how to build this pkg? - Githubissues

mengchaoheng commented 1 year ago

parallels@ubuntu-linux-20-04-desktop:~$ mkdir -p ~/ros2_ws/src
parallels@ubuntu-linux-20-04-desktop:~$ cd ~/ros2_ws
parallels@ubuntu-linux-20-04-desktop:~/ros2_ws$ ls
src
parallels@ubuntu-linux-20-04-desktop:~/ros2_ws$ cd src/
parallels@ubuntu-linux-20-04-desktop:~/ros2_ws/src$ git clone https://github.com/Jaeyoung-Lim/px4-offboard.git
Cloning into 'px4-offboard'...
remote: Enumerating objects: 34, done.
remote: Counting objects: 100% (34/34), done.
remote: Compressing objects: 100% (25/25), done.
remote: Total 34 (delta 12), reused 23 (delta 5), pack-reused 0
Unpacking objects: 100% (34/34), 10.65 KiB | 991.00 KiB/s, done.
parallels@ubuntu-linux-20-04-desktop:~/ros2_ws/src$ cd ..
parallels@ubuntu-linux-20-04-desktop:~/ros2_ws$ colcon build --symlink-install
Starting >>> px4_offboard
/home/parallels/.local/lib/python3.8/site-packages/setuptools/dist.py:771: UserWarning: Usage of dash-separated 'script-dir' will not be supported in future versions. Please use the underscore name 'script_dir' instead
  warnings.warn(
/home/parallels/.local/lib/python3.8/site-packages/setuptools/dist.py:771: UserWarning: Usage of dash-separated 'install-scripts' will not be supported in future versions. Please use the underscore name 'install_scripts' instead
  warnings.warn(
--- stderr: px4_offboard                   
/home/parallels/.local/lib/python3.8/site-packages/setuptools/dist.py:771: UserWarning: Usage of dash-separated 'script-dir' will not be supported in future versions. Please use the underscore name 'script_dir' instead
  warnings.warn(
/home/parallels/.local/lib/python3.8/site-packages/setuptools/dist.py:771: UserWarning: Usage of dash-separated 'install-scripts' will not be supported in future versions. Please use the underscore name 'install_scripts' instead
  warnings.warn(
/home/parallels/.local/lib/python3.8/site-packages/setuptools/command/easy_install.py:144: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools.
  warnings.warn(
/home/parallels/.local/lib/python3.8/site-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
  warnings.warn(
/home/parallels/.local/lib/python3.8/site-packages/pkg_resources/__init__.py:123: PkgResourcesDeprecationWarning: 0.23ubuntu1 is an invalid version and will not be supported in a future release
  warnings.warn(
/home/parallels/.local/lib/python3.8/site-packages/pkg_resources/__init__.py:123: PkgResourcesDeprecationWarning: 0.1.36ubuntu1 is an invalid version and will not be supported in a future release
  warnings.warn(
---
Finished <<< px4_offboard [1.11s]

Summary: 1 package finished [1.33s]
  1 package had stderr output: px4_offboard

mengchaoheng commented 1 year ago

after make px4_sitl gazebo, :

parallels@ubuntu-linux-20-04-desktop:~/ros2_ws$ micro-ros-agent udp4 --port 8888
micro-ros-agent: command not found

mengchaoheng commented 1 year ago

can you provide some steps about the new ros2 bridge

Jaeyoung-Lim commented 1 year ago

@mengchaoheng You need https://github.com/micro-ROS/micro-ROS-Agent

You can either build it from source or install it using snap

mengchaoheng commented 1 year ago

@mengchaoheng You need https://github.com/micro-ROS/micro-ROS-Agent

You can either build it from source or install it using snap

Get it, by the way, how to build your offboard pkg? I'm a new user of ros. Can you please give me some details? @Jaeyoung-Lim

Jaeyoung-Lim commented 1 year ago

@mengchaoheng You can do colcon build with the package in the workspace

mengchaoheng commented 1 year ago

@mengchaoheng You can do colcon build with the package in the workspace

you did a good job, but when I build it on my computer, it failed. So I have to open this issue.

