MAVLink communicator

MAVLink communicator is a bridge between MAVLink and ROS designed as ROS package.

The package covers a minimal set of sensors required for PX4 MAVLink SITL simulation. It is based on few MAVLink messages:

1. HIL_ACTUATOR_CONTROLS (MAVLink->ROS)

№	Default ROS Topic name	ROS msg
1	/uav/actuators	sensor_msgs/Joy
2	/uav/arm	std_msgs::Bool

2. HIL_SENSOR (ROS->MAVLink)

№	Default ROS Topic name	ROS msg
1	/uav/static_temperature	std_msgs::Float32
2	/uav/static_pressure	std_msgs::Float32
3	/uav/raw_air_data	std_msgs::Float32
4	/uav/imu	sensor_msgs/Imu
5	/uav/mag	sensor_msgs/MagneticField

3. HIL_GPS (ROS->MAVLink)

№	Default ROS Topic name	ROS msg
1	/uav/gps_point	sensor_msgs::NavSatFix
2	/uav/velocity	geometry_msgs::Twist

Usage

One way is to build it as ROS package and call it as ROS node:

rosrun mavlink_communicator mavlink_communicator_node

Another way is to use is inside docker. Try docker/docker.sh script. For example:

./docker/docker.sh --help

Application example

This package is a part of UAV HITL dynamics simulator.