details.md

Package details

Subscribed topics

Topic Name	Message Type	Topic Description
camera/command	anafi_ros_interfaces/CameraCommand	Camera zoom commands.
drone/command	anafi_ros_interfaces/PilotingCommand	Drone piloting commands.
drone/moveby	anafi_ros_interfaces/MoveByCommand	Move the drone by the given displacement and rotate by the given angle.
drone/moveto	anafi_ros_interfaces/MoveToCommand	Move the drone to the specified location.
gimbal/command	anafi_ros_interfaces/GimbalCommand	Gimbal attitude commands.

Published topics

Topic Name	Message Type	Frequency	Values set/range	Topic Description	Units
battery/health	std_msgs/UInt8	1 Hz	[0: bad, 100: good]	Battery health	%
battery/percentage	std_msgs/UInt8	30 Hz	[0: empty, 100: full]	Battery level	%
battery/voltage	std_msgs/Float32	1 Hz		Battery voltage	V
camera/awb_b_gain	std_msgs/Float32	30 Hz		Camera automatic white balance (AWB) blue gain
camera/awb_r_gain	std_msgs/Float32	30 Hz		Camera automatic white balance (AWB) red gain
camera/camera_info	sensor_msgs/CameraInfo	30 Hz		Main camera's info
camera/exposure_time	std_msgs/Float32	30 Hz		Exposure time of the main camera	s
camera/image	sensor_msgs/Image	30 Hz		Image from the main front camera
camera/hfov	std_msgs/Float32	30 Hz		Camera's horizontal field of view	º
camera/iso_gain	std_msgs/UInt16	30 Hz		Camera's sensitivity gain
camera/vfov	std_msgs/Float32	30 Hz		Camera's vertical field of view	º
camera/zoom	std_msgs/Float32	5 Hz		Camera zoom level	x
drone/altitude	std_msgs/Float32	30 Hz	> 0.0	Drone's ground distance	m
drone/altitude_above_to	std_msgs/Float32	5 Hz		Drone's ground distance above the take-off point	m
drone/attitude	geometry_msgs/QuaternionStamped	30 Hz		Drone’s attitude in north-west-up frame
drone/gps/fix	std_msgs/Bool	1 Hz	{true: GPS is fixed, false: GPS is not fixed}
drone/gps/location	sensor_msgs/NavSatFix	1 Hz		Drone’s GPS location
drone/gps/satellites	std_msgs/UInt8			Number of GPS satellites
drone/rpy	geometry_msgs/Vector3Stamped	30 Hz		Drone’s roll, pitch and yaw in north-west-up frame	º
drone/rpy_slow	geometry_msgs/Vector3Stamped			Drone’s attitude
drone/speed	geometry_msgs/Vector3Stamped	30 Hz		Drone's speed in body frame	m/s
drone/state	std_msgs/String	30 Hz	{CONNECTING, LANDED, TAKINGOFF, HOVERING, FLYING, LANDING, EMERGENCY, DISCONNECTED}	Drone's state
drone/steady	std_msgs/Bool		{true: the drone is steady, false: the drone is moving}
gimbal/attitude/absolute	geometry_msgs/Vector3Stamped	5 Hz		Gimbal's attitude in north-west-up frame
home/location	geometry_msgs/PointStamped			Home location
link/goodput	std_msgs/UInt16	30 Hz		Connection throughput (available only for ANAFI 4K, Thermal and USA)	b/s
link/quality	std_msgs/UInt8	30 Hz	[0: bad, 5: good]	Link quality
link/rssi	std_msgs/Int8	30 Hz	[-100: bad, 0: good]	Signal strength (available only for ANAFI 4K, Thermal and USA)	dBm
skycontroller/attitude	geometry_msgs/QuaternionStamped	20 Hz		SkyController's attitude in north-west-up frame
skycontroller/command	anafi_ros_interfaces/SkycontrollerCommand	100 Hz		Command from SkyController
skycontroller/rpy	geometry_msgs/Vector3Stamped	20 Hz		SkyController's attitude in north-west-up frame	º
storage/available	std_msgs/UInt64			Available storage space	B
target/trajectory	anafi_ros_interfaces/TargetTrajectory			Target estimated trajectory
time	std_msgs/Time	30 Hz		Drone's local time

