ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

What is the best way to connect an APM controller to ROS?

asked 2013-11-01 19:31:11 -0500

Dereck gravatar image

updated 2014-01-28 17:18:26 -0500

ngrennan gravatar image

I have a few multicopters with an APM controller that I would like to connect to ROS. I want to access the mavlink data via ROS topics. Minimally, I want to have access to sensor data and then publish control topics to the UAV for some semi autonomous indoor fun.

I see there are a few options out there for packages, does anyone out there have recommendations or helpful hints to get started?


edit retag flag offensive close merge delete


if you find something interesting, let me know, please. i would be very thankful for any hints!

RodBelaFarin gravatar image RodBelaFarin  ( 2013-11-05 21:26:32 -0500 )edit

5 Answers

Sort by ยป oldest newest most voted

answered 2013-11-06 03:06:03 -0500

Have you looked at roscopter?

edit flag offensive delete link more


This looks exactly like what I'm looking for. :) Thanks!

Dereck gravatar image Dereck  ( 2013-11-06 04:03:15 -0500 )edit

Is roscopter compatible with ros indigo ?

Dushan Eranga gravatar image Dushan Eranga  ( 2017-03-08 04:37:47 -0500 )edit

Would strongly advice against that, use mavros.

tonybaltovski gravatar image tonybaltovski  ( 2017-03-08 09:56:00 -0500 )edit

answered 2014-01-08 06:34:39 -0500

vooon gravatar image

Try my project - mavros ( More needs to be done, but much has been done.

edit flag offensive delete link more


Hi @vooon. Trying to catkin_make my dir with mavros in src folder. Already have mavlink in mavros folder. Gives me: File "../src/mavros/mavlink/pymavlink/generator/", line 14, in <module> from pymavlink.generator import mavparse ImportError: No module named pymavlink.generator Any tip?

TSC gravatar image TSC  ( 2014-06-03 11:56:51 -0500 )edit

1. Use wstool to install (it's automatically downloads all submodules) 2. Try to install pymavlink if error exists after 1.

vooon gravatar image vooon  ( 2014-06-04 09:27:13 -0500 )edit

answered 2015-04-05 07:32:53 -0500

v.mayoral gravatar image

You definitely want to try mavros. We are using it with Erle-Brain ( ) and so far we are really happy with it.

edit flag offensive delete link more

answered 2014-07-25 17:09:50 -0500

pmosilva gravatar image
edit flag offensive delete link more

answered 2013-11-06 01:30:17 -0500

Dereck gravatar image

updated 2013-11-06 01:30:56 -0500

I have not found any pre rolled solution, so I'm using the mavlink protocol to communicate with the APM over the telemetry link.

When I have it sorted out, I'll make a ROS node that exposes the mavlink interface as ROS topics.

This is how the at drone ROS node appears to operate BTW.

edit flag offensive delete link more


Hey buddy !!! Did you found a solution for this ??? I want the same functionality that you want here. Could you please help me ???

Dushan Eranga gravatar image Dushan Eranga  ( 2017-03-08 04:22:12 -0500 )edit

Question Tools



Asked: 2013-11-01 19:31:11 -0500

Seen: 2,250 times

Last updated: Apr 05 '15