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Issue details

Hi, @vooon I'm facing a problem while using odometry for the position of the drone..I'm using realsense d435i, jetson xavier nx, and pixhawk 2.4.8 with px4 firmware....I'm using a bridge VIO to provide odometry data to px4..how the issue I'm facing right now is that bridge is sending data to /mavros/odometry/out and then odometry out is sending those data to mavros and further those data get into /mavros/local_position/odom and pose...but the position data (X,y,z) from the VINS(odometry)is correct till /mavros/odometry/out(topic) for after that when I'm doing rostopic echo of /mavros/local_positon/odom and pose it is giving some random wrong values...I don't know why because at /odometry/out topic values are very fine but after going to mavros node it gets wrong!! also, I changed all the parameters which is required for vision pose estimate like(EKF2_AID_MASK=24, EKF2_HGT_MODE=VISION and turned off the barometer)!! Please help regarding the issue that why I'm getting that random wrong values.

ROS GRAPH

rosgraph

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

copy output of mavros_node. Usually console where you run roslaunch

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"

place here result of:
rostopic echo -n1 /diagnostics

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

rosrun mavros checkid

mavlink / mavros

/mavros/local_positon/odom and pose giving wrong values #1715