search

mavlink / mavros

MAVLink to ROS gateway with proxy for Ground Control Station
Other
902 stars 993 forks source link

how to find the topic providede by the package? #474

Closed walkeryu123 closed 8 years ago

walkeryu123 commented 8 years ago

i want to learn the mavros,but i do not use ros before,now i have a problem,when I use the mavros package,how can i know the topic the package provided, so that i can published and subscribe messages?

andre-nguyen commented 8 years ago

Easy peasy, read the documentation here: http://wiki.ros.org/mavros All the topics are listed.

walkeryu123 commented 8 years ago

I saw that there is a topic named /mavros/rc/in at a forum, but I can not find it at http://wiki.ros.org/mavros

andre-nguyen commented 8 years ago

It's right there http://wiki.ros.org/mavros#mavros.2BAC8-Plugins.rc_io

walkeryu123 commented 8 years ago

i see it,thank you very much. I see the"~rc/in (mavros_msgs/RCIn)" , does it means the topc is /mavros/rc/in,and the message type I used should be mavros_msgs/RCIn?

andre-nguyen commented 8 years ago

~rc/in will expand to <node name>/rc/in where <node name> is either the one you gave it in your launch file or the one specified to the ros::init() function https://github.com/mavlink/mavros/blob/master/mavros/src/mavros_node.cpp#L18

So yes by default ~rc/in will expand to /mavros/rc/in, a topic of type mavros_msgs::RCIn unless you override the node name yourself.

walkeryu123 commented 8 years ago

OK,I get it.thank you for your patient answer.