TOPP-RA not working as expected

[javilinos]

Hi @fpetric,

I am trying to use the TOPP-RA planner with the ToppTracker. I have sent the message only once, with the list of points to pass through in the points field. However, the drone don't move. The message ToppTracker - hold disabled, clearing trajectory! appears in the terminal with no reason.

[WARN] [1707918888.468319, 3383.190000]: ToppTracker - Carrot trajectory recieved but planning from odom                                                                                                      
[WARN] [1707918888.488495, 3383.210000]: ToppTracker - Carrot trajectory recieved but planning from odom                                                                                                      
[INFO] [1707918888.510553, 3383.233000]: ToppTracker - Position hold disabled                                                                                                                                 
[INFO] [1707918889.522260, 3384.243000]: ToppTracker - Position hold disabled                                                                                                                                 
[INFO] [1707918890.524647, 3385.244000]: ToppTracker - Position hold disabled                                                                                                                                 
[INFO] [1707918890.799809, 3385.518000]: ToppTracker - recieved odometry - acting as carrot/trajectory                                                                                                        
Interpolating points                                                                                                                                                                                          
1.3555209873769383                                                                                                                                                                                            
End:  x: 1.0                                                                                                                                                                                                  
y: 0.75
z: 1.8 3.141592653589793
Start:  x: -0.06362406278429122
y: -1.9039203547066563e-10
z: 1.421 1.53186679730681
[-0.06362406278429122]
[-1.9039203547066563e-10]
[1.53186679730681]
Recieved point:  -0.06362406278429122 -1.9039203547066563e-10 1.421 1.53186679730681
Recieved point:  1.0 0.75 1.8 3.141592653589793
Recieved point:  7.0 0.75 1.8 3.141592653589793
Recieved point:  13.0 0.75 1.8 3.141592653589793
Recieved point:  19.0 0.75 1.8 3.141592653589793
Recieved point:  19.0 6.0 1.8 3.141592653589793
Recieved point:  19.0 13.5 1.8 3.141592653589793
Recieved point:  19.0 13.5 4.6 3.141592653589793
Recieved point:  19.0 13.5 7.4 3.141592653589793
Generating TOPP-RA trajectory.
Time elapsed:  0.026419401168823242
ToppTracker: Converting trajectory to multi dof
ToppTracker - hold disabled, clearing trajectory!

[fpetric]

This sounds like a question for @lmark1 or @aivano

[lmark1]

Hello,

Sorry for the late reply.

Please ensure the carrot/status topic is in HOLD state. This mode is set when the UAV takes off. The states should change in sequence from GROUNDED -> TAKEOFF -> HOLD.