ArduCopter: Estimator status is not being published!

Issue details

Hello there,

I'm working with ArduCopter v4.0.3 in AirSim and trying to get some messages from /mavros/estimator_status topic. I've examined the sys_status.cpp and put a ROS_INFO inside the handler function to see if it's really being executed, but for some reason, I didn't see my logging line printing my string (catkin build was fine).

Some of my observations:

sys_status wasn't blacklisted, I could receive data from /mavros/state topic, but not from /mavros/battery topic. This is solved by calling either /mavros/set_message_interval or /mavros/set_stream_rate services.
I thought it might be because I didn't set the rate at which estimator status is supposed to be sent. I messed around with set_message_interval service by calling it with different message ids, but it didn't help. Same happened in set_stream_rate service's case.
I tried to echo the messages of estimator_status after setting the mode to GUIDED, after arming and after takeoff. None of my attempts gave me a result.

What could be the problem?

Kind regards,

Burak

Note: Don't mind the namespace /uav1/. I added that on purpose, I'm working with a swarm of quadrotors. I'm also subscribed to the correct topics.

MAVROS version and platform

Mavros: 0.33.3 ROS: Kinetic Ubuntu: 16.04

Autopilot type and version

[ X ] ArduPilot [ ] PX4

Version: 4.0.3

Node logs

... logging to /home/kovan-fl/.ros/log/7692fa12-ccf4-11ea-81bb-305a3a77bec6/roslaunch-KOVAN-FL-8218.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://KOVAN-FL:34783/

