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PX4 / px4_ros_com

ROS2/ROS interface with PX4 through a Fast-RTPS bridge
http://px4.io
BSD 3-Clause "New" or "Revised" License
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Can not start ROS2 Offboard example with PX4 v1.14.0 #206

Open Cristian-wp opened 8 months ago

Cristian-wp commented 8 months ago

Hello, I am trying to run this example https://docs.px4.io/v1.14/en/ros/ros2_offboard_control.html after being able to run the sensor_combined example. This is my current situation for the example:

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px4 starting.

INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0 INFO [init] found model autostart file as SYS_AUTOSTART=4001 INFO [param] selected parameter default file parameters.bson INFO [param] importing from 'parameters.bson' INFO [parameters] BSON document size 251 bytes, decoded 251 bytes (INT32:11, FLOAT:2) INFO [param] selected parameter backup file parameters_backup.bson INFO [dataman] data manager file './dataman' size is 7866640 bytes INFO [init] starting gazebo with world: /home/ctrazzi/px4_v14_simulation_ws/src/PX4-Autopilot/Tools/simulation/gz/worlds/default.sdf WARN [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL. INFO [gz_bridge] world: default, model name: x500_0, simulation model: x500 Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. Unknown message type [8]. Unknown message type [8]. Unknown message type [9]. Unknown message type [9]. Unknown message type [9]. Unknown message type [9]. Unknown message type [9]. INFO [lockstep_scheduler] setting initial absolute time to 8000 us INFO [commander] LED: open /dev/led0 failed (22) INFO [tone_alarm] home set INFO [uxrce_dds_client] synchronized with time offset 1698770961179514us INFO [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 80 INFO [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 149 INFO [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 168 INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 191 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 212 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 215 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 229 INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550 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 [tone_alarm] notify negative INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] [logger] ./log/2023-10-31/16_49_21.ulg
INFO [logger] Opened full log file: ./log/2023-10-31/16_4921.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 [mavlink] partner IP: 127.0.0.1 WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data INFO [tone_alarm] notify negative

- TERMINAL 3 running tis example
`ros2 run px4_ros_com offboard_control`
Output:

ros2 run px4_ros_com offboard_control Starting offboard control node... [INFO] [1698770981.591611499] [offboard_control]: Arm command send


I am running the v4.2.9 of QGC, I see that my drone goes in Offboard mode but does not takeoff...

Since is simulated I do not think that the problem is related to EKF2 sources, and I do not have any clue about what can it be...
Sukruthi-C commented 5 months ago

I have a similar issue. Were you able to find a way around this?

sahiedu commented 4 months ago

I have the same problem.