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MAVLink to ROS gateway with proxy for Ground Control Station
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I can't used /mavros/setpoint_raw/global #1256

Open omeralierdemir opened 5 years ago

omeralierdemir commented 5 years ago

This is only bug and feature tracker, please use it to report bugs or request features.

Issue details

Hi everyone,

I want to send my quadcopter to the latitude, longitude and altitude coordinates I have specified. I tried this command at the terminal for simulasion 

rostopic pub /mavros/spoint_raw/global mavros_msgs/GlobalPositionTarget "header:
  seq: 0
  stamp: now
  frame_id: 'world'
coordinate_frame: 11
type_mask: 4032
latitude: 47.3977427
longitude: 8.5455936
altitude: 435.384916013
velocity: {x: 0.0, y: 0.0, z: 3.0}" -r 10

But I get a timeout message when I switch to offboard mode rosrun mavros mavsys mode -c OFFBOARD ----->

[ WARN] [1561125222.798518914]: CMD: Unexpected command 176, result 1

I don't know what the error is and what to do. Can you help me ?

MAVROS version and platform

Mavros: ros-kinetic-mavros is already the newest version

ROS: Kinetic Ubuntu: 16.04

Autopilot type and version

[ ] ArduPilot [ x ] PX4

installed from latest qgc

Node logs

copy output of mavros_node. Usually console where you run roslaunch

efl4tun@efl4tun44:~/src/Firmware$ make px4_sitl gazebo_typhoon_h480
[2/6] Performing configure step for 'sitl_gazebo'
-- install-prefix: /usr/local
-- Using C++14 compiler
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
--   thread
--   filesystem
--   chrono
--   date_time
--   atomic
-- Boost version: 1.58.0
-- Building klt_feature_tracker without catkin
-- Building OpticalFlow with OpenCV
-- catkin DISABLED
Gazebo version: 7.0
-- Configuring done
-- Generating done
-- Build files have been written to: /home/efl4tun/src/Firmware/build/px4_sitl_default/build_gazebo
[3/6] Performing build step for 'sitl_gazebo'
ninja: no work to do.
[6/6] cd /home/efl4tun/src/Firmware/bu...un/src/Firmware/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/efl4tun/src/Firmware/build/px4_sitl_default/bin/px4
debugger: none
program: gazebo
model: typhoon_h480
src_path: /home/efl4tun/src/Firmware
build_path: /home/efl4tun/src/Firmware/build/px4_sitl_default
GAZEBO_PLUGIN_PATH :/home/efl4tun/src/Firmware/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/efl4tun/src/Firmware/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /home/efl4tun/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64:/home/efl4tun/src/Firmware/build/px4_sitl_default/build_gazebo
Gazebo multi-robot simulator, version 7.0.0
Copyright (C) 2012-2016 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: 172.23.2.67
[Wrn] [msgs.cc:1655] Conversion of sensor type[imu] not suppported.
[Wrn] [msgs.cc:1655] Conversion of sensor type[sonar] not suppported.
[Err] [Plugin.hh:165] Failed to load plugin libgazebo_gst_camera_plugin.so: libgazebo_gst_camera_plugin.so: cannot open shared object file: No such file or directory
[Msg] Camera on udp port 14530
[Wrn] [gazebo_sonar_plugin.cpp:75] [gazebo_sonar_plugin] Please specify a robotNamespace.
[Wrn] [gazebo_barometer_plugin.cpp:66] [gazebo_barometer_plugin] Using default home altitude of 488 m
[Dbg] [gazebo_mavlink_interface.cpp:129] joint [rotor_4_joint] found for channel[0] joint control active for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:129] joint [rotor_5_joint] found for channel[1] joint control active for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:129] joint [rotor_2_joint] found for channel[2] joint control active for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:129] joint [rotor_3_joint] found for channel[3] joint control active for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:129] joint [rotor_0_joint] found for channel[4] joint control active for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:129] joint [rotor_1_joint] found for channel[5] joint control active for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:129] joint [typhoon_h480::cgo3_camera_joint] found for channel[6] joint control active for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:129] joint [typhoon_h480::cgo3_camera_joint] found for channel[7] joint control active for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:129] joint [typhoon_h480::cgo3_vertical_arm_joint] found for channel[8] joint control active for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:129] joint [left_leg_joint] found for channel[9] joint control active for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:129] joint [right_leg_joint] found for channel[10] joint control active for this channel.
[Msg] Connecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
10.10
SITL COMMAND: "/home/efl4tun/src/Firmware/build/px4_sitl_default/bin/px4" "/home/efl4tun/src/Firmware"/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t "/home/efl4tun/src/Firmware"/test_data
INFO  [px4] Creating symlink /home/efl4tun/src/Firmware/ROMFS/px4fmu_common -> /home/efl4tun/src/Firmware/build/px4_sitl_default/tmp/rootfs/etc
0 WARNING: setRealtimeSched failed (not run as root?)

