Messages

std_msgs/Header

Standard metadata for higher-level stamped data types. This is generally used to communicate timestamped data in a particular coordinate frame.

# sequence ID: consecutively increasing ID
uint32 seq

#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp

#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

std_msgs/Float64

Message containing a single 64 bit float.

float64 data

sensor_msgs/Image

Image data message.

Includes std_msgs/Header.

# This message contains an uncompressed image
# (0, 0) is at top-left corner of image
#

Header header        # Header timestamp should be acquisition time of image
                     # Header frame_id should be optical frame of camera
                     # origin of frame should be optical center of cameara
                     # +x should point to the right in the image
                     # +y should point down in the image
                     # +z should point into to plane of the image
                     # If the frame_id here and the frame_id of the CameraInfo
                     # message associated with the image conflict
                     # the behavior is undefined

uint32 height         # image height, that is, number of rows
uint32 width          # image width, that is, number of columns

# The legal values for encoding are in file src/image_encodings.cpp

string encoding       # Encoding of pixels -- channel meaning, ordering, size
                      # taken from the list of strings in include/sensor_msgs/image_encodings.h

uint8 is_bigendian    # is this data bigendian?
uint32 step           # Full row length in bytes
uint8[] data          # actual matrix data, size is (step * rows)

sensor_msgs/NavSatFix

Navigation Satellite fix for Global Navigation Satellite System. Specified using the WGS 84 reference ellipsoid.

Includes std_msgs/Header, sensor_msgs/NavSatStatus.

# header.stamp specifies the ROS time for this measurement (the
#        corresponding satellite time may be reported using the
#        sensor_msgs/TimeReference message).
#
# header.frame_id is the frame of reference reported by the satellite
#        receiver, usually the location of the antenna.  This is a
#        Euclidean frame relative to the vehicle, not a reference
#        ellipsoid.
Header header

# satellite fix status information
NavSatStatus status

# Latitude [degrees]. Positive is north of equator; negative is south.
float64 latitude

# Longitude [degrees]. Positive is east of prime meridian; negative is west.
float64 longitude

# Altitude [m]. Positive is above the WGS 84 ellipsoid
# (quiet NaN if no altitude is available).
float64 altitude

# Position covariance [m^2] defined relative to a tangential plane
# through the reported position. The components are East, North, and
# Up (ENU), in row-major order.
#
# Beware: this coordinate system exhibits singularities at the poles.

float64[9] position_covariance

# If the covariance of the fix is known, fill it in completely. If the
# GPS receiver provides the variance of each measurement, put them
# along the diagonal. If only Dilution of Precision is available,
# estimate an approximate covariance from that.

uint8 COVARIANCE_TYPE_UNKNOWN = 0
uint8 COVARIANCE_TYPE_APPROXIMATED = 1
uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN = 2
uint8 COVARIANCE_TYPE_KNOWN = 3

uint8 position_covariance_type

sensor_msgs/NavSatStatus

Navigation Satellite fix status for Global Navigation Satellite System.

# Whether to output an augmented fix is determined by both the fix
# type and the last time differential corrections were received.  A
# fix is valid when status >= STATUS_FIX.

int8 STATUS_NO_FIX =  -1        # unable to fix position
int8 STATUS_FIX =      0        # unaugmented fix
int8 STATUS_SBAS_FIX = 1        # with satellite-based augmentation
int8 STATUS_GBAS_FIX = 2        # with ground-based augmentation

int8 status

# Bits defining which Global Navigation Satellite System signals were
# used by the receiver.

uint16 SERVICE_GPS =     1
uint16 SERVICE_GLONASS = 2
uint16 SERVICE_COMPASS = 4      # includes BeiDou.
uint16 SERVICE_GALILEO = 8

uint16 service

geometry_msgs/Quaternion

Represents an orientation in free space in quaternion form:

float64 x
float64 y
float64 z
float64 w

geometry_msgs/Vector3

Message containing a 64-bit 3 element vector:

# This represents a vector in free space.

float64 x
float64 y
float64 z

geometry_msgs/Vector3Stamped

Message containing a Vector3 with reference coordinate frame and timestamp.