SUMMARY
========

CLEAR PARAMETERS
 * /uav1/mavros/

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /uav1/mavros/cmd/use_comp_id_system_control: False
 * /uav1/mavros/conn/heartbeat_mav_type: ONBOARD_CONTROLLER
 * /uav1/mavros/conn/heartbeat_rate: 1.0
 * /uav1/mavros/conn/system_time_rate: 1.0
 * /uav1/mavros/conn/timeout: 10.0
 * /uav1/mavros/conn/timesync_rate: 10.0
 * /uav1/mavros/distance_sensor/rangefinder_pub/field_of_view: 0.0
 * /uav1/mavros/distance_sensor/rangefinder_pub/frame_id: lidar
 * /uav1/mavros/distance_sensor/rangefinder_pub/id: 0
 * /uav1/mavros/distance_sensor/rangefinder_pub/send_tf: False
 * /uav1/mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
 * /uav1/mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
 * /uav1/mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
 * /uav1/mavros/distance_sensor/rangefinder_sub/id: 1
 * /uav1/mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
 * /uav1/mavros/distance_sensor/rangefinder_sub/subscriber: True
 * /uav1/mavros/fake_gps/eph: 2.0
 * /uav1/mavros/fake_gps/epv: 2.0
 * /uav1/mavros/fake_gps/fix_type: 3
 * /uav1/mavros/fake_gps/geo_origin/alt: 408.0
 * /uav1/mavros/fake_gps/geo_origin/lat: 47.3667
 * /uav1/mavros/fake_gps/geo_origin/lon: 8.55
 * /uav1/mavros/fake_gps/gps_rate: 5.0
 * /uav1/mavros/fake_gps/mocap_transform: True
 * /uav1/mavros/fake_gps/satellites_visible: 5
 * /uav1/mavros/fake_gps/tf/child_frame_id: fix
 * /uav1/mavros/fake_gps/tf/frame_id: map
 * /uav1/mavros/fake_gps/tf/listen: False
 * /uav1/mavros/fake_gps/tf/rate_limit: 10.0
 * /uav1/mavros/fake_gps/tf/send: False
 * /uav1/mavros/fake_gps/use_mocap: True
 * /uav1/mavros/fake_gps/use_vision: False
 * /uav1/mavros/fcu_protocol: v2.0
 * /uav1/mavros/fcu_url: udp://127.0.0.1:1...
 * /uav1/mavros/gcs_url: 
 * /uav1/mavros/global_position/child_frame_id: base_link
 * /uav1/mavros/global_position/frame_id: map
 * /uav1/mavros/global_position/gps_uere: 1.0
 * /uav1/mavros/global_position/rot_covariance: 99999.0
 * /uav1/mavros/global_position/tf/child_frame_id: base_link
 * /uav1/mavros/global_position/tf/frame_id: map
 * /uav1/mavros/global_position/tf/global_frame_id: earth
 * /uav1/mavros/global_position/tf/send: False
 * /uav1/mavros/global_position/use_relative_alt: True
 * /uav1/mavros/image/frame_id: px4flow
 * /uav1/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /uav1/mavros/imu/frame_id: base_link
 * /uav1/mavros/imu/linear_acceleration_stdev: 0.0003
 * /uav1/mavros/imu/magnetic_stdev: 0.0
 * /uav1/mavros/imu/orientation_stdev: 1.0
 * /uav1/mavros/landing_target/camera/fov_x: 2.0071286398
 * /uav1/mavros/landing_target/camera/fov_y: 2.0071286398
 * /uav1/mavros/landing_target/image/height: 480
 * /uav1/mavros/landing_target/image/width: 640
 * /uav1/mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /uav1/mavros/landing_target/listen_lt: False
 * /uav1/mavros/landing_target/mav_frame: LOCAL_NED
 * /uav1/mavros/landing_target/target_size/x: 0.3
 * /uav1/mavros/landing_target/target_size/y: 0.3
 * /uav1/mavros/landing_target/tf/child_frame_id: camera_center
 * /uav1/mavros/landing_target/tf/frame_id: landing_target
 * /uav1/mavros/landing_target/tf/listen: False
 * /uav1/mavros/landing_target/tf/rate_limit: 10.0
 * /uav1/mavros/landing_target/tf/send: True
 * /uav1/mavros/local_position/frame_id: map
 * /uav1/mavros/local_position/tf/child_frame_id: base_link
 * /uav1/mavros/local_position/tf/frame_id: map
 * /uav1/mavros/local_position/tf/send: False
 * /uav1/mavros/local_position/tf/send_fcu: False
 * /uav1/mavros/mission/pull_after_gcs: True
 * /uav1/mavros/mocap/use_pose: True
 * /uav1/mavros/mocap/use_tf: False
 * /uav1/mavros/odometry/estimator_type: 3
 * /uav1/mavros/odometry/frame_tf/desired_frame: ned
 * /uav1/mavros/plugin_blacklist: ['actuator_contro...
 * /uav1/mavros/plugin_whitelist: []
 * /uav1/mavros/px4flow/frame_id: px4flow
 * /uav1/mavros/px4flow/ranger_fov: 0.118682
 * /uav1/mavros/px4flow/ranger_max_range: 5.0
 * /uav1/mavros/px4flow/ranger_min_range: 0.3
 * /uav1/mavros/safety_area/p1/x: 1.0
 * /uav1/mavros/safety_area/p1/y: 1.0
 * /uav1/mavros/safety_area/p1/z: 1.0
 * /uav1/mavros/safety_area/p2/x: -1.0
 * /uav1/mavros/safety_area/p2/y: -1.0
 * /uav1/mavros/safety_area/p2/z: -1.0
 * /uav1/mavros/setpoint_accel/send_force: False
 * /uav1/mavros/setpoint_attitude/reverse_thrust: False
 * /uav1/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /uav1/mavros/setpoint_attitude/tf/frame_id: map
 * /uav1/mavros/setpoint_attitude/tf/listen: False
 * /uav1/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /uav1/mavros/setpoint_attitude/use_quaternion: False
 * /uav1/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /uav1/mavros/setpoint_position/tf/child_frame_id: target_position
 * /uav1/mavros/setpoint_position/tf/frame_id: map
 * /uav1/mavros/setpoint_position/tf/listen: False
 * /uav1/mavros/setpoint_position/tf/rate_limit: 50.0
 * /uav1/mavros/setpoint_raw/thrust_scaling: 1.0
 * /uav1/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /uav1/mavros/startup_px4_usb_quirk: False
 * /uav1/mavros/sys/disable_diag: False
 * /uav1/mavros/sys/min_voltage: 10.0
 * /uav1/mavros/target_component_id: 1
 * /uav1/mavros/target_system_id: 1
 * /uav1/mavros/tdr_radio/low_rssi: 40
 * /uav1/mavros/time/time_ref_source: fcu
 * /uav1/mavros/time/timesync_avg_alpha: 0.6
 * /uav1/mavros/time/timesync_mode: MAVLINK
 * /uav1/mavros/vibration/frame_id: base_link
 * /uav1/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /uav1/mavros/vision_pose/tf/frame_id: map
 * /uav1/mavros/vision_pose/tf/listen: False
 * /uav1/mavros/vision_pose/tf/rate_limit: 10.0
 * /uav1/mavros/vision_speed/listen_twist: True
 * /uav1/mavros/vision_speed/twist_cov: True
 * /uav1/mavros/wheel_odometry/child_frame_id: base_link
 * /uav1/mavros/wheel_odometry/count: 2
 * /uav1/mavros/wheel_odometry/frame_id: map
 * /uav1/mavros/wheel_odometry/send_raw: True
 * /uav1/mavros/wheel_odometry/send_twist: False
 * /uav1/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /uav1/mavros/wheel_odometry/tf/frame_id: map
 * /uav1/mavros/wheel_odometry/tf/send: True
 * /uav1/mavros/wheel_odometry/use_rpm: False
 * /uav1/mavros/wheel_odometry/vel_error: 0.1
 * /uav1/mavros/wheel_odometry/wheel0/radius: 0.05
 * /uav1/mavros/wheel_odometry/wheel0/x: 0.0
 * /uav1/mavros/wheel_odometry/wheel0/y: -0.15
 * /uav1/mavros/wheel_odometry/wheel1/radius: 0.05
 * /uav1/mavros/wheel_odometry/wheel1/x: 0.0
 * /uav1/mavros/wheel_odometry/wheel1/y: 0.15

