This accessor uses the mavros ROS package to access a mavlink-based autopilot such as the APM, APM2 and Px4 in order retrieve the GPS location and altitude of the drone. In order to run this accessor you need a ROS distribtion (tested with indigo) and the mavros package. Plug in your mavelink-based autopilot (e.g. APM2), configure the baud rate using the command "rosed mavros apm2.launch" and launch the node using the command "roslaunch mavros apm2.launch". The accessor uses a websocket to access ros. Thus, you need also to install rosbridge_server and launch "roslaunch rosbridge_server rosbridge_websocket.launch".
- Version:
- $$Id$$
- Source:
Outputs:
| Name | Type | Description |
|---|---|---|
lat |
double | Latitude of the drone |
lon |
double | Longitude of the drone |
alt |
double | Altitude of the drone |
Parameters:
| Name | Type | Description |
|---|---|---|
rosbridgeServer |
string | RosBridge server address |
rosbridgePort |
int | RosBridge server port |
Methods
(static) setup()
Set up the accessor by defining the inputs and outputs.