Open basmango opened 7 months ago
Thank you for reporting. I will give this a try soon and report back if I can reproduce or fix this problem.
Any tips?
ryan@B650-970:~/Dev/ros2_ws/src/ardupilot_ros$ xhost local +
xhost: bad hostname "local"
access control disabled, clients can connect from any host
try xhost +local:* fixed it in the issue description either ways, terminals should pop up after a few seconds.
The problem is that the tf topic changed several times in ardupilot. Since https://github.com/ArduPilot/ardupilot/pull/25384 ardupilot_dds is listening to /ap/tf
for the tf tree whereas it is published in ros on /tf
. Therefore no visual odom messages are sent to ardupilot.
You can use a relay node from topic_tools
to forward the tf tree to the right topic as mentioned in the pull request.
I have setup the simulation exactly as specified in the repository. (dependencies, param settings etc) mavproxy shows the message VisOdom: not Healhy to reproduce the issue I have prepared a Dockerfile (will need Nvidia container toolkit for GPU rendering):
bash script to build image:
bash script to launch simulation using Nvidia graphics card:
otherwise:
start mavproxy
Then parameters are set using mavproxy using the commands
Then, SITL simulation is restarted.