MAVROS plugins
MAVROS is split into the core plugins shipped in mavros and the optional
plugins shipped in mavros_extras. Each plugin page documents its ROS API
(publishers, subscribers, services, clients, parameters) and the MAVLink
messages it subscribes to and publishes.
Standard plugins (mavros)
| Plugin | Brief | Pub | Sub | Srv | Client | MAVLink sub/pub |
|---|---|---|---|---|---|---|
actuator_control |
ActuatorControl plugin | 1 | 1 | — | — | 1/1 |
altitude |
Altitude plugin. | 1 | — | — | — | 1/0 |
command |
Command plugin. | — | — | 11 | — | 1/2 |
dummy |
Dummy plugin. | — | — | — | — | 4/0 |
ftp |
FTP plugin. | — | — | 12 | — | 1/1 |
geofence |
Geofence manipulation plugin | 1 | — | 3 | — | 6/10 |
global_position |
Global position plugin. | 9 | 2 | — | — | 4/1 |
home_position |
home position plugin. | 1 | 1 | 1 | 1 | 1/1 |
imu |
IMU and attitude data publication plugin | 7 | — | — | — | 6/0 |
local_position |
Local position plugin. | 7 | — | — | — | 2/0 |
manual_control |
Manual Control plugin | 1 | 1 | — | — | 1/1 |
nav_controller_output |
nav controller output plugin. | 1 | — | — | — | 1/0 |
param |
Parameter manipulation plugin | 2 | — | 8 | — | 1/3 |
rallypoint |
Rallypoint manipulation plugin | 1 | — | 3 | — | 6/10 |
rc_io |
RC IO plugin | 2 | 1 | — | — | 3/1 |
setpoint_accel |
Setpoint acceleration/force plugin | — | 1 | — | — | 0/1 |
setpoint_attitude |
Setpoint attitude plugin | — | 3 | — | — | 0/1 |
setpoint_position |
Setpoint position plugin | — | 5 | — | — | 0/2 |
setpoint_raw |
Setpoint RAW plugin | 3 | 3 | — | — | 3/3 |
setpoint_trajectory |
Setpoint TRAJECTORY plugin | 1 | 1 | 1 | — | 0/1 |
setpoint_velocity |
Setpoint velocity plugin | — | 2 | — | — | 0/1 |
sys_status |
System status plugin. | 7 | 1 | 4 | 2 | 10/4 |
sys_time |
System time plugin | 2 | — | — | — | 2/2 |
waypoint |
Mission manipulation plugin | 2 | — | 4 | — | 8/10 |
wind_estimation |
Wind estimation plugin. | 1 | — | — | — | 2/0 |
Extra plugins (mavros_extras)
| Plugin | Brief | Pub | Sub | Srv | Client | MAVLink sub/pub |
|---|---|---|---|---|---|---|
adsb |
ADS-B Vehicle plugin | 1 | 1 | — | — | 1/1 |
cam_imu_sync |
Camera IMU synchronisation plugin | 1 | — | — | — | 1/0 |
camera |
Camera plugin plugin | 1 | — | — | — | 1/0 |
cellular_status |
Cellular status plugin. | — | 1 | — | — | 0/1 |
companion_process_status |
Obstacle companion process status plugin | — | 1 | — | — | 0/1 |
debug_value |
Plugin for Debug msgs from MAVLink API | 5 | 1 | — | — | 5/5 |
distance_sensor |
Distance sensor plugin | 1 | 1 | — | — | 1/1 |
esc_status |
ESC status plugin | 2 | — | — | — | 2/0 |
esc_telemetry |
ESC telemetry plugin | 1 | — | — | — | 3/0 |
fake_gps |
Fake GPS plugin. | — | 4 | — | — | 0/2 |
gimbal_control |
Gimbal Control Plugin | 4 | 4 | 6 | 1 | 4/3 |
gps_input |
GPS_INPUT GPS plugin. | — | 1 | — | — | 0/1 |
gps_rtk |
GPS RTK plugin | 1 | 1 | — | — | 1/1 |
gps_status |
Mavlink GPS status plugin. | 4 | — | — | — | 4/0 |
guided_target |
guided target plugin | 1 | 1 | — | — | 1/0 |
hil |
Hil plugin | 2 | 5 | — | — | 2/5 |
landing_target |
Landing Target plugin | 2 | 2 | — | — | 1/1 |
log_transfer |
Log Transfer plugin | 2 | — | 4 | — | 2/4 |
mag_calibration_status |
MagCalStatus plugin. | 2 | — | — | — | 2/0 |
mocap_pose_estimate |
MocapPoseEstimate plugin | — | 2 | — | — | 0/1 |
mount_control |
Mount Control plugin | 2 | 1 | 1 | 1 | 2/1 |
obstacle_distance |
Obstacle distance plugin | — | 1 | — | — | 0/1 |
obstacle_distance_3d |
Plugin to handle sending OBSTACLE_DISTANCE_3D MAVLink messages. | — | 1 | — | — | 0/1 |
odometry |
Odometry plugin | 1 | 1 | — | — | 1/1 |
onboard_computer_status |
Onboard Computer Status plugin | — | 1 | — | — | 0/1 |
open_drone_id |
Open Drone ID plugin | — | 5 | — | — | 0/5 |
optical_flow |
Optical Flow custom plugin | 2 | 1 | — | — | 1/1 |
play_tune |
Play Tune service | — | 1 | — | — | 0/1 |
px4flow |
PX4 Optical Flow plugin | 3 | 1 | — | — | 1/1 |
rangefinder |
Ardupilot Rangefinder plugin. | 1 | — | — | — | 1/0 |
sim_state |
SIM_STATE plugin. | 5 | — | — | — | 1/0 |
tdr_radio |
3DR Radio plugin. | 1 | — | — | — | 2/0 |
terrain |
Terrain plugin. | 2 | 1 | — | 1 | 3/2 |
trajectory |
Trajectory plugin to receive planned path from the FCU and | 1 | 2 | — | — | 1/2 |
tunnel |
Tunnel plugin | 1 | 1 | — | — | 1/1 |
vfr_hud |
VFR HUD plugin. | 1 | — | — | — | 1/0 |
vibration |
Vibration plugin | 1 | — | — | — | 1/0 |
vision_pose |
Vision pose estimate plugin | — | 2 | — | — | 0/1 |
vision_speed |
Vision speed estimate plugin | — | 3 | — | — | 0/1 |
wheel_odometry |
Wheel odometry plugin. | 4 | — | — | — | 2/0 |