I'm trying to control a drone in gazebo via mavros. I try to run a test node which set the mode to offboard, arm the drone and draw a square. When I run the node the drone takeoff and hold just a while then land. I cant set mode to offboard mode.
Px4 and QGC show this warning 'WARN [mavlink] SET_POSITION_TARGET_LOCAL_NED coordinate frame 0 unsupported'. I couldn't find what the problem exactly is.
I use ros melodic, gazebo9,vmware ubuntu 18.04.
THIS IS MY OFFBOARD FUNCTION
def setOffboardMode(self):
global sp_pub
cnt = Controller()
rate = rospy.Rate(20.0)
k = 0
while k < 10:
sp_pub.publish(cnt.sp)
rate.sleep()
k = k + 1
sp_pub = rospy.Publisher('mavros/setpoint_raw/local', PositionTarget, queue_size=1)
rospy.wait_for_service('/mavros/set_mode')
try:
flightModeService = rospy.ServiceProxy('/mavros/set_mode', mavros_msgs.srv.SetMode)
response = flightModeService(custom_mode='OFFBOARD')
return response.mode_sent
except rospy.ServiceException as e:
print
"service set_mode call failed: %s. Offboard Mode could not be set." % e
return False
THIRD TERMINAL IS THAT
sumeyra@ubuntu:~/PX4-Autopilot$ rosrun tulpar kare.py
Waiting for arming...
Waiting for arming...
Waiting for arming...
Waiting for arming...
Waiting for arming...
Waiting for arming...
Waiting for arming...
Waiting for arming...
MAIN: SET OFFBOARD
(It just print 'set offboard' because of that I wrote this message on my code)
But while running my code I did 'rostopic echo /mavros/state' which results in
sumeyra@ubuntu:~$ cd PX4-Autopilot/
sumeyra@ubuntu:~/PX4-Autopilot$ DONT_RUN=1 make px4_sitl_default gazebo
[0/4] Performing build step for 'sitl_gazebo'
ninja: no work to do.
[3/4] cd /home/sumeyra/PX4-Autopilot/b...a/PX4-Autopilot/build/px4_sitl_default
Not running simulation (DONT_RUN is set).
sumeyra@ubuntu:~/PX4-Autopilot$ source ~/catkin_ws/devel/setup.bash # (optional)
sumeyra@ubuntu:~/PX4-Autopilot$ source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
GAZEBO_PLUGIN_PATH :/home/sumeyra/PX4-Autopilot/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/sumeyra/PX4-Autopilot/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /home/sumeyra/catkin_ws/devel/lib:/opt/ros/melodic/lib:/home/sumeyra/PX4-Autopilot/build/px4_sitl_default/build_gazebo
sumeyra@ubuntu:~/PX4-Autopilot$ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)sumeyra@ubuntu:~/PX4-Autopilot$ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
sumeyra@ubuntu:~/PX4-Autopilot$ roslaunch px4 posix_sitl.launch
... logging to /home/sumeyra/.ros/log/c22b2070-ade0-11ec-b15a-000c2971bdc0/roslaunch-ubuntu-25593.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/sumeyra/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
started roslaunch server http://127.0.0.1:41177/
SUMMARY
========
PARAMETERS
* /gazebo/enable_ros_network: True
* /rosdistro: melodic
* /rosversion: 1.14.12
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
sitl (px4/px4)
vehicle_spawn_ubuntu_25593_6292048768281433350 (gazebo_ros/spawn_model)
ROS_MASTER_URI=http://127.0.0.1:11311
process[sitl-1]: started with pid [25608]
Creating symlink /home/sumeyra/PX4-Autopilot/build/px4_sitl_default/etc -> /home/sumeyra/.ros/etc
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-2]: started with pid [25620]
INFO [init] found model autostart file as SYS_AUTOSTART=10016
INFO [param] selected parameter default file eeprom/parameters_10016
INFO [parameters] BSON document size 664 bytes, decoded 664 bytes (INT32:18, FLOAT:14)
[param] Loaded: eeprom/parameters_10016
process[gazebo_gui-3]: started with pid [25636]
process[vehicle_spawn_ubuntu_25593_6292048768281433350-4]: started with pid [25645]
INFO [dataman] data manager file './dataman' size is 7866640 bytes
PX4 SIM HOST: localhost
INFO [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1648394155.659445188]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1648394155.661512565]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1648394155.710522249]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1648394155.712383612]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1648394156.022485, 0.000000]: Loading model XML from file /home/sumeyra/PX4-Autopilot/Tools/sitl_gazebo/models/iris/iris.sdf
[INFO] [1648394156.036130, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1648394156.762773081]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1648394156.785509056, 0.020000000]: Physics dynamic reconfigure ready.
