setpoint_raw

• File: mavros/src/plugins/setpoint_raw.cpp
• Class: mavros::std_plugins::SetpointRawPlugin
• Namespace: setpoint_raw
• Brief: Setpoint RAW plugin

Send position setpoints and publish current state (return loop). User can decide what set of filed needed for operation via IGNORE bits.

Publishers

• ~/target_local (mavros_msgs::msg::PositionTarget)
• ~/target_global (mavros_msgs::msg::GlobalPositionTarget)
• ~/target_attitude (mavros_msgs::msg::AttitudeTarget)

Subscribers

• ~/local (mavros_msgs::msg::PositionTarget)
• ~/global (mavros_msgs::msg::GlobalPositionTarget)
• ~/attitude (mavros_msgs::msg::AttitudeTarget)

Services

• None

Clients

• None

Parameters

• thrust_scaling [default: NAN]

MAVLink Subscriptions

• POSITION_TARGET_LOCAL_NED [handler: handle_position_target_local_ned, dialect: common, msg_id: 85, id: mavlink::common::msg::POSITION_TARGET_LOCAL_NED::MSG_ID]
• POSITION_TARGET_GLOBAL_INT [handler: handle_position_target_global_int, dialect: common, msg_id: 87, id: mavlink::common::msg::POSITION_TARGET_GLOBAL_INT::MSG_ID]
• ATTITUDE_TARGET [handler: handle_attitude_target, dialect: common, msg_id: 83, id: mavlink::common::msg::ATTITUDE_TARGET::MSG_ID]

MAVLink Publications

• SET_POSITION_TARGET_LOCAL_NED [arg: sp, dialect: common, msg_id: 84, id: mavlink::common::msg::SET_POSITION_TARGET_LOCAL_NED::MSG_ID]
• SET_POSITION_TARGET_GLOBAL_INT [arg: sp, dialect: common, msg_id: 86, id: mavlink::common::msg::SET_POSITION_TARGET_GLOBAL_INT::MSG_ID]
• SET_ATTITUDE_TARGET [arg: sp, dialect: common, msg_id: 82, id: mavlink::common::msg::SET_ATTITUDE_TARGET::MSG_ID]