mengchaoheng commented 1 year ago

I want to an guidance like px4 user manual please

mengchaoheng commented 1 year ago

On my computer I can build px4_ros_com and px4_msg, except this px4_offboard

Jaeyoung-Lim commented 1 year ago

@mengchaoheng Sure, although unfortunately I wont have time to write a proper documentation for the next few days

mengchaoheng commented 1 year ago

click here for detail of run "make px4_sitl gazebo"

```Console parallels@ubuntu-linux-20-04-desktop:~/PX4-Autopilot$ make px4_sitl gazebo -- PX4 version: v1.13.0-beta1-1057-g6f861ba889 -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") -- PX4 config file: /home/parallels/PX4-Autopilot/boards/px4/sitl/default.px4board -- PLATFORM posix -- ROMFSROOT px4fmu_common -- TESTING y -- ETHERNET y -- PX4 config: px4_sitl_default -- PX4 platform: posix -- PX4 lockstep: enabled -- cmake build type: RelWithDebInfo -- The CXX compiler identification is GNU 9.4.0 -- The C compiler identification is GNU 9.4.0 -- The ASM compiler identification is GNU -- Found assembler: /usr/bin/cc -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Building for code coverage -- Looking for ignition-transport8 -- found version 8.3.0 -- Searching for dependencies of ignition-transport8 -- Found Protobuf: /usr/lib/aarch64-linux-gnu/libprotobuf.so;-lpthread (found suitable version "3.6.1", minimum required is "3") -- Config-file not installed for ZeroMQ -- checking for pkg-config -- Checking for module 'libzmq >= 4' -- Found libzmq , version 4.3.2 -- Found ZeroMQ: TRUE (Required is at least version "4") -- Checking for module 'uuid' -- Found uuid, version 2.34.0 -- Found UUID: TRUE -- Looking for ignition-msgs5 -- found version 5.11.0 -- Searching for dependencies of ignition-msgs5 -- Looking for ignition-math6 -- found version 6.13.0 -- Searching for dependencies of ignition-math6 -- Checking for module 'tinyxml2' -- Found tinyxml2, version 6.2.0 -- ROMFS: ROMFS/px4fmu_common -- Configuring done -- Generating done -- Build files have been written to: /home/parallels/PX4-Autopilot/build/px4_sitl_default [887/888] cd /home/parallels/PX4-Autop...s/PX4-Autopilot/build/px4_sitl_default SITL ARGS sitl_bin: /home/parallels/PX4-Autopilot/build/px4_sitl_default/bin/px4 debugger: none model: none world: none src_path: /home/parallels/PX4-Autopilot build_path: /home/parallels/PX4-Autopilot/build/px4_sitl_default empty model, setting iris as default GAZEBO_PLUGIN_PATH :/home/parallels/PX4-Autopilot/build/px4_sitl_default/build_gazebo GAZEBO_MODEL_PATH :/home/parallels/PX4-Autopilot/Tools/simulation/gazebo/sitl_gazebo/models LD_LIBRARY_PATH /opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/opt/rviz_ogre_vendor/lib:/opt/ros/foxy/lib/aarch64-linux-gnu:/opt/ros/foxy/lib:/usr/local/lib/:/home/parallels/PX4-Autopilot/build/px4_sitl_default/build_gazebo empty world, setting empty.world as default Using: /home/parallels/PX4-Autopilot/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring. Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring. Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring. SITL COMMAND: "/home/parallels/PX4-Autopilot/build/px4_sitl_default/bin/px4" "/home/parallels/PX4-Autopilot/build/px4_sitl_default"/etc ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0 INFO [init] found model autostart file as SYS_AUTOSTART=10016 INFO [param] selected parameter default file parameters.bson INFO [param] selected parameter backup file parameters_backup.bson SYS_AUTOCONFIG: curr: 0 -> new: 1 SYS_AUTOSTART: curr: 0 -> new: 10016 CAL_ACC0_ID: curr: 0 -> new: 1310988 CAL_GYRO0_ID: curr: 0 -> new: 1310988 Gazebo multi-robot simulator, version 11.12.0 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org [Msg] Waiting for master. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 10.211.55.8 [Wrn] [GuiIface.cc:298] Couldn't locate specified .ini. Creating file at "/home/parallels/.gazebo/gui.ini" CAL_ACC1_ID: curr: 0 -> new: 1310996 CAL_GYRO1_ID: curr: 0 -> new: 1310996 CAL_ACC2_ID: curr: 0 -> new: 1311004 CAL_GYRO2_ID: curr: 0 -> new: 1311004 CAL_MAG0_ID: curr: 0 -> new: 197388 CAL_MAG1_ID: curr: 0 -> new: 197644 * SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000 * SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010 [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call INFO [dataman] data manager file './dataman' size is 7866640 bytes PX4 SIM HOST: localhost INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560 INFO [simulator_mavlink] Simulator connected on TCP port 4560. INFO [lockstep_scheduler] setting initial absolute time to 4172000 us INFO [commander] LED: open /dev/led0 failed (22) WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data INFO [health_and_arming_checks] Preflight Fail: No manual control input WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station INFO [microdds_client] synchronized with time offset 1666931330520872us INFO [microdds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 79 INFO [microdds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 160 INFO [microdds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 180 INFO [microdds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 204 INFO [microdds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 207 INFO [microdds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 221 INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550 INFO [microdds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 211 INFO [microdds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 216 INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540 INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030 INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280 INFO [logger] logger started (mode=all) WARN [logger] Too many subscriptions, failed to add: vehicle_trajectory_waypoint_desired 0 INFO [logger] Start file log (type: full) INFO [logger] [logger] ./log/2022-10-28/04_28_54.ulg INFO [logger] Opened full log file: ./log/2022-10-28/04_28_54.ulg INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) INFO [microdds_client] successfully created rt/fmu/out/vehicle_attitude data writer, topic id: 198 INFO [px4] Startup script returned successfully pxh> INFO [health_and_arming_checks] Preflight Fail: No manual control input WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station INFO [tone_alarm] home set INFO [health_and_arming_checks] Preflight Fail: No manual control input WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station INFO [microdds_client] successfully created rt/fmu/out/vehicle_global_position data writer, topic id: 205 INFO [health_and_arming_checks] Preflight Fail: No manual control input WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station INFO [commander] Ready for takeoff! INFO [health_and_arming_checks] Preflight Fail: No manual control input WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station ```

mengchaoheng commented 1 year ago

click here for detail of run "ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888"

mengchaoheng commented 1 year ago

click here for detail of run "colcon build "

