hi, I have built mavros from source and was trying to add an obstacle_distance plugin to run cartographer slam. As @rmackay9 mentioned in this. I have edited my apm_pluginlist.yaml file to contain a obstacle_distance plugin like this:
plugin_blacklist:
# common
- actuator_control
- ftp
- safety_area
- hil
# extras
- altitude
- debug_value
- image_pub
- px4flow
- vibration
- vision_speed_estimate
- wheel_odometry
- obstacle_distance
plugin_whitelist: []
#- 'sys_*'
and my node.launch file:
<launch>
<!-- vim: set ft=xml noet : -->
<!-- base node launch file-->
<arg name="fcu_url" />
<arg name="gcs_url" />
<arg name="tgt_system" />
<arg name="tgt_component" />
<arg name="pluginlists_yaml" />
<arg name="config_yaml" />
<arg name="log_output" default="screen" />
<arg name="fcu_protocol" default="v2.0" />
<arg name="respawn_mavros" default="false" />
<node pkg="mavros" type="mavros_node" name="mavros" required="$(eval not respawn_mavros)" clear_params="true" output="$(arg log_output)" respawn="$(arg respawn_mavros)">
<param name="fcu_url" value="$(arg fcu_url)" />
<param name="gcs_url" value="$(arg gcs_url)" />
<param name="target_system_id" value="$(arg tgt_system)" />
<param name="target_component_id" value="$(arg tgt_component)" />
<param name="fcu_protocol" value="$(arg fcu_protocol)" />
<!-- load blacklist, config -->
<rosparam command="load" file="$(arg pluginlists_yaml)" />
<rosparam command="load" file="$(arg config_yaml)" />
<!-- remap from="/mavros/setpoint_velocity/cmd_vel_unstamped" to="/cmd_vel" /-->
<remap from="/mavros/vision_pose/pose" to="/robot_pose" />
<remap from="/mavros/obstacle/send" to="/scan" />
</node>
</launch>
but I realized that the obstacle_distance plugin from apm_pluginlist.yaml is in “plugin_blacklist” and i could not find any information about plugin_blacklist and plugin_whitelist.
When i run my mavros command
$ roslaunch mavros apm.launch fcu_url:=/dev/ttyUSB1:921600
i get this info about obstacle_distance.
, [ INFO] [1613468706.303947350]: Plugin obstacle_distance blacklisted
Am i missing some configuration to add a plugin here?