Backend MAVROS

This backend uses MAVROS to communicate with PX4 or Ardupilot via MAVLink. There are two sample launch files to start running this backend:

server.launch

Runs two nodes (mavros and ual) and it has the following arguments:

• UAL params:
  • id - UAV identifier - default: 1
  • ual_server - UAL ROS interface [on,off] - default: on
  • ual_pub_rate - Pub rate of UAL topics - default: 30.0 Hz
• MAVROS params:
  • mode - MAVLink connection mode [serial,sitl,custom] - default: serial
  • fcu_url - MAVLink autopilot url - default: udp://:14550@localhost:14556
  • gcs_url - MAVLink ground station url
  • rtcm_topic - Remapping of the RTCM corrections topic
• Backend MAVROS params:
  • pose_frame_id - Frame id in which we want to publish the pose
  • mavros_offboard_rate - Pub rate of MAVROS command topics - default: 30.0 Hz
  • position_th - XY threshold to reach a waypoint - default: 0.33 m
  • orientation_th - Yaw threshold to reach a waypoint - default: 0.65 rad
  • hold_pose_time - Time window under the thresholds to reach a waypont - default: 3.0 seconds

$ roslaunch ual_backend_mavros server.launch

simulation.launch

To run the simulations you need to install PX4 SITL

Runs Gazebo and up to 3 simulated drones. For each drone it runs px4, mavros and ual nodes. Arguments:

• Simulation params:
  • multi - Bool to run a single (false) drone or 3 drones (true) - default: false
  • ns_prefix - Namespace prefix for the drones, the namespaces will be {ns_prefix}{id} - default: uav_
  • robot_model - Name of the model to simulate - default: mbzirc
• Backend MAVROS params - The same than server.launch

$ roslaunch ual_backend_mavros simulation.launch