px4flow

• File: mavros_extras/src/plugins/px4flow.cpp
• Class: mavros::extra_plugins::PX4FlowPlugin
• Namespace: px4flow
• Brief: PX4 Optical Flow plugin

This plugin can publish data from PX4Flow camera to ROS

Publishers

• ~/raw/optical_flow_rad (mavros_msgs::msg::OpticalFlowRad)
• ~/ground_distance (sensor_msgs::msg::Range)
• ~/temperature (sensor_msgs::msg::Temperature)

Subscribers

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

Services

• None

Clients

• None

Parameters

• frame_id [default: "px4flow"]
• 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_RAD [handler: handle_optical_flow_rad, dialect: common, msg_id: 106, id: mavlink::common::msg::OPTICAL_FLOW_RAD::MSG_ID]

MAVLink Publications

• OPTICAL_FLOW_RAD [arg: flow_rad_msg, dialect: common, msg_id: 106, id: mavlink::common::msg::OPTICAL_FLOW_RAD::MSG_ID]