optical_flow

• File: mavros_extras/src/plugins/optical_flow.cpp
• Class: mavros::extra_plugins::OpticalFlowPlugin
• Namespace: optical_flow
• Brief: Optical Flow custom plugin

This plugin can publish data from OpticalFlow camera to ROS

Publishers

• ~/raw/optical_flow (mavros_msgs::msg::OpticalFlow)
• ~/ground_distance (sensor_msgs::msg::Range)

Subscribers

• ~/raw/send (mavros_msgs::msg::OpticalFlow)

Services

• None

Clients

• None

Parameters

• frame_id [default: "optical_flow"]
• ranger_fov [type: double, default: 0.119428926] - This is a narrow beam (60cm wide at 5 meters, but also at 1 meter). 6.8 degrees at 5 meters, 31 degrees at 1 meter
• ranger_min_range [type: double, default: 0.3]
• ranger_max_range [type: double, default: 5.0]

MAVLink Subscriptions

• OPTICAL_FLOW [handler: handle_optical_flow, dialect: common, msg_id: 100, id: mavlink::common::msg::OPTICAL_FLOW::MSG_ID]

MAVLink Publications

• OPTICAL_FLOW [arg: flow_msg, dialect: common, msg_id: 100, id: mavlink::common::msg::OPTICAL_FLOW::MSG_ID]