weixin_39643244
2020-12-27 03:32 阅读 1

MAVROS not publishing unter Router WIFI connection

This is only bug and feature tracker, please use it to report bugs or request features.

Issue details

Mavros doesn't publish after connected to GCS with WIFI

MAVROS version and platform

Mavros: 0.18.4 ROS: Kinetic/Indigo Ubuntu: Rapsberry pi / 14.04

Autopilot type and version

[X] ArduPilot [ ] PX4

Version: 3.5rc8

Node logs


SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 0.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 0.0
 * /mavros/distance_sensor/lidar_split0/id: 1
 * /mavros/distance_sensor/lidar_split0/orientation: NONE
 * /mavros/distance_sensor/lidar_split0/subscriber: True
 * /mavros/distance_sensor/lidar_split1/id: 2
 * /mavros/distance_sensor/lidar_split1/orientation: YAW_315
 * /mavros/distance_sensor/lidar_split1/subscriber: True
 * /mavros/distance_sensor/lidar_split2/id: 3
 * /mavros/distance_sensor/lidar_split2/orientation: YAW_270
 * /mavros/distance_sensor/lidar_split2/subscriber: True
 * /mavros/distance_sensor/lidar_split3/id: 4
 * /mavros/distance_sensor/lidar_split3/orientation: YAW_225
 * /mavros/distance_sensor/lidar_split3/subscriber: True
 * /mavros/distance_sensor/lidar_split4/id: 5
 * /mavros/distance_sensor/lidar_split4/orientation: YAW_180
 * /mavros/distance_sensor/lidar_split4/subscriber: True
 * /mavros/distance_sensor/lidar_split5/id: 6
 * /mavros/distance_sensor/lidar_split5/orientation: YAW_135
 * /mavros/distance_sensor/lidar_split5/subscriber: True
 * /mavros/distance_sensor/lidar_split6/id: 7
 * /mavros/distance_sensor/lidar_split6/orientation: YAW_90
 * /mavros/distance_sensor/lidar_split6/subscriber: True
 * /mavros/distance_sensor/lidar_split7/id: 8
 * /mavros/distance_sensor/lidar_split7/orientation: YAW_45
 * /mavros/distance_sensor/lidar_split7/subscriber: True
 * /mavros/distance_sensor/rangefinder_pub/field_of_view: 0.0
 * /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
 * /mavros/distance_sensor/rangefinder_pub/id: 0
 * /mavros/distance_sensor/rangefinder_pub/send_tf: True
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
 * /mavros/fcu_url: udp://:6001@
 * /mavros/gcs_url: udp://192.168.1.2...
 * /mavros/global_position/frame_id: fcu
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: fcu_utm
 * /mavros/global_position/tf/frame_id: local_origin
 * /mavros/global_position/tf/send: False
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.000349065850399
 * /mavros/imu/frame_id: fcu
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/local_position/frame_id: fcu
 * /mavros/local_position/tf/child_frame_id: fcu
 * /mavros/local_position/tf/frame_id: local_origin
 * /mavros/local_position/tf/send: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.0
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_throttle: False
 * /mavros/setpoint_attitude/tf/child_frame_id: attitude
 * /mavros/setpoint_attitude/tf/frame_id: local_origin
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 10.0
 * /mavros/setpoint_position/tf/child_frame_id: setpoint
 * /mavros/setpoint_position/tf/frame_id: local_origin
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/startup_px4_usb_quirk: False
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/vibration/frame_id: vibration
 * /mavros/vision_pose/tf/child_frame_id: vision
 * /mavros/vision_pose/tf/frame_id: local_origin
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: False
 * /rosdistro: kinetic
 * /rosversion: 1.12.4

NODES
  /
    mavros (mavros/mavros_node)

