mark-nick-o
commented
2 years ago you can use pymavlink to communicate mavlink either through a direct connection on tcp or via mavlink-router like this to ip 10.0.2.51 in my case the_conection = custommav.mavlink_connection('tcp:10.0.2.51:5760',autoreconnect=True, source_system=id)
or like this via broadcast (can be example mavlink-router) try: the_conection = custommav.mavlink_connection('udpin:0.0.0.0:14550',autoreconnect=True, source_system=id) return the_conection,True except Exception as err_msg: print("Failed to connect : %s" % (err_msg)) return the_conection,False
one message you can use for GPS data is for example is GPS_RAW_INT e.g. the_connection.mav.gps_raw_int_send( 1000, 1, 22, 21, 1, 3, 1, 2, 3, 5)
also GLOBAL_POSITION_INT message.
then use rospy and roslib to bridge this to the ROS node like this link https://habr.com/ru/post/128046/
hope that helps and i didnt misinterpret what you asked and you want to make a bridge in code
Hi, I need to send GPS data from my vehicle (fully controlled by ROS running on board) to a ground control station like QGC to display its position alongside other vehicles using ArduPilot (PX4).
The ROS running vehicle has not FCU on board like ArduPilot, so I need to create a ROS node that communicates with QGC using pymavlink. Do you know how to do that? I’m having trouble implementing this.