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MAVLink to ROS gateway with proxy for Ground Control Station
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Mavros utility commands dont work (rosrun mavros mav-) #1281

Open Ahmad-Drak opened 5 years ago

Ahmad-Drak commented 5 years ago

Issue details

Running a uav and rover in one gazebo environment. I was able to control the uav via the MAVSDK FollowMe example. However, when trying to arm, or change params or mode it doesnt work (rover and/or uav)

for example, rosrun mavros mavsys -n rover/mavros mode -c OFFBOARD returns 'Request failed. Check mavros logs' and on the mavros node output '[ERROR] [1563869754.992496434, 27.980000000]: MODE: Unsupported FCU'

MAVROS version and platform

Mavros: 0.29.2 ROS: Melodic Ubuntu: 18.04

Autopilot type and version

[ x ] PX4

Version: 1.0.0

Node logs

ahmad@ahmad-dds:~$ roslaunch px4 dev_multi_uav_mavros_sitl_sdf.launch 
... logging to /home/ahmad/.ros/log/e19406d8-ad21-11e9-b63e-1831bfcc8e3f/roslaunch-ahmad-dds-32121.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/ahmad/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://ahmad-dds:43675/

SUMMARY
========

CLEAR PARAMETERS
 * /rover/mavros/
 * /uav/mavros/

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /rover/mavros/cmd/use_comp_id_system_control: False
 * /rover/mavros/conn/heartbeat_rate: 1.0
 * /rover/mavros/conn/system_time_rate: 1.0
 * /rover/mavros/conn/timeout: 10.0
 * /rover/mavros/conn/timesync_rate: 10.0
 * /rover/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /rover/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /rover/mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /rover/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /rover/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /rover/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /rover/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /rover/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /rover/mavros/distance_sensor/laser_1_sub/id: 3
 * /rover/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /rover/mavros/distance_sensor/laser_1_sub/subscriber: True
 * /rover/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /rover/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /rover/mavros/distance_sensor/lidarlite_pub/id: 1
 * /rover/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /rover/mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /rover/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /rover/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /rover/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /rover/mavros/distance_sensor/sonar_1_sub/id: 2
 * /rover/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /rover/mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /rover/mavros/fake_gps/eph: 2.0
 * /rover/mavros/fake_gps/epv: 2.0
 * /rover/mavros/fake_gps/fix_type: 3
 * /rover/mavros/fake_gps/geo_origin/alt: 408.0
 * /rover/mavros/fake_gps/geo_origin/lat: 47.3667
 * /rover/mavros/fake_gps/geo_origin/lon: 8.55
 * /rover/mavros/fake_gps/gps_rate: 5.0
 * /rover/mavros/fake_gps/mocap_transform: True
 * /rover/mavros/fake_gps/satellites_visible: 5
 * /rover/mavros/fake_gps/tf/child_frame_id: fix
 * /rover/mavros/fake_gps/tf/frame_id: map
 * /rover/mavros/fake_gps/tf/listen: False
 * /rover/mavros/fake_gps/tf/rate_limit: 10.0
 * /rover/mavros/fake_gps/tf/send: False
 * /rover/mavros/fake_gps/use_mocap: True
 * /rover/mavros/fake_gps/use_vision: False
 * /rover/mavros/fcu_protocol: v2.0
 * /rover/mavros/fcu_url: udp://:14542@loca...
 * /rover/mavros/gcs_url: 
 * /rover/mavros/global_position/child_frame_id: base_link
 * /rover/mavros/global_position/frame_id: map
 * /rover/mavros/global_position/gps_uere: 1.0
 * /rover/mavros/global_position/rot_covariance: 99999.0
 * /rover/mavros/global_position/tf/child_frame_id: base_link
 * /rover/mavros/global_position/tf/frame_id: map
 * /rover/mavros/global_position/tf/global_frame_id: earth
 * /rover/mavros/global_position/tf/send: False
 * /rover/mavros/global_position/use_relative_alt: True
 * /rover/mavros/image/frame_id: px4flow
 * /rover/mavros/imu/angular_velocity_stdev: 0.000349065850399
 * /rover/mavros/imu/frame_id: base_link
 * /rover/mavros/imu/linear_acceleration_stdev: 0.0003
 * /rover/mavros/imu/magnetic_stdev: 0.0
 * /rover/mavros/imu/orientation_stdev: 1.0
 * /rover/mavros/local_position/frame_id: map
 * /rover/mavros/local_position/tf/child_frame_id: base_link
 * /rover/mavros/local_position/tf/frame_id: map
 * /rover/mavros/local_position/tf/send: False
 * /rover/mavros/local_position/tf/send_fcu: False
 * /rover/mavros/mission/pull_after_gcs: True
 * /rover/mavros/mocap/use_pose: True
 * /rover/mavros/mocap/use_tf: False
 * /rover/mavros/odometry/in/child_frame_id: base_link
