How to make MAVROS to subscribe only selected topics from Pixhawk?
Hi, I am working with px4 mavros connection using the following command:
roslaunch mavros px4.launch fcu_url:=/dev/ttyS0:921600
The Output I get is:
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: /dev/ttyS0:921600
* /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/frame_tf/body_frame_orientation: frd
* /mavros/odometry/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_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: 20
* /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
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
/
mavros (mavros/mavros_node)
auto-starting new master
process[master]: started with pid [2603]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to d4c58d7c-29c9-11e9-8071-b827ebb6c53f
process[rosout-1]: started with pid [2616]
started core service [/rosout]
process[mavros-2]: started with pid [2634]
[ INFO] [1549428252.421036136]: FCU URL: /dev/ttyS0:921600
[ INFO] [1549428252.431637584]: serial0: device: /dev/ttyS0 @ 921600 bps
[ INFO] [1549428252.432565959]: GCS bridge disabled
[ INFO] [1549428252.587691581]: Plugin 3dr_radio loaded
[ INFO] [1549428252.597287563]: Plugin 3dr_radio initialized
[ INFO] [1549428252.597798470]: Plugin actuator_control loaded
[ INFO] [1549428252.616807579]: Plugin actuator_control initialized
[ INFO] [1549428252.666583340]: Plugin adsb loaded
[ INFO] [1549428252.686215388]: Plugin adsb initialized
[ INFO] [1549428252.687205237]: Plugin altitude loaded
[ INFO] [1549428252.699098629]: Plugin altitude initialized
[ INFO] [1549428252.700082054]: Plugin cam_imu_sync loaded
[ INFO] [1549428252.704211980]: Plugin cam_imu_sync initialized
[ INFO] [1549428252.705241628]: Plugin command loaded
[ INFO] [1549428252.735293209]: Plugin command initialized
[ INFO] [1549428252.736160790]: Plugin debug_value loaded
[ INFO] [1549428252.765717498]: Plugin debug_value initialized
[ INFO] [1549428252.766181085]: Plugin distance_sensor blacklisted
[ INFO] [1549428252.766986670]: Plugin fake_gps loaded
[ INFO] [1549428252.855203863]: Plugin fake_gps initialized
[ INFO] [1549428252.856218835]: Plugin ftp loaded
[ INFO] [1549428252.896925712]: Plugin ftp initialized
[ INFO] [1549428252.897888768]: Plugin global_position loaded
[ INFO] [1549428253.000263753]: Plugin global_position initialized
[ INFO] [1549428253.001164551]: Plugin gps_rtk loaded
[ INFO] [1549428253.016887521]: Plugin gps_rtk initialized
[ INFO] [1549428253.017873358]: Plugin hil loaded
[ INFO] [1549428253.101643985]: Plugin hil initialized
[ INFO] [1549428253.102562782]: Plugin home_position loaded
[ INFO] [1549428253.125370770]: Plugin home_position initialized
[ INFO] [1549428253.126274318]: Plugin imu loaded
[ INFO] [1549428253.175534411]: Plugin imu initialized
[ INFO] [1549428253.176479425]: Plugin local_position loaded
[ INFO] [1549428253.211208959]: Plugin local_position initialized
[ INFO] [1549428253.212020747]: Plugin log_transfer loaded
[ INFO] [1549428253.229564019]: Plugin log_transfer initialized
[ INFO] [1549428253.230456757]: Plugin manual_control loaded
[ INFO] [1549428253.250009079]: Plugin manual_control initialized
[ INFO] [1549428253.250730570]: Plugin mocap_pose_estimate loaded
[ INFO] [1549428253.276945833]: Plugin mocap_pose_estimate initialized
[ INFO] [1549428253.277786711]: Plugin obstacle_distance loaded
[ INFO] [1549428253.293687449]: Plugin obstacle_distance initialized
[ INFO] [1549428253.294537884]: Plugin odom loaded
[ INFO] [1549428253.320522416]: Plugin odom initialized
[ INFO] [1549428253.321408155]: Plugin param loaded
[ INFO] [1549428253.335478923]: Plugin param initialized
