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fcu_io_node

NOTE: Currently there's no way to actually get the parameter values. Right now, when you request a list or a specific parameter value using the service requests below, all it does is print to ROS_INFO. I'm working on changing that, so that there will be a service request that actually gives you the value(s). For now, param_set (set a parameter value in RAM) and param_write (save all current param values to flash memory) work.

Parameters

• ~port (String, default="/dev/ttyUSB0")
• ~baud (Int, default=115200)

Publications

• imu/data (sensor_msgs/Imu)

Services

• param_request_list (fcu_io/ParamRequestList)
  Retrieves all current parameter values

• param_request_read (fcu_io/ParamRequestRead)
  Input is name of param. Retrieves value of the specified param.

• param_set (fcu_io/ParamSet)
  Sets a parameter by name. Currently param_type needs to be 6, and the value needs to go in the integer_value field.

• param_write (std_srvs/Empty)
  Save the current onboard parameters to non-volatile memory.