vooon
commented
3 years ago Some of static transforms are hardcoded into the node, some just requires config changes. Please note that tf_prefix param support dropped while ago from tf lib.
Open sammar80 opened 3 years ago
vooon
commented
3 years ago Some of static transforms are hardcoded into the node, some just requires config changes. Please note that tf_prefix param support dropped while ago from tf lib.
sammar80
commented
3 years ago Thank you @vooon do you have any idea where else I can change the configurable frames because I changed all the frames in the apm_config.yaml
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Issue details
Please describe the problem, or desired feature
Hi , I am using multiple robots each one runs a mavros node I added a tf_prefix and namespace to all robot's nodes and frames the problem is although I changed the frames in the apm_config.yaml from 'map' >> 'robot_2/map' and 'base_link' >> 'robot_2/base_link' I still find these frames ( base_link,base_link_frd ,odom,odom_ned,map and map_ned) were published to the tf topic any idea of what else I should change or what's I'm missing , here is my tf frames tree frames.pdf
Thanks in advance
MAVROS version and platform
Mavros: master ROS: Melodic Ubuntu: 18.04
Autopilot type and version
[ X ] ArduPilot [ ] PX4
Version: ArduRover V4.0.0 (0e52bafa)
Node logs
roslaunch functions apm_multi_robot.launch ... logging to /home/optimus/.ros/log/3765039c-eeba-11eb-bb8d-d03745187cad/roslaunch-Autobot-11457.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://Autobot:37433/
SUMMARY
CLEAR PARAMETERS
PARAMETERS
NODES /robot_2/ mavros (mavros/mavros_node)
ROS_MASTER_URI=http://localhost:11311
process[robot_2/mavros-1]: started with pid [11489] [ INFO] [1627378024.575008614]: FCU URL: /dev/ttyACM0:921600 [ INFO] [1627378024.583434347]: serial0: device: /dev/ttyACM0 @ 921600 bps [ INFO] [1627378024.584584897]: GCS URL: udp://:14556@192.168.8.100:14551 [ INFO] [1627378024.585873887]: udp1: Bind address: 0.0.0.0:14556 [ INFO] [1627378024.586566457]: udp1: Remote address: 192.168.8.100:14551 [ INFO] [1627378024.707851650]: Plugin 3dr_radio loaded [ INFO] [1627378024.726980726]: Plugin 3dr_radio initialized [ INFO] [1627378024.727423029]: Plugin actuator_control blacklisted [ INFO] [1627378024.788838379]: Plugin adsb loaded [ INFO] [1627378024.832117855]: Plugin adsb initialized [ INFO] [1627378024.832705943]: Plugin altitude blacklisted [ INFO] [1627378024.833431065]: Plugin cam_imu_sync loaded [ INFO] [1627378024.838485724]: Plugin cam_imu_sync initialized [ INFO] [1627378024.839679087]: Plugin command loaded [ INFO] [1627378024.926784148]: Plugin command initialized [ INFO] [1627378024.928627736]: Plugin companion_process_status loaded [ INFO] [1627378024.944078125]: Plugin companion_process_status initialized [ INFO] [1627378024.944783299]: Plugin debug_value blacklisted [ INFO] [1627378024.944986221]: Plugin distance_sensor blacklisted [ INFO] [1627378024.946461779]: Plugin esc_status loaded [ INFO] [1627378024.955954102]: Plugin esc_status initialized [ INFO] [1627378024.958584116]: Plugin fake_gps loaded [ INFO] [1627378025.158119719]: Plugin fake_gps initialized [ INFO] [1627378025.160458997]: Plugin ftp blacklisted [ INFO] [1627378025.161528659]: Plugin global_position loaded [ INFO] [1627378025.299884335]: udp1: Remote address: 192.168.8.100:14551 [ INFO] [1627378025.311788437]: Plugin global_position initialized [ INFO] [1627378025.312435328]: Plugin gps_rtk loaded [ INFO] [1627378025.349859136]: Plugin gps_rtk initialized [ INFO] [1627378025.350356857]: Plugin gps_status loaded [ INFO] [1627378025.367588958]: Plugin gps_status initialized [ INFO] [1627378025.367866257]: Plugin hil blacklisted [ INFO] [1627378025.368971285]: Plugin home_position loaded [ INFO] [1627378025.390878921]: Plugin home_position initialized [ INFO] [1627378025.392179422]: Plugin imu loaded [ INFO] [1627378025.456691361]: Plugin imu initialized [ INFO] [1627378025.457201478]: Plugin landing_target loaded [ INFO] [1627378025.615943136]: Plugin landing_target initialized [ INFO] [1627378025.616548516]: Plugin local_position loaded [ INFO] [1627378025.672841341]: Plugin local_position initialized [ INFO] [1627378025.673567506]: Plugin log_transfer loaded [ INFO] [1627378025.698016872]: Plugin log_transfer initialized [ INFO] [1627378025.698626627]: Plugin manual_control loaded [ INFO] [1627378025.741493124]: Plugin manual_control initialized [ INFO] [1627378025.742040898]: Plugin mocap_pose_estimate loaded [ INFO] [1627378025.768401146]: Plugin mocap_pose_estimate initialized [ INFO] [1627378025.769151530]: Plugin mount_control loaded [ INFO] [1627378025.811198423]: Plugin mount_control initialized [ INFO] [1627378025.811486243]: Plugin obstacle_distance blacklisted [ INFO] [1627378025.811911566]: Plugin odom loaded [ INFO] [1627378025.839985399]: Plugin odom initialized [ INFO] [1627378025.840715261]: Plugin onboard_computer_status loaded [ INFO] [1627378025.866973631]: Plugin onboard_computer_status initialized [ INFO] [1627378025.872710026]: Plugin param loaded [ INFO] [1627378025.890589487]: Plugin param initialized [ INFO] [1627378025.891099865]: Plugin play_tune loaded [ INFO] [1627378025.901382416]: Plugin play_tune initialized [ INFO] [1627378025.901501429]: Plugin px4flow blacklisted [ INFO] [1627378025.901960659]: Plugin rangefinder loaded [ INFO] [1627378025.905305691]: Plugin rangefinder initialized [ INFO] [1627378025.905642627]: Plugin rc_io loaded [ INFO] [1627378025.924616282]: Plugin rc_io initialized [ INFO] [1627378025.924742952]: Plugin safety_area blacklisted [ INFO] [1627378025.927610212]: Plugin setpoint_accel loaded [ INFO] [1627378025.955303723]: Plugin setpoint_accel initialized [ INFO] [1627378025.955708212]: Plugin setpoint_attitude loaded [ INFO] [1627378026.018074784]: Plugin setpoint_attitude initialized [ INFO] [1627378026.018665841]: Plugin setpoint_position loaded [ INFO] [1627378026.104327949]: Plugin setpoint_position initialized [ INFO] [1627378026.105007081]: Plugin setpoint_raw loaded [ INFO] [1627378026.173415993]: Plugin setpoint_raw initialized [ INFO] [1627378026.174156064]: Plugin setpoint_trajectory loaded [ INFO] [1627378026.206219528]: Plugin setpoint_trajectory initialized [ INFO] [1627378026.206785845]: Plugin setpoint_velocity loaded [ INFO] [1627378026.246260382]: Plugin setpoint_velocity initialized [ INFO] [1627378026.247306762]: Plugin sys_status loaded [ INFO] [1627378026.324123282]: Plugin sys_status initialized [ INFO] [1627378026.324878510]: Plugin sys_time loaded [ INFO] [1627378026.353579390]: TM: Timesync mode: MAVLINK [ INFO] [1627378026.361655427]: Plugin sys_time initialized [ INFO] [1627378026.362334506]: Plugin trajectory loaded [ INFO] [1627378026.393055177]: Plugin trajectory initialized [ INFO] [1627378026.393980044]: Plugin vfr_hud loaded [ INFO] [1627378026.410220662]: Plugin vfr_hud initialized [ INFO] [1627378026.410689111]: Plugin vibration blacklisted [ INFO] [1627378026.411401004]: Plugin vision_pose_estimate loaded [ INFO] [1627378026.450539543]: Plugin vision_pose_estimate initialized [ INFO] [1627378026.450844134]: Plugin vision_speed_estimate blacklisted [ INFO] [1627378026.451399564]: Plugin waypoint loaded [ INFO] [1627378026.486410551]: Plugin waypoint initialized [ INFO] [1627378026.486649203]: Plugin wheel_odometry blacklisted [ INFO] [1627378026.487152185]: Plugin wind_estimation loaded [ INFO] [1627378026.489623184]: Plugin wind_estimation initialized [ INFO] [1627378026.489824387]: Built-in SIMD instructions: ARM NEON [ INFO] [1627378026.489898296]: Built-in MAVLink package version: 2020.9.10 [ INFO] [1627378026.489967776]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta [ INFO] [1627378026.490031632]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1627378026.715624195]: CON: Got HEARTBEAT, connected. FCU: ArduPilot [ INFO] [1627378026.757253839]: RC_CHANNELS message detected! [ INFO] [1627378026.761013829]: IMU: Raw IMU message used. [ WARN] [1627378026.763481444]: GP: No GPS fix [ INFO] [1627378026.959280078]: FCU: EKF2 IMU1 is using external nav data [ INFO] [1627378026.959621493]: FCU: EKF2 IMU1 initial pos NED = 0.0,0.0,-0.0 (m) [ INFO] [1627378026.969212100]: FCU: EKF2 IMU0 is using external nav data [ INFO] [1627378026.969388146]: FCU: EKF2 IMU0 initial pos NED = 0.0,0.0,-0.0 (m) [ WARN] [1627378027.745108280]: CMD: Unexpected command 520, result 0 [ INFO] [1627378027.745399173]: WP: Using MISSION_ITEM_INT [ INFO] [1627378027.745583500]: VER: 1.1: Capabilities 0x000000000000f1ef [ INFO] [1627378027.745680117]: VER: 1.1: Flight software: 040000ff ( 0e52baf) [ INFO] [1627378027.745754650]: VER: 1.1: Middleware software: 00000000 ( ) [ INFO] [1627378027.745826840]: VER: 1.1: OS software: 00000000 ( 0997003) [ INFO] [1627378027.746011115]: VER: 1.1: Board hardware: 00000000 [ INFO] [1627378027.746095076]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1627378027.746182890]: VER: 1.1: UID: 0000000000000000 [ INFO] [1627378036.727768625]: HP: requesting home position [ INFO] [1627378036.735375015]: FCU: ArduRover V4.0.0 (0e52bafa) [ INFO] [1627378036.735572416]: FCU: ChibiOS: 0997003f [ INFO] [1627378036.735923102]: FCU: fmuv4 00330026 374E5005 2031384B [ WARN] [1627378037.728138569]: PR: request list timeout, retries left 2 [ WARN] [1627378038.728520651]: PR: request list timeout, retries left 1 [ WARN] [1627378039.729298945]: PR: request list timeout, retries left 0 [ WARN] [1627378041.732953457]: CMD: Command 410 -- wait ack timeout [ WARN] [1627378041.733886918]: CMD: Unexpected command 410, result 0 [ INFO] [1627378041.810473749]: FCU: ArduRover V4.0.0 (0e52bafa) [ INFO] [1627378041.810820685]: FCU: ChibiOS: 0997003f [ INFO] [1627378041.811013137]: FCU: fmuv4 00330026 374E5005 2031384B [ WARN] [1627378041.830272374]: TM : RTT too high for timesync: 3965.87 ms. [ WARN] [1627378041.860220526]: TM : RTT too high for timesync: 3398.50 ms. [ INFO] [1627378041.877898421]: FCU: ArduRover V4.0.0 (0e52bafa) [ INFO] [1627378041.881030218]: FCU: ChibiOS: 0997003f [ INFO] [1627378041.881433354]: FCU: fmuv4 00330026 374E5005 