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to connect on TCP port 4560
INFO  [simulator] Simulator connected on TCP port 4560.
[Msg] Using MAVLink protocol v2.0
[Msg] GimbalControllerPlugin::Init
[Wrn] [msgs.cc:1655] Conversion of sensor type[imu] not suppported.
[Wrn] [msgs.cc:1655] Conversion of sensor type[sonar] not suppported.
[Err] [Scene.cc:2927] Light [sun] not found. Use topic ~/factory/light to spawn a new light.
[Err] [Scene.cc:2927] Light [sun] not found. Use topic ~/factory/light to spawn a new light.
Gazebo multi-robot simulator, version 7.0.0
Copyright (C) 2012-2016 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: 172.23.2.67
INFO  [init] Mixer: etc/mixers/hexa_x.main.mix on /dev/pwm_output0
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14570 remote port 14550
[Wrn] [msgs.cc:1655] Conversion of sensor type[imu] not suppported.
[Wrn] [msgs.cc:1655] Conversion of sensor type[sonar] not suppported.
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 14558 remote port 14530
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] Opened full log file: ./log/2019-06-21/13_53_15.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh> [Wrn] [msgs.cc:1655] Conversion of sensor type[imu] not suppported.
[Wrn] [msgs.cc:1655] Conversion of sensor type[sonar] not suppported.
INFO  [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14)
[Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/typhoon_h480/motors, deleting message. This warning is printed only once.
INFO  [ecl/EKF] EKF GPS checks passed (WGS-84 origin set)
INFO  [ecl/EKF] EKF commencing GPS fusion
INFO  [mavlink] partner IP: 127.0.0.1
INFO  [logger] closed logfile, bytes written: 1486102

