mavros, sitl, gazebo not working topics
I need some help. I'm doing the offboard tutorial explained in https://dev.px4.io/en/ros/mavros_offboard.html. I have followed all the steps and finally when I launch the node no topic publishes anything. I have installed and deleted the packages 6 times, I have tried to install from source or binary. I have consulted many forums and I can not know what is the problem I have and because my drone does not take off. Please, I need someone's help because I'm desperate.
I have uploaded all my configuration of both ros, catkin workspace and PX4/Firmware in my github repository because I don't find the problem https://github.com/sergioma295/Drone_Ros
I explain the most important steps I have taken below:
For "make px4_sitl gazebo" work fine and Iris in Gazebo simulator is armed and take off correctly.
After that:
cd ~/src/Firmware
make px4_sitl_default gazebo/
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
roslaunch px4 posix_sitl.launch
And finally, I launch the scripts:
sergio@sergio-ing:~/catkin_ws$ ./launch-offb.sh
GAZEBO_PLUGIN_PATH :/home/sergio/src/Firmware/build/posix_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/sergio/src/Firmware/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /home/sergio/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/usr/local/cuda-9.0/lib64:/home/sergio/src/Firmware/build/posix_sitl_default/build_gazebo
... logging to /home/sergio/.ros/log/08d278c6-8903-11e9-bdb6-309c23913dfd/roslaunch-sergio-ing-7231.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://localhost:36531/
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: PITCH_270
* /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: PITCH_270
* /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: PITCH_270
* /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: PITCH_270
* /mavros/distance_sensor/sonar_1_sub/subscriber: True
* /mavros/fake_gps/eph: 2.0
* /mavros/fake_gps/epv: 2.0
* /mavros/fake_gps/fix_type: 3
* /mavros/fake_gps/geo_origin/alt: 408.0
* /mavros/fake_gps/geo_origin/lat: 47.3667
* /mavros/fake_gps/geo_origin/lon: 8.55
* /mavros/fake_gps/gps_rate: 5.0
* /mavros/fake_gps/mocap_transform: True
* /mavros/fake_gps/satellites_visible: 5
* /mavros/fake_gps/tf/child_frame_id: fix
* /mavros/fake_gps/tf/frame_id: map
* /mavros/fake_gps/tf/listen: False
* /mavros/fake_gps/tf/rate_limit: 10.0
* /mavros/fake_gps/tf/send: False
* /mavros/fake_gps/use_mocap: True
* /mavros/fake_gps/use_vision: False
* /mavros/fcu_protocol: v2.0
* /mavros/fcu_url: udp://:14540@loca...
* /mavros/gcs_url:
* /mavros/global_position/child_frame_id: base_link
* /mavros/global_position/frame_id: map
* /mavros/global_position/gps_uere: 1.0
* /mavros/global_position/rot_covariance: 99999.0
* /mavros/global_position/tf/child_frame_id: base_link
* /mavros/global_position/tf/frame_id: map
* /mavros/global_position/tf/global_frame_id: earth
* /mavros/global_position/tf/send: False
* /mavros/global_position/use_relative_alt: True
* /mavros/image/frame_id: px4flow
* /mavros/imu/angular_velocity_stdev: 0.000349065850399
* /mavros/imu/frame_id: base_link
* /mavros/imu/linear_acceleration_stdev: 0.0003
* /mavros/imu/magnetic_stdev: 0.0
* /mavros/imu/orientation_stdev: 1.0
* /mavros/local_position/frame_id: map
* /mavros/local_position/tf/child_frame_id: base_link
* /mavros/local_position/tf/frame_id: map
* /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/odometry/in/child_frame_id: base_link
* /mavros/odometry/in/frame_id: odom
* /mavros/odometry/in/frame_tf/body_frame_orientation: flu
* /mavros/odometry/in/frame_tf/local_frame: local_origin_ned
* /mavros/odometry/out/frame_tf/body_frame_orientation: frd
* /mavros/odometry/out/frame_tf/local_frame: vision_ned
* /mavros/plugin_blacklist: ['safety_area', '...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.118682389136
* /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_thrust: False
* /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /mavros/setpoint_attitude/tf/frame_id: map
* /mavros/setpoint_attitude/tf/listen: False
* /mavros/setpoint_attitude/tf/rate_limit: 50.0
* /mavros/setpoint_attitude/use_quaternion: False
* /mavros/setpoint_position/mav_frame: LOCAL_NED
* /mavros/setpoint_position/tf/child_frame_id: target_position
