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aColor-BlueRov2
  • aColor-BlueRov2 ROS implementation
  • Topside computer
    • Required configuration
    • File system and ROS architecture
    • Launch ROS implementation
    • ROS-MAVlink bridge
    • Controllers
      • Depth control
      • Heading control
      • Velocity control
      • Gamepad
    • Commander
    • Graphical User Interface (GUI)
      • GUI modification
    • Additional IMUs : client
  • Companion computer
    • Required configuration
    • Additional IMUs : server
  • ArduSub
    • ArduSub parameters
  • MAVlink message
    • Pymavlink
  • Configure new frame
    • Custom Ardusub 3.5
  • Bibliography
    • Bibliography
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  1. MAVlink message

Pymavlink

PreviousArduSub parametersNextCustom Ardusub 3.5

Last updated 5 years ago

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There is a lot of examples for BlueRov2

There is two end points for mavlink stream :

'udpin:192.168.2.1:14550'

used by QGroundControl (QGC) but if QGC is not launch you can use this end point

'udpin:192.168.2.1:14560'

used by bluerov2_node to do the bridge between ROS and MAVlink

Change MAVlink protocol from version1 to version 2

Currently the MAVlink protocol version 1 is used.

If you want to use the MAVlink protocol version 2 you will need to change the STREAM_PARAMETER with QGroundControl (or mavlink command but it is more difficult) for PixHawk. Then you will need to setup pymavlink environment to work with Mavlink 2. Here it is a quotation from to deal with protocol.

"By default mavutil sets up the link to use the MAVLink 1 ardupilotmega dialect for sending/receiving. You can change this by setting environment variables:

  • MAVLINK_DIALECT: Set to string name for the dialect file (without XML extension). For Ardusub it is ardupilotmega

  • MAVLINK20: Set to 1 (if unset then default to MAVLink 1)

  • MDEF: Location of message definition libraries "

https://www.ardusub.com/developers/pymavlink.html
https://mavlink.io/en/mavgen_python/