weixin_39962199
2020-12-30 12:42 阅读 5

Some MAVROS data not coming

Hey,

Issue details

After connecting, only the /mavros/imu/ is sending data. Others aren't coming.

MAVROS version and platform

Mavros: How to check? Did sudo apt-get install ros-indigo-mavros ros-indigo-mavros-extras ROS: Indigo Ubuntu: 14.04

Autopilot type and version

PX4 Version: 3.5.4 Pixhawk 2.1

Node logs


copy output of mavros_node. Usually console where you run roslaunch

trishantroy:~$ roslaunch mavros px4.launch fcu_url:=/dev/ttyACM0:921600 ... logging to /home/trishantroy/.ros/log/6c3db59c-df27-11e7-a420-2c6e8522ef61/roslaunch-EurusHolmes-24137.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://EurusHolmes:41020/

SUMMARY

CLEAR PARAMETERS * /mavros/

PARAMETERS * /mavros/cmd/use_comp_id_system_control: False * /mavros/conn/heartbeat_rate: 1.0 * /mavros/conn/system_time_rate: 1.0 * /mavros/conn/timeout: 10.0 * /mavros/conn/timesync_rate: 10.0 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar * /mavros/distance_sensor/hrlv_ez4_pub/id: 0 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1 * /mavros/distance_sensor/laser_1_sub/id: 3 * /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180 * /mavros/distance_sensor/laser_1_sub/subscriber: True * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser * /mavros/distance_sensor/lidarlite_pub/id: 1 * /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180 * /mavros/distance_sensor/lidarlite_pub/send_tf: True * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1 * /mavros/distance_sensor/sonar_1_sub/id: 2 * /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180 * /mavros/distance_sensor/sonar_1_sub/subscriber: True * /mavros/fcu_url: /dev/ttyACM0:921600 * /mavros/gcs_url: * /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/local_position/tf/send_fcu: 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: True * /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: indigo * /rosversion: 1.11.21

NODES / mavros (mavros/mavros_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[mavros-1]: started with pid [24156] [ INFO] [1513155439.306708196]: FCU URL: /dev/ttyACM0:921600 [ INFO] [1513155439.306874971]: serial0: device: /dev/ttyACM0 @ 921600 bps [ INFO] [1513155439.307249000]: GCS bridge disabled [ INFO] [1513155439.341342315]: Plugin 3dr_radio loaded and initialized [ INFO] [1513155439.344205275]: Plugin actuator_control loaded and initialized [ INFO] [1513155439.345221764]: Plugin altitude loaded and initialized [ INFO] [1513155439.390669307]: Plugin cam_imu_sync loaded and initialized [ INFO] [1513155439.395442377]: Plugin command loaded and initialized [ INFO] [1513155439.395487905]: Plugin distance_sensor blacklisted [ INFO] [1513155439.401624205]: Plugin ftp loaded and initialized [ INFO] [1513155439.409763476]: Plugin global_position loaded and initialized [ INFO] [1513155439.410414656]: Plugin hil_controls loaded and initialized [ INFO] [1513155439.410445916]: Plugin image_pub blacklisted [ INFO] [1513155439.417922694]: Plugin imu_pub loaded and initialized [ INFO] [1513155439.429217571]: Plugin local_position loaded and initialized [ INFO] [1513155439.429814687]: Plugin manual_control loaded and initialized [ INFO] [1513155439.433794842]: Plugin mocap_pose_estimate loaded and initialized [ INFO] [1513155439.436003208]: Plugin param loaded and initialized [ INFO] [1513155439.441381270]: Plugin px4flow loaded and initialized [ INFO] [1513155439.444858800]: Plugin rc_io loaded and initialized [ INFO] [1513155439.444920282]: Plugin safety_area blacklisted [ INFO] [1513155439.447924740]: Plugin setpoint_accel loaded and initialized [ INFO] [1513155439.461222315]: Plugin setpoint_attitude loaded and initialized [ INFO] [1513155439.466670033]: Plugin setpoint_position loaded and initialized [ INFO] [1513155439.475281878]: Plugin setpoint_raw loaded and initialized [ INFO] [1513155439.477653604]: Plugin setpoint_velocity loaded and initialized [ INFO] [1513155439.484058274]: Plugin sys_status loaded and initialized [ INFO] [1513155439.488237253]: Plugin sys_time loaded and initialized [ INFO] [1513155439.489355053]: Plugin vfr_hud loaded and initialized [ INFO] [1513155439.489390932]: Plugin vibration blacklisted [ INFO] [1513155439.496883900]: Plugin vision_pose_estimate loaded and initialized [ INFO] [1513155439.500010512]: Plugin vision_speed_estimate loaded and initialized [ INFO] [1513155439.503499189]: Plugin waypoint loaded and initialized [ INFO] [1513155439.503542062]: Autostarting mavlink via USB on PX4 [ INFO] [1513155439.503572399]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1513155439.503582652]: Built-in MAVLink package version: 2016.5.20 [ INFO] [1513155439.503600542]: Built-in MAVLink dialect: ardupilotmega [ INFO] [1513155439.503615443]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ WARN] [1513155439.592461670]: TM: Clock skew detected (-1513155434.904920101 s). Hard syncing clocks. [ INFO] [1513155439.754618946]: CON: Got HEARTBEAT, connected. FCU: ArduPilotMega [ INFO] [1513155439.922302779]: FCU: Initialising APM [ INFO] [1513155440.775105702]: VER: 1.1: Capabilities 0x0000000000001bcf [ INFO] [1513155440.775516531]: VER: 1.1: Flight software: 030504ff (284349c30384802e1bcae90b?Y)?) [ INFO] [1513155440.775719955]: VER: 1.1: Middleware software: 00000000 (0384802e1bcae90b?Y)?) [ INFO] [1513155440.775866366]: VER: 1.1: OS software: 00000000 (1bcae90b?Y)?) [ INFO] [1513155440.776025534]: VER: 1.1: Board hardware: 00000000 [ INFO] [1513155440.776148209]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1513155440.776356000]: VER: 1.1: UID: 0000000000000000 [ WARN] [1513155440.776653528]: CMD: Unexpected command 520, result 0 [ INFO] [1513155440.783615530]: FCU: Calibrating barometer [ INFO] [1513155442.402578951]: FCU: Barometer calibration complete [ INFO] [1513155444.620962115]: FCU: EKF2 IMU0 initial yaw alignment complete [ INFO] [1513155444.625863330]: FCU: EKF2 IMU1 initial yaw alignment complete [ INFO] [1513155445.971803907]: FCU: EKF2 IMU1 tilt alignment complete [ INFO] [1513155446.046765809]: FCU: EKF2 IMU0 tilt alignment complete [ INFO] [1513155449.759468635]: FCU: APM:Copter V3.5.4 (284349c3) [ INFO] [1513155449.759729100]: FCU: PX4: 0384802e NuttX: 1bcae90b [ INFO] [1513155449.759883906]: FCU: Frame: QUAD [ INFO] [1513155449.759932026]: FCU: PX4v3 00260033 30365110 35323931 [ INFO] [1513155454.759500136]: WP: mission received [ INFO] [1513155458.806854821]: PR: parameters list received