Services

Service name	Service type	Service description
camera/photo/stop	anafi_ros_interfaces/srv/Photo	stop photo capture
camera/photo/take	anafi_ros_interfaces/srv/Photo	take a photo
camera/recording/start	anafi_ros_interfaces/srv/Recording	start video recording
camera/recording/stop	anafi_ros_interfaces/srv/Recording	stop video recording
camera/reset	std_srvs/srv/Trigger	reset zoom level
drone/arm	std_srvs/srv/SetBool	{true: arm the drone, false: disarm the drone}
drone/calibrate	std_srvs/srv/Trigger	start drone's magnetometer calibration process
drone/emergency	std_srvs/srv/Trigger	cut out the motors
drone/halt	std_srvs/srv/Trigger	halt and start hovering
drone/land	std_srvs/srv/Trigger	land the drone
drone/reboot	std_srvs/srv/Trigger	reboot the drone
drone/rth	std_srvs/srv/Trigger	return home
drone/takeoff	std_srvs/srv/Trigger	take-off the drone
flightplan/pause	std_srvs/srv/Trigger	pause the flight plan
flightplan/start	anafi_ros_interfaces/srv/FlightPlan	start the flight plan based on the Mavlink file existing on the drone
flightplan/stop	std_srvs/srv/Trigger	stop the flight plan
flightplan/upload	anafi_ros_interfaces/srv/FlightPlan	upload the Mavlink file to the drone
followme/start	anafi_ros_interfaces/srv/FollowMe	start follow-me
followme/stop	std_srvs/srv/Trigger	stop follow-me
gimbal/calibrate	std_srvs/srv/Trigger	start gimbal calibration
gimbal/reset	std_srvs/srv/Trigger	reset the reference orientation of the gimbal
home/navigate	std_srvs/srv/SetBool	{true: start return home, false: stop return home} trigger navigate home
home/set	anafi_ros_interfaces/srv/Location	set the custom home location
POI/start	anafi_ros_interfaces/srv/PilotedPOI	start the piloted point of interest
POI/stop	std_srvs/srv/Trigger	stop the piloted point of interest
skycontroller/discover_drones	std_srvs/srv/Trigger	find all visible drones
skycontroller/forget_drone	std_srvs/srv/Trigger	forget the connected drone
skycontroller/offboard	std_srvs/srv/SetBool	{true: switch to offboard control, false: switch to manual control} change control mode
storage/download	std_srvs/srv/SetBool	{true: delete media after download, false: otherwise} download media from the drone
storage/format	std_srvs/srv/Trigger	format removable storage

Parameters

Parameter name	Type	Default value	Values set/range	Parameter description	Units
camera/autorecord	bool	false	{true: enabled, false: disabled}	auto record at take-off
camera/disparity_image	bool	false	{true: stream disparity map image, false: stream RGB image}
camera/ev_compensation	int	9	{0: -3.00, 3: -2.00, 6: -1.00, 9: 0.00, 12: 1.00, 15: 2.00, 18: 3.00}	camera exposure compensation	EV
camera/hdr	bool	true	{true: enabled, false: disabled}	high dynamic range (HDR) mode
camera/max_zoom_speed	float	10.0	[0.1, 10.0]	maximum zoom speed	tan(º)/s
camera/mode	int	0	{0: camera in recording mode, 1: camera in photo mode}	camera mode
camera/stereo/disparity_map	bool	false	{true: enabled, false: disabled}	stream disparity map image (supported only by ANAFI Ai)
camera/stereo/obstacle_avoidance	bool	true	{true: enabled, false: disabled}	obstacle avoidance (supported only by ANAFI Ai)
camera/streaming	int	0	{0: minimize latency with average reliability (best for piloting), 1: maximize reliability with an average latency, 2: maximize reliability using a frame-rate decimation}	streaming mode
camera/style	int	0	{0: natural look, 1: flat and desaturated images, best for post-processing, 2: intense - bright colors, warm shade, high contrast, 3: pastel - soft colors, cold shade, low contrast}	images style
camera/thermal/rendering	int	0	{0: visible, 1: thermal, 2: blended}	thermal image rendering mode (supported only by ANAFI Thermal and ANAFI USA)
device/ip	string	"192.168.53.1"		IP address of the connected device
drone/banked_turn	bool	true	{true: enabled, false: disabled}	banked turn
drone/camera_operated	bool	false	{true: commands relative to the camera pitch, false: otherwise}
drone/max_altitude	float	2.0	[0.5, 4000.0]	maximum altitude	m
`drone/max_distance	float	10.0	[10.0, 4000.0]	maximum distance	m
drone/max_horizontal_speed	float	1.0	[0.1, 15.0]	maximum horizontal speed	m/s
drone/max_pitch_roll	float	10.0	[1.0, 40.0]	maximum pitch and roll angle	º
drone/max_pitch_roll_rate	float	200.0	[40.0, 300.0]	maximum pitch and roll rotation speed	º/s
drone/max_vertical_speed	float	1.0	[0.1, 4.0]	maximum vertical speed	m/s
drone/max_yaw_rate	float	180.0	[3.0, 200.0]	maximum yaw rotation speed	º/s
drone/model	string		{"4k", "thermal", "usa", "ai"}	drone's model
drone/name	string		"[drone/model]_[device/ip]"	drone's name
drone/offboard	bool	false	{true: offboard control, false: manual control}	enable offboard control mode
drone/serial	string			drone's serial number
gimbal/max_speed	float	180.0	[1.0, 180.0]	maximum gimbal speed	º/s
home/autotrigger	bool	true	{true: enabled, false: disabled}	auto trigger return-to-home
home/ending_behavior	int	1	{0: land, 1: hover}	return-to-home ending behavior
home/hovering_altitude	float	10.0	[1.0, 10.0]	return-to-home ending hovering altitude	m
home/min_altitude	float	20.0	[20.0, 100.0]	return-to-home minimum altitude	m
home/precise	bool	true	{true: enabled, false: disabled}	precise return-to-home
home/type	int	4	{1: take-off location, 3: user-set custom location, 4: pilot location}	home type for return-to-home
link/wifi_key	string			WiFi key for the drone's access point (for direct connection to the drone)
storage/download_folder	string	"~/Pictures/Anafi"		path to the download folder
storage/rest_api_version	int	1		version of the REST API

