MODE: Unsupported FCU while testing ros package

asked 2017-02-20 14:43:33 -0600

serf gravatar image

updated 2017-02-20 15:22:15 -0600

im testing https://github.com/SujithSizon/ifor_o... on my drone with pixhawk connected via ftdi cable

on qgc sys_companion was set to 57600

here is my launch file

<launch>

<arg name="fcu_url" default= "/dev/ttyUSB0:57600"/>
<arg name="gcs_url" default="udp://:14556@192.168.1.5:14550" />

<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />

<node name="mavros" pkg="mavros" type="mavros_node" output="screen" required="true" clear_params="true">
    <param name="fcu_url" value="$(arg fcu_url)" />
    <param name="gcs_url" value="$(arg gcs_url)" />
    <param name="target_system_id" value="$(arg tgt_system)" />
    <param name="target_component_id" value="$(arg tgt_component)" />
    <param name="conn_heartbeat" value="5.0" />
    <param name="conn_timeout" value="5.0" />
    <param name="startup_px4_usb_quirk" value="true" />
    <param name="mocap/use_tf" value="true"/>
    <param name="mocap/use_pose" value="false"/>

    <rosparam command="load" file="$(find mavros)/launch/px4_pluginlists.yaml" />
    <rosparam command="load" file="$(find mavros)/launch/px4_config.yaml" />
</node>

<node name="ifor_offb2_node" pkg="ifor_offb2" type="ifor_offb2_node" output="screen">
</node>

</launch>

here is the error output

serf@serf-ubbu:~/catkin_ifor_ws$ roslaunch ifor_offb2 ifor_offb2_sim.launch
... logging to /home/sujith/.ros/log/466c714a-f7ac-11e6-a85a-201a069ba36f/roslaunch-sujith-ubbu-4366.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://sujith-ubbu:34754/

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/conn_heartbeat: 5.0
 * /mavros/conn_timeout: 5.0
 * /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/ttyUSB0:57600
 * /mavros/gcs_url: udp://:14556@192....
 * /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: False
 * /mavros/mocap/use_tf: True
 * /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 ...
(more)
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