- [ ] port - [ ] set mavros parameters to [enable communication with computer](https://github.com/ksu-auv-team/movement_package/blob/master/mavros_config.sh) * but do it with the [ros parameter server thing](http://wiki.ros.org/Parameter%20Server) * [how it is done in c++](https://github.com/ksu-auv-team/movement_package/blob/master/src/mavros_communicator.cpp#L80) - [ ] arm and disarm pixhawk * [how it is done in c++](https://github.com/ksu-auv-team/movement_package/blob/master/src/mavros_communicator.cpp#L109) - [ ] send mavros overrideRC messages to 'spin the motors' * [how it is done in c++](https://github.com/ksu-auv-team/movement_package/blob/master/src/mavros_communicator.cpp#L40) * send messages at rate of 45hz to avoid saftey timeout from pixhawk * subscribe to our own channel for message updates - [ ] add unit tests ? Example C++ code to do these things: [The main repo](https://github.com/ksu-auv-team/movement_package) [mavros_communicator.cpp](https://github.com/ksu-auv-team/movement_package/blob/master/src/mavros_communicator.cpp) and [mavros_communicator.h](https://github.com/ksu-auv-team/movement_package/blob/master/include/movement_package/mavros_communicator.h)
Example C++ code to do these things:
The main repo
mavros_communicator.cpp and mavros_communicator.h