efl4tun@efl4tun44:~/src/Firmware$ roslaunch mavros px4.launch fcu_url:="udp://:14540@192.168.1.36:14557"
... logging to /home/efl4tun/.ros/log/f113786e-942b-11e9-a531-40a3ccc110b0/roslaunch-efl4tun44-22943.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://efl4tun44:37457/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 408.0
 * /mavros/fake_gps/geo_origin/lat: 47.3667
 * /mavros/fake_gps/geo_origin/lon: 8.55
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: True
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: udp://:14540@192....
 * /mavros/gcs_url: 
 * /mavros/global_position/child_frame_id: base_link
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/gps_uere: 1.0
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.000349065850399
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/landing_target/camera/fov_x: 2.0071286398
 * /mavros/landing_target/camera/fov_y: 2.0071286398
 * /mavros/landing_target/image/height: 480
 * /mavros/landing_target/image/width: 640
 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /mavros/landing_target/listen_lt: False
 * /mavros/landing_target/mav_frame: LOCAL_NED
 * /mavros/landing_target/target_size/x: 0.3
 * /mavros/landing_target/target_size/y: 0.3
 * /mavros/landing_target/tf/child_frame_id: camera_center
 * /mavros/landing_target/tf/frame_id: landing_target
 * /mavros/landing_target/tf/listen: False
 * /mavros/landing_target/tf/rate_limit: 10.0
 * /mavros/landing_target/tf/send: True
 * /mavros/local_position/frame_id: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/in/child_frame_id: base_link
 * /mavros/odometry/in/frame_id: odom
 * /mavros/odometry/in/frame_tf/body_frame_orientation: flu
 * /mavros/odometry/in/frame_tf/local_frame: local_origin_ned
 * /mavros/odometry/out/frame_tf/body_frame_orientation: frd
 * /mavros/odometry/out/frame_tf/local_frame: vision_ned
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682389136
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_thrust: False
 * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /mavros/setpoint_attitude/tf/frame_id: map
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /mavros/setpoint_attitude/use_quaternion: False
 * /mavros/setpoint_position/mav_frame: LOCAL_NED
 * /mavros/setpoint_position/tf/child_frame_id: target_position
 * /mavros/setpoint_position/tf/frame_id: map
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/setpoint_raw/thrust_scaling: 1.0
 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /mavros/startup_px4_usb_quirk: True
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/time/timesync_mode: MAVLINK
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: map
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: True
 * /mavros/vision_speed/twist_cov: True
 * /mavros/wheel_odometry/child_frame_id: base_link
 * /mavros/wheel_odometry/count: 2
 * /mavros/wheel_odometry/frame_id: map
 * /mavros/wheel_odometry/send_raw: True
 * /mavros/wheel_odometry/send_twist: False
 * /mavros/wheel_odometry/tf/child_frame_id: base_link
 * /mavros/wheel_odometry/tf/frame_id: map
 * /mavros/wheel_odometry/tf/send: True
 * /mavros/wheel_odometry/use_rpm: False
 * /mavros/wheel_odometry/vel_error: 0.1
 * /mavros/wheel_odometry/wheel0/radius: 0.05
 * /mavros/wheel_odometry/wheel0/x: 0.0
 * /mavros/wheel_odometry/wheel0/y: -0.15
 * /mavros/wheel_odometry/wheel1/radius: 0.05
 * /mavros/wheel_odometry/wheel1/x: 0.0
 * /mavros/wheel_odometry/wheel1/y: 0.15
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [22956]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f113786e-942b-11e9-a531-40a3ccc110b0
process[rosout-1]: started with pid [22970]
started core service [/rosout]
process[mavros-2]: started with pid [22988]
[ INFO] [1561125207.641449921]: FCU URL: udp://:14540@192.168.1.36:14557
[ INFO] [1561125207.644909623]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1561125207.645023289]: udp0: Remote address: 192.168.1.36:14557
[ INFO] [1561125207.645365983]: GCS bridge disabled
[ INFO] [1561125207.645677223]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1561125207.669388151]: Plugin 3dr_radio loaded
[ INFO] [1561125207.673336085]: Plugin 3dr_radio initialized
[ INFO] [1561125207.673556361]: Plugin actuator_control loaded
[ INFO] [1561125207.680544260]: Plugin actuator_control initialized
[ INFO] [1561125207.686030167]: Plugin adsb loaded
[ INFO] [1561125207.692449370]: Plugin adsb initialized
[ INFO] [1561125207.692706253]: Plugin altitude loaded
[ INFO] [1561125207.694921266]: Plugin altitude initialized
[ INFO] [1561125207.695133836]: Plugin cam_imu_sync loaded
[ INFO] [1561125207.696460078]: Plugin cam_imu_sync initialized
[ INFO] [1561125207.696737510]: Plugin command loaded
[ INFO] [1561125207.709429075]: Plugin command initialized
[ INFO] [1561125207.709722502]: Plugin companion_process_status loaded
[ INFO] [1561125207.715144831]: Plugin companion_process_status initialized
[ INFO] [1561125207.715363268]: Plugin debug_value loaded
[ INFO] [1561125207.724993743]: Plugin debug_value initialized
[ INFO] [1561125207.725053314]: Plugin distance_sensor blacklisted
[ INFO] [1561125207.725326822]: Plugin fake_gps loaded
[ INFO] [1561125207.754520707]: Plugin fake_gps initialized
[ INFO] [1561125207.754968167]: Plugin ftp loaded
[ INFO] [1561125207.772444076]: Plugin ftp initialized
[ INFO] [1561125207.772817307]: Plugin global_position loaded
