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## AUTOGENERATED DON'T DELETE ## CategoryPackage |
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Package Summary
Package for interfacing to the ROSflight autopilot firmware over MAVLink
- Maintainer status: developed
- Maintainer: Daniel Koch <daniel.p.koch AT gmail DOT com>
- Author: Daniel Koch <daniel.p.koch AT gmail DOT com>, James Jackson <superjax08 AT gmail DOT com>
- License: BSD
- External website: http://rosflight.org
- Bug / feature tracker: https://github.com/rosflight/rosflight/issues
- Source: git https://github.com/rosflight/rosflight.git (branch: master)
Package Summary
Package for interfacing to the ROSflight autopilot firmware over MAVLink
- Maintainer status: developed
- Maintainer: Daniel Koch <daniel.p.koch AT gmail DOT com>
- Author: Daniel Koch <daniel.p.koch AT gmail DOT com>, James Jackson <superjax08 AT gmail DOT com>
- License: BSD
- External website: http://rosflight.org
- Bug / feature tracker: https://github.com/rosflight/rosflight/issues
- Source: git https://github.com/rosflight/rosflight.git (branch: master)
Package Summary
Package for interfacing to the ROSflight autopilot firmware over MAVLink
- Maintainer status: developed
- Maintainer: Daniel Koch <daniel.p.koch AT gmail DOT com>
- Author: Daniel Koch <daniel.p.koch AT gmail DOT com>, James Jackson <superjax08 AT gmail DOT com>
- License: BSD
- External website: http://rosflight.org
- Bug / feature tracker: https://github.com/rosflight/rosflight/issues
- Source: git https://github.com/rosflight/rosflight.git (branch: master)
Contents
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)- Control setpoint to send to the autopilot. The interpretation of the setpoint values depends on the value of the mode field. Which setpoint values to listen to can be controlled by setting the bits of the ignore field.
Published Topics
imu/data (sensor_msgs/Imu)- Inertial measurement unit (IMU) data (3-axis accelerometer, 3-axis gyro) in the NED frame
- Temperature from the IMU's internal sensor
- 3-axis magnetometer data in the NED frame
- Barometer measurement, including pressure, temperature, and computed altitude
- Distance measurement from an ultrasonic rangefinder, if attached
- Attitude estimate from the autopilot, including orientation and angular velocity in the NED frame
- Attitude estimate from the autopilot as Euler angles, in the NED frame
- Raw RC inputs to the autopilot
- Raw motor/servo outputs from the autopilot
- Status of the autopilot, including armed state, failsafe state, and error states
- Whether there are parameters that have been set on the autopilot but not saved to non-volatile memory
- String describing the firmware version running on the autopilot
- Raw named integer value sent from autopilot (used for debuggin purposes)
- Raw named floating point value sent from autopilot (used for debugging purposes)
Services
param_get (rosflight_msgs/ParamGet)- Gets the value of an autopilot parameter by name
- Sets the value of an autopilot parameter by name
- Writes all autopilot parameters to non-volatile memory
- Saves all current autopilot parameters to specified file on onboard computer
- Sets values of autopilot parameters to those saved in the specified file on the onboard computer
- Starts an IMU calibration
- Starts a magnetometer calibration
- Sets the equilibrium feed-forward commands to those specified by the current RC trim setpoints
- Calibrates the barometer
- Calibrates the airspeed sensor
- Reboots the autopilot
Parameters
~port (string, default: /dev/ttyUSB0)- Serial port to which the autopilot is connected
- Baud rate for the autopilot serial connection
- The frame in which sensor data will be returned
- Reference magnetic field strength for the magnetometer calibration