# mode_arm_service

**Repository Path**: zbrover/mode_arm_service

## Basic Information

- **Project Name**: mode_arm_service
- **Description**: https://github.com/ArduPilot/ardupilot/tree/master/Tools/ros2/ardupilot_msgs
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-12-07
- **Last Updated**: 2025-03-20

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# mode_arm_service
用于在[https://gitee.com/zbrover-team/zbrover_slam](https://gitee.com/zbrover-team/zbrover_slam)中设置ardupilot飞控的模式（mode）和解锁（arm）。<br>
两个命令：<br>
设置模式（Guided）<br>
~/ros2_ws$ `ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 15}"`
其中mode:15, _**15**_ 这个数字表示Guided模式，也有其他的模式，链接：[https://mavlink.io/en/messages/ardupilotmega.html#ROVER_MODE](https://mavlink.io/en/messages/ardupilotmega.html#ROVER_MODE)<br>
ardupilot源码目录`Tools/ros2/ardupilot_msgs/srv/ModeSwitch.srv`可以查看更多信息。<br>
解锁<br>
~/ros2_ws$ `ros2 service call /ap/arm_motors ardupilot_msgs/srv/ArmMotors "{arm: True}"`
# 使用方法
`ros2 launch mode_arm_service mode_arm.launch.py`