local_position

• File: mavros/src/plugins/local_position.cpp
• Class: mavros::std_plugins::LocalPositionPlugin
• Namespace: local_position
• Brief: Local position plugin.

Publish local position to TF, PositionStamped, TwistStamped and Odometry

Publishers

• ~/pose (geometry_msgs::msg::PoseStamped)
• ~/pose_cov (geometry_msgs::msg::PoseWithCovarianceStamped)
• ~/velocity_local (geometry_msgs::msg::TwistStamped)
• ~/velocity_body (geometry_msgs::msg::TwistStamped)
• ~/velocity_body_cov (geometry_msgs::msg::TwistWithCovarianceStamped)
• ~/accel (geometry_msgs::msg::AccelWithCovarianceStamped)
• ~/odom (nav_msgs::msg::Odometry)

Subscribers

• None

Services

• None

Clients

• None

Parameters

• frame_id [default: "map"] - header frame_id. default to map (world-fixed, ENU as per REP-105).
• tf.send [type: bool, default: false] - Important tf subsection Report the transform from world to base_link here.
• tf.frame_id [default: "map"]
• tf.child_frame_id [default: "base_link"]

MAVLink Subscriptions

• LOCAL_POSITION_NED [handler: handle_local_position_ned, dialect: common, msg_id: 32, id: mavlink::common::msg::LOCAL_POSITION_NED::MSG_ID]
• LOCAL_POSITION_NED_COV [handler: handle_local_position_ned_cov, dialect: common, msg_id: 64, id: mavlink::common::msg::LOCAL_POSITION_NED_COV::MSG_ID]

MAVLink Publications

• None