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MAVLink to ROS gateway with proxy for Ground Control Station
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Not overriding channel #1748

Open AngeloEspinoza opened 2 years ago

AngeloEspinoza commented 2 years ago

Hi, I'm currently trying to send angular velocities or PWM to the rotors in order to control them individually. I found out that the way to do it is through the topic /mavros/rc/override; however, I'm trying to set some values to that topic but no "overriding" occurs, the values in topic mavros/rc/out and mavros/rc/in still the same, plus the motor's drone do not seem to be affected in any way.

MAVROS version and platform

Mavros: 1.13.0 ROS: Noetic Ubuntu: 20.04

Autopilot type and version

[x] ArduPilot [ ] PX4

Node logs


eters/fcu_url: udp://:14550@
 * /mavros/mavros_node/ros__parameters/gcs_url: tcp-l://:5670
 * /mavros/mavros_node/ros__parameters/system_id: 255
 * /mavros/mavros_node/ros__parameters/tgt_component: 1
 * /mavros/mavros_node/ros__parameters/tgt_system: 1
 * /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: ['ftp', 'safety_a...
 * /mavros/plugin_whitelist: ['actuator_control']
 * /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: noetic
 * /rosversion: 1.15.14

NODES
  /
    mavros (mavros/mavros_node)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [86166]
[ INFO] [1653208830.187662581]: FCU URL: udp://127.0.0.1:14551@14555
[ INFO] [1653208830.190820765]: udp0: Bind address: 127.0.0.1:14551
[ INFO] [1653208830.190901773]: udp0: Remote address: 0.0.56.219:14550
[ INFO] [1653208830.191124036]: GCS bridge disabled
[ INFO] [1653208830.203462487]: Plugin 3dr_radio loaded
[ INFO] [1653208830.205259075]: Plugin 3dr_radio initialized
[ INFO] [1653208830.205393555]: Plugin actuator_control loaded
[ INFO] [1653208830.207910027]: Plugin actuator_control initialized
[ INFO] [1653208830.213244391]: Plugin adsb loaded
[ INFO] [1653208830.216179974]: Plugin adsb initialized
[ INFO] [1653208830.216218369]: Plugin altitude blacklisted
[ INFO] [1653208830.216434130]: Plugin cam_imu_sync loaded
[ INFO] [1653208830.217104214]: Plugin cam_imu_sync initialized
[ INFO] [1653208830.217282145]: Plugin camera loaded
[ INFO] [1653208830.217902868]: Plugin camera initialized
[ INFO] [1653208830.218049867]: Plugin command loaded
[ INFO] [1653208830.224159731]: Plugin command initialized
[ INFO] [1653208830.224337247]: Plugin companion_process_status loaded
[ INFO] [1653208830.226187166]: Plugin companion_process_status initialized
[ INFO] [1653208830.226213219]: Plugin debug_value blacklisted
[ INFO] [1653208830.226352076]: Plugin distance_sensor loaded
[ INFO] [1653208830.232499293]: Plugin distance_sensor initialized
[ INFO] [1653208830.232722359]: Plugin esc_status loaded
[ INFO] [1653208830.233773781]: Plugin esc_status initialized
[ INFO] [1653208830.233895097]: Plugin esc_telemetry loaded
[ INFO] [1653208830.234549270]: Plugin esc_telemetry initialized
[ INFO] [1653208830.234702026]: Plugin fake_gps loaded
[ INFO] [1653208830.248216402]: Plugin fake_gps initialized
[ INFO] [1653208830.248263182]: Plugin ftp blacklisted
[ INFO] [1653208830.248514836]: Plugin geofence loaded
[ INFO] [1653208830.251969091]: Plugin geofence initialized
[ INFO] [1653208830.252136696]: Plugin global_position loaded
[ INFO] [1653208830.263949541]: Plugin global_position initialized
[ INFO] [1653208830.264132075]: Plugin gps_input loaded
[ INFO] [1653208830.266449898]: Plugin gps_input initialized
[ INFO] [1653208830.266641796]: Plugin gps_rtk loaded
[ INFO] [1653208830.268953567]: Plugin gps_rtk initialized
[ INFO] [1653208830.269085517]: Plugin gps_status loaded
[ INFO] [1653208830.270988118]: Plugin gps_status initialized
[ INFO] [1653208830.271017372]: Plugin hil blacklisted
[ INFO] [1653208830.271155106]: Plugin home_position loaded
[ INFO] [1653208830.273971043]: Plugin home_position initialized
[ INFO] [1653208830.274196992]: Plugin imu loaded
