Unable to ros2 topic echo /fmu/out/vehicle_local_position and /fmu/out/vehicle_status[Bug]

MonkeScripts commented 4 weeks ago

Describe the bug

I have setup up Micro XRCE-DDS Agent & Client following the ROS2 user guide

My flight controller has no gps and is only connected to my Nvidia Jetson Orin Nx Companion computer via ethernet

I believed that I have setup the communication bridge correctly between my companion computer and my flight controller because I am able to see the topics being published on the client:

On the companion computer, I am able to ros2 topic list to show all the topics

However, some of the ros2 topics can be echo'ed such as /fmu/out/vehicle_odometry but some topics, namely /fmu/out/vehicle_local_position and /fmu/out/vehicle_status cannot be echoed at all

I created my own subscriber node to subscribe to /fmu/out/vehicle_status but the callback was not triggered

Also, I was able to see the bandwith for /fmu/out/vehicle_status

I dont believe its a px4_msgs version mismatch because I cloned from https://github.com/PX4/px4_msgs and the flight controller firmware is from the latest release 1.14.3

To Reproduce

Start XRCE-DDS client on mavlink console microxrce_dds_client start
Start XRCE-DDS agent on companion computer MicroXRCEAgent udp4 -p 8888
ros2 topic list to list all topics
ros2 topic echo /fmu/out/vehicle_status and check for topic

Expected behavior

Expected to see the topic data from terminal

Screenshot / Media

No response

Flight Log

No flight log

Software Version

HW arch: PX4_FMU_V6X HW type: V6X HW FMUM ID: 0x003 HW BASE ID: 0x000 PX4 git-hash: 1dacb4cdef2d7145754fc788fa8dc482eed74b40 PX4 version: Release 1.14.3 (17695743) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: de41e7feaeffaec3ce65327e9569e8fdb553ca3d Build datetime: May 30 2024 03:33:40 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000303736303532510d00480029 MCU: STM32H7[4|5]xxx, rev. V

px4_msgs version: https://github.com/PX4/px4_msgs

Flight controller

Pixhawk6x

Vehicle type

Multicopter

How are the different components wired up (including port information)

DEVICE=eth0 BOOTPROTO=fallback NETMASK=255.255.255.0 IPADDR=192.168.1.5 ROUTER=192.168.0.254 DNS=192.168.0.254

Companion computer netplan: network: version: 2 renderer: NetworkManager ethernets: eth0: addresses:

192.168.1.45/24 nameservers: addresses: [8.8.8.8, 8.8.4.4]
routes:
```
      #- to: 192.168.0.1
        #via: 192.168.0.1
```

Additional context

No response

xdwgood commented 3 weeks ago

I use the latest main branch and 6x flight control, and it works normally.

Note the main branch and change the default ip to 10.41.10.1.

MonkeScripts commented 3 weeks ago

Hi @xdwgood, the main branch refers to the 'main' in https://github.com/PX4/px4_msgs? For the flight controller firmware does it belong under this tag(https://github.com/PX4/PX4-Autopilot/releases/tag/v1.14.3)?

xdwgood commented 3 weeks ago

the main branch refers to the 'main' in https://github.com/PX4/px4_msgs?

yes

For the flight controller firmware does it belong under this tag(https://github.com/PX4/PX4-Autopilot/releases/tag/v1.14.3)?

https://github.com/PX4/PX4-Autopilot/tree/main

MonkeScripts commented 3 weeks ago

Hi, since the message definitions keep on changing is it better to revert to the stable v1.14.0 and how do you upload a custom firmware to the board?

MonkeScripts commented 3 weeks ago

I am still facing the same issue,I have changed the IP on my netplan and also changed my flight controller setting accordingly

Still unable to ros2 topic echo /fmu/out/vehicle_status. I am running my ros2 commands in a docker container with a base image of dustynv/ros:humble-desktop-l4t-r35.4.1.

I think what is weird is that when i was looking into the bandwidth of the topics, the /fmu/out/vehicle_status topic 158b/s while the other working topics are 10kb/s

Perhaps the topic is not published on the companion side.

I checked QGC with the command uorb top and vehicle_status is indeed being published

DronecodeBot commented 3 weeks ago

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/unable-to-ros2-topic-echo-specific-topics/39239/1

PX4 / PX4-Autopilot