MAVLink extendable communication node for ROS.

It is the main package, please see it's README.

This package contain some extra nodes and plugins for mavros, please see it's README.

This package contain mavconn library, see it's README. LibMAVConn may be used outside of ROS environment.

This package contain hand-tests and [manual page][test] for APM and PX4 SITL. Please see [README][test] first!

This package contain messages and services used in mavros.

Please ask your questions not related to bugs/feauture requests on:

• px4users Google Group (Mailing List)
• Mavros on Gitter IM
• PX4/Firmware on Gitter IM

We'd like to keep the project bugtracker as free as possible, so please contact via the above methods. You can also PM us via Gitter.

It is possible to test Skye's firmware with a hardware in the loop (HIL) simulation using mavros as a link between mavlink and ros-gazebo. The current tutorial has been tested with ROS Indigo.

The following repositories are required in the catkin space where mavros is going to be installed: skye_gazebo_simulation and mavlink. You are going to install mavlink with the following instructions, and it is assumed that you have already installed Skye Gazebo Simulation.

You will be using the ROS python tools wstool, rosinstall, and catkin_tools for this installation. While they may have been installed during your installation of ROS you can also install them with:

sudo apt-get install python-wstool python-rosinstall-generator python-catkin-tools

Before downloading the source files, you need to install a couple of additional thigs:

sudo apt-get install spacenavd libspnav-dev  #3D mouse driver needed for the HIL
sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers

Now you're ready to get a copy of the source files. Warning: you should have already created a catkin workspace named "catkin_ws" when you followed Skye Gazebo Simulation Warning: you must perfom the following actions in the same workspace used for the installation of "skye_gazebo_simulations", that is assumed to be "~/catkin_ws".

cd ~/catkin_ws/src/
git clone https://github.com/skye-git/mavlink.git -b luci/hil
git clone https://github.com/skye-git/mavros -b luci/hil
git clone https://github.com/skye-git/joystick_drivers
cd ~/catkin_ws
 #compile using skye dialect from mavlink package
catkin build -j8 --cmake-args -DMAVLINK_DIALECT=skye

It is conviniente to source the setup.* file

source ~/catkin_ws/devel/setup.sh

Warning: since mavros cannot use the c_library repo directly, you must pull the latest files into the mavlink folder and then compile the mavlink repo again specifying the desired dialect. You must specify the skye dialect, with the option '--cmake-args -DMAVLINK_DIALECT=skye', everytime you compile mavros.

In case of CMake Error: Could not find a package configuration file provided by "control_toolbox", please install the following packages:

sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers

###Usage To launch the HIL simulation identify to which USB port Mavlink is communicating and then type in a new terminal

roslaunch mavros skye_hil.launch fcu_url:=/dev/ttyUSB0:921600

In the above example Mavlink is using USB0 and a baud rate of 921600. This launch file starts Gazebo in pause. You can press the "play" button whenever you are ready to start the simulation. After the play button is pressed, a hil enabling message is sent to the FMU by mavros as soon as a heartbeat message is received from the FMU.

####Changing Firmware Parameter During HIL simulation it is not possible to change onboard paramters via QGroundControl. The below list of services shows how to change onboard parameters.

• /mavros/skye/set_att_c_mod sets the attitude control mode. Possible values: 0 (Manual), 1 (5DOF), 2 (6DOF), 3 (6DOFI), 4 (SKYE_ATT_C_MOD_GEOM), 5 (SKYE_ATT_C_MOD_MAX);
• /mavros/skye/set_pos_c_mod sets the position control mode. Possible values: 0 (Manual), 1 (cascade pid);
• /mavros/skye/set_param sets a generic parameter in the FMU;
• /mavros/skye/send_step_setpoint_6dof send a specified step command for the specified duration to the FMU.

Examples:

rosservice call /mavros/skye/set_att_c_mod 0
rosservice call /mavros/skye/set_pos_c_mod 1
rosservice call /mavros/skye/set_param 'INTEGER_PARAM_NAME' '[PARAM_VALUE, 0.0]'
rosservice call /mavros/skye/set_param 'FLOAT_PARAM_NAME' '[0, PARAM_VALUE]'

####Testing Allocator Output By default option the outputs of the attitude and position controllers are directly applied to the center of gravity of the hull. If you want to test the allocator output and apply a 2D force in each AU, then you can type

roslaunch mavros skye_hil.launch fcu_url:=/dev/ttyUSB0:921600 use_allocator_output:=true

####Selecting Skye's Model You can use different models, specifying the command line parameter 'model_name', for instance:

roslaunch mavros skye_hil.launch fcu_url:=/dev/ttyUSB0:921600 model_name:=tetra

Note: the firmware of the FMU should be change according to the model you want to use. ####Messages Exchange Scheme