgs/Temperature) magnetometer (sensor_msgs/MagneticField) baro (sensor_msgs/Barometer) sonar (sensor_msgs/Range) attitude (rosflight_msgs/Attitude) attitude/euler (geometry_msgs/Vector3Stamped) rc_raw (rosflight_msgs/RCRaw) output_raw (rosflight_msgs/OutputRaw) status (rosflight_msgs/Status) unsaved_params (std_msgs/Bool) version (std_msgs/String) named_value/int/<name> (std_msgs/Int32) named_value/float/<name> (std_msgs/Float32)

Services

param_get (rosflight_msgs/ParamGet) param_set (rosflight_msgs/ParamSet) param_write (std_srvs/Trigger) param_save_to_file (rosflight_msgs/ParamFile) param_load_from_file (rosflight_msgs/ParamFile) calibrate_imu (std_srvs/Trigger) calibrate_rc_trim (std_srvs/Trigger) calibrate_baro (std_srvs/Trigger) calibrate_airspeed (std_srvs/Trigger) reboot (std_srvs/Trigger) reboot_to_bootloader (std_srvs/Trigger)

Parameters

~port (string, default: /dev/ttyUSB0) ~baud_rate (int, default: 921600) ~frame_id (string, default: world) ~udp (bool, default: false) ~bind_host (string, default: localhost) ~bind_port (int, default: 14520) ~remote_host (string, default: value of bind_host parameter) ~remote_port (int, default: 14525)


2019-06-15 13:06