diff --git a/mavros/launch/apm_config.yaml b/mavros/launch/apm_config.yaml
index e1f3599b9..abebccf53 100644
--- a/mavros/launch/apm_config.yaml
+++ b/mavros/launch/apm_config.yaml
@@ -1,14 +1,14 @@
# Common configuration for APM2 autopilot
#
# node:
-/mavros/**:
+/mavros:
ros__parameters:
startup_px4_usb_quirk: false
# --- system plugins ---
# sys_status & sys_time connection options
-/mavros/**/conn:
+/mavros/conn:
ros__parameters:
heartbeat_rate: 1.0 # send heartbeat rate in Hertz
heartbeat_mav_type: "ONBOARD_CONTROLLER"
@@ -17,14 +17,14 @@
system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0)
# sys_status
-/mavros/**/sys:
+/mavros/sys:
ros__parameters:
min_voltage: [10.0] # diagnostics min voltage, use a vector i.e. [16.2, 16.0] for multiple batteries, up-to 10 are supported
# to achieve the same on a ROS launch file do: [16.2, 16.0]
disable_diag: false # disable all sys_status diagnostics, except heartbeat
# sys_time
-/mavros/**/time:
+/mavros/time:
ros__parameters:
time_ref_source: "fcu" # time_reference source
timesync_mode: MAVLINK
@@ -33,7 +33,7 @@
# --- mavros plugins (alphabetical order) ---
# 3dr_radio
-/mavros/**/tdr_radio:
+/mavros/tdr_radio:
ros__parameters:
low_rssi: 40 # raw rssi lower level for diagnostics
@@ -41,7 +41,7 @@
# None
# command
-/mavros/**/cmd:
+/mavros/cmd:
ros__parameters:
use_comp_id_system_control: false # quirk for some old FCUs
@@ -52,7 +52,7 @@
# None
# global_position
-/mavros/**/global_position:
+/mavros/global_position:
ros__parameters:
frame_id: "map" # origin frame
child_frame_id: "base_link" # body-fixed frame
@@ -65,7 +65,7 @@
tf.child_frame_id: "base_link" # TF child_frame_id
# imu_pub
-/mavros/**/imu:
+/mavros/imu:
ros__parameters:
frame_id: "base_link"
# need find actual values
@@ -75,7 +75,7 @@
magnetic_stdev: 0.0
# local_position
-/mavros/**/local_position:
+/mavros/local_position:
ros__parameters:
frame_id: "map"
tf.send: false
@@ -90,12 +90,12 @@
# None
# setpoint_accel
-/mavros/**/setpoint_accel:
+/mavros/setpoint_accel:
ros__parameters:
send_force: false
# setpoint_attitude
-/mavros/**/setpoint_attitude:
+/mavros/setpoint_attitude:
ros__parameters:
reverse_thrust: false # allow reversed thrust
use_quaternion: false # enable PoseStamped topic subscriber
@@ -105,12 +105,12 @@
tf.rate_limit: 50.0
# setpoint_raw
-/mavros/**/setpoint_raw:
+/mavros/setpoint_raw:
ros__parameters:
thrust_scaling: 1.0 # specify thrust scaling (normalized, 0 to 1) for thrust (like PX4)
# setpoint_position
-/mavros/**/setpoint_position:
+/mavros/setpoint_position:
ros__parameters:
tf.listen: false # enable tf listener (disable topic subscribers)
tf.frame_id: "map"
@@ -119,7 +119,7 @@
mav_frame: LOCAL_NED
# guided_target
-/mavros/**/guided_target:
+/mavros/guided_target:
ros__parameters:
tf.listen: false # enable tf listener (disable topic subscribers)
tf.frame_id: "map"
@@ -127,7 +127,7 @@
tf.rate_limit: 50.0
# setpoint_velocity
-/mavros/**/setpoint_velocity:
+/mavros/setpoint_velocity:
ros__parameters:
mav_frame: LOCAL_NED
@@ -135,7 +135,7 @@
# None
# waypoint
-/mavros/**/mission:
+/mavros/mission:
ros__parameters:
pull_after_gcs: true # update mission if gcs updates
use_mission_item_int: true # use the MISSION_ITEM_INT message instead of MISSION_ITEM
@@ -153,7 +153,7 @@
## Currently available orientations:
# Check http://wiki.ros.org/mavros/**/Enumerations
##
-/mavros/**/distance_sensor:
+/mavros/distance_sensor:
ros__parameters:
config: |
rangefinder_pub:
@@ -169,12 +169,12 @@
orientation: PITCH_270 # only that orientation are supported by APM 3.4+
# image_pub
-/mavros/**/image:
+/mavros/image:
ros__parameters:
frame_id: "px4flow"
# fake_gps
-/mavros/**/fake_gps:
+/mavros/fake_gps:
ros__parameters:
# select data source
use_mocap: true # ~mocap/pose
@@ -202,7 +202,7 @@
gps_rate: 5.0 # GPS data publishing rate
# landing_target
-/mavros/**/landing_target:
+/mavros/landing_target:
ros__parameters:
listen_lt: false
mav_frame: "LOCAL_NED"
@@ -219,14 +219,14 @@
target_size: {x: 0.3, y: 0.3}
# mocap_pose_estimate
-/mavros/**/mocap:
+/mavros/mocap:
ros__parameters:
# select mocap source
use_tf: false # ~mocap/tf