 * /rover/mavros/odometry/in/frame_id: odom
 * /rover/mavros/odometry/in/frame_tf/body_frame_orientation: flu
 * /rover/mavros/odometry/in/frame_tf/local_frame: local_origin_ned
 * /rover/mavros/odometry/out/frame_tf/body_frame_orientation: frd
 * /rover/mavros/odometry/out/frame_tf/local_frame: vision_ned
 * /rover/mavros/plugin_blacklist: ['safety_area', '...
 * /rover/mavros/plugin_whitelist: []
 * /rover/mavros/px4flow/frame_id: px4flow
 * /rover/mavros/px4flow/ranger_fov: 0.118682389136
 * /rover/mavros/px4flow/ranger_max_range: 5.0
 * /rover/mavros/px4flow/ranger_min_range: 0.3
 * /rover/mavros/safety_area/p1/x: 1.0
 * /rover/mavros/safety_area/p1/y: 1.0
 * /rover/mavros/safety_area/p1/z: 1.0
 * /rover/mavros/safety_area/p2/x: -1.0
 * /rover/mavros/safety_area/p2/y: -1.0
 * /rover/mavros/safety_area/p2/z: -1.0
 * /rover/mavros/setpoint_accel/send_force: False
 * /rover/mavros/setpoint_attitude/reverse_thrust: False
 * /rover/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /rover/mavros/setpoint_attitude/tf/frame_id: map
 * /rover/mavros/setpoint_attitude/tf/listen: False
 * /rover/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /rover/mavros/setpoint_attitude/use_quaternion: False
 * /rover/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /rover/mavros/setpoint_position/tf/child_frame_id: target_position
 * /rover/mavros/setpoint_position/tf/frame_id: map
 * /rover/mavros/setpoint_position/tf/listen: False
 * /rover/mavros/setpoint_position/tf/rate_limit: 50.0
 * /rover/mavros/setpoint_raw/thrust_scaling: 1.0
 * /rover/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /rover/mavros/startup_px4_usb_quirk: True
 * /rover/mavros/sys/disable_diag: False
 * /rover/mavros/sys/min_voltage: 10.0
 * /rover/mavros/target_component_id: 1
 * /rover/mavros/target_system_id: 2
 * /rover/mavros/tdr_radio/low_rssi: 40
 * /rover/mavros/time/time_ref_source: fcu
 * /rover/mavros/time/timesync_avg_alpha: 0.6
 * /rover/mavros/time/timesync_mode: MAVLINK
 * /rover/mavros/vibration/frame_id: base_link
 * /rover/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /rover/mavros/vision_pose/tf/frame_id: map
 * /rover/mavros/vision_pose/tf/listen: False
 * /rover/mavros/vision_pose/tf/rate_limit: 10.0
 * /rover/mavros/vision_speed/listen_twist: True
 * /rover/mavros/vision_speed/twist_cov: True
 * /rover/mavros/wheel_odometry/child_frame_id: base_link
 * /rover/mavros/wheel_odometry/count: 2
 * /rover/mavros/wheel_odometry/frame_id: map
 * /rover/mavros/wheel_odometry/send_raw: True
 * /rover/mavros/wheel_odometry/send_twist: False
 * /rover/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /rover/mavros/wheel_odometry/tf/frame_id: map
 * /rover/mavros/wheel_odometry/tf/send: True
 * /rover/mavros/wheel_odometry/use_rpm: False
 * /rover/mavros/wheel_odometry/vel_error: 0.1
 * /rover/mavros/wheel_odometry/wheel0/radius: 0.05
 * /rover/mavros/wheel_odometry/wheel0/x: 0.0
 * /rover/mavros/wheel_odometry/wheel0/y: -0.15
 * /rover/mavros/wheel_odometry/wheel1/radius: 0.05
 * /rover/mavros/wheel_odometry/wheel1/x: 0.0
 * /rover/mavros/wheel_odometry/wheel1/y: 0.15
 * /rover/model_description: <?xml version="1....
 * /uav/mavros/cmd/use_comp_id_system_control: False
 * /uav/mavros/conn/heartbeat_rate: 1.0
 * /uav/mavros/conn/system_time_rate: 1.0
 * /uav/mavros/conn/timeout: 10.0
 * /uav/mavros/conn/timesync_rate: 10.0
 * /uav/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /uav/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /uav/mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /uav/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /uav/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /uav/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /uav/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /uav/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /uav/mavros/distance_sensor/laser_1_sub/id: 3
 * /uav/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /uav/mavros/distance_sensor/laser_1_sub/subscriber: True
 * /uav/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /uav/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /uav/mavros/distance_sensor/lidarlite_pub/id: 1
 * /uav/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /uav/mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /uav/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /uav/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /uav/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /uav/mavros/distance_sensor/sonar_1_sub/id: 2
 * /uav/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /uav/mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /uav/mavros/fake_gps/eph: 2.0
 * /uav/mavros/fake_gps/epv: 2.0
 * /uav/mavros/fake_gps/fix_type: 3
 * /uav/mavros/fake_gps/geo_origin/alt: 408.0
 * /uav/mavros/fake_gps/geo_origin/lat: 47.3667
