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Launch Files

32e_points.launch.py

Launches the HDL-32E Velodyne LiDAR. The point cloud is attached to the /velodyne frame.

mavros.launch.py

Launches the MAVROS node to connect to the PixHawk.

zed2i.launch.py

Launches the ZED2i nodes to connect to the ZED2i camera. This is equivalent to ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i.

Nodes

thrust_commander.py

Node to receive thrust values and send it to the PixHawk.

Subscribed topics:

• thrusters/front_left/thrust, thrusters/front_right/thrust, thrusters/back_left/thrust, thrusters/back_right/thrust: std_msgs/Int64 messages with thruster PWM commands.

Parameters:

• front_right_port, front_left_port, back_right_port, back_left_port: integer parameters defaulting to 2, 3, 4, and 5 respectively. The port where the thrusters are attached to on the PixHawk.

Client:

• /mavros/cmd/command: a mavros_msgs/CommandLong service to send thrust commands to the PixHawk.

webcam_publisher.py

Node to publish the webcam image

Published topics:

• webcam_image: a sensor_msgs/Image message containing the webcam image.

zed2i_publisher.py

Node to publish an image from the ZED camera without the ZED SDK.

Published topics:

• zed_image: a sensor_msgs/Image message containing the ZED image.