Gimbal protocol v2 plugin

mavros_extras/CMakeLists.txt

@@ -98,6 +98,7 @@ add_library(mavros_extras_plugins SHARED
   src/plugins/esc_status.cpp
   src/plugins/esc_telemetry.cpp
   src/plugins/fake_gps.cpp
+  src/plugins/gimbal_control.cpp
   src/plugins/gps_input.cpp
   src/plugins/gps_rtk.cpp
   src/plugins/gps_status.cpp

mavros_extras/README.md

@@ -34,6 +34,28 @@ fake\_gps
 Sends fake GPS from local position estimation source data (motion capture, vision) to FCU.
 
 
+gimbal\_control
+----
+
+Adds support for Mavlink Gimbal Protocol v2.  To publish to tf, set parameter 
+tf_send=True.  The implementation of this plugin has been tested with a 
+Freefly Astro with the mapping payload as well as with Auterion Sim.  The
+plugin was built following the specifications available at 
+https://mavlink.io/en/services/gimbal_v2.html with some adaptation to better
+suit ROS2 and support tf publishing with child frame labels specified by the 
+gimbal_device_id field of gimbal_attitude_msg.  This should enable support for
+multiple gimbal devices on the target platform publishing to different leaves
+of the tf tree.  The assumed frame for each gimbal device is base_link_frd.  
+When taking control of the gimbal with the GimbalManagerConfigure, sysid_primary 
+can be set to -2, and default gimbal_device_id is 154, though 0 can be used for all
+gimbal devices.  After taking control of the gimbal, you can set RoI's or manually
+set the gimbal's orientation using the service calls provided.  The topic publishers
+for gimbal control have not been successfully validated, though this is possibly due
+to the implimentation on the Freefly Astro or with Auterion's simulator.  Feel
+free to reach out to [email protected] with any questions or feedback on
+this plugin!
+
+
 gps\_input
 -----------
 

mavros_extras/mavros_plugins.xml

@@ -69,6 +69,12 @@ Sends fake GPS from local position estimation source data (motion capture,
 vision) to FCU - processed in HIL mode or out of it if parameter MAV_USEHILGPS
 is set on PX4 Pro Autopilot Firmware; Ardupilot Firmware already supports it
 without a flag set.</description>
+  </class>
+  <class name="gimbal_control" type="mavros::plugin::PluginFactoryTemplate&lt;mavros::extra_plugins::GimbalControlPlugin&gt;" base_class_type="mavros::plugin::PluginFactory">
+    <description>@brief Gimbal Control Plugin
+@plugin gimbal_control
+
+Adds support for Mavlink Gimbal Protocol v2.</description>
   </class>
   <class name="gps_input" type="mavros::plugin::PluginFactoryTemplate&lt;mavros::extra_plugins::GpsInputPlugin&gt;" base_class_type="mavros::plugin::PluginFactory">
     <description>@brief GPS_INPUT GPS plugin.