rob-clarke
commented
3 years ago Looks like you need to do some configuration of ArduPilot first. The ArduPilot docs have a section on this. You should be able to fly the vehicle in Loiter mode based off the OptiTrack data if the vehicle is configured properly. The docs also have some text on how to test the setup before you move on to software-based control.
It may be this section here that is of particular interest, especially when using GUIDED:
In order to take off in guided or auto mode, you need to use GPS_GLOBAL_ORIGIN to set the GPS location of motion capture system origin. It is not need to be accurate, any valid lat/lng is ok.
ZhongmouLi
Trying to fly autonomously using pixhawk 4 min FCU, ardupilot, companion computer (ODROID C4) and Optitrack mo cap system. Able to Arm but not able to issue take off command.
I am currently an d undergrad working on robotics research and have become stuck and am hoping someone in this community could help point me in the right direction. I currently have a pixhawk4 mini flashed with ardupilot (apm flight stack). That is hooked up to a companion computer currently by the debugging usb port to usb port (I do have an FTDI adapter wired that I will use eventually). The companion computer is running ros and receives optitrack pose data. The steps I take to arm the drone are as follows:
1) Plug in drone battery and ODROID
2) open up several terminals and source them ( source ~/catkin_ws/devel/setup.bash and source /opt/ros/melodic/setup.bash)
3) run mavproxy.py
4) start roscore
5) run roslaunch mavros apm.launch
6) run rosrun mavros mavsys rate --all 10
7) run roslaunch vrpn_client_ros sample.launch server:=IP ADDRESS OF OPTITRACK
8) rostopic echo /vrpn_client_node/trackerID/pose (this confirms that I do get pose information)
9) remap topics rosrun topic_tools relay /vrpn_client_node/trackerID/pose /mavros/mocap/pose
10) rosrun mavros mavsafety arm (this works and motors spin then stop)
11) rosrun mavros mavsys mode -c GUIDED
12) rosrun mavros mavsafety arm (This fails now, sometimes it works sometimes it fails)
I am still very new and have read a lot of information but could you help me figure out how to get the drone to take off to about .5 or 1 m off the ground using ros (or via the terminal mavcmd takeoff) attached are the logs, and explain if I am missing any steps or crucial stuff. Thank you so much in advance for any help!
MAVROS version and platform
Mavros: ?0.18.ardupilot optitrack guided mode takeoff4? ROS: ?Kinetic? Ubuntu: ?16.04?
Autopilot type and version
[ X] ArduPilot [ ] PX4
Version: ?3.7.1?
Node logs from roslaunch mavros apm.launch
Diagnostics
Check ID
rosrun mavros checkid OK. I got messages from 1:1.
Received 1487 messages, from 2 addresses sys:comp list of messages 253:1 3997696 1:1 0, 1, 2, 193, 152, 147, 150, 24, 27, 29, 30, 33, 163, 36, 165, 42, 178, 182, 62, 65, 74, 77, 111, 241, 116, 125
data from Optitrack
roslaunch vrpn_client_ros sample.launch server:=192.168.1.43 ... logging to /home/fioreviola/.ros/log/df2a9e5e-9715-11eb-80f4-dc1ba1f14c2b/roslaunch-fioreviola-25405.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://fioreviola:34405/
SUMMARY
PARAMETERS
NODES / vrpn_client_node (vrpn_client_ros/vrpn_client_node)
ROS_MASTER_URI=http://localhost:11311
process[vrpn_client_node-1]: started with pid [25420] [ INFO] [1617740900.826981358]: Connecting to VRPN server at IP ADDRESS OF OPTITRACK (removed) [ INFO] [1617740900.852034011]: Connection established check_vrpn_cookie(): VRPN Note: minor version number doesn't match: (prefer 'vrpn: ver. 07.34', got 'vrpn: ver. 07.20 0'). This is not normally a problem. [ INFO] [1617740901.856915299]: Found new sender: MiniDrone1 [ INFO] [1617740901.857219899]: Creating new tracker MiniDrone1
data from echoing rostopic echo /vrpn_client_node/MiniDrone1/pose
header: seq: 2054 stamp: secs: 1617740954 nsecs: 194667032 frame_id: "world" pose: position: x: -0.287670522928 y: 0.0826278924942 z: 0.103268995881 orientation: x: 0.551197648048 y: -0.0056214989163 z: 0.794052064419 w: -0.256185412407
the remap command line I am using to remap topics
rosrun topic_tools relay /vrpn_client_node/MiniDrone1/pose /mavros/mocap/pose [ INFO] [1617744393.977017240]: advertised as /mavros/mocap/pose