 * /uav/mavros/fake_gps/geo_origin/lon: 8.55
 * /uav/mavros/fake_gps/gps_rate: 5.0
 * /uav/mavros/fake_gps/mocap_transform: True
 * /uav/mavros/fake_gps/satellites_visible: 5
 * /uav/mavros/fake_gps/tf/child_frame_id: fix
 * /uav/mavros/fake_gps/tf/frame_id: map
 * /uav/mavros/fake_gps/tf/listen: False
 * /uav/mavros/fake_gps/tf/rate_limit: 10.0
 * /uav/mavros/fake_gps/tf/send: False
 * /uav/mavros/fake_gps/use_mocap: True
 * /uav/mavros/fake_gps/use_vision: False
 * /uav/mavros/fcu_protocol: v2.0
 * /uav/mavros/fcu_url: udp://:14541@loca...
 * /uav/mavros/gcs_url: 
 * /uav/mavros/global_position/child_frame_id: base_link
 * /uav/mavros/global_position/frame_id: map
 * /uav/mavros/global_position/gps_uere: 1.0
 * /uav/mavros/global_position/rot_covariance: 99999.0
 * /uav/mavros/global_position/tf/child_frame_id: base_link
 * /uav/mavros/global_position/tf/frame_id: map
 * /uav/mavros/global_position/tf/global_frame_id: earth
 * /uav/mavros/global_position/tf/send: False
 * /uav/mavros/global_position/use_relative_alt: True
 * /uav/mavros/image/frame_id: px4flow
 * /uav/mavros/imu/angular_velocity_stdev: 0.000349065850399
 * /uav/mavros/imu/frame_id: base_link
 * /uav/mavros/imu/linear_acceleration_stdev: 0.0003
 * /uav/mavros/imu/magnetic_stdev: 0.0
 * /uav/mavros/imu/orientation_stdev: 1.0
 * /uav/mavros/local_position/frame_id: map
 * /uav/mavros/local_position/tf/child_frame_id: base_link
 * /uav/mavros/local_position/tf/frame_id: map
 * /uav/mavros/local_position/tf/send: False
 * /uav/mavros/local_position/tf/send_fcu: False
 * /uav/mavros/mission/pull_after_gcs: True
 * /uav/mavros/mocap/use_pose: True
 * /uav/mavros/mocap/use_tf: False
 * /uav/mavros/odometry/in/child_frame_id: base_link
 * /uav/mavros/odometry/in/frame_id: odom
 * /uav/mavros/odometry/in/frame_tf/body_frame_orientation: flu
 * /uav/mavros/odometry/in/frame_tf/local_frame: local_origin_ned
 * /uav/mavros/odometry/out/frame_tf/body_frame_orientation: frd
 * /uav/mavros/odometry/out/frame_tf/local_frame: vision_ned
 * /uav/mavros/plugin_blacklist: ['safety_area', '...
 * /uav/mavros/plugin_whitelist: []
 * /uav/mavros/px4flow/frame_id: px4flow
 * /uav/mavros/px4flow/ranger_fov: 0.118682389136
 * /uav/mavros/px4flow/ranger_max_range: 5.0
 * /uav/mavros/px4flow/ranger_min_range: 0.3
 * /uav/mavros/safety_area/p1/x: 1.0
 * /uav/mavros/safety_area/p1/y: 1.0
 * /uav/mavros/safety_area/p1/z: 1.0
 * /uav/mavros/safety_area/p2/x: -1.0
 * /uav/mavros/safety_area/p2/y: -1.0
 * /uav/mavros/safety_area/p2/z: -1.0
 * /uav/mavros/setpoint_accel/send_force: False
 * /uav/mavros/setpoint_attitude/reverse_thrust: False
 * /uav/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /uav/mavros/setpoint_attitude/tf/frame_id: map
 * /uav/mavros/setpoint_attitude/tf/listen: False
 * /uav/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /uav/mavros/setpoint_attitude/use_quaternion: False
 * /uav/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /uav/mavros/setpoint_position/tf/child_frame_id: target_position
 * /uav/mavros/setpoint_position/tf/frame_id: map
 * /uav/mavros/setpoint_position/tf/listen: False
 * /uav/mavros/setpoint_position/tf/rate_limit: 50.0
 * /uav/mavros/setpoint_raw/thrust_scaling: 1.0
 * /uav/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /uav/mavros/startup_px4_usb_quirk: True
 * /uav/mavros/sys/disable_diag: False
 * /uav/mavros/sys/min_voltage: 10.0
 * /uav/mavros/target_component_id: 1
 * /uav/mavros/target_system_id: 0
 * /uav/mavros/tdr_radio/low_rssi: 40
 * /uav/mavros/time/time_ref_source: fcu
 * /uav/mavros/time/timesync_avg_alpha: 0.6
 * /uav/mavros/time/timesync_mode: MAVLINK
 * /uav/mavros/vibration/frame_id: base_link
 * /uav/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /uav/mavros/vision_pose/tf/frame_id: map
 * /uav/mavros/vision_pose/tf/listen: False
 * /uav/mavros/vision_pose/tf/rate_limit: 10.0
 * /uav/mavros/vision_speed/listen_twist: True
 * /uav/mavros/vision_speed/twist_cov: True
 * /uav/mavros/wheel_odometry/child_frame_id: base_link
 * /uav/mavros/wheel_odometry/count: 2
 * /uav/mavros/wheel_odometry/frame_id: map
 * /uav/mavros/wheel_odometry/send_raw: True
 * /uav/mavros/wheel_odometry/send_twist: False
 * /uav/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /uav/mavros/wheel_odometry/tf/frame_id: map
 * /uav/mavros/wheel_odometry/tf/send: True
 * /uav/mavros/wheel_odometry/use_rpm: False
 * /uav/mavros/wheel_odometry/vel_error: 0.1
 * /uav/mavros/wheel_odometry/wheel0/radius: 0.05
 * /uav/mavros/wheel_odometry/wheel0/x: 0.0
 * /uav/mavros/wheel_odometry/wheel0/y: -0.15
 * /uav/mavros/wheel_odometry/wheel1/radius: 0.05
 * /uav/mavros/wheel_odometry/wheel1/x: 0.0
 * /uav/mavros/wheel_odometry/wheel1/y: 0.15
 * /uav/model_description: <?xml version="1....
 * /use_sim_time: True