```Console parallels@ubuntu-linux-20-04-desktop:~/ros2_ws$ colcon build Starting >>> px4_offboard Finished <<< px4_offboard [0.58s] Summary: 1 package finished [0.76s] parallels@ubuntu-linux-20-04-desktop:~/ros2_ws$ source install/setup.bash parallels@ubuntu-linux-20-04-desktop:~/ros2_ws$ ros2 launch px4_offboard offboard_position_control.launch.py [INFO] [launch]: All log files can be found below /home/parallels/.ros/log/2022-10-28-12-29-33-034749-ubuntu-linux-20-04-desktop-21426 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [visualizer-1]: process started with pid [21428] [INFO] [offboard_control-2]: process started with pid [21430] [INFO] [rviz2-3]: process started with pid [21432] [offboard_control-2] Traceback (most recent call last): [offboard_control-2] File "/home/parallels/ros2_ws/install/px4_offboard/lib/px4_offboard/offboard_control", line 33, in [offboard_control-2] sys.exit(load_entry_point('px4-offboard==0.0.0', 'console_scripts', 'offboard_control')()) [offboard_control-2] File "/home/parallels/ros2_ws/install/px4_offboard/lib/px4_offboard/offboard_control", line 25, in importlib_load_entry_point [offboard_control-2] return next(matches).load() [offboard_control-2] File "/usr/lib/python3.8/importlib/metadata.py", line 77, in load [offboard_control-2] module = import_module(match.group('module')) [offboard_control-2] File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module [offboard_control-2] return _bootstrap._gcd_import(name[level:], package, level) [offboard_control-2] File "", line 1014, in _gcd_import [offboard_control-2] File "", line 991, in _find_and_load [offboard_control-2] File "", line 975, in _find_and_load_unlocked [offboard_control-2] File "", line 671, in _load_unlocked [offboard_control-2] File "", line 848, in exec_module [offboard_control-2] File "", line 219, in _call_with_frames_removed [offboard_control-2] File "/home/parallels/ros2_ws/install/px4_offboard/lib/python3.8/site-packages/px4_offboard/offboard_control.py", line 44, in [offboard_control-2] from px4_msgs.msg import OffboardControlMode [offboard_control-2] ModuleNotFoundError: No module named 'px4_msgs' [visualizer-1] Traceback (most recent call last): [visualizer-1] File "/home/parallels/ros2_ws/install/px4_offboard/lib/px4_offboard/visualizer", line 33, in [visualizer-1] sys.exit(load_entry_point('px4-offboard==0.0.0', 'console_scripts', 'visualizer')()) [visualizer-1] File "/home/parallels/ros2_ws/install/px4_offboard/lib/px4_offboard/visualizer", line 25, in importlib_load_entry_point [visualizer-1] return next(matches).load() [visualizer-1] File "/usr/lib/python3.8/importlib/metadata.py", line 77, in load [visualizer-1] module = import_module(match.group('module')) [visualizer-1] File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module [visualizer-1] return _bootstrap._gcd_import(name[level:], package, level) [visualizer-1] File "", line 1014, in _gcd_import [visualizer-1] File "", line 991, in _find_and_load [visualizer-1] File "", line 975, in _find_and_load_unlocked [visualizer-1] File "", line 671, in _load_unlocked [visualizer-1] File "", line 848, in exec_module [visualizer-1] File "", line 219, in _call_with_frames_removed [visualizer-1] File "/home/parallels/ros2_ws/install/px4_offboard/lib/python3.8/site-packages/px4_offboard/visualizer.py", line 46, in [visualizer-1] from px4_msgs.msg import VehicleAttitude [visualizer-1] ModuleNotFoundError: No module named 'px4_msgs' [rviz2-3] [INFO] [1666931373.351753392] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [1666931373.351964077] [rviz2]: OpenGl version: 3.1 (GLSL 1.4) [ERROR] [visualizer-1]: process has died [pid 21428, exit code 1, cmd '/home/parallels/ros2_ws/install/px4_offboard/lib/px4_offboard/visualizer --ros-args -r __node:=visualizer -r __ns:=/px4_offboard']. [ERROR] [offboard_control-2]: process has died [pid 21430, exit code 1, cmd '/home/parallels/ros2_ws/install/px4_offboard/lib/px4_offboard/offboard_control --ros-args -r __node:=control -r __ns:=/px4_offboard']. [rviz2-3] [INFO] [1666931373.372273950] [rviz2]: Stereo is NOT SUPPORTED ```

