mavros_msgs::SetMode offb_set_mode; offb_set_mode.request.custom_mode = "OFFBOARD"; mavros_msgs::CommandBool arm_cmd; arm_cmd.request.value = true; ros::Time last_request = ros::Time::now(); while(ros::ok()){ if( current_state.mode != "OFFBOARD" && (ros::Time::now() - l...
// 依赖的库文件有:mavros、roscpp// 1.头文件需要#include<ros/ros.h>#include<mavros_msgs/State.h>// 2.回调函数,接受状态数据mavros_msgs::State current_state;voidstate_cb(constmavros_msgs::State::ConstPtr& msg){ current_state = *msg; }// 3.订阅话题ros::Subscriber state_sub = nh.subs...
mav_msgs,添加对mav_msgs消息的依赖,包的程序中可以使用mav_msgs/xxx类型的消息,该消息的定义在UAV\src\mav_comm包中定义。 gazebo_msgs添加对ROS官方gazebo_msgs消息的依赖,在包的程序中可以使用gazebo_msgs/xxx类型的消,主要用于从Gazebo中获取消息...
消息类型为std_msgs/String,mav_control_interface的当前状态 predicted_state 消息类型为visualization_msgs/Marker,可以在rviz中可视化的预测无人机的位置 reference_trajectory 消息类型为visualization_msgs/Marker,可以在rviz中可视化的无人机参考轨迹 KF...
- Update package and cmake files. - Port mav_planning_msgs to ros2 humble - Port mav_state_machine_msgs to ros2 humble - Port mav_system_msgs to ros2 humble - Port meta-package mav_comm to ros2 humble Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>ros2 (#90) ...
ros-kinetic-marti-sensor-msgs ros-kinetic-marti-status-msgs ros-kinetic-marti-visualization-msgs ros-kinetic-marvelmind-nav ros-kinetic-master-discovery-fkie ros-kinetic-master-sync-fkie ros-kinetic-mav-comm ros-kinetic-mavlink ros-kinetic-mav-msgs ...
{ auto request = std::make_shared<mavros_msgs::srv::CommandLong::Request>(); request->target_system = 1; request->target_component = 1; request->command = mavros_msgs::msg::MAV_CMD_DO_LAND_START; request->confirmation = 1; request->param1 = 0; request-&...
ros2 topic pub -1 /pendulum_disturbance pendulum_msgs_v2/msg/PendulumCommand "cart_force: 100" force 节点管理 演示中使用的主要节点是/pendulum_controller和/pendulum_driver。 也就是说,它们从生命周期节点继承,可以控制节点状态。 标题 所有配置和内存分配必须在onConfigure转换中完成。 在活动状态下,所有计...
catkin_make --pkg mav_msgs mavros_msgs gazebo_msgssourcedevel/setup.bash catkin_make -j 4 安装凉亭 选项1:安装凉亭使用Ubuntu的软件包 设置您的计算机从packages.osrfoundation.org接受软件 sudo sh -c'echo"deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main"> /etc/...
import rospy from std_msgs.msg import String from pymavlink import mavutil # 建立MAVLink连接 master = mavutil.mavlink_connection('/dev/ttyUSB0', baud=57600) master.wait_heartbeat() def mavlink_to_ros(): rospy.init_node('mavlink_bridge', anonymous=True) pub = rospy.Publisher('mavlink_chat...