NODES
  /uav1/
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [8229]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7692fa12-ccf4-11ea-81bb-305a3a77bec6
process[rosout-1]: started with pid [8242]
started core service [/rosout]
process[uav1/mavros-2]: started with pid [8260]
[ INFO] [1595516093.019949007]: FCU URL: udp://127.0.0.1:14560@14560
[ INFO] [1595516093.023264713]: udp0: Bind address: 127.0.0.1:14560
[ INFO] [1595516093.023565328]: udp0: Remote address: 0.0.56.224:14550
[ INFO] [1595516093.023876377]: GCS bridge disabled
[ INFO] [1595516093.042451196]: Plugin 3dr_radio loaded
[ INFO] [1595516093.045893453]: Plugin 3dr_radio initialized
[ INFO] [1595516093.045930005]: Plugin actuator_control blacklisted
[ INFO] [1595516093.051611372]: Plugin adsb loaded
[ INFO] [1595516093.058508715]: Plugin adsb initialized
[ INFO] [1595516093.058558620]: Plugin altitude blacklisted
[ INFO] [1595516093.058785833]: Plugin cam_imu_sync loaded
[ INFO] [1595516093.060073021]: Plugin cam_imu_sync initialized
[ INFO] [1595516093.060353413]: Plugin command loaded
[ INFO] [1595516093.074096128]: Plugin command initialized
[ INFO] [1595516093.074290160]: Plugin companion_process_status loaded
[ INFO] [1595516093.078016808]: Plugin companion_process_status initialized
[ INFO] [1595516093.078058162]: Plugin debug_value blacklisted
[ INFO] [1595516093.078270158]: Plugin distance_sensor loaded
[ INFO] [1595516093.092695740]: Plugin distance_sensor initialized
[ INFO] [1595516093.093015791]: Plugin fake_gps loaded
[ INFO] [1595516093.116930660]: Plugin fake_gps initialized
[ INFO] [1595516093.116993024]: Plugin ftp blacklisted
[ INFO] [1595516093.117309040]: Plugin global_position loaded
[ INFO] [1595516093.144185183]: Plugin global_position initialized
[ INFO] [1595516093.144454535]: Plugin gps_rtk loaded
[ INFO] [1595516093.149407491]: Plugin gps_rtk initialized
[ INFO] [1595516093.149445321]: Plugin hil blacklisted
[ INFO] [1595516093.149596008]: Plugin home_position loaded
[ INFO] [1595516093.156086599]: Plugin home_position initialized
[ INFO] [1595516093.156468799]: Plugin imu loaded
[ INFO] [1595516093.170628834]: Plugin imu initialized
[ INFO] [1595516093.170904885]: Plugin landing_target loaded
[ INFO] [1595516093.194953881]: Plugin landing_target initialized
[ INFO] [1595516093.195188301]: Plugin local_position loaded
[ INFO] [1595516093.206985839]: Plugin local_position initialized
[ INFO] [1595516093.207209900]: Plugin log_transfer loaded
[ INFO] [1595516093.213232958]: Plugin log_transfer initialized
[ INFO] [1595516093.213522317]: Plugin manual_control loaded
[ INFO] [1595516093.218589615]: Plugin manual_control initialized
[ INFO] [1595516093.218814620]: Plugin mocap_pose_estimate loaded
[ INFO] [1595516093.225103464]: Plugin mocap_pose_estimate initialized
[ INFO] [1595516093.225372862]: Plugin mount_control loaded
[ INFO] [1595516093.233233126]: Plugin mount_control initialized
[ INFO] [1595516093.233468270]: Plugin obstacle_distance loaded
[ INFO] [1595516093.237210264]: Plugin obstacle_distance initialized
[ INFO] [1595516093.237360184]: Plugin odom loaded
[ INFO] [1595516093.242305110]: Plugin odom initialized
[ INFO] [1595516093.242521617]: Plugin onboard_computer_status loaded
[ INFO] [1595516093.245833731]: Plugin onboard_computer_status initialized
[ INFO] [1595516093.246218614]: Plugin param loaded
[ INFO] [1595516093.250434838]: Plugin param initialized
[ INFO] [1595516093.250468982]: Plugin px4flow blacklisted
[ INFO] [1595516093.250625383]: Plugin rangefinder loaded
[ INFO] [1595516093.251518496]: Plugin rangefinder initialized
[ INFO] [1595516093.251773396]: Plugin rc_io loaded
[ INFO] [1595516093.254605299]: udp0: Remote address: 127.0.0.1:59478
[ INFO] [1595516093.258079987]: Plugin rc_io initialized
[ INFO] [1595516093.258131946]: Plugin safety_area blacklisted
[ INFO] [1595516093.258444688]: Plugin setpoint_accel loaded
