landing_target

• File: mavros_extras/src/plugins/landing_target.cpp
• Class: mavros::extra_plugins::LandingTargetPlugin
• Namespace: landing_target
• Brief: Landing Target plugin

This plugin is intended to publish the location of a landing area captured from a downward facing camera to the FCU and/or receive landing target tracking data coming from the FCU.

Publishers

• ~/pose_in (geometry_msgs::msg::PoseStamped)
• ~/lt_marker (geometry_msgs::msg::Vector3Stamped)

Subscribers

• ~/raw (mavros_msgs::msg::LandingTarget)
• ~/pose (geometry_msgs::msg::PoseStamped)

Services

• None

Clients

• None

Parameters

• frame_id [default: "landing_target_1"] - general params
• listen_lt [type: bool, default: false]
• mav_frame [default: "LOCAL_NED"]
• land_target_type [default: "VISION_FIDUCIAL"]
• target_size.x [type: double, default: 1.0] - target size
• target_size.y [type: double, default: 1.0]
• image.width [type: integer, default: 640] - image size
• image.height [type: integer, default: 480]
• camera.fov_x [type: double, default: 2.0071286398] - camera field-of-view -> should be precised using the calibrated camera intrinsics
• camera.fov_y [type: double, default: 2.0071286398]
• camera.focal_length [type: double, default: 2.8] - camera focal length
• tf.rate_limit [type: double, default: 50.0] - tf subsection
• tf.send [type: bool, default: true]
• tf.frame_id [default: frame_id]
• tf.child_frame_id [default: "camera_center"]
• tf.listen [type: bool, default: false]

MAVLink Subscriptions

• LANDING_TARGET [handler: handle_landing_target, dialect: common, msg_id: 149, id: mavlink::common::msg::LANDING_TARGET::MSG_ID]

MAVLink Publications

• LANDING_TARGET [arg: lt, dialect: common, msg_id: 149, id: mavlink::common::msg::LANDING_TARGET::MSG_ID]