MAVROS

https://wiki.ros.org/mavros
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MAVROS is a MAVLink extendable communication node for ROS that enables communication with autopilots...
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### MAVPARAM: MAVLink Parameter Management

Source: https://wiki.ros.org/mavros

Manage MAVLink device parameters using mavparam. Load parameters from a file, dump them to a file, get individual parameter values, or set new parameter values. Options for MAVROS namespace and verbose output are available.

```bash
usage: mavparam [-h] [-n MAVROS_NS] [-v] {load,dump,get,set} ...
```

--------------------------------

### MAVPARAM: MAVLink Parameter Management

Source: https://wiki.ros.org/mavros?distro=noetic

Manage MAVLink device parameters using mavparam. This tool allows loading parameters from a file, dumping them to a file, getting individual parameter values, and setting parameter values.

```bash
usage: mavparam [-h] [-n MAVROS_NS] [-v] {load,dump,get,set} ...

Commad line tool for getting, setting, parameters from MAVLink device.

positional arguments:
  {load,dump,get,set}
    load                load parameters from file
    dump                dump parameters to file
    get                 get parameter
    set                 set parameter

optional arguments:
  -h, --help            show this help message and exit
  -n MAVROS_NS, --mavros-ns MAVROS_NS
                        ROS node namespace
  -v, --verbose         verbose output
```

--------------------------------

### Parameter Plugin

Source: https://wiki.ros.org/mavros/Plugins

Provides access to FCU parameters, mapping them to ROS parameters. Supports pulling, pushing, getting, and setting parameters.

```APIDOC
## param

### Description
Allows to access to FCU parameters and map it to ROS parameters in `~param/`.

### Services
* `~param/pull` (mavros_msgs/ParamPull)
  * Request parameter from device (or internal cache).
* `~param/push` (mavros_msgs/ParamPush)
  * Request send parameters from ROS to FCU.
* `~param/get` (mavros_msgs/ParamGet)
  * Return FCU parameter value.
* `~param/set` (mavros_msgs/ParamSet)
  * Set parameter on FCU immidiatly.
```

--------------------------------

### Convert AMSL to Ellipsoid Height in Python

Source: https://wiki.ros.org/mavros/Plugins

This Python script demonstrates how to convert between Altitude Above Mean Sea Level (AMSL) and ellipsoid height using the PyGeodesy library and EGM96 geoid data. Ensure you have the `geographiclib-tools` package and `PyGeodesy` installed. The `geoid_height` function returns an offset that can be added to AMSL to get ellipsoid height, or subtracted from ellipsoid height to get AMSL.

```python
#!/usr/bin/env python3
# Example code that helps you convert between AMSL and ellipsoid height
# To run this code you need:
#
# 1) the egm96-5.pgm file from geographiclib.
# To get it on Ubuntu run:
# sudo apt install geographiclib-tools
# sudo geographiclib-get-geoids egm96-5
#
# 2) PyGeodesy
# To get it using pip:
# pip install PyGeodesy

from pygeodesy.geoids import GeoidPGM

_egm96 = GeoidPGM('/usr/share/GeographicLib/geoids/egm96-5.pgm', kind=-3)

def geoid_height(lat, lon):
    """Calculates AMSL to ellipsoid conversion offset.
    Uses EGM96 data with 5' grid and cubic interpolation.
    The value returned can help you convert from meters 
    above mean sea level (AMSL) to meters above
    the WGS84 ellipsoid.

    If you want to go from AMSL to ellipsoid height, add the value.

    To go from ellipsoid height to AMSL, subtract this value.
    """
    return _egm96.height(lat, lon)
```

--------------------------------

### TCP Connection URL

Source: https://wiki.ros.org/mavros

Sets up TCP client and server connections, allowing specification of host, port, and system/component IDs.

```text
tcp://[server_host][:port][/?ids=sysid,compid]
```

```text
tcp-l://[bind_host][:port][/?ids=sysid,compid]
```

--------------------------------

### System Time Plugin

Source: https://wiki.ros.org/mavros/Plugins

Handles time synchronization with the FCU, particularly for PX4.

```APIDOC
## sys_time

### Description
System time plugin. Does time syncronization on **PX4**.

#### Published Topics
* `~time_reference` (sensor_msgs/TimeReference) - Time reference computed from SYSTEM_TIME.

#### Parameters
* `~conn/system_time_rate` (double, default: 0.0) - Send `SYSTEM_TIME` to device rate [Hz] (disabled if 0.0).
* `~conn/timesync_rate` (double, default: 0.0) - TIMESYNC rate. **PX4** only.
* `~time/time_ref_source` (string, default: "fcu") - Ref source for time_reference message.
* `~time/timesync_avg_alpha` (double, default: 0.6) - Alpha for exponential moving average.
```

--------------------------------

### Setpoint Raw Plugin

Source: https://wiki.ros.org/mavros/Plugins

Allows sending RAW setpoint messages to the FCU and provides loopback topics, specifically for PX4.

```APIDOC
## setpoint_raw

### Description
Send RAW setpoint messages to FCU and provide loopback topics (PX4).