2031384B [ WARN] [1627378041.899096977]: TM : RTT too high for timesync: 2837.29 ms. [ WARN] [1627378041.910521172]: TM : RTT too high for timesync: 2248.71 ms. [ INFO] [1627378041.917155193]: FCU: ArduRover V4.0.0 (0e52bafa) [ INFO] [1627378041.917891775]: FCU: ChibiOS: 0997003f [ INFO] [1627378041.918197043]: FCU: fmuv4 00330026 374E5005 2031384B [ WARN] [1627378041.959758770]: TM : RTT too high for timesync: 1698.01 ms. [ WARN] [1627378041.973430365]: TM : RTT too high for timesync: 1111.67 ms. [ WARN] [1627378041.999590349]: TM : RTT too high for timesync: 537.77 ms. [ INFO] [1627378042.015266734]: WP: item #0 F: [ INFO] [1627378042.015583774]: WP: mission received [ INFO] [1627378053.815901127]: PR: parameters list received [ WARN] [1627378057.263609083]: GP: No GPS fix [ WARN] [1627378087.758012707]: GP: No GPS fix
Diagnostics
header: seq: 75 stamp: secs: 1627378178 nsecs: 547903507 frame_id: '' status:
level: 0 name: "mavros: FCU connection" message: "connected" hardware_id: "/dev/ttyACM0:921600" values:
key: "Received packets:" value: "6622"
key: "Dropped packets:" value: "0"
key: "Buffer overruns:" value: "0"
key: "Parse errors:" value: "0"
key: "Rx sequence number:" value: "51"
key: "Tx sequence number:" value: "0"
key: "Rx total bytes:" value: "198567"
key: "Tx total bytes:" value: "15647"
key: "Rx speed:" value: "3438.000000"
key: "Tx speed:" value: "481.000000"
level: 2 name: "mavros: GPS" message: "No satellites" hardware_id: "/dev/ttyACM0:921600" values:
key: "Satellites visible" value: "0"
key: "Fix type" value: "0"
key: "EPH (m)" value: "Unknown"
key: "EPV (m)" value: "Unknown"
level: 0 name: "mavros: Heartbeat" message: "Normal" hardware_id: "/dev/ttyACM0:921600" values:
key: "Heartbeats since startup" value: "44"
key: "Frequency (Hz)" value: "0.962988"
key: "Vehicle type" value: "Ground rover"
key: "Autopilot type" value: "ArduPilot"
key: "Mode" value: "GUIDED"
key: "System status" value: "Critical"
level: 2 name: "mavros: System" message: "Sensor health" hardware_id: "/dev/ttyACM0:921600" values:
key: "Sensor present" value: "0x0320DC0B"
key: "Sensor enabled" value: "0x0020DC0B"
key: "Sensor health" value: "0x0010DD0B"
key: "3D gyro" value: "Ok"
key: "3D accelerometer" value: "Ok"
key: "absolute pressure" value: "Ok"
key: "3D angular rate control" value: "Ok"
key: "attitude stabilization" value: "Ok"
key: "yaw position" value: "Ok"
key: "x/y position control" value: "Ok"
key: "motor outputs / control" value: "Ok"
key: "AHRS subsystem health" value: "Fail"
key: "CPU Load (%)" value: "18.0"
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: 1 name: "mavros: Battery" message: "Low voltage" hardware_id: "/dev/ttyACM0:921600" values:
key: "Voltage" value: "0.00"
key: "Current" value: "-0.0"
key: "Remaining" value: "-1.0"
level: 0 name: "mavros: Time Sync" message: "Normal" hardware_id: "/dev/ttyACM0:921600" values:
key: "Timesyncs since startup" value: "424"
key: "Frequency (Hz)" value: "10.000230"
key: "Last RTT (ms)" value: "6.656577"
key: "Mean RTT (ms)" value: "172.460749"
key: "Last remote time (s)" value: "1345.355940000"
key: "Estimated time offset (s)" value: "1627376833.152102947"
Check ID
OK. I got messages from 1:1.
Received 1166 messages, from 1 addresses sys:comp list of messages 1:1 0, 1, 2, 65, 24, 150, 152, 27, 29, 30, 33, 34, 163, 36, 165, 42, 178, 182, 62, 193, 194, 74, 87, 111, 241, 116, 125