mavpro

The mavpro package provides 3D action implementations for UAVs running mavros. See move_base for the 2D equivalent.

Actions and Action Servers

The package provides actions for UAV takeoff, landing, and navigating to a local target. All three action servers are launched at once with actions.launch. See actionlib for an in-depth overview of action servers and clients.

Takeoff

The UAV autonomously arms and takes off until it reaches the desired altitude.

FlyToLocal

The UAV flies to a local target. The goal position is represented as a geometry_msgs/PoseStamped message. Supports the mavros default fcu frame, whose origin is the UAV arming location, as well as other frames if the appropriate transform information is available.

Landing

The UAV lands and disarms.

Other Nodes

utm_fcu_tf_broadcaster

This node broadcasts a static transform between the origin of the local UTM frame (default: local_origin in mavros) and the fcu frame.

set_stream_rate

Set rate for all mavros topics. Without this, all flight controller data does not get published on startup[1][2].

key_pilot

Python script for remote controlling drone via keyboard input and the setpoint_position plugin.

Limitations

• Currently only supports APM firmware, PX4 is unsupported.
• In order for the takeoff action server to work, RC overrides for the throttle channel are used. The mavros node system_id parameter needs to match the value of the SYSID_MYGCS parameter on the flight controller[3], or the RC overrides will fail silently. The default value of system_id for mavros is 1.