ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

mavros in general

asked 2015-02-23 21:31:23 -0500

cty22 gravatar image

Im just wondering how to do offboard control with Mavros and how to use Mavors' utility commands and plug-ins. For example, how to use Mavros to arm the quadcopter. I know it's a stupid question so any help will be appreciated.

edit retag flag offensive close merge delete


Hi cty22, I have similar problem about using setpoint_position to control APM. I just wondering do you works out of that. Thanks.

crazymumu gravatar image crazymumu  ( 2015-10-29 07:40:41 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2015-02-24 15:03:44 -0500

vooon gravatar image

Offboard => PX4 firmware, right?

For arming look at mavsafety script, and mavsafety arm.

Offboard require arming, selecting OFFBOARD mode (mavsys mode -c OFFBOARD ) and sending setpoints via one of setpoint plugins. Note that OFFBOARD mode have timeout, also you may ask questions at .

edit flag offensive delete link more


Also look PX4 wiki, excellent example:

vooon gravatar image vooon  ( 2015-02-24 15:11:06 -0500 )edit

When I do mavsys mode -c OFFBOARD. I got an error says [ERROR] [1426407538.265746064]: MODE: Unknown mode: OFFBOARD What am I doing wrong?

cty22 gravatar image cty22  ( 2015-03-31 19:20:29 -0500 )edit

I think i'm using apm firmware. That's why. Is there a off board mode or something equivalent for apm? Thanks

cty22 gravatar image cty22  ( 2015-03-31 19:32:58 -0500 )edit

APM:Copter now have some support, but untested by mavros users. mavsys mode -c GUIDED

vooon gravatar image vooon  ( 2015-04-01 02:50:35 -0500 )edit

Also small fix for PX4 users: firstly start sending setpoints, then require OFFBOARD.

vooon gravatar image vooon  ( 2015-04-01 02:52:29 -0500 )edit

I'm running into the topics not being published issue. I saw a similar question and you suggested enable mavconn to debug it. I'm not sure how to enable it. what command do you use? Thanks

cty22 gravatar image cty22  ( 2015-04-08 21:03:44 -0500 )edit
  1. you can setup ROSCONSOLE_CONFIG_FILE (read ros wiki)
  2. or you can do rosservice call /mavros/set_logger_level ros.rosconsole_bridge.mavconn debug (same may be done by rqt)
vooon gravatar image vooon  ( 2015-04-09 04:23:28 -0500 )edit

Question Tools


Asked: 2015-02-23 21:31:23 -0500

Seen: 1,748 times

Last updated: Feb 24 '15