Sam94's profile - activity

No, I just ended up using position control with the default velocities.

I am attempting to set waypoints in a SITL/Gazebo simulation using the PX4 firmware (simulation method explained here). In addition to controlling the position of the quadrotor, I also need to be able to control its velocity. To accomplish this, I am attempting to use mavros, and am publishing to the "/mavros/setpoint_raw/local" topic. However, this does not work to set the position and velocity simultaneously. When using the type_mask "0b0000101111000000" it only sets the position, not the velocity. But, changing the type mask to "0b0000101111000111" works as expected, allowing the velocity to be set. So, it seems that the position setpoint is overriding the velocity setpoint, resulting in a default value for velocity when both values are set.

I have looked at several related github issues (402, 471, 557), but was unable to determine whether or not an official resolution had been achieved. I am currently using ROS Indigo and Gazebo 7, and the PX4 firmware was downloaded from github earlier this week. I tried the mavros version currently on github, and the sudo apt-get install version. Thanks for your help.

takeoff_Waypoint = PositionTarget()

takeoff_Waypoint.header.stamp = rospy.get_rostime()
takeoff_Waypoint.header.frame_id = "1"

takeoff_Waypoint.coordinate_frame = 1
takeoff_Waypoint.type_mask = 0b0000101111000000

takeoff_Waypoint.position.x = x_Pos
takeoff_Waypoint.position.y = y_Pos
takeoff_Waypoint.position.z = travel_Height

takeoff_Waypoint.velocity.x = x_Vel
takeoff_Waypoint.velocity.y = y_Vel
takeoff_Waypoint.velocity.z = z_Vel

takeoff_Waypoint.yaw = yaw_Angle

It is working with v0.29 of the software. When we tried to use v0.31, we were able to view the positions and get a fixed RTK lock, but not record data (clicking the CSV Log button did not store the files).

The swiftnav_piksi driver will connect, but nothing is published to the /gps/ topics. I have tried it using simulation mode and outdoors, but it does not work either way. The diagnostics show that no satellites are in view even though the flashing light on the piksi indicated that it could see 7.

Is this possibly a firmware incompatibility issue? Currently, STM v 0.21 and NAP v0.16 are installed.

I am running Indigo on Ubuntu 14.04.

I've seen the same issue. I'm not sure what the solution is, 3DR might just have the Solo set up so that it doesn't send values for all of the data that mavros expects.

Thanks, I got it installed about a week ago. As a quick addendum, this has to be done on a fresh installation of Ubuntu, if you try it after using 'apt-get dist-upgrade' you won't be able to access the necessary packages.

How did you install Kinetic? I tried a couple of methods and kept running into dependency issues. If you get a chance, can you please post a solution? Thanks.

Did you ever get mavros working? I need to get a C2 setup with mavros if it's possible. Using Ubuntu 16.04 with Indigo seems like it could cause a lot of issues, so I haven't tried yet.

Has anyone successfully used bebop_autonomy on either the Raspberry Pi 2 or the Odroid C2? I have Ubuntu 14.04 and Indigo installed on the Pi, but I'm running into errors because of the SSE compiler options (same problem as this guy). I also have an Odroid C2 running Ubuntu 16.04, but I'm having a little trouble getting Kinetic installed, so I haven't been able to try anything on it yet. Thanks for your help.

Edit: I tried installing bebop_autonomy on the C2 with Kinetic, but it gives the same error.

Try opening your .bashrc file with a text editor and look for the line that the terminal keeps spamming. Remove that line and restart the ROS tutorial. Your .bashrc file should be in your home directory, type "ls -a" to see it.

It sounds like you forgot the ending quotation mark. That might have caused the '>' to show in front of the command.

Hey, I'm looking into buying a quadrotor for computer vision research, and the Solo looks like a viable candidate. However, I can't find whether or not ROS is usable with the Linux distribution that the Solo runs. If it would take a significant amount of time to get ROS working properly, I'm not interested, but the Solo looks quite a bit more capable than the Parrot ArDrone or Bebop. If you instead have a recommendation for an alternative quadrotor, that would also be appreciated.

For those of you still interested, I managed to connect to the Solo using mavros. I probably won't have a chance to test the flight capabilities for a while, but I was able to read imu and pressure data from the corresponding ROS topics. I used the following command to establish the connection.

roslaunch mavros apm.launch fcu_url:="udp://:14550@10.1.1.10:14555"

In order for this to work, you must install mavlink in addition to the mavros package. Otherwise, the command will run, but it will not connect to the Solo. I will edit this post with additional information when I get the chance.

You included the command that gave the error message.

shivam@shivam-Inspiron-3542:~$ : rosrun rosaria RosAria

I don't know if this was just one of several attempts, or if you didn't include the port parameter on any of your attempts. I don't think it would have used an unspecified port.

In the example you posted, it shows that you used /dev/ttyS0 instead of /dev/ttyUSB0 in your attempt to connect, so make sure that you use the correct syntax. I use an AmigoBot, not a P3-AT, but it sounds like the connection process is similar when using the serial port. I usually use the following process to connect with RosAria.

-Turn on the robot and laptop and connect them with the RS-232 cable

-Run 'roscore' on laptop terminal (1)

-Run 'sudo chmod 666 /dev/ttyUSB0' on a new laptop terminal (2)

-Run 'rosrun rosaria RosAria _port:=/dev/ttyUSB0' on laptop terminal (2)

Additionally, if you are using an RS-232 extension cable, you should verify that it is the correct type. The AmigoBot uses a straight through, not a null modem. Null modem cables have a different wiring configuration; I'm not sure which the P3AT uses, but you should double check. Additionally, some cables don't have all of the pins connected, so that could also be causing problems.

Thanks for the quick answer. I also talked with tech support at 3DR, but the person I talked with had never even heard of ROS, so I don't really think much is going on with ROS and the Solo.