search

mavlink / mavros

MAVLink to ROS gateway with proxy for Ground Control Station
Other
892 stars 992 forks source link

Low publish rate on Mavros topics #1685

Open bhaskar-glitch opened 2 years ago

bhaskar-glitch commented 2 years ago

This is only bug and feature tracker, please use it to report bugs or request features.

Issue details

Hii @vooon , I'm working on an indoor autonomous drone project and recently I found an issue in the topics of MAVROS because the topics are being updated at a very low rate (at 1Hz) the topics I've noticed of having low update rate are: /mavros/local_position/odom , /mavros/local_position/pose Now let me tell you the full procedure I'm doing...I'm using VINS_FUSION as odometry with d453i camera and using VIO(realsense bridge)to connect VINS and MAVROS(FCU)now the issue is that the drone doesn't know its correct altitude in real-time coz of the slow update rate I'm getting some sort of disturbance in my autonomous flight also I'm using JETSON XAVIER on edge of the drone to process everything.

MAVROS version and platform

Mavros: ?latest? ROS: ?melodic? Ubuntu: ?18.04?

Autopilot type and version

[ ] ArduPilot [X] PX4

Version: ?latest?

Node logs

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /copter_visualization/child_frame_id: fcu
 * /copter_visualization/fixed_frame_id: map
 * /mavros/cmd/use_comp_id_system_control: False
 * /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/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /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/ttyTHS0:921600
 * /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/fcu/odom_child_id_des: base_link
 * /mavros/odometry/fcu/odom_parent_id_des: map
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /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: True
 * /mavros/sys/disable_diag: True
 * /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: odom
 * /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: odom
 * /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: odom
 * /mavros/wheel_odometry/tf/send: False
 * /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: 1.14.12

NODES
  /
    copter_visualization (mavros_extras/copter_visualization)
    mavros (mavros/mavros_node)