```

--------------------------------

### Convert AMSL to Ellipsoid Height in Python

Source: https://wiki.ros.org/mavros

This Python script demonstrates how to convert between AMSL and ellipsoid height using the PyGeodesy library and EGM96 geoid data. Ensure you have the egm96-5.pgm file and PyGeodesy installed. To go from AMSL to ellipsoid height, add the returned value; to go from ellipsoid height to AMSL, subtract it.

```python
#!/usr/bin/env python3
# Example code that helps you convert between AMSL and ellipsoid height
# To run this code you need:
#
# 1) the egm96-5.pgm file from geographiclib.
# To get it on Ubuntu run:
# sudo apt install geographiclib-tools
# sudo geographiclib-get-geoids egm96-5
#
# 2) PyGeodesy
# To get it using pip:
# pip install PyGeodesy

from pygeodesy.geoids import GeoidPGM

_egm96 = GeoidPGM('/usr/share/GeographicLib/geoids/egm96-5.pgm', kind=-3)

def geoid_height(lat, lon):
    """Calculates AMSL to ellipsoid conversion offset. 
    Uses EGM96 data with 5' grid and cubic interpolation.
    The value returned can help you convert from meters 
    above mean sea level (AMSL) to meters above
    the WGS84 ellipsoid.

    If you want to go from AMSL to ellipsoid height, add the value.

    To go from ellipsoid height to AMSL, subtract this value.
    """
    return _egm96.height(lat, lon)

```

--------------------------------

### Manual Control Plugin

Source: https://wiki.ros.org/mavros/Plugins

Allows for publishing MANUAL_CONTROL messages for user input, subscribing to RC inputs, and publishing normalized RC outputs.

```APIDOC
## manual_control

### Description
Publish MANUAL_CONTROL message (user input).

### Subscribed Topics
* `~manual_control/send` (mavros_msgs/ManualControl)
  * RC Rx, interpreted and normalized.

### Published Topics
* `~manual_control/control` (mavros_msgs/ManualControl)
  * RC Rx, interpreted and normalized.
```

--------------------------------

### Setpoint Raw Topics

Source: https://wiki.ros.org/mavros?distro=noetic

These topics allow for sending raw setpoints to the flight controller for local position, global position, and attitude control.

```APIDOC
## Setpoint Raw Topics

### Published Topics
* `~setpoint_raw/target_local` (mavros_msgs/PositionTarget): Local target loopback.
* `~setpoint_raw/target_global` (mavros_msgs/GlobalPositionTarget): Global target loopback.
* `~setpoint_raw/target_attitude` (mavros_msgs/AttitudeTarget): Attitude target loopback.
```

--------------------------------

### Setpoint Plugins

Source: https://wiki.ros.org/mavros/Plugins

These plugins handle sending setpoints to the Flight Controller (FCU) for local, global, and attitude control.

```APIDOC
## setpoint_raw

### Description
Handles local, global, and attitude setpoints.

#### Subscribed Topics
* `~setpoint_raw/local` (mavros_msgs/PositionTarget) - Local position, velocity and acceleration setpoint.
* `~setpoint_raw/global` (mavros_msgs/GlobalPositionTarget) - Global position, velocity and acceleration setpoint.
* `~setpoint_raw/attitude` (mavros_msgs/AttitudeTarget) - Attitude, angular rate and thrust setpoint.

#### Published Topics
* `~setpoint_raw/target_local` (mavros_msgs/PositionTarget) - Local target loopback.
* `~setpoint_raw/target_global` (mavros_msgs/GlobalPositionTarget) - Global target loopback.
* `~setpoint_raw/target_attitude` (mavros_msgs/AttitudeTarget) - Attitude target loopback.
```

```APIDOC
## setpoint_velocity

### Description
Send velocity setpoint to FCU.

#### Subscribed Topics
* `~setpoint_velocity/cmd_vel_unstamped` (geometry_msgs/Twist) - Velocity setpoint.
```

--------------------------------

### ftp Plugin

Source: https://wiki.ros.org/mavros/Plugins

Provides MAVLink-FTP support for file operations on the FCU.

```APIDOC
## ftp Plugin

### Description
Support plugin for MAVLink-FTP (**PX4**).

### Services
* `~ftp/open` (mavros_msgs/FileOpen) - Open file (acquire session).
* `~ftp/close` (mavros_msgs/FileClose) - Close file (release session).
* `~ftp/read` (mavros_msgs/FileRead) - Read from opened file.
* `~ftp/write` (mavros_msgs/FileWrite) - Write to opened file.
* `~ftp/list` (mavros_msgs/FileList) - List directory.
* `~ftp/truncate` (mavros_msgs/FileTruncate) - Truncate file.
* `~ftp/remove` (mavros_msgs/FileRemove) - Unlink file.
* `~ftp/rename` (mavros_msgs/FileRename) - Rename file/directory.
* `~ftp/mkdir` (mavros_msgs/FileMakeDir) - Create directory.
* `~ftp/rmdir` (mavros_msgs/FileRemoveDir) - Remove directory.
* `~ftp/checksum` (mavros_msgs/FileChecksum) - Request to calculate CRC32 of file on FCU.
* `~ftp/reset` (std_srvs/Empty) - Reset FCU server (dangerous).
```

--------------------------------

### Setpoint Acceleration Plugin

Source: https://wiki.ros.org/mavros/Plugins

Allows sending acceleration or force setpoints to the FCU. It can be configured to send either acceleration or force.

```APIDOC
## setpoint_accel

### Description
Send acceleration setpoint.

### Subscribed Topics
* `~setpoint_accel/accel` (geometry_msgs/Vector3Stamped)
  * Acceleration or force setpoint vector.

### Parameters
* `~setpoint_accel/send_force` (bool)
  * Send force setpoint.
```