* /mavros/setpoint_position/tf/frame_id: map
* /mavros/setpoint_position/tf/listen: False
* /mavros/setpoint_position/tf/rate_limit: 50.0
* /mavros/setpoint_raw/thrust_scaling: 1.0
* /mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /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/time/timesync_mode: MAVLINK
* /mavros/vibration/frame_id: base_link
* /mavros/vision_pose/tf/child_frame_id: vision_estimate
* /mavros/vision_pose/tf/frame_id: map
* /mavros/vision_pose/tf/listen: False
* /mavros/vision_pose/tf/rate_limit: 10.0
* /mavros/vision_speed/listen_twist: True
* /mavros/vision_speed/twist_cov: True
* /mavros/wheel_odometry/child_frame_id: base_link
* /mavros/wheel_odometry/count: 2
* /mavros/wheel_odometry/frame_id: map
* /mavros/wheel_odometry/send_raw: True
* /mavros/wheel_odometry/send_twist: False
* /mavros/wheel_odometry/tf/child_frame_id: base_link
* /mavros/wheel_odometry/tf/frame_id: map
* /mavros/wheel_odometry/tf/send: True
* /mavros/wheel_odometry/use_rpm: False
* /mavros/wheel_odometry/vel_error: 0.1
* /mavros/wheel_odometry/wheel0/radius: 0.05
* /mavros/wheel_odometry/wheel0/x: 0.0
* /mavros/wheel_odometry/wheel0/y: -0.15
* /mavros/wheel_odometry/wheel1/radius: 0.05
* /mavros/wheel_odometry/wheel1/x: 0.0
* /mavros/wheel_odometry/wheel1/y: 0.15
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
offb (offb/offb_node)
sitl (px4/px4)
vehicle_spawn_sergio_ing_7231_1852301138231235699 (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [7241]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 08d278c6-8903-11e9-bdb6-309c23913dfd
process[rosout-1]: started with pid [7254]
started core service [/rosout]
process[sitl-2]: started with pid [7279]
INFO [px4] Creating symlink /home/sergio/src/Firmware/ROMFS/px4fmu_common -> /home/sergio/.ros/etc
0 WARNING: setRealtimeSched failed (not run as root?)
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [7293]
process[gazebo_gui-4]: started with pid [7305]
process[vehicle_spawn_sergio_ing_7231_1852301138231235699-5]: started with pid [7317]
process[mavros-6]: started with pid [7327]
process[offb-7]: started with pid [7328]
INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO [simulator] Waiting for simulator to connect on TCP port 4560
[ INFO] [1559898174.912521090]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1559898174.914508111]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1559898174.914615898]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1559898174.914742947]: GCS bridge disabled
[ INFO] [1559898174.927921550]: Plugin 3dr_radio loaded
[ INFO] [1559898174.930565952]: Plugin 3dr_radio initialized
[ INFO] [1559898174.930704507]: Plugin actuator_control loaded
[ INFO] [1559898174.935967886]: Plugin actuator_control initialized
[ INFO] [1559898174.941312046]: Plugin adsb loaded
[ INFO] [1559898174.946614031]: Plugin adsb initialized
[ INFO] [1559898174.946819652]: Plugin altitude loaded
[ INFO] [1559898174.948471510]: Plugin altitude initialized
[ INFO] [1559898174.948621570]: Plugin cam_imu_sync loaded
[ INFO] [1559898174.949432886]: Plugin cam_imu_sync initialized
[ INFO] [1559898174.949610728]: Plugin command loaded
[ INFO] [1559898174.957671510]: Plugin command initialized
[ INFO] [1559898174.957851991]: Plugin companion_process_status loaded
[ INFO] [1559898174.962040050]: Plugin companion_process_status initialized
[ INFO] [1559898174.962191272]: Plugin debug_value loaded
[ INFO] [1559898174.969710177]: Plugin debug_value initialized
[ INFO] [1559898174.969759683]: Plugin distance_sensor blacklisted
[ INFO] [1559898174.969910495]: Plugin fake_gps loaded
[ INFO] [1559898175.056055401]: Plugin fake_gps initialized
[ INFO] [1559898175.056289392]: Plugin ftp loaded
[ INFO] [1559898175.139792471]: Plugin ftp initialized
[ INFO] [1559898175.139984306]: Plugin global_position loaded
[ INFO] [1559898175.178514847]: Plugin global_position initialized
[ INFO] [1559898175.178682697]: Plugin gps_rtk loaded
[ INFO] [1559898175.183358648]: Plugin gps_rtk initialized
[ INFO] [1559898175.183524922]: Plugin hil loaded
[ INFO] [1559898175.207798349]: Plugin hil initialized
[ INFO] [1559898175.207962505]: Plugin home_position loaded
[ INFO] [1559898175.223265309]: Plugin home_position initialized
[ INFO] [1559898175.223449845]: Plugin imu loaded
