I believe that the use of boost asio in mavros is not necessarily a good choice. The boost dependency is just adding overhead and not of any real use. Porting over mavros to pthreads would work out way better. A worker thread for the receiving component would be much easier and portable.

Also, running mavros on older versions like Linaro 12.11 would be possible as there are problems with running certain onboard nodes in Linaro 13.05 + Hydro.

I tried building mavros with catkin on ROS Hydro + Ubuntu 13.04 on an Odroid U3.

Catkin build fails at 86% :

[ 84%] [ 85%] [ 86%] Building CXX object mavros/CMakeFiles/mavconn.dir/src/mavconn/mavconn_interface.cpp.o
Building CXX object mavros/CMakeFiles/mavconn.dir/src/mavconn/mavconn_serial.cpp.o
Building CXX object mavros/CMakeFiles/mavconn.dir/src/mavconn/mavconn_udp.cpp.o
In file included from /home/odroid/catkin_ws/src/mavros/src/mavconn/mavconn_serial.h:25:0,
from /home/odroid/catkin_ws/src/mavros/src/mavconn/mavconn_serial.cpp:23:
/home/odroid/catkin_ws/src/mavros/include/mavros/mavconn_interface.h:77:9: error: 'set' in namespace 'std' does not name a typeIn file included from /home/odroid/catkin_ws/src/mavros/src/mavconn/mavconn_udp.h:25:0,
from /home/odroid/catkin_ws/src/mavros/src/mavconn/mavconn_udp.cpp:23:
/home/odroid/catkin_ws/src/mavros/include/mavros/mavconn_interface.h:77:9: error: 'set' in namespace 'std' does not name a type

In file included from /home/odroid/catkin_ws/src/mavros/src/mavconn/mavconn_interface.cpp:23:0:
/home/odroid/catkin_ws/src/mavros/include/mavros/mavconn_interface.h:77:9: error: 'set' in namespace 'std' does not name a type
/home/odroid/catkin_ws/src/mavros/src/mavconn/mavconn_interface.cpp:32:1: error: 'set' in namespace 'std' does not name a type
/home/odroid/catkin_ws/src/mavros/src/mavconn/mavconn_interface.cpp: In static member function 'static int mavconn::MAVConnInterface::new_channel()':
/home/odroid/catkin_ws/src/mavros/src/mavconn/mavconn_interface.cpp:47:7: error: 'allocated_channels' was not declared in this scope
/home/odroid/catkin_ws/src/mavros/src/mavconn/mavconn_interface.cpp: In static member function 'static void mavconn::MAVConnInterface::delete_channel(int)':
/home/odroid/catkin_ws/src/mavros/src/mavconn/mavconn_interface.cpp:63:2: error: 'allocated_channels' was not declared in this scope
make[2]: *** [mavros/CMakeFiles/mavconn.dir/src/mavconn/mavconn_interface.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [mavros/CMakeFiles/mavconn.dir/src/mavconn/mavconn_serial.cpp.o] Error 1
make[2]: *** [mavros/CMakeFiles/mavconn.dir/src/mavconn/mavconn_udp.cpp.o] Error 1
make[1]: *** [mavros/CMakeFiles/mavconn.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed

I made a package for release mavlink in ros and has included it in the package index.
Provides C-headers and pymavlink.

ROS package name: mavlink
Release repo: https://github.com/vooon/mavlink-gbp-release

Related to #32.

I going to release 0.6.0.

Memory leak problem (#38) moved to 0.7 (because valgrind don't show useful info), but with some performance enhancements in mavconn lib (reduce allocations, removed 3-rd coping and CRC calc on TX).

PX4 waypoint and command plugins issue (#48) also moved to 0.7 (2-3 weeks before i get my clone).
You can simply remove it by rosparam /mavros/plugin_blacklist '["waypoint", "command"]'.
Sadly that PX4 have no SIL mode. Someone must check whats going wrong (i implemented WP protocol by spec and APM works fine).

Blokers:

• #45 - at least scripts for APM (e.g. blacklist *position)
• #33 - tests
• #49 - tests + documentation notes

Convert HEARTBEAT's to diagnostics.

Create waypoint manipulation plugin.

What would be best way we could implement sending of messages via Mavlink to a connected FCU?

I want to send the VISION_POSITION_ESTIMATE mavlink message, with data from another node.

I think this could be handy to display the target_system_id and target_component_id values when you start the mavros node. You can then immediately identify if it matches the MAV actual values.

Create interface to FCU parameters.

APM won't send high resolution imu message (seens only PX4 does).

Add option for send heartbeat to autopilot for failsafe.

I think async write is not necessary, and adds only double copyings.
Also it constantly abuses OS with memory allocations (tx_q and tx_buf).

Publish ROS diagnostics.

Client for /mavlink/to & from topics.

• ros_udp
• pluginlib xml

Publish GPS & TimeRefrence messages.

mavlink_ros converts ATTITUDE to IMU.

Publicate status like roscopter.

Plugin for give some commands to FCU.

When a PX4/Pixhawk board is connected via USB, it automatically brings up a nsh shell and not mavlink. Basically mavros shows "connected" without checking for a Mavlink heartbeat.

