ROS2 Interfaces
Topics, parameters, and launch arguments for Bennu's ROS2 packages.
Packages
| Package |
Description |
bennu_camera |
Camera capture + geotagging node |
bennu_bringup |
Launch files + configuration |
Subscribed Topics
| Topic |
Message Type |
Description |
/fmu/out/vehicle_global_position |
px4_msgs/VehicleGlobalPosition |
GPS latitude, longitude, altitude from PX4 |
/fmu/out/camera_trigger |
px4_msgs/CameraTrigger |
Camera trigger event from PX4 distance-based trigger |
Node Parameters (camera_capture_node)
| Parameter |
Default |
Description |
output_dir |
/home/pi/captures |
Directory for captured images |
image_width |
4056 |
Capture width in pixels |
image_height |
3040 |
Capture height in pixels |
Launch Arguments (drone.launch.py)
| Argument |
Default |
Description |
use_sim |
false |
Use simulation mode (UDP transport) |
output_dir |
/home/pi/captures |
Image output directory |
serial_port |
/dev/ttyAMA0 |
Serial port for uXRCE-DDS |
baud_rate |
921600 |
UART baud rate |