Px4 mavros stuck at HP requesting home position

asked 2022-11-15 14:28:25 -0500

Hello, I am using vicon for position control flight. I am using a holybro drone, mounted with RPi and Px4.

I followed this 404 tutorial My px4.launch looks like:

    <arg name="fcu_url" default="/dev/ttyACM0:57600" />
    <arg name="gcs_url" default="udp://@" />

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

<node name="mavros" pkg="mavros" type="mavros_node" output="screen">
    <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)" />

    <!--rosparam command="load" file="$(find mavros)/launch/px4_blacklist.yaml"-->

    <!-- enable heartbeat send and reduce timeout -->
    <param name="conn_heartbeat" value="5.0" />
    <param name="conn_timeout" value="5.0" />
    <!-- automatically start mavlink on USB -->
    <param name="startup_px4_usb_quirk" value="true" />
    <param name="mocap/use_tf" value="true"/>
    <param name="mocap/use_pose" value="false"/>
<node name="setpoint_pub" pkg="mavros_offb" type="pub_setpoints" output="screen"/>
<remap from="/mavros/vision_pose/pose" to="/mavros/mocap/tf"/>

my Vicon.launch:

<node pkg="vicon_bridge" type="vicon_bridge" name="vicon" output="screen">
    <param name="stream_mode" value="ServerPush" type="str" />
    <param name="datastream_hostport" value="" type="str" />
    <param name="tf_ref_frame_id" value="/world" type="str" />

When i run a simple offb node the drone is not flying and i keep getting prompted for HP: requesting home position , I saw some github issues said they got around usiing fake gps and some suggested not to use and instaed used /mavros/vision_pose/pose instead. I did the later. terminal rosout:

[ INFO] [1650547382.489279832]: HP: requesting home position
[ INFO] [1650547387.489918177]: GF: mission received
[ INFO] [1650547387.490986976]: RP: mission received
[ INFO] [1650547387.491520745]: WP: mission received
[ INFO] [1650547392.489694479]: HP: requesting home position

Any help will be appreciated, I am not sure what I am missing out really. All I am trying to execute is a normal fly up and down, and make sure the px4.launch is working.

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