mengchaoheng commented 1 year ago

why ros2 launch px4_offboard offboard_position_control.launch.py didn't work? @Jaeyoung-Lim

Jaeyoung-Lim commented 1 year ago

@mengchaoheng You need https://github.com/PX4/px4_msgs in your ros2 workspace

mengchaoheng commented 1 year ago

click here for detail of run "make px4_sitl gazebo"

```Console parallels@ubuntu-linux-20-04-desktop:~/PX4-Autopilot$ make px4_sitl gazebo [0/2] Re-checking globbed directories... [0/4] Performing build step for 'sitl_gazebo' ninja: no work to do. [3/4] cd /home/parallels/PX4-Autopilot/build/px4_sitl_default/src/modules/simulation/simulato... none none /home/parallels/PX4-Autopilot /home/parallels/PX4-Autopilot/build/px4_sitl_default SITL ARGS sitl_bin: /home/parallels/PX4-Autopilot/build/px4_sitl_default/bin/px4 debugger: none model: none world: none src_path: /home/parallels/PX4-Autopilot build_path: /home/parallels/PX4-Autopilot/build/px4_sitl_default empty model, setting iris as default GAZEBO_PLUGIN_PATH :/home/parallels/PX4-Autopilot/build/px4_sitl_default/build_gazebo GAZEBO_MODEL_PATH :/home/parallels/PX4-Autopilot/Tools/simulation/gazebo/sitl_gazebo/models LD_LIBRARY_PATH /opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/opt/rviz_ogre_vendor/lib:/opt/ros/foxy/lib/aarch64-linux-gnu:/opt/ros/foxy/lib:/usr/local/lib/:/home/parallels/PX4-Autopilot/build/px4_sitl_default/build_gazebo empty world, setting empty.world as default Using: /home/parallels/PX4-Autopilot/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring. Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring. Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring. SITL COMMAND: "/home/parallels/PX4-Autopilot/build/px4_sitl_default/bin/px4" "/home/parallels/PX4-Autopilot/build/px4_sitl_default"/etc ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0 INFO [init] found model autostart file as SYS_AUTOSTART=10016 INFO [param] selected parameter default file parameters.bson INFO [param] importing from 'parameters.bson' INFO [parameters] BSON document size 236 bytes, decoded 236 bytes (INT32:9, FLOAT:3) INFO [param] selected parameter backup file parameters_backup.bson Gazebo multi-robot simulator, version 11.12.0 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org [Msg] Waiting for master. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 10.211.55.8 [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call INFO [dataman] data manager file './dataman' size is 7866640 bytes PX4 SIM HOST: localhost INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560 INFO [simulator_mavlink] Simulator connected on TCP port 4560. INFO [lockstep_scheduler] setting initial absolute time to 3812000 us INFO [commander] LED: open /dev/led0 failed (22) WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data INFO [health_and_arming_checks] Preflight Fail: No manual control input WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550 INFO [mavlink] partner IP: 127.0.0.1 INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540 INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030 INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280 INFO [logger] logger started (mode=all) WARN [logger] Too many subscriptions, failed to add: vehicle_trajectory_waypoint_desired 0 INFO [logger] Start file log (type: full) INFO [logger] [logger] ./log/2022-10-30/12_48_44.ulg INFO [logger] Opened full log file: ./log/2022-10-30/12_48_44.ulg INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) INFO [px4] Startup script returned successfully pxh> INFO [microdds_client] synchronized with time offset 1667134120811885us INFO [microdds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 79 INFO [microdds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 160 INFO [microdds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 180 INFO [microdds_client] successfully created rt/fmu/out/vehicle_attitude data writer, topic id: 198 INFO [microdds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 204 INFO [microdds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 207 INFO [microdds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 211 INFO [microdds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 216 INFO [microdds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 221 INFO [tone_alarm] home set INFO [microdds_client] successfully created rt/fmu/out/vehicle_global_position data writer, topic id: 205 INFO [commander] Ready for takeoff! ```

mengchaoheng commented 1 year ago

click here for detail of run "ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888"

mengchaoheng commented 1 year ago

click here for detail of run "ros2 topic list "