NODES
  /uav/
    iris_0_spawn (gazebo_ros/spawn_model)
    mavros (mavros/mavros_node)
    sitl_0 (px4/px4)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
  /rover/
    mavros (mavros/mavros_node)
    rover_1_spawn (gazebo_ros/spawn_model)
    sitl_1 (px4/px4)

auto-starting new master
process[master]: started with pid [32133]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e19406d8-ad21-11e9-b63e-1831bfcc8e3f
process[rosout-1]: started with pid [32144]
started core service [/rosout]
process[gazebo-2]: started with pid [32152]
process[gazebo_gui-3]: started with pid [32157]
process[uav/sitl_0-4]: started with pid [32164]
INFO  [px4] Creating symlink /home/ahmad/px4_2/Firmware/ROMFS/px4fmu_common -> /home/ahmad/.ros/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
process[uav/iris_0_spawn-5]: started with pid [32179]
process[uav/mavros-6]: started with pid [32186]
+ MAV_SYS_ID: curr: 2 -> new: 1
+ SYS_AUTOSTART: curr: 1060 -> new: 10016
+ CBRK_AIRSPD_CHK: curr: 162128 -> new: 0
+ MIS_TAKEOFF_ALT: curr: 0.0100 -> new: 2.5000
[ INFO] [1563869664.987964489]: FCU URL: udp://:14541@localhost:14580
[ INFO] [1563869664.989514189]: udp0: Bind address: 0.0.0.0:14541
[ INFO] [1563869664.989590336]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1563869664.989765912]: GCS bridge disabled
+ NAV_ACC_RAD: curr: 0.5000 -> new: 2.0000
process[rover/sitl_1-7]: started with pid [32308]
INFO  [px4] Creating symlink /home/ahmad/px4_2/Firmware/ROMFS/px4fmu_common -> /home/ahmad/.ros/etc
0 WARNING: setRealtimeSched failed (not run as root?)