[ INFO] [1549428253.336298598]: Plugin px4flow loaded
[ INFO] [1549428253.382781198]: Plugin px4flow initialized
[ INFO] [1549428253.383186518]: Plugin rangefinder blacklisted
[ INFO] [1549428253.383888215]: Plugin rc_io loaded
[ INFO] [1549428253.406367498]: Plugin rc_io initialized
[ INFO] [1549428253.406781905]: Plugin safety_area blacklisted
[ INFO] [1549428253.407543923]: Plugin setpoint_accel loaded
[ INFO] [1549428253.428244573]: Plugin setpoint_accel initialized
[ INFO] [1549428253.429261083]: Plugin setpoint_attitude loaded
[ INFO] [1549428253.491055062]: Plugin setpoint_attitude initialized
[ INFO] [1549428253.492046713]: Plugin setpoint_position loaded
[ INFO] [1549428253.580984309]: Plugin setpoint_position initialized
[ INFO] [1549428253.581912507]: Plugin setpoint_raw loaded
[ INFO] [1549428253.639183210]: Plugin setpoint_raw initialized
[ INFO] [1549428253.640159403]: Plugin setpoint_velocity loaded
[ INFO] [1549428253.678543081]: Plugin setpoint_velocity initialized
[ INFO] [1549428253.679666026]: Plugin sys_status loaded
[ INFO] [1549428253.734617827]: Plugin sys_status initialized
[ INFO] [1549428253.735508684]: Plugin sys_time loaded
[ INFO] [1549428253.774388187]: TM: Timesync mode: MAVLINK
[ INFO] [1549428253.782291684]: Plugin sys_time initialized
[ INFO] [1549428253.783089476]: Plugin trajectory loaded
[ INFO] [1549428253.819819234]: Plugin trajectory initialized
[ INFO] [1549428253.820508502]: Plugin vfr_hud loaded
[ INFO] [1549428253.824207037]: Plugin vfr_hud initialized
[ INFO] [1549428253.824414527]: Plugin vibration blacklisted
[ INFO] [1549428253.824928162]: Plugin vision_pose_estimate loaded
[ INFO] [1549428253.878426797]: Plugin vision_pose_estimate initialized
[ INFO] [1549428253.879027491]: Plugin vision_speed_estimate loaded
[ INFO] [1549428253.911001677]: Plugin vision_speed_estimate initialized
[ INFO] [1549428253.912227558]: Plugin waypoint loaded
[ INFO] [1549428253.955316672]: Plugin waypoint initialized
[ INFO] [1549428253.956498736]: Plugin wind_estimation loaded
[ INFO] [1549428253.962761423]: Plugin wind_estimation initialized
[ INFO] [1549428253.963113734]: Autostarting mavlink via USB on PX4
[ INFO] [1549428253.963475237]: Built-in SIMD instructions: None
[ INFO] [1549428253.963690300]: Built-in MAVLink package version: 2018.10.10
[ INFO] [1549428253.963909907]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1549428253.964090606]: MAVROS started. MY ID 1.240, TARGET ID 20.1
[ INFO] [1549428254.838350576]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1549428255.853996926]: VER: 20.1: Capabilities 0x000000000000e4ef
[ INFO] [1549428255.854611733]: VER: 20.1: Flight software: 010801ff (0000000076EE714B)
[ INFO] [1549428255.855553681]: VER: 20.1: Middleware software: 010801ff (0000000000000001)
[ INFO] [1549428255.856445762]: VER: 20.1: OS software: 071600ff (0000000000000001)
[ INFO] [1549428255.857898240]: VER: 20.1: Board hardware: 00000011
[ INFO] [1549428255.858879038]: VER: 20.1: VID/PID: 26ac:0011
[ INFO] [1549428255.860130636]: VER: 20.1: UID: 3337511131313639
I have written some programs which runs along with mavros, The final Memory usage goes upto 70% and in near future it can go higher, whereas in this connection, i use only selected number of topics.
Is it possible that I let mavros to subscribe only certain topics which I use to reduce its process size,
For example: I don't use /mavros/distancesensor and /mavros/setpointattitude, Is there a way on which i can let mavros don't subscribe to these topics?
Asked by Desmnd on 2019-02-06 02:04:30 UTC
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