[ INFO] [1559898175.228942816]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1559898175.233254715]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1559898175.235026418]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1559898175.238488379]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1559898175.248873388]: Plugin imu initialized
[ INFO] [1559898175.249094620]: Plugin local_position loaded
[ INFO] [1559898175.268839607]: Plugin local_position initialized
[ INFO] [1559898175.269005450]: Plugin log_transfer loaded
[ INFO] [1559898175.275142986]: Plugin log_transfer initialized
[ INFO] [1559898175.275301339]: Plugin manual_control loaded
[ INFO] [1559898175.280880148]: Plugin manual_control initialized
[ INFO] [1559898175.281021850]: Plugin mocap_pose_estimate loaded
[ INFO] [1559898175.288288902]: Plugin mocap_pose_estimate initialized
[ INFO] [1559898175.288464679]: Plugin obstacle_distance loaded
[ INFO] [1559898175.292646804]: Plugin obstacle_distance initialized
[ INFO] [1559898175.292817951]: Plugin odom loaded
[ INFO] [1559898175.305114310]: Plugin odom initialized
[ INFO] [1559898175.305290527]: Plugin param loaded
[ INFO] [1559898175.310075890]: Plugin param initialized
[ INFO] [1559898175.310252882]: Plugin px4flow loaded
[ INFO] [1559898175.324466154]: Plugin px4flow initialized
[ INFO] [1559898175.324513973]: Plugin rangefinder blacklisted
[ INFO] [1559898175.324651671]: Plugin rc_io loaded
[ INFO] [1559898175.331773292]: Plugin rc_io initialized
[ INFO] [1559898175.331816476]: Plugin safety_area blacklisted
[ INFO] [1559898175.331954312]: Plugin setpoint_accel loaded
[ INFO] [1559898175.338063473]: Plugin setpoint_accel initialized
[ INFO] [1559898175.338257158]: Plugin setpoint_attitude loaded
[ INFO] [1559898175.354773135]: Plugin setpoint_attitude initialized
[ INFO] [1559898175.354973781]: Plugin setpoint_position loaded
[ INFO] [1559898175.378792321]: Plugin setpoint_position initialized
[ INFO] [1559898175.378998332]: Plugin setpoint_raw loaded
[ INFO] [1559898175.394074355]: Plugin setpoint_raw initialized
[ INFO] [1559898175.394267011]: Plugin setpoint_velocity loaded
[ INFO] [1559898175.453966087]: Plugin setpoint_velocity initialized
[ INFO] [1559898175.454264724]: Plugin sys_status loaded
SpawnModel script started
[ INFO] [1559898175.526969426]: Plugin sys_status initialized
[ INFO] [1559898175.527155038]: Plugin sys_time loaded
[ INFO] [1559898175.537084792]: TM: Timesync mode: MAVLINK
[ INFO] [1559898175.538972943]: Plugin sys_time initialized
[ INFO] [1559898175.539133473]: Plugin trajectory loaded
[ INFO] [1559898175.547921651]: Plugin trajectory initialized
[ INFO] [1559898175.548074619]: Plugin vfr_hud loaded
[ INFO] [1559898175.548866805]: Plugin vfr_hud initialized
[ INFO] [1559898175.548909943]: Plugin vibration blacklisted
[ INFO] [1559898175.549016078]: Plugin vision_pose_estimate loaded
[ INFO] [1559898175.562479466]: Plugin vision_pose_estimate initialized
[ INFO] [1559898175.562641220]: Plugin vision_speed_estimate loaded
[ INFO] [1559898175.569256195]: Plugin vision_speed_estimate initialized
[ INFO] [1559898175.569437756]: Plugin waypoint loaded
[ INFO] [1559898175.576329392]: Plugin waypoint initialized
[ INFO] [1559898175.576386745]: Plugin wheel_odometry blacklisted
[ INFO] [1559898175.576523289]: Plugin wind_estimation loaded
[ INFO] [1559898175.577302657]: Plugin wind_estimation initialized
[ INFO] [1559898175.577339999]: Autostarting mavlink via USB on PX4
[ INFO] [1559898175.577386756]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1559898175.577409109]: Built-in MAVLink package version: 2019.4.4
[ INFO] [1559898175.577447966]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1559898175.577485993]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1559898175.670262, 0.000000]: Loading model XML from file
[INFO] [1559898175.670666, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
INFO [px4_work_queue] creating: wq:hp_default, priority: 88, stack: 16384 bytes
INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
[ INFO] [1559898176.823720386, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1559898176.879336, 0.080000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1559898176.889392763, 0.088000000]: Physics dynamic reconfigure ready.
