global_position

• File: mavros/src/plugins/global_position.cpp
• Class: mavros::std_plugins::GlobalPositionPlugin
• Namespace: global_position
• Brief: Global position plugin.

Publishes global position. Conversion from GPS LLA to ECEF allows publishing local position to TF and PoseWithCovarianceStamped.

Publishers

• ~/raw/fix (sensor_msgs::msg::NavSatFix) - gps data
• ~/raw/gps_vel (geometry_msgs::msg::TwistStamped)
• ~/raw/satellites (std_msgs::msg::UInt32)
• ~/global (sensor_msgs::msg::NavSatFix) - fused global position
• ~/local (nav_msgs::msg::Odometry)
• ~/rel_alt (std_msgs::msg::Float64)
• ~/compass_hdg (std_msgs::msg::Float64)
• ~/gp_origin (geographic_msgs::msg::GeoPointStamped) - global origin
• ~/gp_lp_offset (geometry_msgs::msg::PoseStamped) - offset from local position to the global origin ("earth")

Subscribers

• ~/set_gp_origin (geographic_msgs::msg::GeoPointStamped)
• home_position/home (mavros_msgs::msg::HomePosition) - home position subscriber to set "map" origin TODO(vooon): use UAS

Services

• None

Clients

• None

Parameters

• frame_id [default: "map"] - general params
• child_frame_id [default: "base_link"]
• rot_covariance [type: double, default: 99999.0]
• gps_uere [type: double, default: 1.0]
• use_relative_alt [type: bool, default: true]
• tf.send [type: bool, default: false] - tf subsection
• tf.frame_id [default: "map"]
• tf.global_frame_id [default: "earth"] - The global_origin should be represented as "earth" coordinate frame (ECEF) (REP 105)
• tf.child_frame_id [default: "base_link"]

MAVLink Subscriptions

• GPS_RAW_INT [handler: handle_gps_raw_int, dialect: common, msg_id: 24, id: mavlink::common::msg::GPS_RAW_INT::MSG_ID]
• GLOBAL_POSITION_INT [handler: handle_global_position_int, dialect: standard, msg_id: 33, id: mavlink::standard::msg::GLOBAL_POSITION_INT::MSG_ID] - GPS_STATUS: there no corresponding ROS message, and it is not supported by APM
• GPS_GLOBAL_ORIGIN [handler: handle_gps_global_origin, dialect: common, msg_id: 49, id: mavlink::common::msg::GPS_GLOBAL_ORIGIN::MSG_ID]
• LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET [handler: handle_lpned_system_global_offset, dialect: common, msg_id: 89, id: mavlink::common::msg::LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET::MSG_ID]

MAVLink Publications

• SET_GPS_GLOBAL_ORIGIN [arg: gpo, dialect: common, msg_id: 48, id: mavlink::common::msg::SET_GPS_GLOBAL_ORIGIN::MSG_ID]