自定义MAVROS消息需要首先通过源码安装MAVROS。Ubuntu18.04下MAVROS源码安装教程见https://blog.csdn.net/real86/article/details/131891303?spm=1001.2014.3001.5501
一、创建msg消息
在源码安装的MAVROS工作空间中创建msg消息。具体的,在~/mavros_catkin_ws/src/mavros/mavros_msgs/msg文件夹下新建TargetDetection.msg文件,该消息文件是我们要传输的消息的数据类型,在文件中写入:
std_msgs/Header header
int8 targetsDetected
uint8 num_targets
在本例中,targetsDetected为检测到目标框的标志位,num_targets为检测到目标框的数量。
在~/mavros_catkin_ws/src/mavros/mavros_msgs目录下的CmakeLists.txt文件中添加TargetDetection.msg文件,具体如下:
add_message_files(
...
TargetDetection.msg
)
利用catkin build在~/mavros_catkin_ws目录下编译,确保在~/mavros_catkin_ws/devel/include/mavros_msgs目录下生成了TargetDetection.h头文件。
二、添加自定义的mavros消息
在~/mavros_catkin_ws/src/mavlink/message_definition/v1.0目录下,修改common.xml文件,添加自定义的mavros消息,具体如下:
<message id="227" name="TARGET_DETECTION">
<description>the detection message from nx to vehicle.</description>
<field type="int8_t" name="targetsDetected">int8_t</field>
<field type="uint8_t" name="num_targets">uint8_t</field>
</message>
在~/mavros_catkin_ws/src/mavlink/message_definitions目录下,使用MAVLINK的GUI代码mavgenerate.py生成MAVLINK库文件,具体如下:
python -m mavgenerate
在弹出的GUI中选择如下:
XML: ~/mavros_catkin_ws/src/mavlink/message_definitions/v1.0/common.xml
OUT: ~/mavros_catkin_ws/src/mavlink/message_definitions/v1.0
Language: C
Protocol: 1.0
Validate: 勾选
点击Generate后,会在~/mavros_catkin_ws/src/mavlink/message_definitions/v1.0目录下生成common、minimal、standard文件夹。
为了将自定义的MAVROS消息发送出去,还需要编写插件。具体的,在~/mavros_catkin_ws/src/mavros/mavros_extras/src/plugins目录下创建target_detection.cpp文件,具体如下:
#include <mavros/mavros_plugin.h>
#include <pluginlib/class_list_macros.h>
#include <iostream>
#include <mavros_msgs/TargetDetection.h>
namespace mavros {
namespace extra_plugins{
class TargetDetectionPlugin : public plugin::PluginBase {
public:
TargetDetectionPlugin() : PluginBase(),
nh("~target_detection"){ };
void initialize(UAS &uas_)
{
PluginBase::initialize(uas_);
mavros2fcu_sub = nh.subscribe("send_data", 10, &TargetDetectionPlugin::TargetDetection_cb, this);
};
Subscriptions get_subscriptions()
{
return {/* RX disabled */ };
}
private:
ros::NodeHandle nh;
ros::Subscriber mavros2fcu_sub;
void TargetDetection_cb(const mavros_msgs::TargetDetection::ConstPtr &req)
{
mavros::UAS *m_uas_ = static_cast<TargetDetectionPlugin *>(this)->m_uas;
mavlink::common::msg::TARGET_DETECTION send_data = {};
send_data.targetsDetected = req->targetsDetected;
send_data.num_targets = req->num_targets;
UAS_FCU(m_uas)->send_message_ignore_drop(send_data);
}
};
} // namespace extra_plugins
} // namespace mavros
PLUGINLIB_EXPORT_CLASS(mavros::extra_plugins::TargetDetectionPlugin, mavros::plugin::PluginBase)
将自定义的插件添加到插件列表中,用于MAVROS自启动插件。具体的,在~/mavros_catkin_ws/src/mavros/mavros_extras/mavros_plugins.xml中添加:
<class name="target_detection" type="mavros::extra_plugins::TargetDetectionPlugin" base_class_type="mavros::plugin::PluginBase">
<description>Send target detection.</description>
</class>
在~/mavros_catkin_ws/src/mavros/mavros_extras/CmakeLists.txt中添加编译信息:
add_library(mavros_extras
src/plugins/target_detection.cpp
)
在~/mavros_catkin_ws目录下进行编译,在终端输入:
catkin build
三、通过ROS发布自定义的MAVROS消息
自定义的插件target_detection.cpp会订阅数据并发布。为了验证自定义MAVROS消息的正确性,需要写一个ROS节点发布供自定义的插件订阅的数据,让自定义的插件订阅到ROS节点发布的数据并发送给飞控。首先创建发布消息的ROS功能包,具体如下:
mkdir ros_test
cd ros_test
mkdir src
cd src
catkin_init_workspace
cd ~/ros_test
catkin_make
cd src
catkin_create_pkg msg_test
在msg_test目录下创建pub_data.cpp,用于发布自定义MAVROS消息。具体如下:
#include <time.h>
#include <ros/ros.h>
#include <mavros_msgs/TargetDetection.h>
using namespace std;
mavros_msgs::TargetDetection targets_msg;
int main(int argc, char **argv){
ros::init(argc, argv, "target_msg");
ros::NodeHandle nh;
targets_msg.targetsDetected = 1;
targets_msg.num_targets = 6;
ros::Publisher test;
test = nh.advertise<mavros_msgs::TargetDetection>("/mavros/target_detection/send_data", 10);
ros::Rate rate(20.0);
while(ros::ok()){
ros::spinOnce();
rate.sleep();
test.publish(targets_msg);
}
return 0;
}
pub_data.cpp能够发布TargetDetection类型的消息,以供自定义插件target_detection.cpp订阅。
在msg_test目录下,修改CmakeLists.txt文件。在文件中添加:
find_package(catkin REQUIRED COMPONENTS
mavros
roscpp
std_msgs
mavros_msgs
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_executable(target_msg pub_data.cpp)
target_link_libraries(target_msg ${catkin_LIBRARIES})
在msg_test目录下,修改package.xml文件。在文件中添加:
<build_depend>mavros</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>mavros_msgs</build_depend>
<build_export_depend>mavros</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>mavros</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>mavros_msgs</exec_depend>
最后,在ros_test目录下编译,执行catkin_make指令。
测试流程如下:
1)在机载电脑的终端中启动roscore;
2)在~/ros_test/devel目录下依次执行:
source setup.bash
rosrun msg_test target_msg
开始通过ROS节点发布自定义的MAVROS消息;
3)在新终端中执行:
rostopic echo /mavros/target_detection/send_data
若输出如下,代表自定义的MAVROS消息发布成功。