MAVROS这里说的Parameters是什么意思？
是不是自己可以更改的参数？
我看目录发现了，它把Parameter和subscribed topic published topics放一列，我怀疑是不是跟话题，服务，同等的一个ROS中的概念，然后我去搜 ROS Parameter，确实搜出来了。
意思是提示我们可以修改设置参数服务器中的一些参数？
参数服务器里面的值是可以单独用命令改的，通过rosparam命令可实现运行时动态修改参数。
https://www.cnblogs.com/spyplus/p/11520756.html
那这些参数设置和MAVROS话题的关系是什么呢？我看不少都是和TF相关。
然后我去找了下MAVROS gitee或者github里面的yaml文件，还真找到了主要也是看到说这个参数服务器是和yaml相关的。我怀疑跟普罗米修斯读取yaml文件一样。
https://gitee.com/maxibooksiyi/mavros/blob/master/mavros/launch/apm_config.yaml
https://gitee.com/maxibooksiyi/mavros/blob/master/mavros/launch/px4_config.yaml#
里面还真的有MAVROS上面设置的那些parameters
下面是px4_config.yaml的文件内容。
# Common configuration for PX4 autopilot
#
# node:
startup_px4_usb_quirk: true
# --- system plugins ---
# sys_status & sys_time connection options
conn:
heartbeat_rate: 1.0 # send hertbeat rate in Hertz
timeout: 10.0 # hertbeat timeout in seconds
timesync_rate: 10.0 # TIMESYNC rate in Hertz (feature disabled if 0.0)
system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0)
# sys_status
sys:
min_voltage: 10.0 # diagnostics min voltage
disable_diag: false # disable all sys_status diagnostics, except heartbeat
# sys_time
time:
time_ref_source: "fcu" # time_reference source
timesync_mode: MAVLINK
timesync_avg_alpha: 0.6 # timesync averaging factor
# --- mavros plugins (alphabetical order) ---
# 3dr_radio
tdr_radio:
low_rssi: 40 # raw rssi lower level for diagnostics
# actuator_control
# None
# command
cmd:
use_comp_id_system_control: false # quirk for some old FCUs
# dummy
# None
# ftp
# None
# global_position
global_position:
frame_id: "map" # origin frame
child_frame_id: "base_link" # body-fixed frame
rot_covariance: 99999.0 # covariance for attitude?
gps_uere: 1.0 # User Equivalent Range Error (UERE) of GPS sensor (m)
use_relative_alt: true # use relative altitude for local coordinates
tf:
send: false # send TF?
frame_id: "map" # TF frame_id
global_frame_id: "earth" # TF earth frame_id
child_frame_id: "base_link" # TF child_frame_id
# imu_pub
imu:
frame_id: "base_link"
# need find actual values
linear_acceleration_stdev: 0.0003
angular_velocity_stdev: 0.0003490659 // 0.02 degrees
orientation_stdev: 1.0
magnetic_stdev: 0.0
# local_position
local_position:
frame_id: "map"
tf:
send: false
frame_id: "map"
child_frame_id: "base_link"
send_fcu: false
# param
# None, used for FCU params
# rc_io
# None
# safety_area
safety_area:
p1: {x: 1.0, y: 1.0, z: 1.0}
p2: {x: -1.0, y: -1.0, z: -1.0}
# setpoint_accel
setpoint_accel:
send_force: false
# setpoint_attitude
setpoint_attitude:
reverse_thrust: false # allow reversed thrust
use_quaternion: false # enable PoseStamped topic subscriber
tf:
listen: false # enable tf listener (disable topic subscribers)
frame_id: "map"
child_frame_id: "target_attitude"
rate_limit: 50.0
setpoint_raw:
thrust_scaling: 1.0 # used in setpoint_raw attitude callback.
