offboard request failed

alexisutc commented 5 years ago

Hello world,

i'm new with ros and mavros. This is my config :

My system uses mavros p4x (i'm not sure about it actually)
I use a navio2 Actually i have following problem :
I want to uses the actuator_control node to crontrol directly the PWM of my navio2, but actually i cant. I read that I have to go in the offboard mode... but how ? I tried rosrun mavros mavsys mode -c OFFBOARD But it tells me Request failed. Check mavros logs

so i put here my log. Can you please help me on that ?

thancks beforehand.

MAVROS version and platform

Mavros: ?0.18.4? ROS: Kinetic Rasbian

Autopilot type and version

[ ] ArduPilot [ ] PX4

Version: ?3.7.1?

Node logs

/diagnostics /mavlink/from /mavlink/to /mavros/actuator_control /mavros/altitude /mavros/battery /mavros/extended_state /mavros/global_position/compass_hdg /mavros/global_position/global /mavros/global_position/gp_lp_offset /mavros/global_position/gp_origin /mavros/global_position/home /mavros/global_position/local /mavros/global_position/raw/fix /mavros/global_position/raw/gps_vel /mavros/global_position/rel_alt /mavros/global_position/set_gp_origin /mavros/hil/actuator_controls /mavros/hil/controls /mavros/hil/gps /mavros/hil/imu_ned /mavros/hil/optical_flow /mavros/hil/rc_inputs /mavros/hil/state /mavros/home_position/home /mavros/home_position/set /mavros/imu/data /mavros/imu/data_raw /mavros/imu/diff_pressure /mavros/imu/mag /mavros/imu/static_pressure /mavros/imu/temperature_baro /mavros/imu/temperature_imu /mavros/local_position/accel /mavros/local_position/odom /mavros/local_position/pose /mavros/local_position/pose_cov /mavros/local_position/velocity /mavros/local_position/velocity_cov /mavros/manual_control/control /mavros/manual_control/send /mavros/mission/reached /mavros/mission/waypoints /mavros/param/param_value /mavros/radio_status /mavros/rc/in /mavros/rc/out /mavros/rc/override /mavros/setpoint_accel/accel /mavros/setpoint_attitude/cmd_vel /mavros/setpoint_attitude/thrust /mavros/setpoint_position/global /mavros/setpoint_position/local /mavros/setpoint_raw/attitude /mavros/setpoint_raw/global /mavros/setpoint_raw/local /mavros/setpoint_raw/target_attitude /mavros/setpoint_raw/target_global /mavros/setpoint_raw/target_local /mavros/setpoint_velocity/cmd_vel /mavros/setpoint_velocity/cmd_vel_unstamped /mavros/state /mavros/statustext/recv /mavros/statustext/send /mavros/target_actuator_control /mavros/time_reference /mavros/timesync_status /mavros/vfr_hud /mavros/wind_estimation /rosout /rosout_agg /tf /tf_static

Diagnostics

header:
  seq: 2710
  stamp:
    secs: 1550241520
    nsecs: 980842850
  frame_id: ''
status:
  -
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "udp://:14650@"
    values:
      -
        key: "Received packets:"
        value: "10445"
      -
        key: "Dropped packets:"
        value: "0"
      -
        key: "Buffer overruns:"
        value: "0"
      -
        key: "Parse errors:"
        value: "0"
      -
        key: "Rx sequence number:"
        value: "62"
      -
        key: "Tx sequence number:"
        value: "83"
      -
        key: "Rx total bytes:"
        value: "4536058"
      -
        key: "Tx total bytes:"
        value: "661076"
      -
        key: "Rx speed:"
        value: "3601.000000"
      -
        key: "Tx speed:"
        value: "474.000000"
  -
    level: 0
    name: "mavros: GPS"
    message: "3D fix"
    hardware_id: "udp://:14650@"
    values:
      -
        key: "Satellites visible"
        value: "9"
      -
        key: "Fix type"
        value: "3"
      -
        key: "EPH (m)"
        value: "0.94"
      -
        key: "EPV (m)"
        value: "1.46"
  -
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "udp://:14650@"
    values:
      -
        key: "Heartbeats since startup"
        value: "1867"
      -
        key: "Frequency (Hz)"
        value: "0.963034"
      -
        key: "Vehicle type"
        value: "Fixed wing aircraft"
      -
        key: "Autopilot type"
        value: "ArduPilot - Plane/Copter/Rover/Sub/Tracker"
      -
        key: "Mode"
        value: "RTL"
      -
        key: "System status"
        value: "Critical"
  -
    level: 2
    name: "mavros: System"
    message: "Sensor helth"
    hardware_id: "udp://:14650@"
    values:
      -
        key: "Sensor present"
        value: "0x0361FC3F"
      -
        key: "Sensor enabled"
        value: "0x0061FC3F"
      -
        key: "Sensor helth"
        value: "0x0171FC2F"
      -
        key: "3D gyro"
        value: "Ok"
      -
        key: "3D accelerometer"
        value: "Ok"
      -
        key: "3D magnetometer"
        value: "Ok"
      -
        key: "absolute pressure"
        value: "Ok"
      -
        key: "differential pressure"
        value: "Fail"
      -
        key: "GPS"
        value: "Ok"
      -
        key: "3D angular rate control"
        value: "Ok"
      -
        key: "attitude stabilization"
        value: "Ok"
      -
        key: "yaw position"
        value: "Ok"
      -
        key: "z/altitude control"
        value: "Ok"
      -
        key: "x/y position control"
        value: "Ok"
      -
        key: "motor outputs / control"
        value: "Ok"
      -
        key: "rc receiver"
        value: "Ok"
      -
        key: "AHRS subsystem health"
        value: "Ok"
      -
        key: "Terrain subsystem health"
        value: "Ok"
      -
        key: "CPU Load (%)"
        value: "2.4"
      -
        key: "Drop rate (%)"
        value: "0.0"
      -
        key: "Errors comm"
        value: "0"
      -
        key: "Errors count #1"
        value: "0"
      -
        key: "Errors count #2"
        value: "0"
      -
        key: "Errors count #3"
        value: "0"
      -
        key: "Errors count #4"
        value: "0"
  -
    level: 1
    name: "mavros: Battery"
    message: "Low voltage"
    hardware_id: "udp://:14650@"
    values:
      -
        key: "Voltage"
        value: "0.00"
      -
        key: "Current"
        value: "-0.0"
      -
        key: "Remaining"
        value: "-1.0"
  -
    level: 0
    name: "mavros: Time Sync"
    message: "Normal"
    hardware_id: "udp://:14650@"
    values:
      -
        key: "Timesyncs since startup"
        value: "18554"
      -
        key: "Frequency (Hz)"
        value: "9.926702"
      -
        key: "Last RTT (ms)"
        value: "24.926647"
      -
        key: "Mean RTT (ms)"
        value: "28.996867"
      -
        key: "Last remote time (s)"
        value: "1890.591225000"
      -
        key: "Estimated time offset (s)"
        value: "0.000000000"