Custom messages

CameraCommand

• Header header: header of the message
• uint8 mode: control mode {0: level, 1: velocity}
• float32 zoom: zoom command (x | x/s)

GimbalCommand

• Header header: header of the message
• uint8 mode: control mode {0: position, 1: velocity}
• uint8 frame: gimbal's frame of reference {0: none, 1: relative, 2: absolute}
• float32 roll: roll command (º | º/s)
• float32 pitch: pitch command (º | º/s)
• float32 yaw: pitch command (º | º/s)

MoveByCommand

• Header header: header of the message
• float32 dx: x displacement (m)
• float32 dy: y displacement (m)
• float32 dz: z displacement (m)
• float32 dyaw: yaw displacement (º)

MoveToCommand

• Header header: header of the message
• float64 latitude: latitude (º)
• float64 longitude: longitude (º)
• float64 altitude: altitude (m)
• float32 heading: heading w.r.t. North (º)
• uint8 orientatio_mode: orientation mode {0: none, 1: to target, 2: heading start, 3: heading during}

PilotingCommand

• Header header: header of the message
• float32 roll: roll angle (º)
• float32 pitch: pitch angle (º)
• float32 yaw: yaw rate (º/s)
• float32 gaz: vertical velocity (m/s)

SkycontrollerCommand

• Header header: header of the message
• int8 x: x-axis [-100, 100] (%)
• int8 y: y-axis [-100, 100] (%)
• int8 z: z-axis [-100, 100] (%)
• int8 yaw: yaw-axis [-100, 100] (%)
• int8 camera: camera-axis [-100, 100] (%)
• int8 zoom: zoom-axis [-100, 100] (%)
• bool return_home: return-to-home (front top) button {true: pressed, false: not pressed}
• bool takeoff_land: take-off/land (front bottom) button {true: pressed, false: not pressed}
• bool reset_camera: reset camera (back left) button {true: pressed, false: not pressed}
• bool reset_zoom: reset zoom (back right) button {true: pressed, false: not pressed}

TargetTrajectory

• Header header: header of the message
• float64 latitude: target latitude (º)
• float64 longitude: target longitude (º)
• float32 altitude: target altitude (m)
• float32 north_speed: target north speed (m/s)
• float32 east_speed: target east speed (m/s)
• float32 down_speed: target down speed (m/s)

Custom services

FlightPlan

• string file path to the flight plan file on local computer
• string uid flight plan UID in drone's directory

FollowMe

• uint8 mode follow me mode {0: none, 1: look at, 2: geographic, 3: relative, 4: leash}
• int8 horizontal horizontal position in the video from left to right (%)
• int8 vertical vertical position in the video from bottom to top (%)
• float32 target_azimuth horizontal north-drone-target angle (rad)
• float32 target_elevation vertical angle horizon-drone-target (rad)
• float32 change_of_scale normalized relative radial speed (1/s)
• uint8 confidence_index confidence index of the detection [0: worst, 255: best]
• bool is_new_selection selection is new {true: new selection, false: old selection}

Location

• float64 latitude latitude (º)
• float64 longitude longitude (º)
• float64 altitude altitude (m)

PilotedPOI

• float64 latitude latitude to look at (º)
• float64 longitude longitude to look at (º)
• float64 altitude altitude to look at (m)
• bool locked_gimbal gimbal is locked {true: gimbal is locked on the point of interest, false: gimbal is freely controllable}

Photo

• uint8 mode photo mode {0: single shot, 1: bracketing - burst of frames with a different exposure, 2: burst of frames, 3: time-lapse - frames at a regular time interval, 4: GPS-lapse - frames at a regular GPS position interval}
• uint8 photo_format photo format {0: full resolution, not dewarped, 1: rectilinear projection, dewarped}
• uint8 file_format file format {0: jpeg, 1: dng, 2: jpeg and dng}
• string media_id media id

Recording

• uint8 mode video recording mode {0: standard, 1: hyperlapse, 2: slow motion, 3: high-framerate}
• string media_id media id