ERROR [land_detector] Timed out while waiting for thread to start
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14570 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
[INFO] [1559898177.017965, 0.148000]: Spawn status: SpawnModel: Successfully spawned entity
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] Opened full log file: ./log/2019-06-07/09_02_57.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
[ INFO] [1559898177.028490137, 0.160000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1559898177.028763192, 0.160000000]: IMU: Scaled IMU message used.
[ INFO] [1559898177.028900233, 0.160000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
INFO [px4] Startup script returned successfully
pxh> [ INFO] [1559898177.030204101, 0.160000000]: IMU: Scaled IMU message used.
[ INFO] [1559898177.057716367, 0.188000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1559898177.106038589, 0.236000000]: Physics dynamic reconfigure ready.
INFO [mavlink] partner IP: 127.0.0.1
[vehicle_spawn_sergio_ing_7231_1852301138231235699-5] process has finished cleanly
log file: /home/sergio/.ros/log/08d278c6-8903-11e9-bdb6-309c23913dfd/vehicle_spawn_sergio_ing_7231_1852301138231235699-5*.log
[ INFO] [1559898178.037292366, 1.160000000]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1559898178.037350508, 1.160000000]: VER: 1.1: Flight software: 01090000 (be02ad3514000000)
[ INFO] [1559898178.037392655, 1.160000000]: VER: 1.1: Middleware software: 01090000 (be02ad3514000000)
[ INFO] [1559898178.037426422, 1.160000000]: VER: 1.1: OS software: 040f00ff (0000000000000000)
[ INFO] [1559898178.037461812, 1.160000000]: VER: 1.1: Board hardware: 00000001
[ INFO] [1559898178.037494882, 1.160000000]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1559898178.037526415, 1.160000000]: VER: 1.1: UID: 4954414c44494e4f
[ INFO] [1559898187.045531485, 10.160000000]: HP: requesting home position
[ INFO] [1559898187.144277585, 10.256000000]: Offboard enabled
[ WARN] [1559898187.146044501, 10.260000000]: CMD: Unexpected command 176, result 1
[ WARN] [1559898188.045856588, 11.160000000]: PR: request list timeout, retries left 2
[ WARN] [1559898189.047114676, 12.160000000]: PR: request list timeout, retries left 1
[ WARN] [1559898190.048111543, 13.160000000]: PR: request list timeout, retries left 0
[ INFO] [1559898192.050817063, 15.160000000]: WP: mission received
[ INFO] [1559898192.197008796, 15.304000000]: Offboard enabled
[ INFO] [1559898197.055292345, 20.160000000]: HP: requesting home position
[ INFO] [1559898197.253746088, 20.356000000]: Offboard enabled
[ WARN] [1559898197.261384827, 20.364000000]: CMD: Unexpected command 176, result 1
[ INFO] [1559898202.305945931, 25.404000000]: Offboard enabled
[ INFO] [1559898207.064616506, 30.160000000]: HP: requesting home position
[ INFO] [1559898207.363416383, 30.456000000]: Offboard enabled
Propellers are in movement in gazebo, but it does not takeoff. Rqt graph show:
But, topics are not publishing nothing. I have tried check the topics:
rostopic echo /tf
rostopic echo /mavros/local_position/pose
rostopic echo /mavros/global_position/global
rostopic echo /mavros/setpoint_position/local
rostopic echo /mavros/state
header:
seq: 152136
stamp:
secs: 259
nsecs: 484000000
frame_id: ''
connected: True
armed: False
guided: False
mode: "MANUAL"
system_status: 3
rostopic echo /offb
rostopic echo /mavros
rostopic echo /tf_static
The rest show:
WARNING: topic [/offb] does not appear to be published yet
MAVROS version and platform
- Mavros: ?0.18.4?
