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MAVLink to ROS gateway with proxy for Ground Control Station
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Cannot connect Ardupilot via MAVROS #1479

Closed abdupa61 closed 4 years ago

abdupa61 commented 4 years ago

Issue details

We cannot connect Drone using ROS. Cant take parameters. What should we do ? Maybe something wrong with ports.

MAVROS version and platform

Mavros: ?0.18.4? ROS: Kinetic Ubuntu: 18.04

Autopilot type and version

[x ] ArduPilot [ ] PX4

Version: 3.6.11 ArduCopter Version

Node logs

roslaunch mavros apm.launch _fcu_url:=udp://:14650@ \
> _gcs_url:=udp://:14551@192.168.43.172:14550

... logging to /home/pi/.ros/log/56864932-f291-11ea-a423-d0374505e371/roslaunch-                                                                                                             navio-3030.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://navio:40435/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_mav_type: ONBOARD_CONTROLLER
 * /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/rangefinder_pub/field_of_view: 0.0
 * /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
 * /mavros/distance_sensor/rangefinder_pub/id: 0
 * /mavros/distance_sensor/rangefinder_pub/send_tf: False
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/rangefinder_sub/id: 1
 * /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
 * /mavros/distance_sensor/rangefinder_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: /dev/ttyAMA0:57600
 * /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: 0.0003490659 // 0...
 * /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/estimator_type: 3
 * /mavros/odometry/frame_tf/desired_frame: ned
 * /mavros/plugin_blacklist: ['actuator_contro...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682
 * /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: False
 * /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 [3040]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 56864932-f291-11ea-a423-d0374505e371
process[rosout-1]: started with pid [3053]
started core service [/rosout]
process[mavros-2]: started with pid [3071]
[ INFO] [1599651671.539713581]: FCU URL: /dev/ttyAMA0:57600
[ INFO] [1599651671.562456293]: serial0: device: /dev/ttyAMA0 @ 57600 bps
[ INFO] [1599651671.563880157]: GCS bridge disabled
[ INFO] [1599651671.706215938]: Plugin 3dr_radio loaded
[ INFO] [1599651671.729891486]: Plugin 3dr_radio initialized
[ INFO] [1599651671.731040514]: Plugin actuator_control blacklisted
[ INFO] [1599651671.731828980]: Plugin altitude blacklisted
[ INFO] [1599651671.733198054]: Plugin command loaded
[ INFO] [1599651671.832298034]: Plugin command initialized
[ INFO] [1599651671.833399355]: Plugin ftp blacklisted
[ INFO] [1599651671.834759367]: Plugin global_position loaded
[ INFO] [1599651672.133067036]: Plugin global_position initialized
[ INFO] [1599651672.133327498]: Plugin hil blacklisted
[ INFO] [1599651672.134057320]: Plugin home_position loaded
[ INFO] [1599651672.202820074]: Plugin home_position initialized
[ INFO] [1599651672.204094880]: Plugin imu loaded
[ INFO] [1599651672.346907315]: Plugin imu initialized
[ INFO] [1599651672.349288234]: Plugin local_position loaded
[ INFO] [1599651672.482108830]: Plugin local_position initialized
[ INFO] [1599651672.483911693]: Plugin manual_control loaded
[ INFO] [1599651672.542024138]: Plugin manual_control initialized
[ INFO] [1599651672.543219259]: Plugin param loaded
[ INFO] [1599651672.596231282]: Plugin param initialized
[ INFO] [1599651672.598407363]: Plugin rc_io loaded
[ INFO] [1599651672.671080470]: Plugin rc_io initialized
[ INFO] [1599651672.671344004]: Plugin safety_area blacklisted
[ INFO] [1599651672.673499930]: Plugin setpoint_accel loaded
[ INFO] [1599651672.736581342]: Plugin setpoint_accel initialized
[ INFO] [1599651672.738509098]: Plugin setpoint_attitude loaded
[ INFO] [1599651672.914622213]: Plugin setpoint_attitude initialized
[ INFO] [1599651672.916360443]: Plugin setpoint_position loaded
[ INFO] [1599651673.226612451]: Plugin setpoint_position initialized
[ INFO] [1599651673.229187374]: Plugin setpoint_raw loaded
[ INFO] [1599651673.402543750]: Plugin setpoint_raw initialized
[ INFO] [1599651673.403809026]: Plugin setpoint_trajectory loaded
[ INFO] [1599651673.491863188]: Plugin setpoint_trajectory initialized
[ INFO] [1599651673.493318510]: Plugin setpoint_velocity loaded
[ INFO] [1599651673.603760551]: Plugin setpoint_velocity initialized
[ INFO] [1599651673.605185145]: Plugin sys_status loaded
[ INFO] [1599651673.783366013]: Plugin sys_status initialized
[ INFO] [1599651673.784464783]: Plugin sys_time loaded
[ INFO] [1599651673.895994501]: TM: Timesync mode: MAVLINK
[ INFO] [1599651673.917737138]: Plugin sys_time initialized
[ INFO] [1599651673.921042144]: Plugin vfr_hud loaded
[ INFO] [1599651673.932385089]: Plugin vfr_hud initialized
[ INFO] [1599651673.935341408]: Plugin waypoint loaded
[ INFO] [1599651674.013754294]: Plugin waypoint initialized
[ INFO] [1599651674.016256199]: Plugin wind_estimation loaded
[ INFO] [1599651674.028788485]: Plugin wind_estimation initialized
[ INFO] [1599651674.029790538]: Built-in SIMD instructions: None
[ INFO] [1599651674.030403124]: Built-in MAVLink package version: 2019.11.11
[ INFO] [1599651674.031280077]: Known MAVLink dialects: common ardupilotmega ASL                                                                                                             UAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1599651674.031526685]: MAVROS started. MY ID 1.240, TARGET ID 1.1