use_pose: true # ~mocap/pose
# mount_control
-/mavros/**/mount:
+/mavros/mount:
ros__parameters:
debounce_s: 4.0
err_threshold_deg: 10.0
@@ -235,13 +235,13 @@
negate_measured_yaw: false
# odom
-/mavros/**/odometry:
+/mavros/odometry:
ros__parameters:
fcu.odom_parent_id_des: "map" # desired parent frame rotation of the FCU's odometry
fcu.odom_child_id_des: "map" # desired child frame rotation of the FCU's odometry
# px4flow
-/mavros/**/px4flow:
+/mavros/px4flow:
ros__parameters:
frame_id: "px4flow"
ranger_fov: 0.118682 # 6.8 degrees at 5 meters, 31 degrees at 1 meter
@@ -249,7 +249,7 @@
ranger_max_range: 5.0 # meters
# vision_pose_estimate
-/mavros/**/vision_pose:
+/mavros/vision_pose:
ros__parameters:
tf.listen: false # enable tf listener (disable topic subscribers)
tf.frame_id: "map"
@@ -257,18 +257,18 @@
tf.rate_limit: 10.0
# vision_speed_estimate
-/mavros/**/vision_speed:
+/mavros/vision_speed:
ros__parameters:
listen_twist: true # enable listen to twist topic, else listen to vec3d topic
twist_cov: true # enable listen to twist with covariance topic
# vibration
-/mavros/**/vibration:
+/mavros/vibration:
ros__parameters:
frame_id: "base_link"
# wheel_odometry
-/mavros/**/wheel_odometry:
+/mavros/wheel_odometry:
ros__parameters:
count: 2 # number of wheels to compute odometry
use_rpm: false # use wheel's RPM instead of cumulative distance to compute odometry
diff --git a/mavros/launch/apm_pluginlists.yaml b/mavros/launch/apm_pluginlists.yaml
index e8d2d3ad1..fc3bf400d 100644
--- a/mavros/launch/apm_pluginlists.yaml
+++ b/mavros/launch/apm_pluginlists.yaml
@@ -1,4 +1,4 @@
-/mavros/**:
+/mavros:
ros__parameters:
plugin_denylist:
# common
diff --git a/mavros/launch/px4_config.yaml b/mavros/launch/px4_config.yaml
index 942c8dffe..dc0e60c85 100644
--- a/mavros/launch/px4_config.yaml
+++ b/mavros/launch/px4_config.yaml
@@ -1,11 +1,11 @@
# Common configuration for PX4 autopilot
#
-/mavros/**:
+/mavros:
ros__parameters:
startup_px4_usb_quirk: false
# sys_status & sys_time connection options
-/mavros/**/conn:
+/mavros/conn:
ros__parameters:
heartbeat_rate: 1.0 # send heartbeat rate in Hertz
timeout: 10.0 # heartbeat timeout in seconds
@@ -13,13 +13,13 @@
system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0)
# sys_status
-/mavros/**/sys:
+/mavros/sys:
ros__parameters:
min_voltage: [10.0] # diagnostics min voltage, use a vector i.e. [16.2, 16.0] for multiple batteries, up-to 10 are supported to achieve the same on a ROS launch file do: [16.2, 16.0]
disable_diag: false # disable all sys_status diagnostics, except heartbeat
# sys_time
-/mavros/**/time:
+/mavros/time:
ros__parameters:
time_ref_source: fcu # time_reference source
timesync_mode: MAVLINK
@@ -28,7 +28,7 @@
# --- mavros plugins (alphabetical order) ---
# 3dr_radio
-/mavros/**/tdr_radio:
+/mavros/tdr_radio:
ros__parameters:
low_rssi: 40 # raw rssi lower level for diagnostics
@@ -36,7 +36,7 @@
# None
# command
-/mavros/**/cmd:
+/mavros/cmd:
ros__parameters:
use_comp_id_system_control: false # quirk for some old FCUs
@@ -47,7 +47,7 @@
# None
# global_position
-/mavros/**/global_position:
+/mavros/global_position:
ros__parameters:
frame_id: "map" # origin frame
child_frame_id: "base_link" # body-fixed frame
@@ -60,7 +60,7 @@
tf.child_frame_id: "base_link" # TF child_frame_id
# imu_pub
-/mavros/**/imu:
+/mavros/imu:
ros__parameters:
frame_id: base_link
# need find actual values
@@ -70,7 +70,7 @@
magnetic_stdev: 0.0
# local_position
-/mavros/**/local_position:
+/mavros/local_position:
ros__parameters:
frame_id: "map"
tf.send: false
@@ -85,12 +85,12 @@
# None
# setpoint_accel
-/mavros/**/setpoint_accel:
+/mavros/setpoint_accel:
ros__parameters:
send_force: false
# setpoint_attitude
-/mavros/**/setpoint_attitude:
+/mavros/setpoint_attitude:
ros__parameters:
reverse_thrust: false # allow reversed thrust
use_quaternion: false # enable PoseStamped topic subscriber
@@ -99,14 +99,14 @@
tf.child_frame_id: "target_attitude"
tf.rate_limit: 50.0
-/mavros/**/setpoint_raw:
+/mavros/setpoint_raw:
ros__parameters:
thrust_scaling: 1.0 # used in setpoint_raw attitude callback.