- ROS: Kinetic
- Ubuntu: 16.04
- Gazebo: 7.15.0
Autopilot type and version
[ ] ArduPilot [ x ] PX4
Version: Git clone from PX4/Firmware --> master branch
Node logs
Diagnostics
header:
seq: 385
stamp:
secs: 380
nsecs: 0
frame_id: ''
status:
-
level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "udp://:14540@localhost:14557"
values:
-
key: "Received packets:"
value: "56775"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "76"
-
key: "Tx sequence number:"
value: "91"
-
key: "Rx total bytes:"
value: "76471677"
-
key: "Tx total bytes:"
value: "4486994"
-
key: "Rx speed:"
value: "202963.000000"
-
key: "Tx speed:"
value: "11884.000000"
-
level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "udp://:14540@localhost:14557"
values:
-
key: "Satellites visible"
value: "0"
-
key: "Fix type"
value: "0"
-
key: "EPH (m)"
value: "Unknown"
-
key: "EPV (m)"
value: "Unknown"
-
level: 1
name: "mavros: Heartbeat"
message: "Frequency too high."
hardware_id: "udp://:14540@localhost:14557"
values:
-
key: "Heartbeats since startup"
value: "222862"
-
key: "Frequency (Hz)"
value: "587.200000"
-
key: "Vehicle type"
value: "Quadrotor"
-
key: "Autopilot type"
value: "PX4 Autopilot"
-
key: "Mode"
value: "MANUAL"
-
key: "System status"
value: "Standby"
-
level: 2
name: "mavros: System"
message: "Sensor helth"
hardware_id: "udp://:14540@localhost:14557"
values:
-
key: "Sensor present"
value: "0x0000002D"
-
key: "Sensor enabled"
value: "0x0020000F"
-
key: "Sensor helth"
value: "0x0000002D"
-
key: "3D gyro"
value: "Ok"
-
key: "3D accelerometer"
value: "Fail"
-
key: "3D magnetometer"
value: "Ok"
-
key: "absolute pressure"
value: "Ok"
-
key: "AHRS subsystem health"
value: "Fail"
-
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: 0
name: "mavros: Battery"
message: "Normal"
hardware_id: "udp://:14540@localhost:14557"
values:
-
key: "Voltage"
value: "65.54"
-
key: "Current"
value: "-0.0"
-
key: "Remaining"
value: "-1.0"
-
level: 2
name: "mavros: Time Sync"
message: "No events recorded."
hardware_id: "udp://:14540@localhost:14557"
values:
-
key: "Timesyncs since startup"
value: "0"
-
key: "Frequency (Hz)"
value: "0.000000"
-
key: "Last RTT (ms)"
value: "0.000000"
-
key: "Mean RTT (ms)"
value: "0.000000"
-
key: "Last remote time (s)"
value: "0.000000000"
-
key: "Estimated time offset (s)"
value: "0.000000000"
Check ID
OK. I got messages from 1:1.
---
Received 106714 messages, from 1 addresses
sys:comp list of messages
1:1 0, 1, 2, 36, 74, 76, 77, 111, 147, 340, 245, 4, 26
Asked by sergioma on 2019-06-07 04:44:39 UTC
Answers
As shown in Rqt_Graph there is /offb is being published I am not able to get the error correctly.
I will suggest you to use shell scripts to launch the Firmware It will definitely work.
Asked by Apurv15101 on 2019-09-20 01:39:14 UTC
Comments
Please check your formatting next time. Askbot does not support markdown, so backticks do not work.
Asked by gvdhoorn on 2019-06-07 05:40:42 UTC