sim_state

• File: mavros_extras/src/plugins/sim_state.cpp
• Class: mavros::extra_plugins::SimStatePlugin
• Namespace: sim_state
• Brief: SIM_STATE plugin.

Adds support for MAVLink SIM_STATE (id 108) messages and republishes fields to ROS 2 topics. Intended for simulation use as a high-accuracy ground-truth feed when developing autonomy. Currently verified with ArduCopter SITL. Published topics (relative to plugin namespace): - ~/attitude (sensor_msgs/Imu): orientation (ENU/base_link) and angular velocity - ~/acceleration (geometry_msgs/Vector3Stamped): linear accel (m/s^2) in ENU/map - ~/velocity_body (geometry_msgs/TwistStamped): linear+angular velocity in base_link - ~/velocity_local (geometry_msgs/TwistStamped): linear+angular velocity in ENU/map - ~/global_position (sensor_msgs/NavSatFix): WGS84 lat/lon/alt with optional covariance

Publishers

• ~/attitude (sensor_msgs::msg::Imu) - IMU attitude publisher (~/attitude): orientation and angular velocity in ENU/base_link
• ~/acceleration (geometry_msgs::msg::Vector3Stamped) - Linear acceleration publisher (~/acceleration): ENU/map, units m/s^2
• ~/velocity_body (geometry_msgs::msg::TwistStamped) - Body-frame twist publisher (~/velocity_body): base_link linear+angular velocity
• ~/velocity_local (geometry_msgs::msg::TwistStamped) - Local-frame twist publisher (~/velocity_local): ENU/map linear+angular velocity
• ~/global_position (sensor_msgs::msg::NavSatFix) - Global position publisher (~/global_position): WGS84 NavSatFix

Subscribers

• None

Services

• None

Clients

• None

Parameters

• None

MAVLink Subscriptions

• SIM_STATE [handler: handle_sim_state, dialect: common, msg_id: 108, id: mavlink::common::msg::SIM_STATE::MSG_ID]

MAVLink Publications

• None