发布话题
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/uav*/mavros/setpoint_raw/attitude(mavros_msgs/AttitudeTarget)
期望的无人机姿态控制量
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/uav*/mavros/setpoint_raw/global(mavros_msgs/GlobalPositionTarget)
期望的无人机经纬高控制量
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/uav*/mavros/setpoint_raw/local(mavros_msgs/PositionTarget)
期望的无人机ENU坐标系的控制量(包含位置、速度、加速度等)
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/uav*/mavros/vision_pose/pose(geometry_msgs/PoseStamped)
MAVROS提供的外部定位数据接口
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/uav*/prometheus/control_state(prometheus_msgs/UAVControlState)
Prometheus控制状态
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/uav*/prometheus/odom(nav_msgs/Odometry)
无人机里程计数据
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/uav*/prometheus/offset_pose(prometheus_msgs/OffsetPose)
ENU坐标系下的位置偏移量
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/uav*/prometheus/state(prometheus_msgs/UAVState)
无人机状态合集,包括位置\速度\姿态\模式等
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/uav*/prometheus/text_info(prometheus_msgs/TextInfo)
反馈到地面站的打印信息
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/uav*/prometheus/trajectory(nav_msgs/Path)
无人机运动轨迹
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/uav*/prometheus/uav_mesh(visualization_msgs/Marker)
无人机位置(带图标),用于RVIZ显示
订阅话题
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/uav*/mavros/battery(sensor_msgs/BatteryState)
无人机电池状态
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/uav*/mavros/global_position/global(sensor_msgs/NavSatFix)
无人机当前经纬度数据,经飞控融合过后的数据.
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/uav*/mavros/gpsstatus/gps*/raw(mavros_msgs/GPSRAW)
GPS模块数据状态
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/uav*/mavros/imu/data(sensor_msgs/Imu)
IMU模块数据
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/uav*/mavros/local_position/pose(geometry_msgs/PoseStamped)
无人机ENU坐标系下的位置数据
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/uav*/mavros/local_position/velocity_local(geometry_msgs/TwistStamped)
无人机ENU坐标系的当前速度数据
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/uav*/mavros/setpoint_raw/target_attitude(mavros_msgs/AttitudeTarget)
PX4中无人机的姿态设定值 (坐标系:ENU系)
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/uav*/mavros/setpoint_raw/target_local(mavros_msgs/PositionTarget)
PX4中无人机的位置/速度/加速度设定值(坐标系:ENU系)
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/uav*/mavros/state(mavros_msgs/State)
无人机当前状态(PX4)
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/uav*/prometheus/command(prometheus_msgs::UAVCommand)
无人机控制指令(用于COMMAND_CONTROL模式)
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/uav*/prometheus/fake_rc_in(mavros_msgs/RCIn)
PX4遥控器数据
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/uav*/prometheus/offset_pose(prometheus_msgs::OffsetPose)
ENU坐标系下的位置偏移量
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/uav*/prometheus/set_local_offset_pose(prometheus_msgs::OffsetPose)
设置ENU坐标系下无人机的位置偏移量
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/uav*/prometheus/setup(prometheus_msgs/UAVSetup)
无人机设置指令
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/uav*/prometheus/state(prometheus_msgs/UAVState)
无人机状态合集,包括位置、速度、姿态、模式等