[ INFO] [1595516093.264601590]: Plugin setpoint_accel initialized
[ INFO] [1595516093.264944135]: Plugin setpoint_attitude loaded
[ INFO] [1595516093.285379087]: Plugin setpoint_attitude initialized
[ INFO] [1595516093.285595481]: Plugin setpoint_position loaded
[ INFO] [1595516093.311910863]: Plugin setpoint_position initialized
[ INFO] [1595516093.312149438]: Plugin setpoint_raw loaded
[ INFO] [1595516093.326058983]: Plugin setpoint_raw initialized
[ INFO] [1595516093.326404311]: Plugin setpoint_trajectory loaded
[ INFO] [1595516093.334074047]: Plugin setpoint_trajectory initialized
[ INFO] [1595516093.334399789]: Plugin setpoint_velocity loaded
[ INFO] [1595516093.344665721]: Plugin setpoint_velocity initialized
[ INFO] [1595516093.345227988]: Plugin sys_status loaded
[ INFO] [1595516093.366321363]: Plugin sys_status initialized
[ INFO] [1595516093.366636489]: Plugin sys_time loaded
[ INFO] [1595516093.378253769]: TM: Timesync mode: MAVLINK
[ INFO] [1595516093.380237110]: Plugin sys_time initialized
[ INFO] [1595516093.380450492]: Plugin trajectory loaded
[ INFO] [1595516093.389889906]: Plugin trajectory initialized
[ INFO] [1595516093.390197761]: Plugin vfr_hud loaded
[ INFO] [1595516093.391371395]: Plugin vfr_hud initialized
[ INFO] [1595516093.391417135]: Plugin vibration blacklisted
[ INFO] [1595516093.391617996]: Plugin vision_pose_estimate loaded
[ INFO] [1595516093.405624472]: Plugin vision_pose_estimate initialized
[ INFO] [1595516093.405685698]: Plugin vision_speed_estimate blacklisted
[ INFO] [1595516093.405980961]: Plugin waypoint loaded
[ INFO] [1595516093.414427240]: Plugin waypoint initialized
[ INFO] [1595516093.414473557]: Plugin wheel_odometry blacklisted
[ INFO] [1595516093.414794607]: Plugin wind_estimation loaded
[ INFO] [1595516093.416175462]: Plugin wind_estimation initialized
[ INFO] [1595516093.416289319]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1595516093.416330540]: Built-in MAVLink package version: 2020.4.4
[ INFO] [1595516093.416378697]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1595516093.416419994]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1595516093.531066196]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[ WARN] [1595516094.541874371]: CMD: Unexpected command 520, result 0
[ INFO] [1595516094.542046386]: VER: 1.1: Capabilities         0x000000000000fbef
[ INFO] [1595516094.542070967]: VER: 1.1: Flight software:     04000300 ( 5ec1f95)
[ INFO] [1595516094.542093965]: VER: 1.1: Middleware software: 00000000 (        )
[ INFO] [1595516094.542126863]: VER: 1.1: OS software:         00000000 (        )
[ INFO] [1595516094.542165751]: VER: 1.1: Board hardware:      00000000
[ INFO] [1595516094.542200954]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1595516094.542219831]: VER: 1.1: UID:                 0000000000000000
[ INFO] [1595516098.562601509]: FCU: EKF2 IMU0 tilt alignment complete
[ERROR] [1595516102.477955268]: FCU: PreArm: fence requires position
[ERROR] [1595516102.478103793]: FCU: PreArm: Fence enabled, need 3D Fix
[ INFO] [1595516103.540086406]: FCU: ArduCopter V4.0.3-dev (5ec1f95e)
[ INFO] [1595516103.540215598]: FCU: 619de2c08ad1482fbc6da2f699c7dd51
[ INFO] [1595516103.543104113]: FCU: Frame: QUAD
[ WARN] [1595516104.626372066]: TM : RTT too high for timesync: 945.88 ms.
[ WARN] [1595516105.127567975]: TM : RTT too high for timesync: 646.93 ms.
[ WARN] [1595516105.430650025]: TM : RTT too high for timesync: 650.06 ms.
[ INFO] [1595516105.538835984]: PR: parameters list received
[ WARN] [1595516105.547686084]: TM : RTT too high for timesync: 466.86 ms.
[ WARN] [1595516105.559780283]: TM : RTT too high for timesync: 178.93 ms.
[ WARN] [1595516105.574769480]: TM : RTT too high for timesync: 393.93 ms.
[ INFO] [1595516108.536538018]: WP: mission received
[ INFO] [1595516123.397732314]: FCU: EKF2 IMU1 is using GPS
[ INFO] [1595516131.390943467]: FCU: EKF2 IMU0 is using GPS