--------------------------------

### ftp

Source: https://wiki.ros.org/mavros?distro=noetic

Supports MAVLink-FTP operations for file management on the FCU.

```APIDOC
## ftp

### Description
Support plugin for MAVLink-FTP (**PX4**).

### Services
* `~ftp/open` (mavros_msgs/FileOpen) - Open file (acquire session).
* `~ftp/close` (mavros_msgs/FileClose) - Close file (release session).
* `~ftp/read` (mavros_msgs/FileRead) - Read from opened file.
* `~ftp/write` (mavros_msgs/FileWrite) - Write to opened file.
* `~ftp/list` (mavros_msgs/FileList) - List directory.
* `~ftp/truncate` (mavros_msgs/FileTruncate) - Truncate file.
* `~ftp/remove` (mavros_msgs/FileRemove) - Unlink file.
* `~ftp/rename` (mavros_msgs/FileRename) - Rename file/directory.
* `~ftp/mkdir` (mavros_msgs/FileMakeDir) - Create directory.
* `~ftp/rmdir` (mavros_msgs/FileRemoveDir) - Remove directory.
* `~ftp/checksum` (mavros_msgs/FileChecksum) - Request to calculate CRC32 of file on FCU.
* `~ftp/reset` (std_srvs/Empty) - Reset FCU server (dangerous).
```

--------------------------------

### Launch ArduPilot/APM Autopilot Stack

Source: https://wiki.ros.org/mavros?distro=noetic

Use this command to launch MAVROS with the ArduPilot/APM autopilot stack. Ensure your autopilot is running ArduPilot firmware.

```bash
roslaunch mavros apm.launch
```

--------------------------------

### Launch PX4 Autopilot Stack

Source: https://wiki.ros.org/mavros?distro=noetic

Use this command to launch MAVROS with the PX4 autopilot stack. Ensure your autopilot is running PX4 firmware.

```bash
roslaunch mavros px4.launch
```

--------------------------------

### System Status Plugin

Source: https://wiki.ros.org/mavros/Plugins

Manages system status, including FCU detection, state, battery, and extended state.

```APIDOC
## sys_status

### Description
System status plugin. Handles FCU detection. **REQUIRED** never blacklist it!.

#### Published Topics
* `~state` (mavros_msgs/State) - FCU state
* `~battery` (sensor_msgs/BatteryState) - FCU battery status report. New in Kinetic
* `~extended_state` (mavros_msgs/ExtendedState) - Landing detector and VTOL state.

#### Services
* `~set_stream_rate` (mavros_msgs/StreamRate) - Send stream rate request to FCU.
* `~set_mode` (mavros_msgs/SetMode) - Set FCU operation mode. See custom mode identifiers at modes page.

#### Parameters
* `~conn/timeout` (double, default: 30.0) - Connection time out in seconds.
* `~conn/heartbeat_rate` (double, default: 0.0) - Send HEARTBEAT message rate [Hz] (or disabled if 0.0)
* `~sys/min_voltage` (double, default: 6.0) - Minimal battery voltage for diagnostics.
* `~sys/disable_diag` (bool, default: false) - Disable all diag except HEARTBEAT message.
```

--------------------------------

### MAVSETP: MAVLink Setpoint Control

Source: https://wiki.ros.org/mavros?distro=noetic

The mavsetp utility is for testing setpoint plugins, specifically for sending local setpoints to control the device. It requires specifying the MAVROS namespace with -n.

```bash
usage: mavsetp [-h] [-n MAVROS_NS] [-V] {local} ...

Commad line tool for control the device by setpoints.

positional arguments:
  {local}
    local               Send local setpoint

optional arguments:
  -h, --help            show this help message and exit
  -n MAVROS_NS, --mavros-ns MAVROS_NS
                        ROS node namespace
  -V, --verbose         verbose output
```

--------------------------------

### SysStatus Plugin

Source: https://wiki.ros.org/mavros?distro=noetic

The SysStatus plugin handles FCU detection and provides information about the system's state and battery status. It is a required plugin and should never be blacklisted.

```APIDOC
## SysStatus Plugin

### Description
Handles FCU detection and provides system status information.

### Published Topics
* `~state` (mavros_msgs/State): FCU state.
* `~battery` (mavros_msgs/BatteryStatus): FCU battery status report. **DEPRECATED**
* `~battery` (sensor_msgs/BatteryState): FCU battery status report. New in Kinetic.
* `~extended_state` (mavros_msgs/ExtendedState): Landing detector and VTOL state.

### Services
* `~set_stream_rate` (mavros_msgs/StreamRate): Send stream rate request to FCU.
* `~set_mode` (mavros_msgs/SetMode): Set FCU operation mode. See custom mode identifiers at modes page.

### Parameters
* `~conn/timeout` (double, default: 30.0): Connection time out in seconds.
* `~conn/heartbeat_rate` (double, default: 0.0): Send HEARTBEAT message rate [Hz] (or disabled if 0.0).
* `~sys/min_voltage` (double, default: 6.0): Minimal battery voltage for diagnostics.
* `~sys/disable_diag` (bool, default: false): Disable all diag except HEARTBEAT message.
```