```Console parallels@ubuntu-linux-20-04-desktop:~/ros2_ws$ ros2 topic list /fmu/in/obstacle_distance /fmu/in/offboard_control_mode /fmu/in/onboard_computer_status /fmu/in/sensor_optical_flow /fmu/in/telemetry_status /fmu/in/trajectory_setpoint /fmu/in/vehicle_attitude_setpoint /fmu/in/vehicle_command /fmu/in/vehicle_mocap_odometry /fmu/in/vehicle_rates_setpoint /fmu/in/vehicle_trajectory_bezier /fmu/in/vehicle_trajectory_waypoint /fmu/in/vehicle_visual_odometry /fmu/out/failsafe_flags /fmu/out/sensor_combined /fmu/out/timesync_status /fmu/out/vehicle_attitude /fmu/out/vehicle_control_mode /fmu/out/vehicle_global_position /fmu/out/vehicle_gps_position /fmu/out/vehicle_local_position /fmu/out/vehicle_odometry /fmu/out/vehicle_status /parameter_events /rosout parallels@ubuntu-linux-20-04-desktop:~/ros2_ws$ ros2 launch px4_offboard offboard_position_control.launch.py [INFO] [launch]: All log files can be found below /home/parallels/.ros/log/2022-10-30-20-49-06-269673-ubuntu-linux-20-04-desktop-80971 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [visualizer-1]: process started with pid [80976] [INFO] [offboard_control-2]: process started with pid [80978] [INFO] [rviz2-3]: process started with pid [80980] [rviz2-3] [INFO] [1667134146.589678629] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [1667134146.589853050] [rviz2]: OpenGl version: 3.1 (GLSL 1.4) [rviz2-3] [INFO] [1667134146.605065242] [rviz2]: Stereo is NOT SUPPORTED ```

mengchaoheng commented 1 year ago

@Jaeyoung-Lim still didn't work after add px4_msg

Jaeyoung-Lim commented 1 year ago

@mengchaoheng What does "didnt work" mean? Your log shows that the node is running.

What are you trying to do and the expected behavior?

mengchaoheng commented 1 year ago

didn't takeoff and rviz have nothing. 截屏2022-10-30 20 54 37

mengchaoheng commented 1 year ago

launch.log

mengchaoheng commented 1 year ago

why didn't have this:

mengchaoheng commented 1 year ago

px4 , px4_msg and your offboard on main branch

mengchaoheng commented 1 year ago

I understand, I need to use qgc to control the plane to take off after executing the above three commands, and then switch offboard mode in qgc. Then he can have this effect. I think you've done an amazing job, but unfortunately it's not very friendly to new users. @Jaeyoung-Lim

mengchaoheng commented 1 year ago

To use this package in the future, I summarize the steps below:

It is best to sourcing the ROS2 installation by source /opt/ros/$ROS_DISTRO/setup.bash on all terminal.

open new terminal and cd to px4 path, run

make px4_sitl gazebo

Like micro-ros-tutorials, open new terminal and cd to microros_ws path, run

source install/local_setup.bash
 ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888

open new terminal and cd to ros2_ws path/src, clone px4-offboard and px4_msg pkg to src and cd to ros2_ws path, build them by colcon build and run:

source install/setup.bash
ros2 launch px4_offboard offboard_position_control.launch.py

finally, take off and then switch offboard mode in qgc, or you can open qgc firstly to take off and then ros2 launch px4_offboard offboard_position_control.launch.py, after that change the control mode to offboard.

