This repository contains a ROS2 stack for interfacing with an autopilot running the ROSflight firmware. For instructions on building this repository, see the ROS2 setup page on the ROSflight docs.
This package contains the rosflight_io node, which provides the core functionality for interfacing an onboard computer with the autopilot. This node streams autopilot sensor and status data to the onboard computer, streams control setpoints to the autopilot, and provides an interface for configuring the autopilot. It also contains a mag_cal node that is used to calibrate the UAV's magnetometer parameters.
rosflight_io utilizes two libraries: mavrosflight and mavlink. Mavlink is the communication protocol used for serial communication between rosflight_io and the firmware. It exists as a separate Github repository, utilized by both rosflight_io and the firmware. Mavrosflight is what handles the actual serial communication in rosflight and is largely ROS independent. rosflight_io mostly just manages the interactions between mavrosflight and ROS.
This package contains utilities that will be used to support the ground control station experience. Currently this is under development and only contains a couple of former rosflight_utils packages.
This package contains the ROSflight message and service definitions.
This is a metapackage for grouping the other packages into a ROS stack.
This package contains plugins that can be used within rqt for tuning or ground station purposes. They are built to be autopilot agnostic and can be easily configured for any specific needs.
This package contains files for running ROSflight in the Gazebo simulator. It has a SIL board implementation, forces and
moments calculations for both fixedwing and multirotors, launch files for launching the sim, and model and world files
for the Gazebo visualization. Dynamics for both multirotors and fixedwings can be modified in the .yaml files found in
the rosflight_sim/params folder.