--------------------------------

### command Plugin

Source: https://wiki.ros.org/mavros/Plugins

Handles sending various commands to the Flight Control Unit (FCU).

```APIDOC
## command Plugin

### Description
Send COMMAND_LONG to FCU.

### Services
* `~cmd/command` (mavros_msgs/CommandLong) - Send any COMMAND_LONG to FCU.
* `~cmd/command_int` (mavros_msgs/CommandInt) - Send any COMMAND_INT to FCU.
* `~cmd/arming` (mavros_msgs/CommandBool) - Change Arming status.
* `~cmd/set_home` (mavros_msgs/CommandHome) - Change HOME location.
* `~cmd/takeoff` (mavros_msgs/CommandTOL) - Send takeoff command.
* `~cmd/land` (mavros_msgs/CommandTOL) - Send land command.
* `~cmd/trigger_control` (mavros_msgs/CommandTriggerControl) - Send camera trigger control command.

### Parameters
* `~cmd/use_comp_id_system_control` (bool, default: false) - Use `SYSTEM_CONTROL` component id instead of mavros target component.
```

--------------------------------

### Setpoint Attitude Plugin

Source: https://wiki.ros.org/mavros/Plugins

Enables sending attitude setpoints using SET_ATTITUDE_TARGET. Supports sending angular velocity, attitude (quaternion or Euler), and thrust. Includes TF integration options.

```APIDOC
## setpoint_attitude

### Description
Send attitude setpoint using SET_ATTITUDE_TARGET.

### Subscribed Topics
* `~setpoint_attitude/cmd_vel` (geometry_msgs/TwistStamped)
  * Send angular velocity.
* `~setpoint_attitude/attitude` (geometry_msgs/PoseStamped)
  * Send attitude setpoint.
* `~setpoint_attitude/thrust` (mavros_msgs/Thrust)
  * Send throttle value(0~1).

### Parameters
* `~setpoint_attitude/reverse_throttle` (bool, default: false)
  * Allow to send -1.0 throttle or not.
* `~setpoint_attitude/use_quaternion` (bool, default: false)
  * Enable ~setpoint_attitude/target_attitude PoseStamped topic subscriber and disable ~setpoint_attitude/cmd_vel Twist topic.
* `~setpoint_attitude/tf/listen` (bool, default: false)
  * TF listen switch. Disable topics if enabled.
* `~setpoint_attutude/tf/frame_id` (string, default: local_origin)
  * Origin frame_id for TF.
* `~setpoint_attitude/tf/child_frame_id` (string, default: attitude)
  * Child frame_id for TF.
* `~setpoint_attitude/tf/rate_limit` (double, default: 10.0)
  * Rate limit for TF listener [Hz].
```

--------------------------------

### imu_pub Plugin

Source: https://wiki.ros.org/mavros/Plugins

Publishes IMU (Inertial Measurement Unit) data.

```APIDOC
## imu_pub Plugin

### Description
Publish IMU state

### Published Topics
* `~imu/data` (sensor_msgs/Imu) - Imu data, orientation computed by FCU
* `~imu/data_raw` (sensor_msgs/Imu) - Raw IMU data without orientation
* `~imu/mag` (sensor_msgs/MagneticField) - FCU compass data
* `~imu/temperature` (sensor_msgs/Temperature) - Temperature reported by FCU (usually from barometer)
* `~imu/atm_pressure` (sensor_msgs/FluidPressure) - Air pressure.

### Parameters
* `~imu/frame_id` (string, default: fcu) - Frame ID for this plugin.
* `~imu/linear_acceleration_stdev` (double, default: 0.0003) - Gyro's standard deviation
* `~imu/angular_velocity_stdev` (double, default: !dec 0.02) - Accel's standard deviation
* `~imu/orientation_stdev` (double, default: 1.0) - Standard deviation for IMU.orientation
* `~imu/magnetic_stdev` (double, default: 0.0) - Standard deviation for magnetic field message (undefined if: 0.0)
```

--------------------------------

### RC IO Plugin

Source: https://wiki.ros.org/mavros/Plugins

Handles publishing RC receiver inputs and outputs. Supports RC override messages for APM and PX4, and publishes raw RC inputs and servo outputs.

```APIDOC
## rc_io

### Description
Publish RC receiver inputs.

### Subscribed Topics
* `~rc/override` (mavros_msgs/OverrideRCIn)
  * Send RC override message to FCU. **APM** and **PX4** only. APM requires setup FCU param `SYSID_MYGCS` to match mavros system id. **Not recommended** to use in automatic control because lack of safety mechanisms. Use one of setpoint plugins and OFFBOARD mode.

### Published Topics
* `~rc/in` (mavros_msgs/RCIn)
  * Publish RC inputs (in raw milliseconds)
* `~rc/out` (mavros_msgs/RCOut)
  * Publish FCU servo outputs
```

--------------------------------

### MAVFTP: MAVLink File Transfer

Source: https://wiki.ros.org/mavros?distro=noetic

The mavftp tool facilitates file manipulation on PX4 devices via MAVLink-FTP. It supports operations such as changing directories, listing files, downloading, uploading, and verifying files. Requires PX4 firmware.

```bash
usage: mavftp [-h] [-n MAVROS_NS] [-v]
              {cd,list,cat,remove,mkdir,rmdir,download,upload,verify,reset}
              ...
```

--------------------------------

### MAVWP: MAVLink Waypoint Management

Source: https://wiki.ros.org/mavros

Manage mission waypoints on a MAVLink device with mavwp. This tool allows showing, loading, pulling, dumping, clearing, setting the current waypoint, and sending goto commands (APM only). Options for MAVROS namespace and verbose output are available.

```bash
usage: mavwp [-h] [-n MAVROS_NS] [-v]
             {show,load,pull,dump,clear,setcur,goto} ...
```