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 1
+ NAV_DLL_ACT: curr: 0 -> new: 2
[ INFO] [1563869664.997651711]: Plugin 3dr_radio loaded
[ INFO] [1563869664.999158943]: Plugin 3dr_radio initialized
[ INFO] [1563869664.999274871]: Plugin actuator_control loaded
process[rover/rover_1_spawn-8]: started with pid [32334]
[ INFO] [1563869665.001484465]: Plugin actuator_control initialized
[ INFO] [1563869665.005023273]: Plugin adsb loaded
process[rover/mavros-9]: started with pid [32354]
[ INFO] [1563869665.007603375]: Plugin adsb initialized
[ INFO] [1563869665.007759559]: Plugin altitude loaded
[ INFO] [1563869665.008567651]: Plugin altitude initialized
[ INFO] [1563869665.008673957]: Plugin cam_imu_sync loaded
[ INFO] [1563869665.009193166]: Plugin cam_imu_sync initialized
[ INFO] [1563869665.009337046]: Plugin command loaded
[ INFO] [1563869665.014220868]: Plugin command initialized
[ INFO] [1563869665.014361477]: Plugin companion_process_status loaded
[ INFO] [1563869665.016077160]: Plugin companion_process_status initialized
[ INFO] [1563869665.016203439]: Plugin debug_value loaded
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
[ INFO] [1563869665.020234858]: Plugin debug_value initialized
[ INFO] [1563869665.020288504]: Plugin distance_sensor blacklisted
[ INFO] [1563869665.020485565]: Plugin fake_gps loaded
+ RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
INFO  [simulator] Waiting for simulator to connect on TCP port 4561
+ RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to connect on TCP port 4560
[ INFO] [1563869665.036116384]: Plugin fake_gps initialized
[ INFO] [1563869665.036273592]: Plugin ftp loaded
[ INFO] [1563869665.041955244]: Plugin ftp initialized
[ INFO] [1563869665.042085289]: Plugin global_position loaded
[ INFO] [1563869665.053376414]: Plugin global_position initialized
[ INFO] [1563869665.053493462]: Plugin gps_rtk loaded
[ INFO] [1563869665.055275453]: Plugin gps_rtk initialized
[ INFO] [1563869665.055378126]: Plugin hil loaded
[ INFO] [1563869665.066655258]: Plugin hil initialized
[ INFO] [1563869665.066785442]: Plugin home_position loaded
[ INFO] [1563869665.069578645]: Plugin home_position initialized
[ INFO] [1563869665.069707573]: Plugin imu loaded
[ INFO] [1563869665.075452239]: Plugin imu initialized
[ INFO] [1563869665.075573273]: Plugin local_position loaded
[ INFO] [1563869665.080378810]: Plugin local_position initialized
[ INFO] [1563869665.080495394]: Plugin log_transfer loaded
[ INFO] [1563869665.082791726]: Plugin log_transfer initialized
[ INFO] [1563869665.082910587]: Plugin manual_control loaded
[ INFO] [1563869665.084995988]: Plugin manual_control initialized
[ INFO] [1563869665.085117257]: Plugin mocap_pose_estimate loaded
[ INFO] [1563869665.089356326]: Plugin mocap_pose_estimate initialized
[ INFO] [1563869665.089478839]: Plugin obstacle_distance loaded
[ INFO] [1563869665.091934126]: FCU URL: udp://:14542@localhost:14581
[ INFO] [1563869665.091993009]: Plugin obstacle_distance initialized
[ INFO] [1563869665.092111652]: Plugin odom loaded
[ INFO] [1563869665.094011310]: udp0: Bind address: 0.0.0.0:14542
[ INFO] [1563869665.094109289]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1563869665.094336153]: GCS bridge disabled
[ INFO] [1563869665.098333174]: Plugin odom initialized
[ INFO] [1563869665.098485058]: Plugin param loaded
[ INFO] [1563869665.100736053]: Plugin param initialized
[ INFO] [1563869665.100835852]: Plugin px4flow loaded
[ INFO] [1563869665.105604927]: Plugin 3dr_radio loaded
[ INFO] [1563869665.105778081]: Plugin px4flow initialized
[ INFO] [1563869665.105814753]: Plugin rangefinder blacklisted
[ INFO] [1563869665.105977261]: Plugin rc_io loaded
[ INFO] [1563869665.107286371]: Plugin 3dr_radio initialized
[ INFO] [1563869665.107373686]: Plugin actuator_control loaded
[ INFO] [1563869665.109980049]: Plugin rc_io initialized
[ INFO] [1563869665.110025757]: Plugin safety_area blacklisted
[ INFO] [1563869665.110159260]: Plugin setpoint_accel loaded
[ INFO] [1563869665.110660245]: Plugin actuator_control initialized
[ INFO] [1563869665.112694437]: Plugin setpoint_accel initialized
[ INFO] [1563869665.112927511]: Plugin setpoint_attitude loaded
[ INFO] [1563869665.113866079]: Plugin adsb loaded
[ INFO] [1563869665.117566226]: Plugin adsb initialized
[ INFO] [1563869665.117693996]: Plugin altitude loaded
[ INFO] [1563869665.118855524]: Plugin altitude initialized
[ INFO] [1563869665.118959469]: Plugin cam_imu_sync loaded
[ INFO] [1563869665.119517927]: Plugin cam_imu_sync initialized
[ INFO] [1563869665.119640493]: Plugin command loaded
[ INFO] [1563869665.123620758]: Plugin setpoint_attitude initialized
[ INFO] [1563869665.123692744]: Plugin command initialized
[ INFO] [1563869665.123776002]: Plugin companion_process_status loaded
[ INFO] [1563869665.123781366]: Plugin setpoint_position loaded
[ INFO] [1563869665.126362151]: Plugin companion_process_status initialized
[ INFO] [1563869665.126481677]: Plugin debug_value loaded
