waypoint

• File: mavros/src/plugins/waypoint.cpp
• Class: mavros::std_plugins::WaypointPlugin
• Namespace: mission
• Brief: Mission manipulation plugin

Publishers

• ~/waypoints (mavros_msgs::msg::WaypointList)
• ~/reached (mavros_msgs::msg::WaypointReached)

Subscribers

• None

Services

• ~/pull (mavros_msgs::srv::WaypointPull)
• ~/push (mavros_msgs::srv::WaypointPush)
• ~/clear (mavros_msgs::srv::WaypointClear)
• ~/set_current (mavros_msgs::srv::WaypointSetCurrent)

Clients

• None

Parameters

• pull_after_gcs [type: bool, default: true] - NOTE(vooon): I'm not quite sure that this option would work with mavros router
• use_mission_item_int [type: bool, default: true]
• enable_partial_push [type: integer, default: 2]

MAVLink Subscriptions

• MISSION_ITEM [handler: handle_mission_item, dialect: common, msg_id: 39, id: mavlink::common::msg::MISSION_ITEM::MSG_ID]
• MISSION_ITEM_INT [handler: handle_mission_item_int, dialect: common, msg_id: 73, id: mavlink::common::msg::MISSION_ITEM_INT::MSG_ID]
• MISSION_REQUEST [handler: handle_mission_request, dialect: common, msg_id: 40, id: mavlink::common::msg::MISSION_REQUEST::MSG_ID]
• MISSION_REQUEST_INT [handler: handle_mission_request_int, dialect: common, msg_id: 51, id: mavlink::common::msg::MISSION_REQUEST_INT::MSG_ID]
• MISSION_COUNT [handler: handle_mission_count, dialect: common, msg_id: 44, id: mavlink::common::msg::MISSION_COUNT::MSG_ID]
• MISSION_ACK [handler: handle_mission_ack, dialect: common, msg_id: 47, id: mavlink::common::msg::MISSION_ACK::MSG_ID]
• MISSION_CURRENT [handler: handle_mission_current, dialect: common, msg_id: 42, id: mavlink::common::msg::MISSION_CURRENT::MSG_ID]
• MISSION_ITEM_REACHED [handler: handle_mission_item_reached, dialect: common, msg_id: 46, id: mavlink::common::msg::MISSION_ITEM_REACHED::MSG_ID]

MAVLink Publications

• MISSION_ITEM [arg: wpi, dialect: common, msg_id: 39, id: mavlink::common::msg::MISSION_ITEM::MSG_ID]
• MISSION_ITEM_INT [arg: wpi, dialect: common, msg_id: 73, id: mavlink::common::msg::MISSION_ITEM_INT::MSG_ID]
• MISSION_REQUEST [arg: mrq, dialect: common, msg_id: 40, id: mavlink::common::msg::MISSION_REQUEST::MSG_ID]
• MISSION_REQUEST_INT [arg: mrq, dialect: common, msg_id: 51, id: mavlink::common::msg::MISSION_REQUEST_INT::MSG_ID]
• MISSION_SET_CURRENT [arg: msc, dialect: common, msg_id: 41, id: mavlink::common::msg::MISSION_SET_CURRENT::MSG_ID] - msc.mission_type = enum_value(mission_type);
• MISSION_REQUEST_LIST [arg: mrl, dialect: common, msg_id: 43, id: mavlink::common::msg::MISSION_REQUEST_LIST::MSG_ID]
• MISSION_COUNT [arg: mcnt, dialect: common, msg_id: 44, id: mavlink::common::msg::MISSION_COUNT::MSG_ID]
• MISSION_WRITE_PARTIAL_LIST [arg: mwpl, dialect: common, msg_id: 38, id: mavlink::common::msg::MISSION_WRITE_PARTIAL_LIST::MSG_ID]
• MISSION_CLEAR_ALL [arg: mclr, dialect: common, msg_id: 45, id: mavlink::common::msg::MISSION_CLEAR_ALL::MSG_ID]
• MISSION_ACK [arg: mack, dialect: common, msg_id: 47, id: mavlink::common::msg::MISSION_ACK::MSG_ID]