Diagnostics

rostopic echo -n1 /diagnostics
header:
  seq: 49
  stamp:
    secs: 1599653867
    nsecs: 362437266
  frame_id: ''
status:
  -
    level: 1
    name: "mavros: FCU connection"
    message: "not connected"
    hardware_id: "/dev/ttyAMA0:57600"
    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: "0"
      -
        key: "Rx total bytes:"
        value: "0"
      -
        key: "Tx total bytes:"
        value: "18880"
      -
        key: "Rx speed:"
        value: "0.000000"
      -
        key: "Tx speed:"
        value: "500.000000"
  -
    level: 2
    name: "mavros: GPS"
    message: "No satellites"
    hardware_id: "/dev/ttyAMA0:57600"
    values:
      -
        key: "Satellites visible"
        value: "0"
      -
        key: "Fix type"
        value: "0"
      -
        key: "EPH (m)"
        value: "Unknown"
      -
        key: "EPV (m)"
        value: "Unknown"
  -
    level: 2
    name: "mavros: Heartbeat"
    message: "No events recorded."
    hardware_id: "/dev/ttyAMA0:57600"
    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: "mavros: System"
    message: "Normal"
    hardware_id: "/dev/ttyAMA0:57600"
    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: "mavros: Battery"
    message: "No data"
    hardware_id: "/dev/ttyAMA0:57600"
    values:
      -
        key: "Voltage"
        value: "-1.00"
      -
        key: "Current"
        value: "0.0"
      -
        key: "Remaining"
        value: "0.0"
  -
    level: 2
    name: "mavros: Time Sync"
    message: "No events recorded."
    hardware_id: "/dev/ttyAMA0:57600"
    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"
---

Check ID

ERROR. I got 0 addresses, but not your target 1:1

---
Received 0 messages, from 0 addresses
sys:comp   list of messages
amilcarlucas commented 4 years ago

The _fcu_url:=udp://:14650@ is only correct if you are using Mavproxy in between. Are you doing that?

This is not a bug. and Github is only supposed to be used for bug reports. Please only post on the ArduPilot forum, like you did.