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MAVLink to ROS gateway with proxy for Ground Control Station
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Connect to ArduPilot using TBS Crossfire #1581

Open poett1 opened 3 years ago

poett1 commented 3 years ago

Issue details

Hello, I'm trying to setup a mavros connection to ArduPilot using TBS Crossfire MAVLink via UDP. ArduPilot SITL works fine using fcu_url udp://127.0.0.1:14551@14555. Connection from the APM Planner to the Crossfire module could be established via port 8888. Since the url scheme is udp://[bind_host][:port]@[remote_host][:port], I assume fcu_url has to be changed to udp://Host_IP:14551@Crossfire_IP:8888, but this way the connection cannot be established.

MAVROS version and platform

Mavros: 1.8.0 ROS: melodic Ubuntu: 18.04

Autopilot type and version

[- ] ArduPilot [ ] PX4

Version: 4.0.7

Node logs

... logging to /home/wd/.ros/log/44042b38-c38a-11eb-b851-000c29e84732/roslaunch-ubuntu-sim-4888.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://ubuntu-sim:43999/

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_id: 4
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/horiz_accuracy: 0.5
 * /mavros/fake_gps/mocap_transform: False
 * /mavros/fake_gps/mocap_withcovariance: False
 * /mavros/fake_gps/satellites_visible: 6
 * /mavros/fake_gps/speed_accuracy: 0.0
 * /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_hil_gps: True
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fake_gps/vert_accuracy: 0.5
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: udp://192.168.1.2...
 * /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/mission/use_mission_item_int: 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: melodic
 * /rosversion: 1.14.11

