Eric Schneider's profile - activity

I've been given a repo with roslaunch as a dependency in the CMake files, and it fails to build like so:

-- Could NOT find roslaunch (missing: roslaunch_DIR)
-- Could not find the required component 'roslaunch'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "roslaunch" with
  any of the following names:

roslaunchConfig.cmake
roslaunch-config.cmake

So I tried creating a fresh catkin package to see if I can recreate the issue. Even with the fresh catkin package roslaunch is causing catkin_make issues, I'll walk through them here.

Just to confirm at the beginning, roslaunch is installed. The first time I saw the build error below I installed it with sudo apt install python3-roslaunch. If that method of install is the problem that'd be an easy fix, but I think it's okay.

eric@laptop:~/tutorials/catkin_ws$ roslaunch -h
Usage: roslaunch [options] [package] <filename> [arg_name:=value...]
       roslaunch [options] <filename> [<filename>...] [arg_name:=value...]

If <filename> is a single dash ('-'), launch XML is read from standard input.
...

Okay, how to create the issue. I started from the basic ROS build-a-package tutorial like so:

eric@laptop:~/tutorials$ source /opt/ros/noetic/setup.bash
eric@laptop:~/tutorials$ printenv | grep ROS
ROS_VERSION=1
ROS_PYTHON_VERSION=3
ROS_PACKAGE_PATH=/opt/ros/noetic/share
ROS_ETC_DIR=/opt/ros/noetic/etc/ros
ROS_ROOT=/opt/ros/noetic/share/ros
ROS_DISTRO=noetic
eric@laptop:~/tutorials$ mkdir -p catkin_ws/src/
eric@laptop:~/tutorials$ cd catkin_ws/
eric@laptop:~/tutorials/catkin_ws$ ls
src
eric@laptop:~/tutorials/catkin_ws$ catkin_make
Base path: /home/eric/tutorials/catkin_ws
...
#### Running command: "make -j8 -l8" in "/home/eric/tutorials/catkin_ws/build"
eric@laptop:~/tutorials/catkin_ws$ ls
build  devel  src
eric@laptop:~/tutorials/catkin_ws$ source devel/setup.bash
eric@laptop:~/tutorials/catkin_ws$ cd src/

eric@laptop:~/tutorials/catkin_ws/src$ catkin_create_pkg figuring_out_roslaunch_issue roscpp rospy roslaunch std_msgs
Created file figuring_out_roslaunch_issue/package.xml
Created file figuring_out_roslaunch_issue/CMakeLists.txt
Created folder figuring_out_roslaunch_issue/include/figuring_out_roslaunch_issue
Created folder figuring_out_roslaunch_issue/src
Successfully created files in /home/eric/tutorials/catkin_ws/src/figuring_out_roslaunch_issue. Please adjust the values in package.xml.

eric@laptop:~/tutorials/catkin_ws/src$ cd ..
eric@laptop:~/tutorials/catkin_ws$ catkin_make
Base path: /home/eric/tutorials/catkin_ws
Source space: /home/eric/tutorials/catkin_ws/src
Build space: /home/eric/tutorials/catkin_ws/build
Devel space: /home/eric/tutorials/catkin_ws/devel
Install space: /home/eric/tutorials/catkin_ws/install
####
#### Running command: "cmake /home/eric/tutorials/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/eric/tutorials/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/eric/tutorials/catkin_ws/install -G Unix Makefiles" in "/home/eric/tutorials/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/eric/tutorials/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/eric/tutorials/catkin_ws/devel;/opt/ros/noetic
-- This workspace overlays: /home/eric/tutorials/catkin_ws/devel;/opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib ...

Hi,

I've been trying to connect to a Pixhawk quadcopter using the mavros library ( http://wiki.ros.org/mavros ) and I had some issues. We are using a pixhawk and a 3DR Iris quadcopter, and we launch the mavros code with

roslaunch mavros apm2_radio.launch

The code launches with no errors are we see a long list of topics being displayed:

/diagnostics
/mavlink/from
/mavlink/to
/mavros/battery
/mavros/fix
/mavros/gps_vel
/mavros/imu/atm_pressure
/mavros/imu/data
/mavros/imu/data_raw
/mavros/imu/mag
/mavros/imu/temperature
/mavros/mission/waypoints
/mavros/radio_status
/mavros/rc/in
/mavros/rc/out
/mavros/rc/override
/mavros/state
/mavros/time_reference
/rosout
/rosout_agg

The good news is that the /mavros/state, /diagnostics, and /mavros/radio_status seem to be publishing correctly

$:rostopic echo /mavros/state
    header: 
      seq: 100
      stamp: 
        secs: 1411583514
        nsecs: 793784329
      frame_id: ''
    armed: False
    guided: False
    mode: ALT_HOLD

The bad news is that every other topic is empty. No GPS data, no battery data, no RC data, etc. Has anyone else run this code and knows how to get this data to publish?

The closest thing online I found is this online book: http://erlerobotics.gitbooks.io/erler...

The problem is, they experienced the same problem but gave no reason/fix for it.

Thanks!

EDIT: Adding information On a fresh install of Ubuntu 14.04 and a newly installed mavros

sudo apt-get install mavros

I tried to get sensor data from a 3DR Iris Pixhawk. As per @vooon 's suggestion, I used rqt_logger_level to view the mavros.ros.mavconn debug messages.

# Changed the default fcu_url to ttyUSB0 instead of ttyACM0, because that's the port my 3DR modem was on.
<arg name="fcu_url" default="/dev/ttyUSB0:57600" />

Launched the file using px4.launch, enabled mavconn Debug messages, and watched the message ID's that showed up.

1. First, during the section where you get the heartbeat, there were a mixture of 0, 166, and 109 messages.

2. Then message ID 253 was published three times in a row, in conjunction with FCU lines for ArduCopter V3.1.2, PX4 and PX4v2:

   [DEBUG] [1411862177.961715937]: serial0:recv: Message-Id: 253 [51 bytes] Sys-Id: 1 Comp-Id: 1 [ INFO] [1411862177.961821314]: FCU: ArduCopter V3.1.2 (e2ed3dd1)

3. After that, during bootup, there is a fast stream of 22 IDs split up by 0, 166, and 109

4. At the end of a long stream of 22's it gets 43, 44, 40, 39, and 47 in quick succession:

   [DEBUG] [1411862299.848786274]: serial0:send: Message-Id: 43 [2 bytes] [DEBUG] [1411862299.929775171]: serial0:recv: Message-Id: 44 [4 bytes] Sys-Id: 1 Comp-Id: 1 [DEBUG] [1411862299.929917816]: serial0:send: Message-Id: 40 [4 bytes] [DEBUG] [1411862300.143771523]: serial0:recv: Message-Id: 39 [37 bytes] Sys-Id: 1 Comp-Id: 1 [ INFO] [1411862300.143899206]: WP: item #0 GAA WAYPOINT CUR params: 0, 0, 0, 0 x: 42.2936 y: -71.2638 z: 0 [DEBUG] [1411862300.143942143]: serial0:send: Message-Id: 47 [3 bytes] [ INFO] [1411862300.143995581]: WP: mission received [ WARN] [1411862300.673739713]: PR: request param #133 timeout, retries left 2, and ...