[ INFO] [1561125207.807005923]: Plugin global_position initialized
[ INFO] [1561125207.807241440]: Plugin gps_rtk loaded
[ INFO] [1561125207.818898723]: Plugin gps_rtk initialized
[ INFO] [1561125207.819188992]: Plugin hil loaded
[ INFO] [1561125207.852493530]: Plugin hil initialized
[ INFO] [1561125207.852791633]: Plugin home_position loaded
[ INFO] [1561125207.860841113]: Plugin home_position initialized
[ INFO] [1561125207.861116555]: Plugin imu loaded
[ INFO] [1561125207.880922255]: Plugin imu initialized
[ INFO] [1561125207.881167085]: Plugin landing_target loaded
[ INFO] [1561125207.911844350]: Plugin landing_target initialized
[ INFO] [1561125207.912113420]: Plugin local_position loaded
[ INFO] [1561125207.925053142]: Plugin local_position initialized
[ INFO] [1561125207.925373229]: Plugin log_transfer loaded
[ INFO] [1561125207.932237887]: Plugin log_transfer initialized
[ INFO] [1561125207.932544243]: Plugin manual_control loaded
[ INFO] [1561125207.938839566]: Plugin manual_control initialized
[ INFO] [1561125207.939083089]: Plugin mocap_pose_estimate loaded
[ INFO] [1561125207.947408148]: Plugin mocap_pose_estimate initialized
[ INFO] [1561125207.947653887]: Plugin obstacle_distance loaded
[ INFO] [1561125207.952709652]: Plugin obstacle_distance initialized
[ INFO] [1561125207.952950803]: Plugin odom loaded
[ INFO] [1561125207.968857497]: Plugin odom initialized
[ INFO] [1561125207.969226555]: Plugin param loaded
[ INFO] [1561125207.976025939]: Plugin param initialized
[ INFO] [1561125207.976281123]: Plugin px4flow loaded
[ INFO] [1561125207.992428337]: Plugin px4flow initialized
[ INFO] [1561125207.992488884]: Plugin rangefinder blacklisted
[ INFO] [1561125207.992816477]: Plugin rc_io loaded
[ INFO] [1561125208.001502556]: Plugin rc_io initialized
[ INFO] [1561125208.001586419]: Plugin safety_area blacklisted
[ INFO] [1561125208.001979158]: Plugin setpoint_accel loaded
[ INFO] [1561125208.008366275]: Plugin setpoint_accel initialized
[ INFO] [1561125208.008898636]: Plugin setpoint_attitude loaded
[ INFO] [1561125208.032430879]: Plugin setpoint_attitude initialized
[ INFO] [1561125208.032748287]: Plugin setpoint_position loaded
[ INFO] [1561125208.064006808]: Plugin setpoint_position initialized
[ INFO] [1561125208.064370058]: Plugin setpoint_raw loaded
[ INFO] [1561125208.083772045]: Plugin setpoint_raw initialized
[ INFO] [1561125208.084066215]: Plugin setpoint_velocity loaded
[ INFO] [1561125208.096678622]: Plugin setpoint_velocity initialized
[ INFO] [1561125208.097261290]: Plugin sys_status loaded
[ INFO] [1561125208.121181915]: Plugin sys_status initialized
[ INFO] [1561125208.121552551]: Plugin sys_time loaded
[ INFO] [1561125208.136356395]: TM: Timesync mode: MAVLINK
[ INFO] [1561125208.139644629]: Plugin sys_time initialized
[ INFO] [1561125208.139864824]: Plugin trajectory loaded
[ INFO] [1561125208.151302752]: Plugin trajectory initialized
[ INFO] [1561125208.151607059]: Plugin vfr_hud loaded
[ INFO] [1561125208.153261455]: Plugin vfr_hud initialized
[ INFO] [1561125208.153320352]: Plugin vibration blacklisted
[ INFO] [1561125208.153560083]: Plugin vision_pose_estimate loaded
[ INFO] [1561125208.171531513]: Plugin vision_pose_estimate initialized
[ INFO] [1561125208.171789616]: Plugin vision_speed_estimate loaded
[ INFO] [1561125208.180256563]: Plugin vision_speed_estimate initialized
[ INFO] [1561125208.180592148]: Plugin waypoint loaded
[ INFO] [1561125208.190944580]: Plugin waypoint initialized
[ INFO] [1561125208.191024774]: Plugin wheel_odometry blacklisted
[ INFO] [1561125208.191394253]: Plugin wind_estimation loaded
[ INFO] [1561125208.192875786]: Plugin wind_estimation initialized
[ INFO] [1561125208.192974564]: Autostarting mavlink via USB on PX4
[ INFO] [1561125208.193178398]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1561125208.193221781]: Built-in MAVLink package version: 2019.6.7
[ INFO] [1561125208.193266402]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1561125208.193308752]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1561125208.204860039]: IMU: Attitude quaternion IMU detected!
[ INFO] [1561125208.205971516]: IMU: Scaled IMU message used.
[ INFO] [1561125208.206499410]: IMU: High resolution IMU detected!
[ INFO] [1561125208.728010078]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1561125208.738779970]: IMU: Attitude quaternion IMU detected!
[ INFO] [1561125208.746668516]: IMU: Scaled IMU message used.
[ INFO] [1561125208.747157582]: IMU: High resolution IMU detected!
[ INFO] [1561125209.730639562]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1561125209.730695573]: VER: 1.1: Flight software:     01090000 (ed8c6019d5000000)
[ INFO] [1561125209.730746105]: VER: 1.1: Middleware software: 01090000 (ed8c6019d5000000)
[ INFO] [1561125209.730789554]: VER: 1.1: OS software:         040f00ff (423371c7d4012e72)
[ INFO] [1561125209.730829569]: VER: 1.1: Board hardware:      00000001
[ INFO] [1561125209.730875820]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1561125209.730914928]: VER: 1.1: UID:                 4954414c44494e4f
[ WARN] [1561125209.835915128]: CMD: Unexpected command 520, result 0
[ INFO] [1561125218.728626221]: FCU: ARMED by Arm/Disarm component command
[ WARN] [1561125222.798518914]: CMD: Unexpected command 176, result 1
[ INFO] [1561125223.729058404]: WP: mission received
[ INFO] [1561125228.751712153]: FCU: DISARMED by Auto disarm on land

