setpoint_trajectory

• File: mavros/src/plugins/setpoint_trajectory.cpp
• Class: mavros::std_plugins::SetpointTrajectoryPlugin
• Namespace: setpoint_trajectory
• Brief: Setpoint TRAJECTORY plugin

Receive trajectory setpoints and send setpoint_raw setpoints along the trajectory.

Publishers

• ~/desired (nav_msgs::msg::Path)

Subscribers

• ~/local (trajectory_msgs::msg::MultiDOFJointTrajectory)

Services

• ~/reset (std_srvs::srv::Trigger)

Clients

• None

Parameters

• frame_id [default: "map"]
• mav_frame [default: "LOCAL_NED"]

MAVLink Subscriptions

• None

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]