ROS_MASTER_URI=http://192.168.177.46:11311/

process[mavros-1]: started with pid [25870]
ERROR: cannot launch node of type [mavros_extras/copter_visualization]: Cannot locate node of type [copter_visualization] in package [mavros_extras]. Make sure file exists in package path and permission is set to executable (chmod +x)
[ INFO] [1641288054.700179693]: FCU URL: /dev/ttyTHS0:921600
[ INFO] [1641288054.720008559]: serial0: device: /dev/ttyTHS0 @ 921600 bps
[ INFO] [1641288054.722519939]: GCS bridge disabled
[ INFO] [1641288054.805218426]: Plugin 3dr_radio loaded
[ INFO] [1641288054.827298225]: Plugin 3dr_radio initialized
[ INFO] [1641288054.827787791]: Plugin actuator_control loaded
[ INFO] [1641288054.868765516]: Plugin actuator_control initialized
[ INFO] [1641288054.884576801]: Plugin adsb loaded
[ INFO] [1641288054.927499605]: Plugin adsb initialized
[ INFO] [1641288054.928296338]: Plugin altitude loaded
[ INFO] [1641288054.943481673]: Plugin altitude initialized
[ INFO] [1641288054.944306438]: Plugin cam_imu_sync loaded
[ INFO] [1641288054.953716761]: Plugin cam_imu_sync initialized
[ INFO] [1641288054.954388406]: Plugin command loaded
[ INFO] [1641288055.043939085]: Plugin command initialized
[ INFO] [1641288055.044684137]: Plugin companion_process_status loaded
[ INFO] [1641288055.083213747]: Plugin companion_process_status initialized
[ INFO] [1641288055.084083535]: Plugin debug_value loaded
[ INFO] [1641288055.152766314]: Plugin debug_value initialized
[ INFO] [1641288055.153004104]: Plugin distance_sensor blacklisted
[ INFO] [1641288055.153614630]: Plugin esc_status loaded
[ INFO] [1641288055.169667130]: Plugin esc_status initialized
[ INFO] [1641288055.170488342]: Plugin esc_telemetry loaded
[ INFO] [1641288055.179308108]: Plugin esc_telemetry initialized
[ INFO] [1641288055.180425703]: Plugin fake_gps loaded
[ INFO] [1641288055.582894773]: Plugin fake_gps initialized
[ INFO] [1641288055.583541394]: Plugin ftp loaded
[ INFO] [1641288055.679658058]: Plugin ftp initialized
[ INFO] [1641288055.680568134]: Plugin geofence loaded
[ INFO] [1641288055.719772045]: Plugin geofence initialized
[ INFO] [1641288055.721115750]: Plugin global_position loaded
[ INFO] [1641288056.062471286]: Plugin global_position initialized
[ INFO] [1641288056.064268686]: Plugin gps_input loaded
[ INFO] [1641288056.115605148]: Plugin gps_input initialized
[ INFO] [1641288056.116866102]: Plugin gps_rtk loaded
[ INFO] [1641288056.159635596]: Plugin gps_rtk initialized
[ INFO] [1641288056.161131269]: Plugin gps_status loaded
[ INFO] [1641288056.186858251]: Plugin gps_status initialized
[ INFO] [1641288056.187500680]: Plugin hil loaded
[ INFO] [1641288056.499217960]: Plugin hil initialized
[ INFO] [1641288056.500045092]: Plugin home_position loaded
[ INFO] [1641288056.551479665]: Plugin home_position initialized
[ INFO] [1641288056.552658252]: Plugin imu loaded
[ INFO] [1641288056.672396406]: Plugin imu initialized
[ INFO] [1641288056.673403121]: Plugin landing_target loaded
[ INFO] [1641288057.034099851]: Plugin landing_target initialized
[ INFO] [1641288057.034815527]: Plugin local_position loaded
[ INFO] [1641288057.162007632]: Plugin local_position initialized
[ INFO] [1641288057.162753933]: Plugin log_transfer loaded
[ INFO] [1641288057.230261007]: Plugin log_transfer initialized
[ INFO] [1641288057.231124491]: Plugin mag_calibration_status loaded
[ INFO] [1641288057.247633725]: Plugin mag_calibration_status initialized
[ INFO] [1641288057.249001687]: Plugin manual_control loaded
[ INFO] [1641288057.308403487]: Plugin manual_control initialized
[ INFO] [1641288057.309156027]: Plugin mocap_pose_estimate loaded
[ INFO] [1641288057.389766656]: Plugin mocap_pose_estimate initialized
[ INFO] [1641288057.390599164]: Plugin mount_control loaded
[ INFO] [1641288057.447680911]: Plugin mount_control initialized
[ INFO] [1641288057.448413420]: Plugin nav_controller_output loaded
[ INFO] [1641288057.454683182]: Plugin nav_controller_output initialized
[ INFO] [1641288057.455407147]: Plugin obstacle_distance loaded
[ INFO] [1641288057.515326193]: Plugin obstacle_distance initialized
[ INFO] [1641288057.516649578]: Plugin odom loaded
[ INFO] [1641288057.603044115]: Plugin odom initialized
[ INFO] [1641288057.604551724]: Plugin onboard_computer_status loaded
[ INFO] [1641288057.646213352]: Plugin onboard_computer_status initialized
[ INFO] [1641288057.647183812]: Plugin param loaded
[ INFO] [1641288057.682770268]: Plugin param initialized
[ INFO] [1641288057.683691224]: Plugin play_tune loaded
[ INFO] [1641288057.725328820]: Plugin play_tune initialized
[ INFO] [1641288057.726205392]: Plugin px4flow loaded
[ INFO] [1641288057.846121755]: Plugin px4flow initialized
[ INFO] [1641288057.846839927]: Plugin rallypoint loaded
[ INFO] [1641288057.892354721]: Plugin rallypoint initialized
[ INFO] [1641288057.892732671]: Plugin rangefinder blacklisted
[ INFO] [1641288057.894120825]: Plugin rc_io loaded
[ INFO] [1641288057.949611380]: Plugin rc_io initialized
[ INFO] [1641288057.950274640]: Plugin safety_area blacklisted
[ INFO] [1641288057.951153548]: Plugin setpoint_accel loaded
[ INFO] [1641288058.005521068]: Plugin setpoint_accel initialized
[ INFO] [1641288058.007033605]: Plugin setpoint_attitude loaded
[ INFO] [1641288058.163116200]: Plugin setpoint_attitude initialized
[ INFO] [1641288058.165459485]: Plugin setpoint_position loaded
[ INFO] [1641288058.508132052]: Plugin setpoint_position initialized
[ INFO] [1641288058.509366030]: Plugin setpoint_raw loaded
[ INFO] [1641288058.654085575]: Plugin setpoint_raw initialized
[ INFO] [1641288058.654737508]: Plugin setpoint_trajectory loaded
[ INFO] [1641288058.729994658]: Plugin setpoint_trajectory initialized
[ INFO] [1641288058.730719423]: Plugin setpoint_velocity loaded
[ INFO] [1641288058.822687791]: Plugin setpoint_velocity initialized
[ INFO] [1641288058.823699690]: Plugin sys_status loaded
[ INFO] [1641288058.971939762]: Plugin sys_status initialized
[ INFO] [1641288058.972705519]: Plugin sys_time loaded
[ INFO] [1641288059.065364092]: TM: Timesync mode: MAVLINK
[ INFO] [1641288059.073663062]: TM: Not publishing sim time
[ INFO] [1641288059.090965701]: Plugin sys_time initialized
[ INFO] [1641288059.092134431]: Plugin trajectory loaded
[ INFO] [1641288059.179225319]: Plugin trajectory initialized
[ INFO] [1641288059.180147523]: Plugin tunnel loaded
[ INFO] [1641288059.228122274]: Plugin tunnel initialized
[ INFO] [1641288059.229609851]: Plugin vfr_hud loaded
[ INFO] [1641288059.237827157]: Plugin vfr_hud initialized
[ INFO] [1641288059.238445234]: Plugin vibration blacklisted
[ INFO] [1641288059.239278158]: Plugin vision_pose_estimate loaded
[ INFO] [1641288059.372875005]: Plugin vision_pose_estimate initialized
[ INFO] [1641288059.375354801]: Plugin vision_speed_estimate loaded
[ INFO] [1641288059.449224983]: Plugin vision_speed_estimate initialized
[ INFO] [1641288059.450925935]: Plugin waypoint loaded
[ INFO] [1641288059.514127143]: Plugin waypoint initialized
[ INFO] [1641288059.514872484]: Plugin wheel_odometry blacklisted
[ INFO] [1641288059.515974463]: Plugin wind_estimation loaded
[ INFO] [1641288059.527265898]: Plugin wind_estimation initialized
[ INFO] [1641288059.528020518]: Autostarting mavlink via USB on PX4
[ INFO] [1641288059.529384480]: Built-in SIMD instructions: ARM NEON
[ INFO] [1641288059.529778814]: Built-in MAVLink package version: 2021.12.12
[ INFO] [1641288059.530235996]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1641288059.530712089]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1641288059.679438177]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1641288060.719403717]: GF: Using MISSION_ITEM_INT
[ INFO] [1641288060.719586884]: RP: Using MISSION_ITEM_INT
[ INFO] [1641288060.719726308]: WP: Using MISSION_ITEM_INT
[ INFO] [1641288060.719900451]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1641288060.720014114]: VER: 1.1: Flight software:     010c03ff (2e8918da66000000)
[ INFO] [1641288060.720192257]: VER: 1.1: Middleware software: 010c03ff (2e8918da66000000)
[ INFO] [1641288060.720319521]: VER: 1.1: OS software:         080200ff (bf660cba2af81f05)
[ INFO] [1641288060.720559328]: VER: 1.1: Board hardware:      00000011
[ INFO] [1641288060.721192509]: VER: 1.1: VID/PID:             26ac:0011
[ INFO] [1641288060.721544603]: VER: 1.1: UID:                 3237511538343932