NODES
  /
    mavros (mavros/mavros_node)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [4908]
[ INFO] [1622628554.843669117]: FCU URL: udp://192.168.1.210:14551@192.168.1.116:8888
[ INFO] [1622628554.846098619]: udp0: Bind address: 192.168.1.210:14551
[ INFO] [1622628554.846190123]: udp0: Remote address: 192.168.1.116:8888
[ INFO] [1622628554.846452402]: GCS bridge disabled
[ INFO] [1622628554.863968423]: Plugin 3dr_radio loaded
[ INFO] [1622628554.869032548]: Plugin 3dr_radio initialized
[ INFO] [1622628554.869121788]: Plugin actuator_control blacklisted
[ INFO] [1622628554.872809333]: Plugin adsb loaded
[ INFO] [1622628554.875633607]: Plugin adsb initialized
[ INFO] [1622628554.875688571]: Plugin altitude blacklisted
[ INFO] [1622628554.875797160]: Plugin cam_imu_sync loaded
[ INFO] [1622628554.876254340]: Plugin cam_imu_sync initialized
[ INFO] [1622628554.876378349]: Plugin command loaded
[ INFO] [1622628554.882182648]: Plugin command initialized
[ INFO] [1622628554.882522449]: Plugin companion_process_status loaded
[ INFO] [1622628554.890973977]: Plugin companion_process_status initialized
[ INFO] [1622628554.891027006]: Plugin debug_value blacklisted
[ INFO] [1622628554.891160039]: Plugin distance_sensor loaded
[ INFO] [1622628554.920581996]: Plugin distance_sensor initialized
[ INFO] [1622628554.920832593]: Plugin esc_status loaded
[ INFO] [1622628554.922022814]: Plugin esc_status initialized
[ INFO] [1622628554.922193818]: Plugin fake_gps loaded
[ INFO] [1622628554.944116807]: Plugin fake_gps initialized
[ INFO] [1622628554.944168740]: Plugin ftp blacklisted
[ INFO] [1622628554.944326114]: Plugin geofence loaded
[ INFO] [1622628554.947614759]: Plugin geofence initialized
[ INFO] [1622628554.947909367]: Plugin global_position loaded
[ INFO] [1622628555.005872034]: Plugin global_position initialized
[ INFO] [1622628555.006056559]: Plugin gps_rtk loaded
[ INFO] [1622628555.008672806]: Plugin gps_rtk initialized
[ INFO] [1622628555.008825537]: Plugin gps_status loaded
[ INFO] [1622628555.010790343]: Plugin gps_status initialized
[ INFO] [1622628555.010839859]: Plugin hil blacklisted
[ INFO] [1622628555.010952223]: Plugin home_position loaded
[ INFO] [1622628555.013948155]: Plugin home_position initialized
[ INFO] [1622628555.014272011]: Plugin imu loaded
[ INFO] [1622628555.028106830]: Plugin imu initialized
[ INFO] [1622628555.028352095]: Plugin landing_target loaded
[ INFO] [1622628555.061665480]: Plugin landing_target initialized
[ INFO] [1622628555.061903451]: Plugin local_position loaded
[ INFO] [1622628555.082419421]: Plugin local_position initialized
[ INFO] [1622628555.082602427]: Plugin log_transfer loaded
[ INFO] [1622628555.085756794]: Plugin log_transfer initialized
[ INFO] [1622628555.085911041]: Plugin manual_control loaded
[ INFO] [1622628555.095134823]: Plugin manual_control initialized
[ INFO] [1622628555.095303752]: Plugin mocap_pose_estimate loaded
[ INFO] [1622628555.098656312]: Plugin mocap_pose_estimate initialized
[ INFO] [1622628555.098863300]: Plugin mount_control loaded
[ INFO] [1622628555.102307848]: Plugin mount_control initialized
[ INFO] [1622628555.102484357]: Plugin obstacle_distance loaded
[ INFO] [1622628555.104928614]: Plugin obstacle_distance initialized
[ INFO] [1622628555.105164680]: Plugin odom loaded
[ INFO] [1622628555.115360325]: Plugin odom initialized
[ INFO] [1622628555.115530190]: Plugin onboard_computer_status loaded
[ INFO] [1622628555.117681705]: Plugin onboard_computer_status initialized
[ INFO] [1622628555.117852176]: Plugin param loaded
[ INFO] [1622628555.120679702]: Plugin param initialized
[ INFO] [1622628555.120828942]: Plugin play_tune loaded
[ INFO] [1622628555.122753497]: Plugin play_tune initialized
[ INFO] [1622628555.122813361]: Plugin px4flow blacklisted
[ INFO] [1622628555.122942882]: Plugin rallypoint loaded
[ INFO] [1622628555.125193151]: Plugin rallypoint initialized
[ INFO] [1622628555.125358159]: Plugin rangefinder loaded
[ INFO] [1622628555.125925215]: Plugin rangefinder initialized
[ INFO] [1622628555.126131297]: Plugin rc_io loaded
[ INFO] [1622628555.128853232]: Plugin rc_io initialized
[ INFO] [1622628555.128910042]: Plugin safety_area blacklisted
[ INFO] [1622628555.129002393]: Plugin setpoint_accel loaded
[ INFO] [1622628555.131824041]: Plugin setpoint_accel initialized
[ INFO] [1622628555.132086303]: Plugin setpoint_attitude loaded
[ INFO] [1622628555.141038753]: Plugin setpoint_attitude initialized
[ INFO] [1622628555.141227742]: Plugin setpoint_position loaded
[ INFO] [1622628555.153635476]: Plugin setpoint_position initialized
[ INFO] [1622628555.153835113]: Plugin setpoint_raw loaded
[ INFO] [1622628555.161028832]: Plugin setpoint_raw initialized
[ INFO] [1622628555.161182032]: Plugin setpoint_trajectory loaded
[ INFO] [1622628555.165374988]: Plugin setpoint_trajectory initialized
[ INFO] [1622628555.165559639]: Plugin setpoint_velocity loaded
[ INFO] [1622628555.170349724]: Plugin setpoint_velocity initialized
[ INFO] [1622628555.170649004]: Plugin sys_status loaded
[ INFO] [1622628555.178909404]: Plugin sys_status initialized
[ INFO] [1622628555.179065082]: Plugin sys_time loaded
[ INFO] [1622628555.183456426]: TM: Timesync mode: MAVLINK
[ INFO] [1622628555.184385014]: Plugin sys_time initialized
[ INFO] [1622628555.184535719]: Plugin trajectory loaded
[ INFO] [1622628555.188615390]: Plugin trajectory initialized
[ INFO] [1622628555.188765129]: Plugin vfr_hud loaded
[ INFO] [1622628555.189257406]: Plugin vfr_hud initialized
[ INFO] [1622628555.189303858]: Plugin vibration blacklisted
[ INFO] [1622628555.189427124]: Plugin vision_pose_estimate loaded
[ INFO] [1622628555.194739373]: Plugin vision_pose_estimate initialized
[ INFO] [1622628555.194792060]: Plugin vision_speed_estimate blacklisted
[ INFO] [1622628555.194878742]: Plugin waypoint loaded
[ INFO] [1622628555.199267670]: Plugin waypoint initialized
[ INFO] [1622628555.199343984]: Plugin wheel_odometry blacklisted
[ INFO] [1622628555.199471230]: Plugin wind_estimation loaded
[ INFO] [1622628555.200031142]: Plugin wind_estimation initialized
[ INFO] [1622628555.200138208]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1622628555.200180288]: Built-in MAVLink package version: 2021.5.5
[ INFO] [1622628555.200219809]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1622628555.200263866]: MAVROS started. MY ID 1.240, TARGET ID 1.1

Diagnostics

header: 
  seq: 53
  stamp: 
    secs: 1622628482
    nsecs: 481034729
  frame_id: ''
status: 
  - 
    level: 1
    name: "mavros: FCU connection"
    message: "not connected"
    hardware_id: "udp://192.168.1.210:14551@192.168.1.116:8888"
    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: "19020"
      - 
        key: "Rx speed:"
        value: "0.000000"
      - 
        key: "Tx speed:"
        value: "460.000000"
  - 
    level: 2
    name: "mavros: GPS"
    message: "No satellites"
    hardware_id: "udp://192.168.1.210:14551@192.168.1.116:8888"
    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: "udp://192.168.1.210:14551@192.168.1.116:8888"
    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: "udp://192.168.1.210:14551@192.168.1.116:8888"
    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: "udp://192.168.1.210:14551@192.168.1.116:8888"
    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: "udp://192.168.1.210:14551@192.168.1.116:8888"
    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
vooon commented 3 years ago

Hello, while i do not have tbs unit, from manual page i assume that 8888 is the port where you should bind to. Looks like WiFi Module firmware just sends messages in broadcast mode, or simply to the device ip connected to that hotspot.

So your connection url should be: udp://:8888@.