--------------------------------

### MAVROS mavteleop Command-Line Interface

Source: https://wiki.ros.org/mavros_extras

This script provides teleoperation capabilities for Copter-UAVs. It supports different control types such as RC override, attitude setpoint, velocity setpoint, and position setpoint. Use the -h flag for detailed help on each command.

```bash
usage: mavteleop [-h] [-n MAVROS_NS] [-v] (-rc | -att | -vel | -pos)

Teleoperation script for Copter-UAV

optional arguments:
  -h, --help            show this help message and exit
  -n MAVROS_NS, --mavros-ns MAVROS_NS
                        ROS node namespace
  -v, --verbose         verbose output
  -rc, --rc-override    use rc override control type
  -att, --sp-attitude   use attitude setpoint control type
  -vel, --sp-velocity   use velocity setpoint control type
  -pos, --sp-position   use position setpoint control type
```

--------------------------------

### MAVROS Manual Control

Source: https://wiki.ros.org/mavros

Allows publishing MANUAL_CONTROL messages for user input.

```APIDOC
## manual_control

Publish MANUAL_CONTROL message (user input).

#### Subscribed Topics
`~manual_control/send` (mavros_msgs/ManualControl)
  * RC Rx, interpreted and normalized.


#### Published Topics
`~manual_control/control` (mavros_msgs/ManualControl)
  * RC Rx, interpreted and normalized.
```

--------------------------------

### UDP Connection URL

Source: https://wiki.ros.org/mavros

Configures UDP connections, including standard UDP, UDP broadcast, and specifying remote hosts and ports.

```text
udp://[bind_host][:port]@[remote_host][:port][/?ids=sysid,compid]
```

```text
udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid]
```

--------------------------------

### Setpoint Position Plugin

Source: https://wiki.ros.org/mavros/Plugins

Handles sending position setpoints to the FCU using either global (LLA) or local (ENU) coordinates. Supports TF integration for defining the setpoint frame.

```APIDOC
## setpoint_position

### Description
Sends position setpoint using SET_POSITION_TARGET_GLOBAL_INT or SET_POSITION_TARGET_LOCAL_NED.

### Subscribed Topics
* `~setpoint_position/global` (geographic_msgs/GeoPoseStamped)
  * Global frame setpoint position. Sends an LLA to the flight controller. Only YAW axis extracted from orientation field. **IMPORTANT:** Altitude is interpreted as AMSL and care must be taken to avoid a common pitfall. See this section for more.
* `~setpoint_position/local` (geometry_msgs/PoseStamped)
  * Local frame setpoint position. Only YAW axis extracted from orientation field.
* `~setpoint_position/global_to_local` (geographic_msgs/GeoPoseStamped)
  * The old implementation of `~setpoint_position/global`. Converts LLA to local ENU. This was done as a workaround before the flight controller could accept LLA setpoints directly. Consider using `~setpoint_position/global` instead. See the details here. Only YAW axis extracted from orientation field.

### Parameters
* `~setpoint_position/tf/listen` (bool, default: false)
  * TF listen switch. Disable topic if enabled.
* `~setpoint_position/tf/frame_id` (string, default: local_origin)
  * Origin frame_id for TF.
* `~setpoint_position/tf/child_frame_id` (string, default: setpoint)
  * Child frame_id for TF.
* `~setpoint_position/tf/rate_limit` (double, default: 50.0)
  * Rate limit for TF listener [Hz].
```

--------------------------------

### MAVSETP: MAVLink Setpoint Control

Source: https://wiki.ros.org/mavros

Use mavsetp for testing setpoint plugins, specifically for sending local setpoints to control the device. The -n option specifies the MAVROS namespace.

```bash
usage: mavsetp [-h] [-n MAVROS_NS] [-V] {local} ...
```

--------------------------------

### Setpoint Velocity Plugin

Source: https://wiki.ros.org/mavros?distro=noetic

The Setpoint Velocity plugin allows sending velocity setpoints to the flight controller via the `~setpoint_velocity/cmd_vel_unstamped` topic.

```APIDOC
## Setpoint Velocity Plugin

### Description
Send velocity setpoint to FCU.

### Subscribed Topics
* `~setpoint_velocity/cmd_vel_unstamped` (geometry_msgs/Twist): Velocity setpoint.
```

--------------------------------

### mavftpfuse Usage

Source: https://wiki.ros.org/mavros_extras

Command-line usage for mavftpfuse, a FUSE filesystem for MAVLink-FTP mavros plugin. Requires the fusepy package.

```bash
usage: mavftpfuse [-h] [-n MAVROS_NS] [-v] [-d] path

FUSE for MAVLink-FTP mavros plugin

positional arguments:
  path                  mount point

optional arguments:
  -h, --help            show this help message and exit
  -n MAVROS_NS, --mavros-ns MAVROS_NS
                        ROS node namespace
  -v, --verbose         verbose output
  -d, --debug           libfuse debug
```

--------------------------------

### MAVROS Parameter Services

Source: https://wiki.ros.org/mavros

Provides services to access and manipulate flight controller parameters.

```APIDOC
## param

Allows to access to FCU parameters and map it to ROS parameters in `~param/`.

### Services

`~param/pull` (mavros_msgs/ParamPull)
  * Request parameter from device (or internal cache).

`~param/push` (mavros_msgs/ParamPush)
  * Request send parameters from ROS to FCU.

`~param/get` (mavros_msgs/ParamGet)
  * Return FCU parameter value.

`~param/set` (mavros_msgs/ParamSet)
  * Set parameter on FCU immidiatly.
```