ROS_MASTER_URI=http://192.168.1.21:11311

core service [/rosout] found
process[mavros-1]: started with pid [4700]
[ INFO] [1497753894.396977550]: FCU URL: udp://:6001@
[ WARN] [1497753894.404136139]: init: message from ASLUAV, MSG-ID 201 ignored! Table has different entry.
[ WARN] [1497753894.405846242]: init: message from autoquad, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1497753894.405977076]: init: message from autoquad, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1497753894.407375617]: init: message from matrixpilot, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1497753894.407487127]: init: message from matrixpilot, MSG-ID 151 ignored! Table has different entry.
[ WARN] [1497753894.407571554]: init: message from matrixpilot, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1497753894.407952022]: init: message from matrixpilot, MSG-ID 153 ignored! Table has different entry.
[ WARN] [1497753894.408056762]: init: message from matrixpilot, MSG-ID 155 ignored! Table has different entry.
[ WARN] [1497753894.408240720]: init: message from matrixpilot, MSG-ID 156 ignored! Table has different entry.
[ WARN] [1497753894.408333689]: init: message from matrixpilot, MSG-ID 157 ignored! Table has different entry.
[ WARN] [1497753894.408416918]: init: message from matrixpilot, MSG-ID 158 ignored! Table has different entry.
[ WARN] [1497753894.408503012]: init: message from matrixpilot, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1497753894.408655407]: init: message from matrixpilot, MSG-ID 171 ignored! Table has different entry.
[ WARN] [1497753894.408779991]: init: message from matrixpilot, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1497753894.408877803]: init: message from matrixpilot, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1497753894.408965511]: init: message from matrixpilot, MSG-ID 174 ignored! Table has different entry.
[ WARN] [1497753894.409051709]: init: message from matrixpilot, MSG-ID 175 ignored! Table has different entry.
[ WARN] [1497753894.409218272]: init: message from matrixpilot, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1497753894.409312751]: init: message from matrixpilot, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1497753894.409395303]: init: message from matrixpilot, MSG-ID 178 ignored! Table has different entry.
[ WARN] [1497753894.409478063]: init: message from matrixpilot, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1497753894.409559574]: init: message from matrixpilot, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1497753894.409727907]: init: message from matrixpilot, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1497753894.409810459]: init: message from matrixpilot, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1497753894.411286187]: init: message from paparazzi, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1497753894.411394000]: init: message from paparazzi, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1497753894.411479989]: init: message from paparazzi, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1497753894.411568218]: init: message from paparazzi, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1497753894.411727333]: init: message from paparazzi, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1497753894.413054155]: init: message from slugs, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1497753894.413217540]: init: message from slugs, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1497753894.413303113]: init: message from slugs, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1497753894.413389259]: init: message from slugs, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1497753894.413472852]: init: message from slugs, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1497753894.413564050]: init: message from slugs, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1497753894.413733061]: init: message from slugs, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1497753894.413821446]: init: message from slugs, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1497753894.413908373]: init: message from slugs, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1497753894.414008998]: init: message from slugs, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1497753894.414200352]: init: message from slugs, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1497753894.414349883]: init: message from slugs, MSG-ID 191 ignored! Table has different entry.
[ WARN] [1497753894.414443581]: init: message from slugs, MSG-ID 192 ignored! Table has different entry.