Diagnostics

place here result of:
header: 
  seq: 112
  stamp: 
    secs: 1641288216
    nsecs:  31859443
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "/dev/ttyTHS0:921600"
    values: 
      - 
        key: "Received packets:"
        value: "7096"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "209"
      - 
        key: "Tx sequence number:"
        value: "0"
      - 
        key: "Rx total bytes:"
        value: "250954"
      - 
        key: "Tx total bytes:"
        value: "623612"
      - 
        key: "Rx speed:"
        value: "2217.000000"
      - 
        key: "Tx speed:"
        value: "5849.000000"
  - 
    level: 2
    name: "mavros: GPS"
    message: "No satellites"
    hardware_id: "/dev/ttyTHS0:921600"
    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/ttyTHS0:921600"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "157"
      - 
        key: "Frequency (Hz)"
        value: "1.034482"
      - 
        key: "Vehicle type"
        value: "Quadrotor"
      - 
        key: "Autopilot type"
        value: "PX4 Autopilot"
      - 
        key: "Mode"
        value: "MANUAL"
      - 
        key: "System status"
        value: "Standby"
  - 
    level: 0
    name: "mavros: Time Sync"
    message: "Normal"
    hardware_id: "/dev/ttyTHS0:921600"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "1566"
      - 
        key: "Frequency (Hz)"
        value: "10.000029"
      - 
        key: "Last RTT (ms)"
        value: "2.107066"
      - 
        key: "Mean RTT (ms)"
        value: "1.977769"
      - 
        key: "Last remote time (s)"
        value: "10855.806426000"
      - 
        key: "Estimated time offset (s)"
        value: "1641277360.128325224"
---

Check ID

OK. I got messages from 1:1.

---
Received 592 messages, from 1 addresses
sys:comp   list of messages
  1:1     32, 1, 36, 230, 0, 8, 74, 141, 77, 111, 241, 83, 245, 4, 30, 147
vooon commented 2 years ago

Did you try to use set_stream_rate / set_message_interval?

bhaskar-glitch commented 2 years ago

Did you try to use set_stream_rate / set_message_interval?

Yah i have tried using stream rate but nothing helped...(rosservice call /mavros/set_stream_rate 1 200 1)

vooon commented 2 years ago

https://github.com/PX4/PX4-Autopilot/blob/master/src/modules/mavlink/mavlink_receiver.h

Seems PX4 doesn't support set_stream_rate anymore, could you please try rosrun mavros mavsys message_interval --id=31 --rate=200 (ATTITUDE_QUATERNION=31, HIGHRES_IMU=105).

bhaskar-glitch commented 2 years ago

I tried this but their is no effect on the publish rate yet..It's 1hz as before.. Please help image

bhaskar-glitch commented 2 years ago

Hey thanks for help! rosrun mavros mavsys message_interval --id=32 --rate=200 solved my issue :)))))

bhaskar-glitch commented 2 years ago

Hi @vooon I facing the same issue again!! But this time the topic /mavros/local_positon/odom and pose is working fine on 100hz but in QGC mavlink inspector the rate is again very slow.. it's 1hz there. Please help me out!!

mengchaoheng commented 1 year ago

@bhaskar-glitch @vooon can you help me please! https://github.com/PX4/PX4-Autopilot/issues/21504

ZhongmouLi commented 11 months ago

maybe you can try rosrun mavros mavsys rate --all 100