[ INFO] [1563869665.134319568]: Plugin debug_value initialized
[ INFO] [1563869665.134354529]: Plugin distance_sensor blacklisted
[ INFO] [1563869665.134491500]: Plugin fake_gps loaded
[ INFO] [1563869665.141801866]: Plugin setpoint_position initialized
[ INFO] [1563869665.141948033]: Plugin setpoint_raw loaded
[ INFO] [1563869665.150565329]: Plugin fake_gps initialized
[ INFO] [1563869665.150707635]: Plugin ftp loaded
[ INFO] [1563869665.152000641]: Plugin setpoint_raw initialized
[ INFO] [1563869665.152149258]: Plugin setpoint_velocity loaded
[ INFO] [1563869665.159132739]: Plugin setpoint_velocity initialized
[ INFO] [1563869665.159412929]: Plugin sys_status loaded
[ INFO] [1563869665.159497040]: Plugin ftp initialized
[ INFO] [1563869665.159632742]: Plugin global_position loaded
[ INFO] [1563869665.172418137]: Plugin sys_status initialized
[ INFO] [1563869665.172590932]: Plugin sys_time loaded
[ INFO] [1563869665.179630440]: Plugin global_position initialized
[ INFO] [1563869665.179769820]: Plugin gps_rtk loaded
[ INFO] [1563869665.180584837]: TM: Timesync mode: MAVLINK
[ INFO] [1563869665.183158738]: Plugin sys_time initialized
[ INFO] [1563869665.183254960]: Plugin trajectory loaded
[ INFO] [1563869665.184284873]: Plugin gps_rtk initialized
[ INFO] [1563869665.184420810]: Plugin hil loaded
[ INFO] [1563869665.186085791]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1563869665.187608388]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1563869665.189742262]: Plugin trajectory initialized
[ INFO] [1563869665.189890161]: Plugin vfr_hud loaded
[ INFO] [1563869665.190676710]: Plugin vfr_hud initialized
[ INFO] [1563869665.190705118]: Plugin vibration blacklisted
[ INFO] [1563869665.190812351]: Plugin vision_pose_estimate loaded
[ INFO] [1563869665.199161959]: Plugin vision_pose_estimate initialized
[ INFO] [1563869665.199311828]: Plugin vision_speed_estimate loaded
[ INFO] [1563869665.200402284]: Plugin hil initialized
[ INFO] [1563869665.200512370]: Plugin home_position loaded
[ INFO] [1563869665.202868009]: Plugin vision_speed_estimate initialized
[ INFO] [1563869665.203040933]: Plugin waypoint loaded
[ INFO] [1563869665.203593162]: Plugin home_position initialized
[ INFO] [1563869665.203696311]: Plugin imu loaded
[ INFO] [1563869665.207479266]: Plugin waypoint initialized
[ INFO] [1563869665.207510023]: Plugin wheel_odometry blacklisted
[ INFO] [1563869665.207604691]: Plugin wind_estimation loaded
[ INFO] [1563869665.208368884]: Plugin wind_estimation initialized
[ INFO] [1563869665.208399464]: Autostarting mavlink via USB on PX4
[ INFO] [1563869665.208491228]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1563869665.208514803]: Built-in MAVLink package version: 2019.4.4
[ INFO] [1563869665.208534615]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1563869665.208550567]: MAVROS started. MY ID 1.240, TARGET ID 0.1
[ INFO] [1563869665.209325289]: Plugin imu initialized
[ INFO] [1563869665.209420379]: Plugin local_position loaded
[ INFO] [1563869665.212586909]: Plugin local_position initialized
[ INFO] [1563869665.212679702]: Plugin log_transfer loaded
[ INFO] [1563869665.214384482]: Plugin log_transfer initialized
[ INFO] [1563869665.214477138]: Plugin manual_control loaded
[ INFO] [1563869665.216060319]: Plugin manual_control initialized
[ INFO] [1563869665.216134990]: Plugin mocap_pose_estimate loaded
[ INFO] [1563869665.217920083]: Plugin mocap_pose_estimate initialized
[ INFO] [1563869665.217999830]: Plugin obstacle_distance loaded
[ INFO] [1563869665.219215198]: Plugin obstacle_distance initialized
[ INFO] [1563869665.219297312]: Plugin odom loaded
[ INFO] [1563869665.222505993]: Plugin odom initialized
[ INFO] [1563869665.222626009]: Plugin param loaded
[ INFO] [1563869665.224276706]: Plugin param initialized
[ INFO] [1563869665.224359988]: Plugin px4flow loaded
[ INFO] [1563869665.227620313]: Plugin px4flow initialized
[ INFO] [1563869665.227654809]: Plugin rangefinder blacklisted
[ INFO] [1563869665.227808952]: Plugin rc_io loaded
[ INFO] [1563869665.229867927]: Plugin rc_io initialized
[ INFO] [1563869665.229906148]: Plugin safety_area blacklisted
[ INFO] [1563869665.230024402]: Plugin setpoint_accel loaded
[ INFO] [1563869665.231529733]: Plugin setpoint_accel initialized
[ INFO] [1563869665.231746378]: Plugin setpoint_attitude loaded
[ INFO] [1563869665.239806517]: Plugin setpoint_attitude initialized
[ INFO] [1563869665.239940612]: Plugin setpoint_position loaded
[ INFO] [1563869665.243282508]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1563869665.244440449]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1563869665.250907890]: Plugin setpoint_position initialized
[ INFO] [1563869665.251055403]: Plugin setpoint_raw loaded
[ INFO] [1563869665.257371601]: Plugin setpoint_raw initialized
[ INFO] [1563869665.257471852]: Plugin setpoint_velocity loaded
[ INFO] [1563869665.261135492]: Plugin setpoint_velocity initialized
