Pprzros

PPRZROS

PPRZROS is a Robot Operating System (ROS) package bridging ROS and Paparazzi, to get the best of both worlds.

Its role is to convert Paparazzi messages into ROS format and ROS messages into Paparazzi format. More specifically, incoming paparazzi messages are converted into a generic ROS message containing generic information about the message and the binary data associated to the message. Messages coming in ROS format are translated to a generic paparazzi message with the same format: generic information and data in binary form.
When starting the PPRZROS node, it requires a connection type (UDP, Serial or Ivy) and a Destination (plus some other optional infos). The PPRZROS node will create two ROS topics:

• /to_ros : PPRZROS is publishing in this topic. Messages coming from the Destination will be translated into ROS format and published on this topic.
• /from_ros : PPRZROS is subscribing (listening) to this topic. Any message sent to this topic, by other ROS nodes, will be translated into a Paparazzi message and sent to the Destination.

- Under work -