Diagnostics

header: 
  seq: 332
  stamp: 
    secs: 1595516492
    nsecs: 917271693
  frame_id: ''
status: 
  - 
    level: 0
    name: "uav1/mavros: FCU connection"
    message: "connected"
    hardware_id: "udp://127.0.0.1:14560@14560"
    values: 
      - 
        key: "Received packets:"
        value: "14080"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "128"
      - 
        key: "Tx sequence number:"
        value: "0"
      - 
        key: "Rx total bytes:"
        value: "398571"
      - 
        key: "Tx total bytes:"
        value: "240764"
      - 
        key: "Rx speed:"
        value: "1321.000000"
      - 
        key: "Tx speed:"
        value: "880.000000"
  - 
    level: 2
    name: "uav1/mavros: GPS"
    message: "No satellites"
    hardware_id: "udp://127.0.0.1:14560@14560"
    values: 
      - 
        key: "Satellites visible"
        value: "0"
      - 
        key: "Fix type"
        value: "0"
      - 
        key: "EPH (m)"
        value: "Unknown"
      - 
        key: "EPV (m)"
        value: "Unknown"
  - 
    level: 0
    name: "uav1/mavros: Heartbeat"
    message: "Normal"
    hardware_id: "udp://127.0.0.1:14560@14560"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "400"
      - 
        key: "Frequency (Hz)"
        value: "1.039992"
      - 
        key: "Vehicle type"
        value: "Quadrotor"
      - 
        key: "Autopilot type"
        value: "ArduPilot"
      - 
        key: "Mode"
        value: "STABILIZE"
      - 
        key: "System status"
        value: "Standby"
  - 
    level: 0
    name: "uav1/mavros: System"
    message: "Normal"
    hardware_id: "udp://127.0.0.1:14560@14560"
    values: 
      - 
        key: "Sensor present"
        value: "0x00000000"
      - 
        key: "Sensor enabled"
        value: "0x00000000"
      - 
        key: "Sensor health"
        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: "uav1/mavros: Battery"
    message: "No data"
    hardware_id: "udp://127.0.0.1:14560@14560"
    values: 
      - 
        key: "Voltage"
        value: "-1.00"
      - 
        key: "Current"
        value: "0.0"
      - 
        key: "Remaining"
        value: "0.0"
  - 
    level: 1
    name: "uav1/mavros: Time Sync"
    message: "Frequency too high."
    hardware_id: "udp://127.0.0.1:14560@14560"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "8030"
      - 
        key: "Frequency (Hz)"
        value: "20.079856"
      - 
        key: "Last RTT (ms)"
        value: "20.545094"
      - 
        key: "Mean RTT (ms)"
        value: "1056091029.067979"
      - 
        key: "Last remote time (s)"
        value: "1595516492.891892195"
      - 
        key: "Estimated time offset (s)"
        value: "1595516076.420573950"
---

mavlink / mavros