[ INFO] [1563869665.261327902]: Plugin sys_status loaded
[ INFO] [1563869665.268611849]: Plugin sys_status initialized
[ INFO] [1563869665.268713700]: Plugin sys_time loaded
[ INFO] [1563869665.272583923]: TM: Timesync mode: MAVLINK
[ INFO] [1563869665.273386441]: Plugin sys_time initialized
[ INFO] [1563869665.273460666]: Plugin trajectory loaded
[ INFO] [1563869665.277279702]: Plugin trajectory initialized
[ INFO] [1563869665.277364916]: Plugin vfr_hud loaded
[ INFO] [1563869665.277834156]: Plugin vfr_hud initialized
[ INFO] [1563869665.277858088]: Plugin vibration blacklisted
[ INFO] [1563869665.277930233]: Plugin vision_pose_estimate loaded
[ INFO] [1563869665.282716588]: Plugin vision_pose_estimate initialized
[ INFO] [1563869665.282815903]: Plugin vision_speed_estimate loaded
[ INFO] [1563869665.285495821]: Plugin vision_speed_estimate initialized
[ INFO] [1563869665.285654005]: Plugin waypoint loaded
[ INFO] [1563869665.289224418]: Plugin waypoint initialized
[ INFO] [1563869665.289271280]: Plugin wheel_odometry blacklisted
[ INFO] [1563869665.289390919]: Plugin wind_estimation loaded
[ INFO] [1563869665.289917425]: Plugin wind_estimation initialized
[ INFO] [1563869665.289956040]: Autostarting mavlink via USB on PX4
[ INFO] [1563869665.290060541]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1563869665.290081338]: Built-in MAVLink package version: 2019.4.4
[ INFO] [1563869665.290102215]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1563869665.290121809]: MAVROS started. MY ID 1.240, TARGET ID 2.1
[INFO] [1563869665.542032, 0.000000]: Loading model XML from ros parameter model_description
[INFO] [1563869665.543279, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[INFO] [1563869665.580883, 0.000000]: Loading model XML from ros parameter model_description
[INFO] [1563869665.589689, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
INFO  [px4_work_queue] creating: wq:hp_default, priority: 87, stack: 16384 bytes
INFO  [px4_work_queue] creating: wq:hp_default, priority: 87, stack: 16384 bytes
+ MAV_TYPE: curr: 10 -> new: 2
INFO  [init] Mixer: etc/mixers-sitl/rover_sitl.main.mix on /dev/pwm_output0
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14570 remote port 14550
.
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] Opened full log file: ./log/2019-07-23/08_14_26.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
.
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14571 remote port 14550
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14581 remote port 14541
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] Opened full log file: ./log/2019-07-23/08_14_26.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
[ INFO] [1563869666.257484079]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1563869666.258725025]: FCU: [logger] file: ./log/2019-07-23/08_14_26.ulg
INFO  [px4] Startup script returned successfully
INFO  [mavlink] partner IP: 127.0.0.1
[ INFO] [1563869666.429032469, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1563869666.446385966, 0.040000000]: Physics dynamic reconfigure ready.
[INFO] [1563869666.446960, 0.000000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1563869666.493156, 0.088000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1563869666.668980, 0.176000]: Spawn status: SpawnModel: Successfully spawned entity
[uav/iris_0_spawn-5] process has finished cleanly
log file: /home/ahmad/.ros/log/e19406d8-ad21-11e9-b63e-1831bfcc8e3f/uav-iris_0_spawn-5*.log
[ INFO] [1563869666.909554327, 0.176000000]: Camera Plugin: The 'robotNamespace' param was empty
[ INFO] [1563869666.911415604, 0.176000000]: Camera Plugin (ns = iris_0)  <tf_prefix_>, set to "iris_0"
INFO  [simulator] Simulator connected on TCP port 4560.
[INFO] [1563869667.326922, 0.380000]: Spawn status: SpawnModel: Successfully spawned entity
ERROR [mavlink] [timesync] Time jump detected. Resetting time synchroniser.
[rover/rover_1_spawn-8] process has finished cleanly
log file: /home/ahmad/.ros/log/e19406d8-ad21-11e9-b63e-1831bfcc8e3f/rover-rover_1_spawn-8*.log
INFO  [simulator] Simulator connected on TCP port 4561.
[ INFO] [1563869668.032210267, 0.392000000]: IMU: High resolution IMU detected!
INFO  [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14)
INFO  [ecl/EKF] EKF GPS checks passed (WGS-84 origin set)
INFO  [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14)
[ INFO] [1563869671.058802623, 1.192000000]: IMU: Attitude quaternion IMU detected!
INFO  [ecl/EKF] EKF GPS checks passed (WGS-84 origin set)
INFO  [ecl/EKF] EKF commencing GPS fusion
WARN  [navigator] Geofence violation
INFO  [ecl/EKF] EKF commencing GPS fusion
WARN  [navigator] Geofence violation
WARN  [commander] Failsafe enabled: no RC
[ WARN] [1563869737.739234041, 22.136000000]: CMD: Unexpected command 400, result 0
INFO  [commander] Takeoff detected
INFO  [navigator] RTL HOME activated
INFO  [navigator] RTL: climb to 25 m (5 m above home)
[ERROR] [1563869754.992496434, 27.980000000]: MODE: Unsupported FCU

