CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-05-27 05:29:32 +00:00
Code Issues Packages Projects Releases Wiki Activity

docs: mavros article

Browse Source
This commit is contained in:
sfalexrog
2019-06-19 21:16:18 +03:00
parent 7f802d3efd
commit fdae8ee2aa
1 changed files with 20 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

40
docs/en/mavros.md
View File

@@ -1,46 +1,46 @@
# MAVROS
Main documentation: [http://wiki.ros.org/mavros](http://wiki.ros.org/mavros)
Main article is available in the official documentations: [http://wiki.ros.org/mavros](http://wiki.ros.org/mavros)
MAVROS \(MAVLink + ROS\) is a package for ROS that provides the possibility of controlling drones via the [MAVLink](mavlink.md) protocol. MAVROS supports flight stacks PX4 and APM. Communication is established via UART, USB, TCP or UDP.
MAVROS \(MAVLink + ROS\) is a ROS package that allows controlling drones via the [MAVLink](mavlink.md) protocol. MAVROS supports PX4 and APM flight stacks. Communication may be established via UART, USB, TCP or UDP.
MAVROS subscribes to certain ROS topics while waiting for commands, publishes telemetry to other topics, and provides services.
MAVROS subscribes to certain ROS topics that can be used to send commands, publishes telemetry to other topics, and provides services.
The MAVROS node is automatically started in the launch-file of Clever. For [setting the type of connection] (connection.md), see the `fcu_conn` argument.
The MAVROS node is automatically started in the Clever launch-file. In order to [set the type of connection](connection.md), change the `fcu_conn` argument.
> **Hint** Simplified interaction with the copter may be with the use of the [`simple_offboard`] package (simple_offboard.md).
> **Hint** Simplified interaction with the drone is possible with the use of [`simple_offboard`] package (simple_offboard.md).
<!-- -->
> **Note** In the `clever` package, some MAVROS plugins are disabled (to save resources). For more information, see the `plugin_blacklist` parameter in file `/home/pi/catkin_ws/src/clever/clever/launch/mavros.launch`.
> **Note** Some MAVROS plugins are disabled by default in the `clever` package in order to save resources. For more information, see the `plugin_blacklist` parameter in `/home/pi/catkin_ws/src/clever/clever/launch/mavros.launch`.
## Main services
`/mavros/set_mode` — set [flight mode](modes.md) of the controller. Usually, the OFFBOARD mode is set \(for control from Raspberry Pi\).
`/mavros/set_mode` — set [flight mode](modes.md) of the controller. Most often used to set the OFFBOARD mode to accept commands from Raspberry Pi.
`/mavros/cmd/arming` — enable or disable drone motors \\ (change the armed status \\).
`/mavros/cmd/arming` — arm or disarm drone motors \(change arming status\).
## Main published topics
`/mavros/state` — status of connection to the flight controller. The flight controller mode.
`/mavros/state` — status of connection to the flight controller and flight controller mode.
`/mavros/local_position/pose` — local position of the copter in the ENU system of coordinates, and its orientation.
`/mavros/local_position/pose` — local position and orientation of the copter in the ENU coordinate system.
`/mavros/local_position/velocity` — current speed in the local coordinates. Angular velocities.
`/mavros/local_position/velocity` — current speed in local coordinates and angular velocities.
`/mavros/global_position/global` — the current global position \(latitude, longitude, altitude\).
`/mavros/global_position/global` — current global position \(latitude, longitude, altitude\).
`/mavros/global_position/local` — the global position in the [UTM] system of coordinates (https://ru.wikipedia.org/wiki/Система_координат_UTM).
`/mavros/global_position/local` — the global position in the [UTM](https://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system) coordinate system.
`/mavros/global_position/rel_alt` — relative altitude \(relative to the engines ON altitude\).
`/mavros/global_position/rel_alt` — relative altitude \(relative to the arming altitude\).
Messages published in the topics may be viewed by using the `rostopic` utility, e.g., `rostopic echo /mavros/state`. See more in [working with ROS](ros.md).
Messages published in the topics may be viewed with the `rostopic` utility, e.g., `rostopic echo /mavros/state`. See more in [working with ROS](ros.md).
## Main topics for publication
`/mavros/setpoint_position/local` — set the target position and the yaw of the drone \(in the ENU system of coordinates\).
`/mavros/setpoint_position/local` — set target position and yaw of the drone \(in the ENU coordinate system\).
`/mavros/setpoint_position/cmd_vel` — set the target linear velocity of the drone.
`/mavros/setpoint_position/cmd_vel` — set target linear velocity of the drone.
`/mavros/setpoint_attitude/attitude` and `/mavros/setpoint_attitude/att_throttle` — set target attitude and throttle level.
@@ -48,8 +48,8 @@ Messages published in the topics may be viewed by using the `rostopic` utility,
### Topics for sending raw packets
`/mavros/setpoint_raw/local` — sending packet [SET\_POSITION\_TARGET\_LOCAL\_NED](https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_LOCAL_NED). Allows setting target position/target speed and target yaw/angular yaw velocity. The values to be set are selected using the `type_mask` field.
`/mavros/setpoint_raw/local` — sends [SET\_POSITION\_TARGET\_LOCAL\_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED) message. Allows setting target position/target speed and target yaw/angular yaw velocity. The values to be set are selected using the `type_mask` field.
`/mavros/setpoint_raw/attitude` — sending packet [SET\_ATTITUDE\_TARGET](https://pixhawk.ethz.ch/mavlink/#SET_ATTITUDE_TARGET). Allows setting the target attitude /angular velocity and throttle level. The values to be set are selected using the `type_mask` field
`/mavros/setpoint_raw/attitude` — sends [SET\_ATTITUDE\_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) message. Allows setting the target attitude /angular velocity and throttle level. The values to be set are selected using the `type_mask` field
`/mavros/setpoint_raw/global` — sending packet [SET\_POSITION\_TARGET\_GLOBAL\_INT](https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_GLOBAL_INT). Allows setting the target attitude in global coordinates \(latitude, longitude, altitude\) and flight speed. **Not supported in PX4** \([issue](https://github.com/PX4/Firmware/issues/7552)\).
`/mavros/setpoint_raw/global` — sends [SET\_POSITION\_TARGET\_GLOBAL\_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT). Allows setting the target attitude in global coordinates \(latitude, longitude, altitude\) and flight speed. **May not be supported in earlier releases of PX4** \([issue](https://github.com/PX4/Firmware/issues/7552)\).