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Thank you so much! :) But now i get the error:

Traceback (most recent call last):
File "nodes/roscopter.py", line 29, in <module>
master = mavutil.mavlink_connection(opts.device, baud=opts.baudrate)
File "/opt/ros/fuerte/stacks/roscopter/nodes/../mavlink/pymavlink/mavutil.py", line 810, in mavlink_connection
return mavserial(device, baud=baud, source_system=source_system)
File "/opt/ros/fuerte/stacks/roscopter/nodes/../mavlink/pymavlink/mavutil.py", line 550, in __init__
dsrdtr=False, rtscts=False, xonxoff=False)
File "/usr/lib/python2.7/dist-packages/serial/serialutil.py", line 260, in __init__ self.open()
File "/usr/lib/python2.7/dist-packages/serial/serialposix.py", line 276, in open raise SerialException("could not open port %s: %s" % (self._port, msg))
serial.serialutil.SerialException: could not open port /dev/ttyUSB1: [Errno 2] No such file or directory: '/dev/ttyUSB1'
and it's because i don't have the roscopter, and i need to know if exist an 3d simulator for arducopter in such a way as not to be obliged to buy it. The second question is, if is possible controlling the arducopter automatically, only with publishing on topic, like for the ardrone, for example, with the 2.0 ardrone to make a takeoff was enough to send a message "std_msgs / Empty" on the topic "/ ardrone / takeoff" with the command on the terminal of ubuntu: rostopic pub -1 / ardrone / takeoff std_msgs / Empty How does works for the roscopter?