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mavros with serial connection

asked 2015-02-06 05:48:05 -0600

tuuzdu gravatar image

updated 2015-02-06 09:13:46 -0600

Hi! I try get imu_pub topics. Connection via USB. I launch:

roslaunch mavros apm2.launch

and get

[ INFO] [1423223050.794198448]: FCU URL: /dev/ttyACM0:115200 [ INFO] [1423223050.794370090]: device: /dev/ttyACM0 @ 115200 bps [ INFO] [1423223050.794872555]: GCS bridge disabled [ INFO] [1423223050.799750201]: Plugin [alias 3dr_radio] blacklisted [ INFO] [1423223050.858428577]: Plugin Command [alias command] loaded and initialized [ INFO] [1423223050.858484604]: Plugin [alias ftp] blacklisted [ INFO] [1423223050.858500013]: Plugin [alias global_position] blacklisted [ INFO] [1423223050.861491572]: Plugin GPS [alias gps] loaded and initialized [ INFO] [1423223050.870787476]: Plugin IMUPub [alias imu_pub] loaded and initialized [ INFO] [1423223050.870830161]: Plugin [alias local_position] blacklisted [ INFO] [1423223050.873211089]: Plugin Param [alias param] loaded and initialized [ INFO] [1423223050.877987176]: Plugin RCIO [alias rc_io] loaded and initialized [ INFO] [1423223050.878022845]: Plugin [alias safety_area] blacklisted [ INFO] [1423223050.878043033]: Plugin [alias setpoint_accel] blacklisted [ INFO] [1423223050.878060355]: Plugin [alias setpoint_attitude] blacklisted [ INFO] [1423223050.878076733]: Plugin [alias setpoint_position] blacklisted [ INFO] [1423223050.878093765]: Plugin [alias setpoint_velocity] blacklisted [ INFO] [1423223050.885327432]: Plugin SystemStatus [alias sys_status] loaded and initialized [ INFO] [1423223050.888867617]: Plugin SystemTime [alias sys_time] loaded and initialized [ INFO] [1423223050.890337403]: Plugin VFRHUD [alias vfr_hud] loaded and initialized [ INFO] [1423223050.895379793]: Plugin Waypoint [alias waypoint] loaded and initialized [ INFO] [1423223050.895428569]: MAVROS started. MY ID [1, 240], TARGET ID [1, 1] [ERROR] [1423223052.700703044]: FCU: Calibrating barometer [ INFO] [1423223052.704659082]: CON: Got HEARTBEAT, connected. [ INFO] [1423223054.245342256]: FCU: barometer calibration complete [ INFO] [1423223054.253319191]: FCU: GROUND START [ INFO] [1423223062.721007722]: FCU: ArduCopter V3.2 (c8e0f3e1) [ INFO] [1423223062.724986869]: FCU: Frame: Y6 [ INFO] [1423223067.726841955]: WP: mission received [ INFO] [1423223074.878456321]: PR: parameters list received

I receive messages from /mavros/state, but not from /mavros/imu/data

ADDED: I can receive messages after ~set_stream_rate with max rate 13 for /mavros/imu/data

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answered 2015-02-06 09:34:22 -0600

vooon gravatar image

Mavros don't change stream setup at startup. But usual it is not needed.

Also there is mavsys script, try do mavsys rate --raw-sensors 10.

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I think that rosrun mavros mavsys rate --all 30 is equal rosservice call /mavros/set_stream_rate 0 30 1, isn't it? But when I use the first one, I get maximum rate about 20 hz for mavros/imu/data... I don't understand why that happen.

tuuzdu gravatar image tuuzdu  ( 2015-02-07 11:13:34 -0600 )edit

Equal. Strange :)

vooon gravatar image vooon  ( 2015-02-07 11:56:41 -0600 )edit

What is maximum rate of mavros/imu/data?

tuuzdu gravatar image tuuzdu  ( 2015-02-08 13:42:14 -0600 )edit

Rate limited by FCU. With PX4 i got maximum ~150 Hz, and on some branches up to 200.

vooon gravatar image vooon  ( 2015-02-08 14:27:56 -0600 )edit

With apm2 I have maximum 25hz after rosrun mavros mavsys rate --extra1 50 ...

tuuzdu gravatar image tuuzdu  ( 2015-02-08 14:40:48 -0600 )edit
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answered 2019-07-11 01:14:33 -0600

indraneel gravatar image

I had a similar issue, px4.launch was executing properly but no heartbeat inspite of the UART serial communication working properly (I did a loopback test). I am using a raspberry pi 3 B with a pixracer.

What worked out for me was changing the baudrate in the launch file to 921600. Hope this helps someone!

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Asked: 2015-02-06 05:48:05 -0600

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Last updated: Jul 11 '19