diff --git a/mavros/launch/px4_config.yaml b/mavros/launch/px4_config.yaml index 942c8dffe..41b0b3c64 100644 --- a/mavros/launch/px4_config.yaml +++ b/mavros/launch/px4_config.yaml @@ -1,11 +1,11 @@ # Common configuration for PX4 autopilot # -/mavros/**: +/**: ros__parameters: startup_px4_usb_quirk: false # sys_status & sys_time connection options -/mavros/**/conn: +/**/conn: ros__parameters: heartbeat_rate: 1.0 # send heartbeat rate in Hertz timeout: 10.0 # heartbeat timeout in seconds @@ -13,13 +13,13 @@ system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0) # sys_status -/mavros/**/sys: +/**/sys: ros__parameters: min_voltage: [10.0] # diagnostics min voltage, use a vector i.e. [16.2, 16.0] for multiple batteries, up-to 10 are supported to achieve the same on a ROS launch file do: [16.2, 16.0] disable_diag: false # disable all sys_status diagnostics, except heartbeat # sys_time -/mavros/**/time: +/**/time: ros__parameters: time_ref_source: fcu # time_reference source timesync_mode: MAVLINK @@ -28,7 +28,7 @@ # --- mavros plugins (alphabetical order) --- # 3dr_radio -/mavros/**/tdr_radio: +/**/tdr_radio: ros__parameters: low_rssi: 40 # raw rssi lower level for diagnostics @@ -36,7 +36,7 @@ # None # command -/mavros/**/cmd: +/**/cmd: ros__parameters: use_comp_id_system_control: false # quirk for some old FCUs @@ -47,7 +47,7 @@ # None # global_position -/mavros/**/global_position: +/**/global_position: ros__parameters: frame_id: "map" # origin frame child_frame_id: "base_link" # body-fixed frame @@ -60,7 +60,7 @@ tf.child_frame_id: "base_link" # TF child_frame_id # imu_pub -/mavros/**/imu: +/**/imu: ros__parameters: frame_id: base_link # need find actual values @@ -70,7 +70,7 @@ magnetic_stdev: 0.0 # local_position -/mavros/**/local_position: +/**/local_position: ros__parameters: frame_id: "map" tf.send: false @@ -85,12 +85,12 @@ # None # setpoint_accel -/mavros/**/setpoint_accel: +/**/setpoint_accel: ros__parameters: send_force: false # setpoint_attitude -/mavros/**/setpoint_attitude: +/**/setpoint_attitude: ros__parameters: reverse_thrust: false # allow reversed thrust use_quaternion: false # enable PoseStamped topic subscriber @@ -99,14 +99,14 @@ tf.child_frame_id: "target_attitude" tf.rate_limit: 50.0 -/mavros/**/setpoint_raw: +/**/setpoint_raw: ros__parameters: thrust_scaling: 1.0 # used in setpoint_raw attitude callback. # Note: PX4 expects normalized thrust values between 0 and 1, which means that # the scaling needs to be unitary and the inputs should be 0..1 as well. # setpoint_position -/mavros/**/setpoint_position: +/**/setpoint_position: ros__parameters: tf.listen: false # enable tf listener (disable topic subscribers) tf.frame_id: "map" @@ -115,7 +115,7 @@ mav_frame: LOCAL_NED # setpoint_velocity -/mavros/**/setpoint_velocity: +/**/setpoint_velocity: ros__parameters: mav_frame: LOCAL_NED @@ -123,7 +123,7 @@ # None # waypoint -/mavros/**/mission: +/**/mission: ros__parameters: pull_after_gcs: true # update mission if gcs updates use_mission_item_int: true # use the MISSION_ITEM_INT message instead of MISSION_ITEM @@ -140,9 +140,9 @@ # distance_sensor ## Currently available orientations: -# Check http://wiki.ros.org/mavros/**/Enumerations +# Check http://wiki.ros.org/**/Enumerations ## -/mavros/**/distance_sensor: +/**/distance_sensor: ros__parameters: config: | hrlv_ez4_pub: @@ -175,13 +175,13 @@ orientation: PITCH_270 # image_pub -/mavros/**/image: +/**/image: ros__parameters: frame_id: "px4flow" # fake_gps -/mavros/**/fake_gps: +/**/fake_gps: ros__parameters: # select data source use_mocap: true # ~mocap/pose @@ -204,7 +204,7 @@ # landing_target -/mavros/**/landing_target: +/**/landing_target: ros__parameters: listen_lt: false mav_frame: "LOCAL_NED" @@ -222,14 +222,14 @@ # mocap_pose_estimate -/mavros/**/mocap: +/**/mocap: ros__parameters: # select mocap source use_tf: false # ~mocap/tf use_pose: true # ~mocap/pose # mount_control -/mavros/**/mount: +/**/mount: ros__parameters: debounce_s: 4.0 err_threshold_deg: 10.0 @@ -238,13 +238,13 @@ negate_measured_yaw: false # odom -/mavros/**/odometry: +/**/odometry: ros__parameters: fcu.odom_parent_id_des: "map" # desired parent frame rotation of the FCU's odometry fcu.odom_child_id_des: "base_link" # desired child frame rotation of the FCU's odometry # px4flow -/mavros/**/px4flow: +/**/px4flow: ros__parameters: frame_id: "px4flow" ranger_fov: 0.118682 # 6.8 degrees at 5 meters, 31 degrees at 1 meter @@ -252,7 +252,7 @@ ranger_max_range: 5.0 # meters # vision_pose_estimate -/mavros/**/vision_pose: +/**/vision_pose: ros__parameters: tf.listen: false # enable tf listener (disable topic subscribers) tf.frame_id: "odom" @@ -260,19 +260,19 @@ tf.rate_limit: 10.0 # vision_speed_estimate -/mavros/**/vision_speed: +/**/vision_speed: ros__parameters: listen_twist: true # enable listen to twist topic, else listen to vec3d topic twist_cov: true # enable listen to twist with covariance topic # vibration -/mavros/**/vibration: +/**/vibration: ros__parameters: frame_id: "base_link" # wheel_odometry -/mavros/**/wheel_odometry: +/**/wheel_odometry: ros__parameters: count: 2 # number of wheels to compute odometry use_rpm: false # use wheel's RPM instead of cumulative distance to compute odometry @@ -288,7 +288,7 @@ tf.child_frame_id: "base_link" # camera -/mavros/**/camera: +/**/camera: ros__parameters: frame_id: "base_link" diff --git a/mavros/launch/px4_pluginlists.yaml b/mavros/launch/px4_pluginlists.yaml index 41a3a22e7..f24012577 100644 --- a/mavros/launch/px4_pluginlists.yaml +++ b/mavros/launch/px4_pluginlists.yaml @@ -1,4 +1,4 @@ -/mavros/**: +/**: ros__parameters: plugin_denylist: # common