MAVROS

MAVLink extendable communication node for ROS with proxy for Ground Control Station (e.g. [QGroundControl][qgc]).

ROS API documentation moved to [wiki.ros.org][wiki].

Features

• Communication with autopilot via serial port, UDP or TCP (e.g. [PX4 Pro][px4] or [ArduPilot][apm])
• Internal proxy for Ground Control Station (serial, UDP, TCP)
• Plugin system for ROS-MAVLink translation
• Parameter manipulation tool
• Waypoint manipulation tool
• PX4Flow support (by [mavros_extras][mrext])
• OFFBOARD mode support
• Geographic coordinates conversions.

Limitations

Only for Linux. Depends on [Boost library][boost], GCC 4.8+ (C++11 support). Catkin build system required.

This package are dependent on [ros-*-mavlink][mlwiki] build from [mavlink-gbp-release][mlgbp]. It exists in ROS package index and usually updates each month.

Connection URL

Connection defined by URL, you can use any supported type for FCU and GCS.

Supported schemas:

• Serial: /path/to/serial/device[:baudrate]
• Serial: serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]
• Serial with hardware flow control: serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid]
• UDP: udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid]
• UDP broadcast until GCS discovery: udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid]
• UDP broadcast (permanent): udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid]
• TCP client: tcp://[server_host][:port][/?ids=sysid,compid]
• TCP server: tcp-l://[bind_host][:port][/?ids=sysid,compid]

Note:

• Ids from URL overrides value given by system_id & component_id parameters.
• bind_host - default 0.0.0.0 - i.e. IP4 ANY
• UDP default ports: 14555 @ 14550
• UDP remote address updated every time with incoming packet on bind port.
• TCP default port: 5760

Coordinate frames

MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Please read documents from issue #473 for additional information.

All the conversions are handled in src/lib/ftf_frame_conversions.cpp and src/lib/ftf_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.

Related issues: [#49 (outdated)][iss49], [#216 (outdated)][iss216], [#317 (outdated)][iss317], [#319 (outdated)][iss319], [#321 (outdated)][iss321], [#473][iss473]. Documents: [Frame Conversions][iss473rfc], [Mavlink coordinate frames][iss473table].

MAVROS also allows conversion of geodetic and geocentric coordinates through [GeographicLib][geolib] given that:

• geographic_msgs and NatSatFix.msg require the LLA fields to be filled in WGS-84 datum, meaning that the altitude should be the height above the WGS-84 ellipsoid. For that, a conversion from the height above the geoid (AMSL, considering the egm96 geoid model) to height above the WGS-84 ellipsoid, and vice-versa, is available and used in several plugins;
• According to ROS REP 105, the earth frame should be propagated in ECEF (Earth-Centered, Earth-Fixed) local coordinates. For that, the functionalities of GeographicLib are used in order to allow conversion from geodetic coordinates to geocentric coordinates;
• The translation from GPS coordinates to local geocentric coordinates require the definition of a local origin on the map frame, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in the global_position plugin.

Programs

mavros_node – main communication node

Main node. Allow disable GCS proxy by setting empty URL.

Run example (autopilot connected via USB at 921600 baud, GCS running on the host with IP 172.16.254.1):

rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:921600 _gcs_url:=udp://@172.16.254.1

gcs_bridge – additional proxy

Allows you to add a channel for GCS. For example if you need to connect one GCS for HIL and the second on the tablet.

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Changelog for package mavros

1.5.1 (2021-01-04)

• Fix tests for renaming of ECEF cases Introduced in 6234af29
• Initialise message structures Uninitialised Mavlink 2 extension fields were sent if the fields were not later set. Initialising the fields to zero is the default value for extension fields and appears to the receiver as though sender is unaware of Mavlink 2. Instances were found with regex below, more may exist: mavlink::[\^:]+::msg::[\^:={]+ ?[\^:={]*;
• Contributors: Rob Clarke

1.5.0 (2020-11-11)

• mavros/sys_status: Fill flight_custom_version field
• mavros: Add override specifiers
• mavros: Move ECEF tf enums to separate enum class This avoids a bunch of unhandled switch cases, and should improve type safety a bit.
• Contributors: Morten Fyhn Amundsen

1.4.0 (2020-09-11)

• mavros: use mavlink::minimal:: after incompatible changes in mavlink package Incompatible change: https://github.com/mavlink/mavlink/pull/1463 Fix: #1483, https://github.com/mavlink/mavlink/issues/1474
• fixes based on vooon's review
• fix issue what we couldn't set real parameters to 0.0 in mavros
• Add error message
• Fixed compilation error: publish std_msgs::String, not std::string for gcs_ip
• Dispatch GCS IP address
• Contributors: Artem Batalov, Marcelino, Morten Fyhn Amundsen, Vladimir Ermakov, Øystein Skotheim

1.3.0 (2020-08-08)

• fake_gps.cpp: implement speed accuracy
• fake_gps.cpp: Add mocap_withcovariance configuration parameter
• fake_gps.cpp: add initial support for GPS_INPUT MAVLink message
• apm.launch: Avoid warning: Warning: You are using <arg> inside an <include> tag with the default=XY attribute - which is superfluous. Use value=XY instead for less confusion. Attribute name: respawn_mavros
• Added support for MavProxy parameter file format
• Ignore read-only parameters and statistics parameters in push operations
• fix indentation
• transform based on coordinate_frame
• wind plugin: fix ArduPilot wind transformation
• Contributors: Ben Wolsieffer, Dr.-Ing. Amilcar do Carmo Lucas, Yuan, Yuan Xu

1.2.0 (2020-05-22)

• has_capability only works for enums
• Uncrustify
• Reworked Waypoint plugin to use capabilities_cb Additionally added helper functions has_capability and has_capabilities so that people can use either ints or enums to check if the UAS has a capability. This might make accepting capabilities as a parameter moot though.
• Added alias for capabilities enum to UAS
• Added alias for capabilities enum to UAS
• Added a capabilities change cb queue Plugins can now write functions that they add to the capabilities_cb_vec. These functions will be called only when there is a change to the capabilities themselves not whenever the known status of the fcu_capabilities change. These functions should have a parameter of type mavlink::common::MAV_PROTOCOL_CAPABILITY which is essentially just a uint64_t however being more opinionated is helpful when looking for what the canonical enum names are in the mavlink project header files.
• Uncrustify
• Fixed Removed Uncrustify Option I'm not sure why this didn't break when I ran uncrustify previously but it seems that the align_number_left option was removed a while ago with this merge request but I may be mistaken https://github.com/uncrustify/uncrustify/pull/1393 I replaced it which align_number_right=true since it seems to be the inverse of align_number_left=true.
• Removed deprecated MAV_FRAME values
• Removed use of variant in favor of templates Since ROS messages are now the storage type in the node, providing to and from conversion functions is sufficient and can be better expressed with function templates.
• Encode factor returns double
• Changed encoding factor cog code
• Uncrustify changes
• Added new parameter to config.yamls
• Updated waypoint plugin to support MISSION_ITEM_INT These changes add a new parameter use_mission_item_int, which allows users to prefer the old behavior. These changes also verify that the flight controller supports _INT messages since APM only sends REQUEST_ITEM messages even though it accepts _INT items back. This commit is functional and tested with the APM stack only. PX4 sitl jmavsim threw: WP: upload failed: Command is not supported. FCU: IGN MISSION_ITEM: Busy

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