--------------------------------

### local_position Plugin

Source: https://wiki.ros.org/mavros/Plugins

Publishes LOCAL_POSITION_NED in TF and PoseStamped topic.

```APIDOC
## local_position Plugin

### Description
Publish LOCAL_POSITION_NED in TF and PoseStamped topic.

### Published Topics
* `~local_position/pose` (geometry_msgs/PoseStamped) - Local position from FCU.
* `~local_position/velocity` (geometry_msgs/TwistStamped) - Velocity data from FCU.
```

--------------------------------

### SysTime Plugin

Source: https://wiki.ros.org/mavros?distro=noetic

The SysTime plugin synchronizes time with the flight controller, particularly for PX4 systems. It publishes time reference information.

```APIDOC
## SysTime Plugin

### Description
Synchronizes time with the flight controller, especially on PX4 systems.

### Published Topics
* `~time_reference` (sensor_msgs/TimeReference): Time reference computed from SYSTEM_TIME.

### Parameters
* `~conn/system_time_rate` (double, default: 0.0): Send `SYSTEM_TIME` to device rate [Hz] (disabled if 0.0).
* `~conn/timesync_rate` (double, default: 0.0): TIMESYNC rate. **PX4** only.
* `~time/time_ref_source` (string, default: "fcu"): Ref source for time_reference message.
* `~time/timesync_avg_alpha` (double, default: 0.6): Alpha for exponential moving average.
```

--------------------------------

### MAVROS Setpoint Acceleration

Source: https://wiki.ros.org/mavros

Allows sending acceleration setpoints to the flight controller.

```APIDOC
## setpoint_accel

Send acceleration setpoint. 

#### Subscribed Topics
`~setpoint_accel/accel` (geometry_msgs/Vector3Stamped)
  * Acceleration or force setpoint vector.
```

--------------------------------

### hil_controls

Source: https://wiki.ros.org/mavros?distro=noetic

Publishes Hardware-in-the-Loop (HIL) control data.

```APIDOC
## hil_controls

### Description
Publish HIL_CONTROLS New in 0.18

### Published Topics
* `~hil_controls/hil_controls` (mavros_msgs/HilControls) - HIL data

### Parameters
* `~frame_id` (string, default: "map") - frame for altitude messages
```

--------------------------------

### hil_controls Plugin

Source: https://wiki.ros.org/mavros/Plugins

Publishes HIL_CONTROLS data. New in version 0.18.

```APIDOC
## hil_controls Plugin

### Description
Publish HIL_CONTROLS New in 0.18

### Published Topics
* `~hil_controls/hil_controls` (mavros_msgs/HilControls) - HIL data

### Parameters
* `~frame_id` (string, default: "map") - frame for altitude messages
```

--------------------------------

### FTP Services

Source: https://wiki.ros.org/mavros

Provides MAVLink-FTP services for file operations on the FCU.

```APIDOC
## ftp

### Description
Support plugin for MAVLink-FTP (**PX4**).

### Services
* `~ftp/open` ( mavros_msgs/FileOpen ): Open file (acquire session).
* `~ftp/close` ( mavros_msgs/FileClose ): Close file (release session).
* `~ftp/read` ( mavros_msgs/FileRead ): Read from opened file.
* `~ftp/write` ( mavros_msgs/FileWrite ): Write to opened file.
* `~ftp/list` ( mavros_msgs/FileList ): List directory.
* `~ftp/truncate` ( mavros_msgs/FileTruncate ): Truncate file.
* `~ftp/remove` ( mavros_msgs/FileRemove ): Unlink file.
* `~ftp/rename` ( mavros_msgs/FileRename ): Rename file/directory.
* `~ftp/mkdir` ( mavros_msgs/FileMakeDir ): Create directory.
* `~ftp/rmdir` ( mavros_msgs/FileRemoveDir ): Remove directory.
* `~ftp/checksum` ( mavros_msgs/FileChecksum ): Request to calculate CRC32 of file on FCU.
* `~ftp/reset` ( std_srvs/Empty ): Reset FCU server (dangerous).
```

--------------------------------

### MAVROS Raw Setpoint

Source: https://wiki.ros.org/mavros

Enables sending RAW setpoint messages to the flight controller.

```APIDOC
## setpoint_raw

Send RAW setpoint messages to FCU and provide loopback topics (PX4). 

#### Subscribed Topics
`~setpoint_raw/local` (mavros_msgs/PositionTarget)
  * Local position, velocity and acceleration setpoint. 

`~setpoint_raw/global` (mavros_msgs/GlobalPositionTarget)
  * Global position, velocity and acceleration setpoint. 

`~setpoint_raw/attitude` (mavros_msgs/AttitudeTarget)
  * Attitude, angular rate and thrust setpoint.
```

--------------------------------

### MAVWP: MAVLink Mission/Waypoint Management

Source: https://wiki.ros.org/mavros?distro=noetic

Manage mission waypoints on a MAVLink device using mavwp. This tool supports showing, loading, pulling from FCU, dumping to file, clearing, setting the current waypoint, and sending goto commands (APM only).

```bash
usage: mavwp [-h] [-n MAVROS_NS] [-v]
             {show,load,pull,dump,clear,setcur,goto} ...

Commad line tool for manipulating mission on MAVLink device.

positional arguments:
  {show,load,pull,dump,clear,setcur,goto}
    show                Show waypoints
    load                load waypoints from file
    pull                pull waypoints from FCU
    dump                dump waypoints to file
    clear               clear waypoints on device
    setcur              set current waypoints on device
    goto                send goto waypoint (APM only)

optional arguments:
  -h, --help            show this help message and exit
  -n MAVROS_NS, --mavros-ns MAVROS_NS
                        ROS node namespace
  -v, --verbose         verbose output
```

