gimbal_control

• File: mavros_extras/src/plugins/gimbal_control.cpp
• Class: mavros::extra_plugins::GimbalControlPlugin
• Namespace: gimbal_control
• Brief: Gimbal Control Plugin

Adds support for Mavlink Gimbal Protocol v2. Also publishes gimbal pose to TF when parameter tf_send==true

Publishers

• ~/device/attitude_status (mavros_msgs::msg::GimbalDeviceAttitudeStatus)
• ~/manager/status (mavros_msgs::msg::GimbalManagerStatus)
• ~/manager/info (mavros_msgs::msg::GimbalManagerInformation)
• ~/device/info (mavros_msgs::msg::GimbalDeviceInformation)

Subscribers

• ~/device/set_attitude (mavros_msgs::msg::GimbalDeviceSetAttitude)
• ~/manager/set_attitude (mavros_msgs::msg::GimbalManagerSetAttitude)
• ~/manager/set_pitchyaw (mavros_msgs::msg::GimbalManagerSetPitchyaw)
• ~/manager/set_manual_control (mavros_msgs::msg::GimbalManagerSetPitchyaw)

Services

• ~/device/get_info (mavros_msgs::srv::GimbalGetInformation)
• ~/manager/get_info (mavros_msgs::srv::GimbalGetInformation)
• ~/manager/configure (mavros_msgs::srv::GimbalManagerConfigure)
• ~/manager/pitchyaw (mavros_msgs::srv::GimbalManagerPitchyaw)
• ~/manager/set_roi (mavros_msgs::srv::GimbalManagerSetRoi)
• ~/manager/camera_track (mavros_msgs::srv::GimbalManagerCameraTrack)

Clients

• cmd/command (mavros_msgs::srv::CommandLong)

Parameters

• frame_id [default: "base_link_frd"]
• tf.send [type: bool, default: false] - Important tf subsection Report the transform from base_link to gimbal here.
• tf.frame_id [default: "base_link_frd"]

MAVLink Subscriptions

• GIMBAL_DEVICE_ATTITUDE_STATUS [handler: handle_gimbal_attitude_status, dialect: common, msg_id: 285, id: mavlink::common::msg::GIMBAL_DEVICE_ATTITUDE_STATUS::MSG_ID]
• GIMBAL_MANAGER_STATUS [handler: handle_manager_status, dialect: common, msg_id: 281, id: mavlink::common::msg::GIMBAL_MANAGER_STATUS::MSG_ID]
• GIMBAL_DEVICE_INFORMATION [handler: handle_device_information, dialect: common, msg_id: 283, id: mavlink::common::msg::GIMBAL_DEVICE_INFORMATION::MSG_ID]
• GIMBAL_MANAGER_INFORMATION [handler: handle_manager_information, dialect: common, msg_id: 280, id: mavlink::common::msg::GIMBAL_MANAGER_INFORMATION::MSG_ID]

MAVLink Publications

• GIMBAL_DEVICE_SET_ATTITUDE [arg: msg, dialect: common, msg_id: 284, id: mavlink::common::msg::GIMBAL_DEVICE_SET_ATTITUDE::MSG_ID]
• GIMBAL_MANAGER_SET_ATTITUDE [arg: msg, dialect: common, msg_id: 282, id: mavlink::common::msg::GIMBAL_MANAGER_SET_ATTITUDE::MSG_ID]
• GIMBAL_MANAGER_SET_PITCHYAW [arg: msg, dialect: common, msg_id: 287, id: mavlink::common::msg::GIMBAL_MANAGER_SET_PITCHYAW::MSG_ID]
• GIMBAL_MANAGER_SET_PITCHYAW [arg: msg, dialect: common, msg_id: 287, id: mavlink::common::msg::GIMBAL_MANAGER_SET_PITCHYAW::MSG_ID]