Diagnostics


place here result of:
rostopic echo -n1 /diagnostics

trishantroy:~$ rostopic echo -n1/diagnostics Usage: rostopic echo [options] /topic

rostopic: error: topic must be specified

Check ID


rosrun mavros checkid

trishantroy:~$ rosrun mavros checkid OK. I got messages from 1:1.

Received 283 messages, from 1 addresses sys:comp list of messages 1:1 0, 22, 74, 111, 178, 182, 30

该提问来源于开源项目:mavlink/mavros

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13条回答 默认 最新

  • weixin_39559750 weixin_39559750 2020-12-30 12:42

    how can you have APM and PX4 running on the same board?

    
    [ INFO] [1513155449.759468635]: FCU: APM:Copter V3.5.4 (284349c3)
    [ INFO] [1513155449.759729100]: FCU: PX4: 0384802e NuttX: 1bcae90b
    
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  • weixin_39559750 weixin_39559750 2020-12-30 12:42

    Did you load the PX4 Firmware to the Pixhawk?

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  • weixin_39553653 weixin_39553653 2020-12-30 12:42

    APM runs on top of PX4 components, so this is APM:Copter 3.5.4. please place logs inside code blocks. Did you setup stream rate parameters (use GCS)?

    Deb version: dpkg --status ros-indigo-mavros

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  • weixin_39962199 weixin_39962199 2020-12-30 12:42

    I haven't set the stream parameters. Which of the parameters to set and to what value?

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  • weixin_39962199 weixin_39962199 2020-12-30 12:42

    [ INFO] [1513155449.759468635]: FCU: APM:Copter V3.5.4 (284349c3) [ INFO] [1513155449.759729100]: FCU: PX4: 0384802e NuttX: 1bcae90b

    Is this a problem?

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  • weixin_39553653 weixin_39553653 2020-12-30 12:42

    First try: rosrun mavros rate --all 10 http://wiki.ros.org/mavros#mavsys

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  • weixin_39559750 weixin_39559750 2020-12-30 12:42

    APM runs on top of PX4 components, so this is APM:Copter 3.5.4.

    Ok I leave it to you then.

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  • weixin_39962199 weixin_39962199 2020-12-30 12:42

    trishantroy:~$ rosrun mavros rate --all 10 [rosrun] Couldn't find executable named rate below /opt/ros/indigo/share/mavros

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  • weixin_39638623 weixin_39638623 2020-12-30 12:42

    rosrun mavros mavsys rate --all 10

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  • weixin_39962199 weixin_39962199 2020-12-30 12:42

    Okay... Still not happening... Only IMU data is coming

    Is there a problem with baud rate?

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  • weixin_39962199 weixin_39962199 2020-12-30 12:42

    We can get data from PX4Flow as well using mavros, right? That is the main data I want to get velocity.

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  • weixin_39553653 weixin_39553653 2020-12-30 12:42

    If it connected to pixhawk - don't know. Need to check apm source codes. Extras have old ported driver to decode flow messages, when it connected to computer.

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  • weixin_39962199 weixin_39962199 2020-12-30 12:42

    Can you confirm? Coz I need to use the OFS to get data when connected to Pixhawk.

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