GCS Bridge Plugin #1117
GCS Bridge Plugin #1117
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| } | ||
| else | ||
| ROS_INFO("GCS bridge disabled"); | ||
| if (gcs_url != "") { |
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Indentation are 8 spaces, not 4. Please use uncrustify (uncrustify -c ${ROS_WORKSPACE}/src/mavros/mavros/tools/uncrustify-cpp.cfg --replace --no-backup <path/to/file.ext>).
I added a new pointer for the GCS link. It follows the same format as the FCU link
It works the same way as the callback worked in the original GCS_Bridge. The only difference is that this is a plugin.
What kind of a message filter are you looking for?
There is not currently a good way to communicate between the companion computer and QGC. I think it makes sense to get the base functionality out there and then allow the community to continue building on it as it goes. |
| @@ -47,4 +47,7 @@ | |||
| <class name="vision_speed_estimate" type="mavros::extra_plugins::VisionSpeedEstimatePlugin" base_class_type="mavros::plugin::PluginBase"> | |||
| <description>Send vision speed estimate to FCU.</description> | |||
| </class> | |||
| <class name="gcs_bridge_plugin" type="mavros::extra_plugins::GCSBridgePlugin" base_class_type="mavros::plugin::PluginBase" output="screen"> | |||
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That feature woun't be implemented in mavros v1. But it should be possible with v2 because here we have filters and router. |
Converts the GCS Bridge into a plugin.
Tested it by writing a node that publishes a test
NAMED_VALUE_FLOATto/mavlink/fromand saw that it shows up on QGC. Users do have to specify agcs_urlin their mavros launch file to enable this plugin.It does not currently support OBC reboot/shutdown commands from GCS as requested in #333 and #450.