--------------------------------

### Waypoint Plugin

Source: https://wiki.ros.org/mavros/Plugins

Provides access to the FCU's mission (waypoints) for pulling, pushing, clearing, and setting the current waypoint.

```APIDOC
## waypoint

### Description
Allows to access to FCU mission (waypoints).

#### Published Topics
* `~mission/reached` (mavros_msgs/WaypointReached) - Publishes on reaching a waypoint from MISSION_ITEM_REACHED message.
* `~mission/waypoints` (mavros_msgs/WaypointList) - Current waypoint table. Updates on changes.

#### Services
* `~mission/pull` (mavros_msgs/WaypointPull) - Request update waypoint list.
* `~mission/push` (mavros_msgs/WaypointPush) - Send new waypoint table.
* `~mission/clear` (mavros_msgs/WaypointClear) - Clear mission on FCU.
* `~mission/set_current` (mavros_msgs/WaypointSetCurrent) - Set current seq. number in list.

#### Parameters
* `~mission/pull_after_gcs` (bool, default: false) - Defines pull or not waypoints if detected GCS activity.
```

--------------------------------

### MAVROS RC IO

Source: https://wiki.ros.org/mavros

Publishes RC receiver inputs and allows overriding them.

```APIDOC
## rc_io

Publish RC receiver inputs.

#### Subscribed Topics
`~rc/override` (mavros_msgs/OverrideRCIn)
  * Send RC override message to FCU. **APM** and **PX4** only. APM requires setup FCU param `SYSID_MYGCS` to match mavros system id. **Not recommended** to use in automatic control because lack of safety mechanisms. Use one of setpoint plugins and OFFBOARD mode.


#### Published Topics
`~rc/in` (mavros_msgs/RCIn)
  * Publish RC inputs (in raw milliseconds)

`~rc/out` (mavros_msgs/RCOut)
  * Publish FCU servo outputs
```

--------------------------------

### MAVROS Setpoint Position

Source: https://wiki.ros.org/mavros

Allows sending position setpoints using SET_POSITION_TARGET_GLOBAL_INT or SET_POSITION_TARGET_LOCAL_NED.

```APIDOC
## setpoint_position

Sends position setpoint using SET_POSITION_TARGET_GLOBAL_INT or SET_POSITION_TARGET_LOCAL_NED. 

#### Subscribed Topics
`~setpoint_position/global` (geographic_msgs/GeoPoseStamped)
  * Global frame setpoint position. Sends an LLA to the flight controller. Only YAW axis extracted from orientation field. **IMPORTANT:** Altitude is interpreted as AMSL and care must be taken to avoid a common pitfall. See this section for more. 

`~setpoint_position/local` (geometry_msgs/PoseStamped)
  * Local frame setpoint position. Only YAW axis extracted from orientation field. 

`~setpoint_position/global_to_local` (geographic_msgs/GeoPoseStamped)
  * The old implementation of `~setpoint_position/global`. Converts LLA to local ENU. This was done as a workaround before the flight controller could accept LLA setpoints directly. Consider using `~setpoint_position/global` instead. See the details here. Only YAW axis extracted from orientation field.
```

--------------------------------

### actuator_control Plugin

Source: https://wiki.ros.org/mavros/Plugins

Sends actuator commands to the Flight Control Unit (FCU).

```APIDOC
## actuator_control Plugin

### Description
Sends actuator commands to FCU.

### Subscribed Topics
* `~actuator_control` (mavros_msgs/ActuatorControl) - actuator command
```

--------------------------------

### global_position Plugin

Source: https://wiki.ros.org/mavros/Plugins

Publishes global position information fused by FCU and raw GPS data.

```APIDOC
## global_position Plugin

### Description
Publish global position information fused by FCU and raw GPS data.

### Published Topics
* `~global_position/global` (sensor_msgs/NavSatFix) - GPS Fix. **IMPORTANT:** Altitude is specified as ellipsoid height and care must be taken to avoid a common pitfall. See this section for more.
* `~global_position/local` (geometry_msgs/PoseWithCovarianceStamped) - UTM coords.
* `~global_position/gp_vel` (geometry_msgs/TwistStamped) - Velocity fused by FCU.
* `~global_position/rel_alt` (std_msgs/Float64) - Relative altitude.
* `~global_position/compass_hdg` (std_msgs/Float64) - Compass heading in degrees.
* `~global_position/raw/fix` (sensor_msgs/NavSatFix) - GPS position fix reported by the device.
* `~global_position/raw/gps_vel` (geometry_msgs/TwistStamped) - Velocity output from the GPS device.

### Parameters
* `~global_position/frame_id` (string, default: fcu) - frame_id for messages.
* `~global_position/tf/send` (bool, default: true) - Send or not local UTM coords via TF?
* `~global_position/tf/frame_id` (string, default: local_origin) - frame_id for TF.
* `~global_position/tf/child_frame_id` (string, default: fcu_utm) - Child frame_id for TF.
```