Jaeyoung-Lim commented 1 year ago

@mengchaoheng You need to take off the vehicle and manually switch to offboard mode.

I am not sure if I understood correctly. Does it mean that it worked when you manually switched to offboard mode?

mengchaoheng commented 1 year ago

yes it work, thank you very much!

Jaeyoung-Lim commented 1 year ago

I understand, I need to use qgc to control the plane to take off after executing the above three commands, and then switch offboard mode in qgc. Then he can have this effect. I think you've done an amazing job, but unfortunately it's not very friendly to new users.

@mengchaoheng Thanks for the input, and trying out the package.

If you are willing to contribute back on the documentation, so that people can benefit from your experience, this would be much appreciated :grin:

JetJie commented 1 year ago

@mengchaoheng I met the same issues as you. Thanks for your exhaustive explanation. It also works for me, even though I don't know the principle. @Jaeyoung-Lim Thank you and hope that the official tutorial is coming soon.

kukulinxin commented 1 year ago

[INFO] [launch]: All log files can be found below /home/pokemon/.ros/log/2022-11-22-12-38-07-899328-pokemon-XiaoXinPro-16-IAH7-66689 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [visualizer-1]: process started with pid [66690] [INFO] [offboard_control-2]: process started with pid [66692] [INFO] [rviz2-3]: process started with pid [66694] [rviz2-3] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [offboard_control-2] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: ReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT is deprecated. Use ReliabilityPolicy.BEST_EFFORT instead. [offboard_control-2] warnings.warn( [offboard_control-2] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead. [offboard_control-2] warnings.warn( [offboard_control-2] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: HistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST is deprecated. Use HistoryPolicy.KEEP_LAST instead. [offboard_control-2] warnings.warn( [rviz2-3] [INFO] [1669091888.148049293] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [1669091888.148175165] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-3] [INFO] [1669091888.158227305] [rviz2]: Stereo is NOT SUPPORTED [visualizer-1] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: ReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT is deprecated. Use ReliabilityPolicy.BEST_EFFORT instead. [visualizer-1] warnings.warn( [visualizer-1] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: HistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST is deprecated. Use HistoryPolicy.KEEP_LAST instead. [visualizer-1] warnings.warn( [visualizer-1] Traceback (most recent call last): [visualizer-1] File "/home/pokemon/test/install/px4_offboard/lib/px4_offboard/visualizer", line 33, in [visualizer-1] sys.exit(load_entry_point('px4-offboard', 'console_scripts', 'visualizer')()) [visualizer-1] File "/home/pokemon/test/build/px4_offboard/px4_offboard/visualizer.py", line 180, in main [visualizer-1] rclpy.spin(px4_visualizer) [visualizer-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 222, in spin [visualizer-1] executor.spin_once() [visualizer-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 712, in spin_once [visualizer-1] raise handler.exception() [visualizer-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in call [visualizer-1] self._handler.send(None) [visualizer-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 411, in handler [visualizer-1] arg = take_from_wait_list(entity) [visualizer-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 336, in _take_subscription [visualizer-1] msg_info = sub.handle.take_message(sub.msg_type, sub.raw) [visualizer-1] RuntimeError: Unable to convert call argument to Python object (compile in debug mode for details) [ERROR] [visualizer-1]: process has died [pid 66690, exit code 1, cmd '/home/pokemon/test/install/px4_offboard/lib/px4_offboard/visualizer --ros-args -r node:=visualizer -r ns:=/px4_offboard'].

kukulinxin commented 1 year ago

when I run: ros2 launch px4_offboard offboard_position_control.launch.py This happened.What is the reason for this? I hope you can help me!

mengchaoheng commented 1 year ago

when I run:

ros2 launch px4_offboard offboard_position_control.launch.py

This happened.What is the reason for this? I hope you can help me!

@kukulinxin https://github.com/Jaeyoung-Lim/px4-offboard/issues/3#issuecomment-1296255696

kukulinxin commented 1 year ago

I did the same as you except for the command: ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888. Also I would like to ask: installation details of micro_ros_agent. Because I am installing it automatically when prompted that there is no micro_ros_agent.

kukulinxin commented 1 year ago

I made it, thanks a million!

Jaeyoung-Lim / px4-offboard

how to build this pkg? #3