# Note: PX4 expects normalized thrust values between 0 and 1, which means that
# the scaling needs to be unitary and the inputs should be 0..1 as well.
# setpoint_position
setpoint_position:
tf:
listen: false # enable tf listener (disable topic subscribers)
frame_id: "map"
child_frame_id: "target_position"
rate_limit: 50.0
mav_frame: LOCAL_NED
# setpoint_velocity
setpoint_velocity:
mav_frame: LOCAL_NED
# vfr_hud
# None
# waypoint
mission:
pull_after_gcs: true # update mission if gcs updates
use_mission_item_int: true # use the MISSION_ITEM_INT message instead of MISSION_ITEM
# for uploading waypoints to FCU
# --- mavros extras plugins (same order) ---
# adsb
# None
# debug_value
# None
# distance_sensor
## Currently available orientations:
# Check http://wiki.ros.org/mavros/Enumerations
##
distance_sensor:
hrlv_ez4_pub:
id: 0
frame_id: "hrlv_ez4_sonar"
orientation: PITCH_270 # RPY:{0.0, 270.0, 0.0} - downward-facing
field_of_view: 0.0 # XXX TODO
send_tf: true
sensor_position: {x: 0.0, y: 0.0, z: -0.1}
lidarlite_pub:
id: 1
frame_id: "lidarlite_laser"
orientation: PITCH_270
field_of_view: 0.0 # XXX TODO
send_tf: true
sensor_position: {x: 0.0, y: 0.0, z: -0.1}
sonar_1_sub:
subscriber: true
id: 2
orientation: PITCH_270
laser_1_sub:
subscriber: true
id: 3
orientation: PITCH_270
# image_pub
image:
frame_id: "px4flow"
# fake_gps
fake_gps:
# select data source
use_mocap: true # ~mocap/pose
mocap_transform: true # ~mocap/tf instead of pose
use_vision: false # ~vision (pose)
# origin (default: Zürich)
geo_origin:
lat: 47.3667 # latitude [degrees]
lon: 8.5500 # longitude [degrees]
alt: 408.0 # altitude (height over the WGS-84 ellipsoid) [meters]
eph: 2.0
epv: 2.0
satellites_visible: 5 # virtual number of visible satellites
fix_type: 3 # type of GPS fix (default: 3D)
tf:
listen: false
send: false # send TF?
frame_id: "map" # TF frame_id
child_frame_id: "fix" # TF child_frame_id
rate_limit: 10.0 # TF rate
gps_rate: 5.0 # GPS data publishing rate
# landing_target
landing_target:
listen_lt: false
mav_frame: "LOCAL_NED"
land_target_type: "VISION_FIDUCIAL"
image:
width: 640 # [pixels]
height: 480
camera:
fov_x: 2.0071286398 # default: 115 [degrees]
fov_y: 2.0071286398
tf:
send: true
listen: false
frame_id: "landing_target"
child_frame_id: "camera_center"
rate_limit: 10.0
target_size: {x: 0.3, y: 0.3}
# mocap_pose_estimate
mocap:
# select mocap source
use_tf: false # ~mocap/tf
use_pose: true # ~mocap/pose
# odom
odometry:
fcu:
odom_parent_id_des: "map" # desired parent frame rotation of the FCU's odometry
odom_child_id_des: "base_link" # desired child frame rotation of the FCU's odometry
# px4flow
px4flow:
frame_id: "px4flow"
ranger_fov: 0.118682 # 6.8 degrees at 5 meters, 31 degrees at 1 meter
ranger_min_range: 0.3 # meters
ranger_max_range: 5.0 # meters
# vision_pose_estimate
vision_pose:
tf:
listen: false # enable tf listener (disable topic subscribers)
frame_id: "odom"
child_frame_id: "vision_estimate"
rate_limit: 10.0
# vision_speed_estimate
vision_speed:
listen_twist: true # enable listen to twist topic, else listen to vec3d topic
twist_cov: true # enable listen to twist with covariance topic
# vibration
vibration:
frame_id: "base_link"
# wheel_odometry
wheel_odometry:
count: 2 # number of wheels to compute odometry
use_rpm: false # use wheel's RPM instead of cumulative distance to compute odometry
wheel0: {x: 0.0, y: -0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m)
wheel1: {x: 0.0, y: 0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m)
send_raw: true # send wheel's RPM and cumulative distance (~/wheel_odometry/rpm, ~/wheel_odometry/distance)
send_twist: false # send geometry_msgs/TwistWithCovarianceStamped instead of nav_msgs/Odometry
frame_id: "odom" # origin frame
child_frame_id: "base_link" # body-fixed frame
vel_error: 0.1 # wheel velocity measurement error 1-std (m/s)
tf:
send: false
frame_id: "odom"
child_frame_id: "base_link"
# vim:set ts=2 sw=2 et:
你看看，再看MAVROS官网给的parameters，不就对上了么。