[ WARN] [1497753894.414526393]: init: message from slugs, MSG-ID 193 ignored! Table has different entry.
[ WARN] [1497753894.414688945]: init: message from slugs, MSG-ID 194 ignored! Table has different entry.
[ INFO] [1497753894.419283526]: udp0: Bind address: 0.0.0.0:6001
[ INFO] [1497753894.421166650]: GCS URL: udp://192.168.1.21:9000.168.1.15:6000?ids=1,255,252
[ INFO] [1497753894.422021128]: udp1: Bind address: 192.168.1.21:9000
[ INFO] [1497753894.422717430]: udp1: Remote address: 192.168.1.15:6000
[ INFO] [1497753894.643250734]: Plugin 3dr_radio loaded
[ INFO] [1497753894.658067705]: Plugin 3dr_radio initialized
[ INFO] [1497753894.659309423]: Plugin actuator_control loaded
[ INFO] [1497753894.681695034]: Plugin actuator_control initialized
[ INFO] [1497753894.683439616]: Plugin altitude loaded
[ INFO] [1497753894.692727163]: Plugin altitude initialized
[ INFO] [1497753894.856878105]: Plugin cam_imu_sync loaded
[ INFO] [1497753894.862903206]: Plugin cam_imu_sync initialized
[ INFO] [1497753894.864811850]: Plugin command loaded
[ INFO] [1497753894.909808542]: Plugin command initialized
[ INFO] [1497753894.912038853]: Plugin distance_sensor loaded
[ INFO] [1497753895.254813542]: Plugin distance_sensor initialized
[ INFO] [1497753895.256923020]: Plugin ftp loaded
[ INFO] [1497753895.319540117]: Plugin ftp initialized
[ INFO] [1497753895.321492460]: Plugin global_position loaded
[ INFO] [1497753895.378785342]: Plugin global_position initialized
[ INFO] [1497753895.381107945]: Plugin hil_actuator_controls loaded
[ INFO] [1497753895.387251951]: Plugin hil_actuator_controls initialized
[ INFO] [1497753895.389229606]: Plugin hil_controls loaded
[ INFO] [1497753895.395207728]: Plugin hil_controls initialized
[ INFO] [1497753895.397614237]: Plugin imu_pub loaded
[ INFO] [1497753895.455505556]: Plugin imu_pub initialized
[ INFO] [1497753895.457777273]: Plugin local_position loaded
[ INFO] [1497753895.501484487]: Plugin local_position initialized
[ INFO] [1497753895.503912037]: Plugin manual_control loaded
[ INFO] [1497753895.510937918]: Plugin manual_control initialized
[ INFO] [1497753895.512825157]: Plugin mocap_fake_gps loaded
[ INFO] [1497753895.535270299]: Plugin mocap_fake_gps initialized
[ INFO] [1497753895.537104257]: Plugin mocap_pose_estimate loaded
[ INFO] [1497753895.570990486]: Plugin mocap_pose_estimate initialized
[ INFO] [1497753895.574157255]: Plugin param loaded
[ INFO] [1497753895.597910991]: Plugin param initialized
[ INFO] [1497753895.599786719]: Plugin px4flow loaded
[ INFO] [1497753895.639444091]: Plugin px4flow initialized
[ INFO] [1497753895.641765183]: Plugin rc_io loaded
[ INFO] [1497753895.675772715]: Plugin rc_io initialized
[ INFO] [1497753895.676730058]: Plugin safety_area blacklisted
[ INFO] [1497753895.678731202]: Plugin setpoint_accel loaded
[ INFO] [1497753895.707750299]: Plugin setpoint_accel initialized
[ INFO] [1497753895.710597693]: Plugin setpoint_attitude loaded
[ INFO] [1497753895.803450450]: Plugin setpoint_attitude initialized
[ INFO] [1497753895.805716646]: Plugin setpoint_position loaded
[ INFO] [1497753895.852539743]: Plugin setpoint_position initialized
[ INFO] [1497753895.854705836]: Plugin setpoint_raw loaded
[ INFO] [1497753895.933674798]: Plugin setpoint_raw initialized
[ INFO] [1497753895.936156515]: Plugin setpoint_velocity loaded
[ INFO] [1497753895.957384784]: Plugin setpoint_velocity initialized
[ INFO] [1497753895.960302855]: Plugin sys_status loaded
[ INFO] [1497753896.012672355]: Plugin sys_status initialized
[ INFO] [1497753896.014814228]: Plugin sys_time loaded
[ INFO] [1497753896.040436088]: Plugin sys_time initialized
[ INFO] [1497753896.042645045]: Plugin vfr_hud loaded
[ INFO] [1497753896.053682851]: Plugin vfr_hud initialized
[ INFO] [1497753896.054758840]: Plugin vibration blacklisted
[ INFO] [1497753896.056585193]: Plugin vision_pose_estimate loaded
[ INFO] [1497753896.125361714]: Plugin vision_pose_estimate initialized
[ INFO] [1497753896.127382129]: Plugin vision_speed_estimate loaded
[ INFO] [1497753896.154747165]: Plugin vision_speed_estimate initialized
[ INFO] [1497753896.157424559]: Plugin waypoint loaded
[ INFO] [1497753896.193423287]: Plugin waypoint initialized
[ INFO] [1497753896.194724745]: Built-in SIMD instructions: None
[ INFO] [1497753896.195610369]: Built-in MAVLink package version: 2016.9.9
[ INFO] [1497753896.196504223]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs uAvionix ualberta
[ INFO] [1497753896.197713962]: MAVROS started. MY ID 1.240, TARGET ID 1.1

