devkit_mavlink_bridge.mavlink_bridge_node

devkit_mavlink_bridge – cmd_vel/localisation <-> ArduPilot Rover RTU.

See research/ardurover.md in Sowbot_Data for the full design and the open items list. This node currently implements the outbound half (cmd_vel -> SET_POSITION_TARGET_LOCAL_NED) only; the inbound half (FusionCore pose -> GPS_INPUT, see modules/gps_input_handler.py) is blocked on confirming FusionCore’s output topic/type/rate first.

TODO (tracked in ardurover.md, not duplicated here – update there, not just in this comment, when one of these lands):

1. Physical MAVLink port on the RTU Master Controller – ask Robotriks.

2. FusionCore output topic/type/rate – needed for gps_input_handler.

3. EKF-origin-on-first-boot behaviour when GPS_INPUT is the only GPS source – may need an initial GPS_INPUT burst before GUIDED will accept velocity commands at all.

5. Connection string / transport for pymavlink (serial device, baud) depends on item 1.

6. RTU-side GPS1_TYPE=14 parameter change – not this node’s job, but nothing here works until it’s set.

Functions

main([args])

Run the MAVLink bridge node until ROS shuts down.

Classes

MavlinkBridgeNode(*args, **kwargs)

Bridges cmd_vel to an ArduPilot Rover RTU over MAVLink (GUIDED mode).

class devkit_mavlink_bridge.mavlink_bridge_node.MavlinkBridgeNode(*args: Any, **kwargs: Any)

Bases: Node

Bridges cmd_vel to an ArduPilot Rover RTU over MAVLink (GUIDED mode).

__init__()

Connect to MAVLink and register the ROS subscription and timer.

devkit_mavlink_bridge.mavlink_bridge_node.main(args=None)

Run the MAVLink bridge node until ROS shuts down.