command

• File: mavros/src/plugins/command.cpp
• Class: mavros::std_plugins::CommandPlugin
• Namespace: cmd
• Brief: Command plugin.

Send any command via COMMAND_LONG

Publishers

• None

Subscribers

• None

Services

• ~/command (mavros_msgs::srv::CommandLong)
• ~/command_int (mavros_msgs::srv::CommandInt)
• ~/arming (mavros_msgs::srv::CommandBool)
• ~/set_home (mavros_msgs::srv::CommandHome)
• ~/takeoff (mavros_msgs::srv::CommandTOL)
• ~/takeoff_local (mavros_msgs::srv::CommandTOLLocal)
• ~/land (mavros_msgs::srv::CommandTOL)
• ~/land_local (mavros_msgs::srv::CommandTOLLocal)
• ~/trigger_control (mavros_msgs::srv::CommandTriggerControl)
• ~/trigger_interval (mavros_msgs::srv::CommandTriggerInterval)
• ~/vtol_transition (mavros_msgs::srv::CommandVtolTransition)

Clients

• None

Parameters

• command_ack_timeout [type: double, default: command_ack_timeout_dt.seconds()]
• use_comp_id_system_control [type: bool, default: false]

MAVLink Subscriptions

• COMMAND_ACK [handler: handle_command_ack, dialect: common, msg_id: 77, id: mavlink::common::msg::COMMAND_ACK::MSG_ID]

MAVLink Publications

• COMMAND_LONG [arg: cmd, dialect: common, msg_id: 76, id: mavlink::common::msg::COMMAND_LONG::MSG_ID]
• COMMAND_INT [arg: cmd, dialect: common, msg_id: 75, id: mavlink::common::msg::COMMAND_INT::MSG_ID]