Includes std_msgs/Header, geometry_msgs/Vector3.

Header header
Vector3 vector

mavros/State

Current autopilot state. Unlikely to be relevant for the majority of applications.

Includes std_msgs/Header.

Header header
bool armed
bool guided
string mode

mavros/BatteryStatus

Used to obtain information about the airframe battery status. On airframes with internal combustion engines, this will return the voltage of the 12VDC bus. The remaining value is an estimate used internally by the FCS for failsafe trigger actions and should not be relied upon.

Includes std_msgs/Header.

Header header
float32 voltage # [V]
float32 current # [A]
float32 remaining # 0..1

mavros/VFR_HUD

Used to obtain a summary of the aircraft current state. Includes Airspeed [m/s], ground speed [m/s], heading [degrees], thorttle [0-1], altitude [m amsl], and climb rate [m/s].

Includes std_msgs/Header.

# Metrics typically displayed on a HUD

Header header
float32 airspeed # m/s
float32 groundspeed # m/s
int16 heading # degrees 0..360
float32 throttle # normalized to 0.0..1.0
float32 altitude # MSL
float32 climb # current climb rate m/s

mavros/RadioStatus

Used to obtain current status of communications link betweek the aircraft and Auros.

Includes std_msgs/Header.

# RADIO_STATUS message

Header header
uint8 rssi
uint8 remrssi
uint8 txbuf
uint8 noise
uint8 remnoise
uint16 rxerrors
uint16 fixed

mavros/Waypoint

Auros representation of a mission item. See the mavlink documentation (https://pixhawk.ethz.ch/mavlink/) for more information, specifically MAV_CMD, CMD ID 16.

# see enum MAV_FRAME
uint8 frame
uint8 FRAME_GLOBAL = 0
uint8 FRAME_LOCAL_NED = 1
uint8 FRAME_MISSION = 2
uint8 FRAME_GLOBAL_REL_ALT = 3
uint8 FRAME_LOCAL_ENU = 4

# see enum MAV_CMD
uint16 command
uint16 NAV_WAYPOINT = 16
uint16 NAV_LOITER_UNLIM = 17
uint16 NAV_LOITER_TURNS = 18
uint16 NAV_LOITER_TIME = 19
uint16 NAV_RETURN_TO_LAUNCH = 20
uint16 NAV_LAND = 21
uint16 NAV_TAKEOFF = 22
# TODO: ROI mode

bool is_current
bool autocontinue
# meaning of this params described in enum MAV_CMD
float32 param1
float32 param2
float32 param3
float32 param4
float64 x_lat
float64 y_long
float64 z_alt

mavros/WaypointList

Used to obtain current waypoint list.

Includes mavros/Waypoint.

mavros/Waypoint[] waypoints

mavros/WaypointPull

Request current waypoints from fcs. To receive the list of waypoints, subscribe to Mission.

# Requests waypoints from device
#
# Returns success status and received count

---
bool success
uint32 wp_received

mavros/WaypointPush

Send waypoints to a device.

Includes mavros/Waypoint.

# Send waypoints to device
#
# Returns success status and transfered count

mavros/Waypoint[] waypoints
---
bool success
uint32 wp_transfered

mavros/WaypointClear

Clears current list of waypoints of a device.

# Request clear waypoint

---
bool success

mavros/WaypointSetCurrent

Sets waypoint number to go to now. From the current list of waypoints

# Request set current waypoint
#
# wp_seq - index in waypoint array

uint16 wp_seq
---
bool success

mavros/WaypointGOTO

Sends platform to a specific location.

Includes mavros/Waypoint.

# Request go to waypoint
#
# Only supported FCU will return result

mavros/Waypoint waypoint
---
bool success