Diagnostics

ahmad@ahmad-dds:~/px4_2/Firmware$ rostopic echo -n2 /diagnostics
header: 
  seq: 295
  stamp: 
    secs: 290
    nsecs:         0
  frame_id: ''
status: 
  - 
    level: 1
    name: "rover/mavros: FCU connection"
    message: "not connected"
    hardware_id: "udp://:14542@localhost:14581"
    values: 
      - 
        key: "Received packets:"
        value: "0"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "0"
      - 
        key: "Tx sequence number:"
        value: "151"
      - 
        key: "Rx total bytes:"
        value: "0"
      - 
        key: "Tx total bytes:"
        value: "83184"
      - 
        key: "Rx speed:"
        value: "0.000000"
      - 
        key: "Tx speed:"
        value: "95.666664"
  - 
    level: 2
    name: "rover/mavros: GPS"
    message: "No satellites"
    hardware_id: "udp://:14542@localhost:14581"
    values: 
      - 
        key: "Satellites visible"
        value: "0"
      - 
        key: "Fix type"
        value: "0"
      - 
        key: "EPH (m)"
        value: "Unknown"
      - 
        key: "EPV (m)"
        value: "Unknown"
  - 
    level: 2
    name: "rover/mavros: Heartbeat"
    message: "No events recorded."
    hardware_id: "udp://:14542@localhost:14581"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "0"
      - 
        key: "Frequency (Hz)"
        value: "0.000000"
      - 
        key: "Vehicle type"
        value: "Generic micro air vehicle"
      - 
        key: "Autopilot type"
        value: "Generic autopilot"
      - 
        key: "Mode"
        value: ''
      - 
        key: "System status"
        value: "Uninit"
  - 
    level: 0
    name: "rover/mavros: System"
    message: "Normal"
    hardware_id: "udp://:14542@localhost:14581"
    values: 
      - 
        key: "Sensor present"
        value: "0x00000000"
      - 
        key: "Sensor enabled"
        value: "0x00000000"
      - 
        key: "Sensor helth"
        value: "0x00000000"
      - 
        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: 2
    name: "rover/mavros: Battery"
    message: "No data"
    hardware_id: "udp://:14542@localhost:14581"
    values: 
      - 
        key: "Voltage"
        value: "-1.00"
      - 
        key: "Current"
        value: "0.0"
      - 
        key: "Remaining"
        value: "0.0"
  - 
    level: 2
    name: "rover/mavros: Time Sync"
    message: "No events recorded."
    hardware_id: "udp://:14542@localhost:14581"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "0"
      - 
        key: "Frequency (Hz)"
        value: "0.000000"
      - 
        key: "Last RTT (ms)"
        value: "0.000000"
      - 
        key: "Mean RTT (ms)"
        value: "0.000000"
      - 
        key: "Last remote time (s)"
        value: "0.000000000"
      - 
        key: "Estimated time offset (s)"
        value: "0.000000000"
---
header: 
  seq: 295
  stamp: 
    secs: 290
    nsecs:         0
  frame_id: ''
status: 
  - 
    level: 1
    name: "uav/mavros: FCU connection"
    message: "not connected"
    hardware_id: "udp://:14541@localhost:14580"
    values: 
      - 
        key: "Received packets:"
        value: "34690"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "197"
      - 
        key: "Tx sequence number:"
        value: "127"
      - 
        key: "Rx total bytes:"
        value: "8020682"
      - 
        key: "Tx total bytes:"
        value: "512914"
      - 
        key: "Rx speed:"
        value: "8396.666992"
      - 
        key: "Tx speed:"
        value: "179.000000"
  - 
    level: 0
    name: "uav/mavros: GPS"
    message: "3D fix"
    hardware_id: "udp://:14541@localhost:14580"
    values: 
      - 
        key: "Satellites visible"
        value: "10"
      - 
        key: "Fix type"
        value: "3"
      - 
        key: "EPH (m)"
        value: "0.00"
      - 
        key: "EPV (m)"
        value: "0.00"
  - 
    level: 2
    name: "uav/mavros: Heartbeat"
    message: "No events recorded."
    hardware_id: "udp://:14541@localhost:14580"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "0"
      - 
        key: "Frequency (Hz)"
        value: "0.000000"
      - 
        key: "Vehicle type"
        value: "Generic micro air vehicle"
      - 
        key: "Autopilot type"
        value: "Generic autopilot"
      - 
        key: "Mode"
        value: ''
      - 
        key: "System status"
        value: "Uninit"
  - 
    level: 0
    name: "uav/mavros: System"
    message: "Normal"
    hardware_id: "udp://:14541@localhost:14580"
    values: 
      - 
        key: "Sensor present"
        value: "0x0020002F"
      - 
        key: "Sensor enabled"
        value: "0x0020000F"
      - 
        key: "Sensor helth"
        value: "0x0020002F"
      - 
        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: "uav/mavros: Battery"
    message: "Normal"
    hardware_id: "udp://:14541@localhost:14580"
    values: 
      - 
        key: "Voltage"
        value: "11.32"
      - 
        key: "Current"
        value: "-1.0"
      - 
        key: "Remaining"
        value: "51.0"
  - 
    level: 1
    name: "uav/mavros: Time Sync"
    message: "Frequency too high."
    hardware_id: "udp://:14541@localhost:14580"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "5793"
      - 
        key: "Frequency (Hz)"
        value: "20.100000"
      - 
        key: "Last RTT (ms)"
        value: "0.000000"
      - 
        key: "Mean RTT (ms)"
        value: "0.000000"
      - 
        key: "Last remote time (s)"
        value: "289.616000000"
      - 
        key: "Estimated time offset (s)"
        value: "0.384715312"
---

Check ID

ahmad@ahmad-dds:~/px4_2/Firmware/Tools/sitl_gazebo/models/rover$ rosrun mavros checkid
WARNING: mavros/target_system_id not set. Used default value: 1
WARNING: mavros/target_component_id not set. Used default value: 1
NOTE: Target parameters may be unset, but that may be result of incorrect --mavros-ns option.Double check results!
ERROR. I got 0 addresses, but not your target 1:1

---
Received 0 messages, from 0 addresses
sys:comp   list of messages
Ahmad-Drak commented 5 years ago

Even when running a mavsdk example and the drone is moving in gazebo, the /diagnostics topic shows this

 level: 1
    name: "uav/mavros: FCU connection"
    message: "not connected"
    hardware_id: "udp://:14541@localhost:14580"
    values:

and the rostopic echo /uav/mavros/state shows

header: 
  seq: 0
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
connected: False
armed: False
guided: False
mode: ''
system_status: 0

Alternatively, gave it a takeoff command from qgroundcontrol, the drone takes off but the rostopic echo /uav/mavros/state still reports its not connected

How can that be if the drone is actually moving?