# Note: PX4 expects normalized thrust values between 0 and 1, which means that
# the scaling needs to be unitary and the inputs should be 0..1 as well.
# setpoint_position
-/mavros/**/setpoint_position:
+/mavros/setpoint_position:
ros__parameters:
tf.listen: false # enable tf listener (disable topic subscribers)
tf.frame_id: "map"
@@ -115,7 +115,7 @@
mav_frame: LOCAL_NED
# setpoint_velocity
-/mavros/**/setpoint_velocity:
+/mavros/setpoint_velocity:
ros__parameters:
mav_frame: LOCAL_NED
@@ -123,7 +123,7 @@
# None
# waypoint
-/mavros/**/mission:
+/mavros/mission:
ros__parameters:
pull_after_gcs: true # update mission if gcs updates
use_mission_item_int: true # use the MISSION_ITEM_INT message instead of MISSION_ITEM
@@ -142,7 +142,7 @@
## Currently available orientations:
# Check http://wiki.ros.org/mavros/**/Enumerations
##
-/mavros/**/distance_sensor:
+/mavros/distance_sensor:
ros__parameters:
config: |
hrlv_ez4_pub:
@@ -175,13 +175,13 @@
orientation: PITCH_270
# image_pub
-/mavros/**/image:
+/mavros/image:
ros__parameters:
frame_id: "px4flow"
# fake_gps
-/mavros/**/fake_gps:
+/mavros/fake_gps:
ros__parameters:
# select data source
use_mocap: true # ~mocap/pose
@@ -204,7 +204,7 @@
# landing_target
-/mavros/**/landing_target:
+/mavros/landing_target:
ros__parameters:
listen_lt: false
mav_frame: "LOCAL_NED"
@@ -222,14 +222,14 @@
# mocap_pose_estimate
-/mavros/**/mocap:
+/mavros/mocap:
ros__parameters:
# select mocap source
use_tf: false # ~mocap/tf
use_pose: true # ~mocap/pose
# mount_control
-/mavros/**/mount:
+/mavros/mount:
ros__parameters:
debounce_s: 4.0
err_threshold_deg: 10.0
@@ -238,13 +238,13 @@
negate_measured_yaw: false
# odom
-/mavros/**/odometry:
+/mavros/odometry:
ros__parameters:
fcu.odom_parent_id_des: "map" # desired parent frame rotation of the FCU's odometry
fcu.odom_child_id_des: "base_link" # desired child frame rotation of the FCU's odometry
# px4flow
-/mavros/**/px4flow:
+/mavros/px4flow:
ros__parameters:
frame_id: "px4flow"
ranger_fov: 0.118682 # 6.8 degrees at 5 meters, 31 degrees at 1 meter
@@ -252,7 +252,7 @@
ranger_max_range: 5.0 # meters
# vision_pose_estimate
-/mavros/**/vision_pose:
+/mavros/vision_pose:
ros__parameters:
tf.listen: false # enable tf listener (disable topic subscribers)
tf.frame_id: "odom"
@@ -260,19 +260,19 @@
tf.rate_limit: 10.0
# vision_speed_estimate
-/mavros/**/vision_speed:
+/mavros/vision_speed:
ros__parameters:
listen_twist: true # enable listen to twist topic, else listen to vec3d topic
twist_cov: true # enable listen to twist with covariance topic
# vibration
-/mavros/**/vibration:
+/mavros/vibration:
ros__parameters:
frame_id: "base_link"
# wheel_odometry
-/mavros/**/wheel_odometry:
+/mavros/wheel_odometry:
ros__parameters:
count: 2 # number of wheels to compute odometry
use_rpm: false # use wheel's RPM instead of cumulative distance to compute odometry
@@ -288,7 +288,7 @@
tf.child_frame_id: "base_link"
# camera
-/mavros/**/camera:
+/mavros/camera:
ros__parameters:
frame_id: "base_link"
diff --git a/mavros/launch/px4_pluginlists.yaml b/mavros/launch/px4_pluginlists.yaml
index 41a3a22e7..fd9c9db2c 100644
--- a/mavros/launch/px4_pluginlists.yaml
+++ b/mavros/launch/px4_pluginlists.yaml
@@ -1,4 +1,4 @@
-/mavros/**:
+/mavros:
ros__parameters:
plugin_denylist:
# common