Check ID


rosrun mavros checkid

OK. I got messages from 1:1.

---
Received 1112 messages, from 1 addresses
sys:comp   list of messages
  1:1     0, 1, 2, 22, 193, 136, 11020, 152, 150, 24, 27, 29, 30, 32, 33, 163, 36, 165, 168, 42, 178, 182, 62, 65, 74, 87, 111, 241, 242, 116, 125

Jaeyoung-Lim commented 5 years ago

You need to send setpoints within the timeout to enter offboard mode. Please refer to this document.

vooon commented 5 years ago

ArduPilot do not have OFFBOARD mode, it has GUIDED.

alexisutc commented 5 years ago

thx for the answer.

Eventually i only want to control manually my PWM's, so i thougth that using actuator_control could solve my problem. Can guided-mode allow me to use the actuator_control node ?

vooon commented 5 years ago

Initially it was PX4-only feature, but i don't know current state of APM.

vooon commented 5 years ago

If you only want to control some servo channel, you can use command plugin to send SET_SERVO cmds.

alexisutc commented 5 years ago

how can i know if i'm using p4x or apm ?

alexisutc commented 5 years ago

If you only want to control some servo channel, you can use command plugin to send SET_SERVO cmds.

how ?

Jaeyoung-Lim commented 5 years ago

@alexisutc It is written on your log

    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "udp://:14650@"
    values:
      -
        key: "Heartbeats since startup"
        value: "1867"
      -
        key: "Frequency (Hz)"
        value: "0.963034"
      -
        key: "Vehicle type"
        value: "Fixed wing aircraft"
      -
        key: "Autopilot type"
        value: "ArduPilot - Plane/Copter/Rover/Sub/Tracker"
      -
        key: "Mode"
        value: "RTL"
      -
        key: "System status"
        value: "Critical"

alexisutc commented 5 years ago

Ok thanks

since I use the APM with arduplane i will forget about the offboard mode and focus on the plugin you told me about.

alexisutc commented 5 years ago

Hi again,

after some researches i figured folowing out : you say to use SET_SERVO via mavlink. I can't figured how to write on the node. I guess it should looks like :

rostopic pub /mavlink/to mavros_msgs/Mavlink "header: seq: 0 stamp: {secs: 0, nsecs: 0} frame_id: '' framing_status: 0 magic: 0 len: 2 incompat_flags: 0 compat_flags: 0 seq: 0 sysid: 1 compid: 250 msgid: 183 checksum: 0 payload64: [0] signature: ''"

On the other hand I can write on the overrideRCIN working just fine but with a latency of 2 seconds ! Any idear why ?

vooon commented 5 years ago

I said to use command plugin, not trying to interact with /mavlink topics.

rosrun mavcmd long 183 1 1500 0 0 0 0 0

https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_SERVO

alexisutc commented 5 years ago

hello vooon

thx but mavcmd doesnt exist, how to install ? [rospack] Error: package 'mavcmd' not found Also I just would like to have a node on which i publish a pwm and that applies it on the corresponding PWM bus.

amalpavithran commented 5 years ago

Its actually rosrun mavros mavcmd

mavlink / mavros