--------------------------------

### imu_pub

Source: https://wiki.ros.org/mavros?distro=noetic

Publishes IMU (Inertial Measurement Unit) state data.

```APIDOC
## imu_pub

### Description
Publish IMU state 

### Published Topics
* `~imu/data` (sensor_msgs/Imu) - Imu data, orientation computed by FCU
* `~imu/data_raw` (sensor_msgs/Imu) - Raw IMU data without orientation
* `~imu/mag` (sensor_msgs/MagneticField) - FCU compass data
* `~imu/temperature` (sensor_msgs/Temperature) - Temperature reported by FCU (usually from barometer)
* `~imu/atm_pressure` (sensor_msgs/FluidPressure) - Air pressure.

### Parameters
* `~imu/frame_id` (string, default: fcu) - Frame ID for this plugin.
* `~imu/linear_acceleration_stdev` (double, default: 0.0003) - Gyro's standard deviation
* `~imu/angular_velocity_stdev` (double, default: !dec 0.02) - Accel's standard deviation
* `~imu/orientation_stdev` (double, default: 1.0) - Standard deviation for IMU.orientation
* `~imu/magnetic_stdev` (double, default: 0.0) - Standard deviation for magnetic field message (undefined if: 0.0)
```

--------------------------------

### Command Services

Source: https://wiki.ros.org/mavros

Provides services for sending various commands to the FCU.

```APIDOC
## command

### Description
Send COMMAND_LONG to FCU.

### Services
* `~cmd/command` ( mavros_msgs/CommandLong ): Send any COMMAND_LONG to FCU.
* `~cmd/command_int` ( mavros_msgs/CommandInt ): Send any COMMAND_INT to FCU.
* `~cmd/arming` ( mavros_msgs/CommandBool ): Change Arming status.
* `~cmd/set_home` ( mavros_msgs/CommandHome ): Change HOME location.
* `~cmd/takeoff` ( mavros_msgs/CommandTOL ): Send takeoff command.
* `~cmd/land` ( mavros_msgs/CommandTOL ): Send land command.
* `~cmd/trigger_control` ( mavros_msgs/CommandTriggerControl ): Send camera trigger control command.

### Parameters
* `~cmd/use_comp_id_system_control` (bool, default: false) - Use `SYSTEM_CONTROL` component id instead of mavros target component.
```

--------------------------------

### Waypoint Plugin

Source: https://wiki.ros.org/mavros?distro=noetic

The Waypoint plugin provides access to the flight controller's mission (waypoints). It allows pulling, pushing, clearing, and setting the current waypoint.

```APIDOC
## Waypoint Plugin

### Description
Allows to access to FCU mission (waypoints).

### Published Topics
* `~mission/reached` (mavros_msgs/WaypointReached): Publishes on reaching a waypoint from MISSION_ITEM_REACHED message.
* `~mission/waypoints` (mavros_msgs/WaypointList): Current waypoint table. Updates on changes.

### Services
* `~mission/pull` (mavros_msgs/WaypointPull): Request update waypoint list.
* `~mission/push` (mavros_msgs/WaypointPush): Send new waypoint table.
* `~mission/clear` (mavros_msgs/WaypointClear): Clear mission on FCU.
* `~mission/set_current` (mavros_msgs/WaypointSetCurrent): Set current seq. number in list.

### Parameters
* `~mission/pull_after_gcs` (bool, default: false): Defines pull or not waypoints if detected GCS activity.
```

--------------------------------

### command

Source: https://wiki.ros.org/mavros?distro=noetic

Provides services to send commands to the Flight Control Unit (FCU).

```APIDOC
## command

### Description
Send COMMAND_LONG to FCU.

### Services
* `~cmd/command` (mavros_msgs/CommandLong) - Send any COMMAND_LONG to FCU.
* `~cmd/command_int` (mavros_msgs/CommandInt) - Send any COMMAND_INT to FCU.
* `~cmd/arming` (mavros_msgs/CommandBool) - Change Arming status.
* `~cmd/set_home` (mavros_msgs/CommandHome) - Change HOME location.
* `~cmd/takeoff` (mavros_msgs/CommandTOL) - Send takeoff command.
* `~cmd/land` (mavros_msgs/CommandTOL) - Send land command.
* `~cmd/trigger_control` (mavros_msgs/CommandTriggerControl) - Send camera trigger control command.

### Parameters
* `~cmd/use_comp_id_system_control` (bool, default: false) - Use `SYSTEM_CONTROL` component id instead of mavros target component.
```

--------------------------------

### Waypoint Services

Source: https://wiki.ros.org/mavros

Services for the waypoint plugin, enabling manipulation of mission waypoints on the FCU.

```APIDOC
## Services

### `~mission/pull`

Request update waypoint list.

#### Service

`mavros_msgs/WaypointPull`

### `~mission/push`

Send new waypoint table.

#### Service

`mavros_msgs/WaypointPush`

### `~mission/clear`

Clear mission on FCU.

#### Service

`mavros_msgs/WaypointClear`

### `~mission/set_current`

Set current seq. number in list.

#### Service

`mavros_msgs/WaypointSetCurrent`
```

--------------------------------

### 3dr_radio Plugin

Source: https://wiki.ros.org/mavros/Plugins

Publishes 3DR Radio status to diagnostics and a topic.

```APIDOC
## 3dr_radio Plugin

### Description
Publish 3DR Radio status to diagnostics and topic.

### Published Topics
* `~radio_status` (mavros_msgs/RadioStatus) - Status received from modem, same as RADIO_STATUS message.
```
Tokens:
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