fake_gps

• File: mavros_extras/src/plugins/fake_gps.cpp
• Class: mavros::extra_plugins::FakeGPSPlugin
• Namespace: fake_gps
• Brief: Fake GPS plugin.

Sends fake GPS from local position estimation source data (motion capture, vision) to FCU - processed in HIL mode or out of it if parameter MAV_USEHILGPS is set on PX4 Pro Autopilot Firmware; Ardupilot Firmware already supports it without a flag set.

Publishers

• None

Subscribers

• ~/mocap/tf (geometry_msgs::msg::TransformStamped)
• ~/mocap/pose_cov (geometry_msgs::msg::PoseWithCovarianceStamped)
• ~/mocap/pose (geometry_msgs::msg::PoseStamped)
• ~/vision (geometry_msgs::msg::PoseStamped)

Services

• None

Clients

• None

Parameters

• gps_id [type: integer, default: 0] - general params
• fix_type [default: utils::enum_value(GPS_FIX_TYPE::NO_GPS)]
• gps_rate [type: double, default: 5.0]
• eph [type: double, default: 2.0]
• epv [type: double, default: 2.0]
• horiz_accuracy [type: double, default: 0.0]
• vert_accuracy [type: double, default: 0.0]
• speed_accuracy [type: double, default: 0.0]
• satellites_visible [type: integer, default: 5]
• geo_origin.lat [type: double, default: 47.3667] - default origin/starting point: Zürich geodetic coordinates
• geo_origin.lon [type: double, default: 8.5500]
• geo_origin.alt [type: double, default: 408.0]
• use_hil_gps [type: bool, default: false]
• tf.frame_id [default: "map"] - tf params
• tf.child_frame_id [default: "base_link"]
• tf.rate_limit [type: double, default: 10.0]
• tf.listen [type: bool, default: false]

MAVLink Subscriptions

• None

MAVLink Publications

• HIL_GPS [arg: hil_gps, dialect: common, msg_id: 113, id: mavlink::common::msg::HIL_GPS::MSG_ID]
• GPS_INPUT [arg: gps_input, dialect: common, msg_id: 232, id: mavlink::common::msg::GPS_INPUT::MSG_ID]