Diagnostics

rostopic echo -n1 /diagnostics
header: 
  seq: 78
  stamp: 
    secs: 1561125662
    nsecs: 803152426
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "udp://:14540@192.168.1.36:14557"
    values: 
      - 
        key: "Received packets:"
        value: "47697"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "243"
      - 
        key: "Tx sequence number:"
        value: "112"
      - 
        key: "Rx total bytes:"
        value: "2617932"
      - 
        key: "Tx total bytes:"
        value: "55973"
      - 
        key: "Rx speed:"
        value: "39412.000000"
      - 
        key: "Tx speed:"
        value: "875.000000"
  - 
    level: 0
    name: "mavros: GPS"
    message: "3D fix"
    hardware_id: "udp://:14540@192.168.1.36:14557"
    values: 
      - 
        key: "Satellites visible"
        value: "10"
      - 
        key: "Fix type"
        value: "3"
      - 
        key: "EPH (m)"
        value: "0.00"
      - 
        key: "EPV (m)"
        value: "0.00"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "udp://:14540@192.168.1.36:14557"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "98"
      - 
        key: "Frequency (Hz)"
        value: "0.999945"
      - 
        key: "Vehicle type"
        value: "Hexarotor"
      - 
        key: "Autopilot type"
        value: "PX4 Autopilot"
      - 
        key: "Mode"
        value: "AUTO.LOITER"
      - 
        key: "System status"
        value: "Standby"
  - 
    level: 0
    name: "mavros: System"
    message: "Normal"
    hardware_id: "udp://:14540@192.168.1.36:14557"
    values: 
      - 
        key: "Sensor present"
        value: "0x0024002F"
      - 
        key: "Sensor enabled"
        value: "0x0020000F"
      - 
        key: "Sensor helth"
        value: "0x0024002F"
      - 
        key: "3D gyro"
        value: "Ok"
      - 
        key: "3D accelerometer"
        value: "Ok"
      - 
        key: "3D magnetometer"
        value: "Ok"
      - 
        key: "absolute pressure"
        value: "Ok"
      - 
        key: "AHRS subsystem health"
        value: "Ok"
      - 
        key: "CPU Load (%)"
        value: "0.0"
      - 
        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: 0
    name: "mavros: Battery"
    message: "Normal"
    hardware_id: "udp://:14540@192.168.1.36:14557"
    values: 
      - 
        key: "Voltage"
        value: "12.15"
      - 
        key: "Current"
        value: "-1.0"
      - 
        key: "Remaining"
        value: "100.0"
  - 
    level: 0
    name: "mavros: Time Sync"
    message: "Normal"
    hardware_id: "udp://:14540@192.168.1.36:14557"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "980"
      - 
        key: "Frequency (Hz)"
        value: "9.999447"
      - 
        key: "Last RTT (ms)"
        value: "0.166549"
      - 
        key: "Mean RTT (ms)"
        value: "0.223549"
      - 
        key: "Last remote time (s)"
        value: "467.780000000"
      - 
        key: "Estimated time offset (s)"
        value: "1561125194.968325138"

Check ID

efl4tun@efl4tun44:~/catkin_ws/src/dronemap/src/scripts$ rosrun mavros checkid
OK. I got messages from 1:1.

---
Received 7172 messages, from 1 addresses
sys:comp   list of messages
  1:1     0, 1, 2, 4, 265, 140, 141, 147, 24, 132, 26, 30, 31, 32, 33, 36, 74, 331, 76, 340, 87, 230, 105, 111, 241, 242, 245
Jaeyoung-Lim commented 5 years ago

Global position setpoints are not supported by PX4

omeralierdemir commented 5 years ago

Really ? I want to send my quadcopter to the latitude, longitude and altitude coordinates I have specified. How can I do ? What can I use ?

Jaeyoung-Lim commented 5 years ago

@omeralierdemir You can send waypoints to the flight controller and put the vehicle in mission mode. Its just offboard global position setpoints are not supported in PX4

omeralierdemir commented 5 years ago

thanks for your help :)