You can get a MAVLink instance on /dev/ttyS0 via serial:

const char init[] = {0x0d, 0x0d, 0x0d};
link->write(init, sizeof(init));
const char* cmd = "sh /etc/init.d/rc.usb\n";
link->write(cmd, strlen(cmd));
link->write(init, 4);

Would be great if this was implemented into mavros.

Add support QGC format to mavparam.

Currently my QGC on linux won't save params (I've got file with header only).

Utility for waypoint manipulation.

http://qgroundcontrol.org/mavlink/image_transmission_protocol

Would be great if the above could be implemented such that ROS Images could be send down via Mavlink to GCS. Mavros could act as a ROS<>Mavlink video bridge.

Hey, could you add topcis for OPTICAL_FLOW mavlink messages, like those coming from a PX4Flow module?

Implementation by Pixhawk team:
http://wiki.ros.org/px4flow_node

Current implementation use this definitions av8n.com of NED and ENU. Conversion is just invert Y & Z axis (all right-handed).

But according to CoordinateFramConventions it is left-handed?

Simple optimization.

I tested mavros_node for a while and found a memory leak (about 300 KiB/min).
This is strange, because i use smart pointers everywhere. But I have little experience in C++.
For current tasks of leakage is not critical, but should be corrected to the next big release.

Test environment:

• ROS Indigo compiled from source for armhf
• Wandboard Quad host machine
• mavros 0.5.0 connected to APM 2.6 via USB at 57600
• ros2ntpd 1.0.0 connected to /mavros/time_reference topic

Use plugins for extend mavlink<->ROS communications.

Publicate RC_CHANNELS from FCU.

catkin_make -DMAVLINK_DIALECT=ffuuu compiles fine!

Send DATA_STREAM messages.

The steps followed in a BeagleBone-based board are described here.

Basically:

....
Found 123 MAVLink message types in 2 XML files
Generating C implementation in directory /root/catkin_ws/devel/include/mavlink/v1.0/pixhawk
Generating C implementation in directory /root/catkin_ws/devel/include/mavlink/v1.0/common
Copying fixed headers
Traceback (most recent call last):
  File "/root/catkin_ws/src/mavros/mavlink/pymavlink/generator/mavgen.py", line 166, in <module>
    mavgen(opts, args)
  File "/root/catkin_ws/src/mavros/mavlink/pymavlink/generator/mavgen.py", line 93, in mavgen
    mavgen_c.generate(opts.output, xml)
  File "/usr/local/lib/python2.7/dist-packages/pymavlink/generator/mavgen_c.py", line 650, in generate
    copy_fixed_headers(basename, xml_list[0])
  File "/usr/local/lib/python2.7/dist-packages/pymavlink/generator/mavgen_c.py", line 493, in copy_fixed_headers
    shutil.copy(src, dest)
  File "/usr/lib/python2.7/shutil.py", line 117, in copy
    copyfile(src, dst)
  File "/usr/lib/python2.7/shutil.py", line 82, in copyfile
    with open(src, 'rb') as fsrc:
IOError: [Errno 2] No such file or directory: '/usr/local/lib/python2.7/dist-packages/pymavlink/generator/C/include_v1.0/pixhawk/pixhawk.pb.h'
make[2]: *** [mavros/pixhawk.xml-v1.0-stamp] Error 1
make[1]: *** [mavros/CMakeFiles/pixhawk.xml-v1.0.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed

It seems to me like i'm missing some dependencies. btw, package looking really good.

Create MAVLink communication library.

Now I'am trying create bloom release repo for ROS build farm.

Current mavconn do double crc calculation (finalize).

@vooon @mhkabir
I am connected to PX4 via USB and can receive data, but when I try to send any commands I get the following error message about id mismatch.
FCU: REJ. WP CMD: curr partner id mismatch

Commands I have tried:
rosrun mavros mavwp show -p
rosservice call /mavros/cmd/command 400 0 1.0 0.0 0.0 0.0 0.0 0.0 0.0

I have set target_system_id and target_component_id in mavros to the same in PX4 parameters MAV_SYS_ID and MAV_COMP_ID. It seems the PX4 FMU is still rejecting my commands as it thinks there is still a mismatch.

Bara on px4users was having the same issue if I recall but I didn't see the fix mentioned. Could it be to do with mavlink built with MAVLINK_DIALECT = ardupilotmega by default?

Any ideas?

As far as I understand:

1. The "data" topic (from ATTITUDE_MSG) is publishing orientation and angular acceleration.
2. The "data_raw" topic(from HIGHRES_IMU_MSG) is publishing angular and linear acceleration but no orientation.

Can we get a single topic with all 3 sets of data in one message? To get this combined message at 100Hz, I would need to stream both HIGHRES_IMU and ATTITUDE at 100Hz right?

Kabir

Plugin to write fcu message logs.

Figure out how to save mission in MissionPlanner and add support of these files to mavwp

mavlink_ros publish raw messages in Mavlink.msg format.

Command line utility for load, dump, set and get FCU parameters.