[INFO] [1648394156.945560, 0.172000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1648394157.529093180, 0.352000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[INFO] [1648394157.535198, 0.352000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1648394157.550188509, 0.352000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[vehicle_spawn_ubuntu_25593_6292048768281433350-4] process has finished cleanly
log file: /home/sumeyra/.ros/log/c22b2070-ade0-11ec-b15a-000c2971bdc0/vehicle_spawn_ubuntu_25593_6292048768281433350-4*.log
INFO [simulator] Simulator connected on TCP port 4560.
INFO [commander] LED: open /dev/led0 failed (22)
INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO [init] setting PWM_AUX_OUT none
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2022-03-27/15_15_58.ulg
INFO [logger] Opened full log file: ./log/2022-03-27/15_15_58.ulg
INFO [mavlink] partner IP: 127.0.0.1
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh> INFO [mavlink] partner IP: 127.0.0.1
INFO [tone_alarm] home set
WARN [mc_pos_control] invalid setpoints
INFO [tone_alarm] notify negative
ERROR [mavlink] [timesync] Time jump detected. Resetting time synchroniser.
INFO [commander] Armed by external command
WARN [navigator] Using minimum takeoff altitude: 3.66 m
INFO [commander] Takeoff detected
WARN [mavlink] SET_POSITION_TARGET_LOCAL_NED coordinate frame 0 unsupported
WARN [mavlink] SET_POSITION_TARGET_LOCAL_NED coordinate frame 0 unsupported
WARN [mavlink] SET_POSITION_TARGET_LOCAL_NED coordinate frame 0 unsupported
WARN [mavlink] SET_POSITION_TARGET_LOCAL_NED coordinate frame 0 unsupported
WARN [mavlink] SET_POSITION_TARGET_LOCAL_NED coordinate frame 0 unsupported
WARN [mavlink] SET_POSITION_TARGET_LOCAL_NED coordinate frame 0 unsupported
WARN [mavlink] SET_POSITION_TARGET_LOCAL_NED coordinate frame 0 unsupported
WARN [mavlink] SET_POSITION_TARGET_LOCAL_NED coordinate frame 0 unsupported
WARN [mavlink] SET_POSITION_TARGET_LOCAL_NED coordinate frame 0 unsupported
WARN [mavlink] SET_POSITION_TARGET_LOCAL_NED coordinate frame 0 unsupported
WARN [commander] Failsafe enabled: No manual control stick input
INFO [commander] Failsafe mode activated
INFO [tone_alarm] battery warning (fast)
INFO [navigator] RTL HOME activated
INFO [navigator] RTL: landing at home position.
INFO [navigator] RTL: climb to 104 m (4 m above destination)
INFO [commander] Failsafe mode deactivated
INFO [navigator] RTL: return at 104 m (4 m above destination)
INFO [navigator] RTL: land at destination
INFO [commander] Landing detected
INFO [commander] Disarmed by landing
INFO [logger] closed logfile, bytes written: 17511320
ERROR [mavlink] [timesync] Time jump detected. Resetting time synchroniser.
qllokirin
commented
2 years ago
Hi guys,
I'm trying to control a drone in gazebo via mavros. I try to run a test node which set the mode to offboard, arm the drone and draw a square. When I run the node the drone takeoff and hold just a while then land. I cant set mode to offboard mode. Px4 and QGC show this warning '
WARN [mavlink] SET_POSITION_TARGET_LOCAL_NED coordinate frame 0 unsupported'. I couldn't find what the problem exactly is.I use ros melodic, gazebo9,vmware ubuntu 18.04.
THIS IS MY OFFBOARD FUNCTION
THIRD TERMINAL IS THAT
(It just print 'set offboard' because of that I wrote this message on my code) But while running my code I did '
rostopic echo /mavros/state' which results inCould you help me to solve this problem guys?
FIRST TERMINAL IS THAT
SECOND TERMINAL IS THAT