Diagnostics


header: 
  seq: 60
  stamp: 
    secs: 1497753934
    nsecs: 699927254
  frame_id: ''
status: 
  - 
    level: 1
    name: mavros: FCU connection
    message: not connected
    hardware_id: udp://:6001@
    values: 
      - 
        key: Received packets:
        value: 0
      - 
        key: Dropped packets:
        value: 0
      - 
        key: Buffer overruns:
        value: 0
      - 
        key: Parse errors:
        value: 0
      - 
        key: Rx sequence number:
        value: 0
      - 
        key: Tx sequence number:
        value: 0
      - 
        key: Rx total bytes:
        value: 0
      - 
        key: Tx total bytes:
        value: 0
      - 
        key: Rx speed:
        value: 0.000000
      - 
        key: Tx speed:
        value: 0.000000
  - 
    level: 2
    name: mavros: GPS
    message: No satellites
    hardware_id: udp://:6001@
    values: 
      - 
        key: Satellites visible
        value: 0
      - 
        key: Fix type
        value: 0
      - 
        key: EPH (m)
        value: Unknown
      - 
        key: EPV (m)
        value: Unknown
  - 
    level: 2
    name: mavros: Heartbeat
    message: No events recorded.
    hardware_id: udp://:6001@
    values: 
      - 
        key: Heartbeats since startup
        value: 0
      - 
        key: Frequency (Hz)
        value: 0.000000
      - 
        key: Vehicle type
        value: Generic micro air vehicle
      - 
        key: Autopilot type
        value: Generic autopilot
      - 
        key: Mode
        value: ''
      - 
        key: System status
        value: Uninit
  - 
    level: 0
    name: mavros: System
    message: Normal
    hardware_id: udp://:6001@
    values: 
      - 
        key: Sensor present
        value: 0x00000000
      - 
        key: Sensor enabled
        value: 0x00000000
      - 
        key: Sensor helth
        value: 0x00000000
      - 
        key: CPU Load (%)
        value: 0.0
      - 
        key: Drop rate (%)
        value: 0.0
      - 
        key: Errors comm
        value: 0
      - 
        key: Errors count #1
        value: 0
      - 
        key: Errors count #2
        value: 0
      - 
        key: Errors count #3
        value: 0
      - 
        key: Errors count #4
        value: 0
  - 
    level: 2
    name: mavros: Battery
    message: No data
    hardware_id: udp://:6001@
    values: 
      - 
        key: Voltage
        value: -1.00
      - 
        key: Current
        value: 0.0
      - 
        key: Remaining
        value: 0.0
---

Check ID


ERROR. I got 0 addresses, but not your target 1:1

---
Received 0 messages, from 0 addresses
sys:comp   list of messages

It definitely worked before once, but now it stopped working again...

该提问来源于开源项目:mavlink/mavros

  • 点赞
  • 写回答
  • 关注问题
  • 收藏
  • 复制链接分享

6条回答 默认 最新

  • weixin_39553653 weixin_39553653 2020-12-27 03:32

    You do not have a connection. Check your configuration. Your remote FCU should send packets to ROS machines IP, port 6001. You may use wireshark to verify data flow.

    点赞 评论 复制链接分享
  • weixin_39553653 weixin_39553653 2020-12-27 03:32

    Also if you use firewall, check that you allow input on 6001/udp.

    e.g.

    
    ufw allow 6001/udp comment FCU
    
    点赞 评论 复制链接分享
  • weixin_39643244 weixin_39643244 2020-12-27 03:32

    Do you mean at the GCS side?

    点赞 评论 复制链接分享
  • weixin_39553653 weixin_39553653 2020-12-27 03:32

    At ROS side, since you should find why there is no messages at udp://:6001@. Also check FCU configs, verify that FCU uses UDP and not TCP. Because APM uses TCP on SITL serial ports, if so use fcu_url:=tcp://:6001.

    点赞 评论 复制链接分享
  • weixin_39643244 weixin_39643244 2020-12-27 03:32

    It was misconfiguration by me. I was indeed not connected to 6001 port. My mistake.

    点赞 评论 复制链接分享
  • weixin_39559750 weixin_39559750 2020-12-27 03:32

    Is it solved already -ETH?

    点赞 评论 复制链接分享