[ INFO] [1653208830.280384460]: Plugin imu initialized
[ INFO] [1653208830.280623934]: Plugin landing_target loaded
[ INFO] [1653208830.290656574]: Plugin landing_target initialized
[ INFO] [1653208830.290845334]: Plugin local_position loaded
[ INFO] [1653208830.295768174]: Plugin local_position initialized
[ INFO] [1653208830.295926178]: Plugin log_transfer loaded
[ INFO] [1653208830.299209081]: Plugin log_transfer initialized
[ INFO] [1653208830.299414714]: Plugin mag_calibration_status loaded
[ INFO] [1653208830.300500385]: Plugin mag_calibration_status initialized
[ INFO] [1653208830.300728400]: Plugin manual_control loaded
[ INFO] [1653208830.302852466]: Plugin manual_control initialized
[ INFO] [1653208830.302972582]: Plugin mocap_pose_estimate loaded
[ INFO] [1653208830.305561275]: Plugin mocap_pose_estimate initialized
[ INFO] [1653208830.305754077]: Plugin mount_control loaded
[ INFO] [1653208830.309666938]: Plugin mount_control initialized
[ INFO] [1653208830.309846179]: Plugin nav_controller_output loaded
[ INFO] [1653208830.310565315]: Plugin nav_controller_output initialized
[ INFO] [1653208830.310691516]: Plugin obstacle_distance loaded
[ INFO] [1653208830.313396625]: Plugin obstacle_distance initialized
[ INFO] [1653208830.313547563]: Plugin odom loaded
[ INFO] [1653208830.317215309]: Plugin odom initialized
[ INFO] [1653208830.317392166]: Plugin onboard_computer_status loaded
[ INFO] [1653208830.319569201]: Plugin onboard_computer_status initialized
[ INFO] [1653208830.319879631]: Plugin param loaded
[ INFO] [1653208830.322777548]: Plugin param initialized
[ INFO] [1653208830.322997415]: Plugin play_tune loaded
[ INFO] [1653208830.324944823]: Plugin play_tune initialized
[ INFO] [1653208830.324986241]: Plugin px4flow blacklisted
[ INFO] [1653208830.325132782]: Plugin rallypoint loaded
[ INFO] [1653208830.328242271]: Plugin rallypoint initialized
[ INFO] [1653208830.328400221]: Plugin rangefinder loaded
[ INFO] [1653208830.329033405]: Plugin rangefinder initialized
[ INFO] [1653208830.329201569]: Plugin rc_io loaded
[ INFO] [1653208830.332721427]: Plugin rc_io initialized
[ INFO] [1653208830.332773291]: Plugin safety_area blacklisted
[ INFO] [1653208830.332935212]: Plugin setpoint_accel loaded
[ INFO] [1653208830.335424658]: Plugin setpoint_accel initialized
[ INFO] [1653208830.335694603]: Plugin setpoint_attitude loaded
[ INFO] [1653208830.344517017, 2223.133000000]: Plugin setpoint_attitude initialized
[ INFO] [1653208830.344812443, 2223.133000000]: Plugin setpoint_position loaded
[ INFO] [1653208830.357758209, 2223.148000000]: Plugin setpoint_position initialized
[ INFO] [1653208830.357950122, 2223.148000000]: Plugin setpoint_raw loaded
[ INFO] [1653208830.366533620, 2223.157000000]: Plugin setpoint_raw initialized
[ INFO] [1653208830.366791713, 2223.157000000]: Plugin setpoint_trajectory loaded
[ INFO] [1653208830.371462536, 2223.161000000]: Plugin setpoint_trajectory initialized
[ INFO] [1653208830.371684979, 2223.162000000]: Plugin setpoint_velocity loaded
[ INFO] [1653208830.376602978, 2223.166000000]: Plugin setpoint_velocity initialized
[ INFO] [1653208830.377025592, 2223.167000000]: Plugin sys_status loaded
[ INFO] [1653208830.389198860, 2223.179000000]: Plugin sys_status initialized
[ INFO] [1653208830.389438876, 2223.179000000]: Plugin sys_time loaded
[ INFO] [1653208830.396351462, 2223.186000000]: TM: Timesync mode: MAVLINK
[ INFO] [1653208830.396811650, 2223.187000000]: TM: Not publishing sim time
[ INFO] [1653208830.397986601, 2223.188000000]: Plugin sys_time initialized
[ INFO] [1653208830.398185406, 2223.188000000]: Plugin terrain loaded
[ INFO] [1653208830.398923386, 2223.188000000]: Plugin terrain initialized
[ INFO] [1653208830.399099193, 2223.189000000]: Plugin trajectory loaded
[ INFO] [1653208830.404228757, 2223.194000000]: Plugin trajectory initialized
[ INFO] [1653208830.404424595, 2223.194000000]: Plugin tunnel loaded
[ INFO] [1653208830.407157117, 2223.197000000]: Plugin tunnel initialized
[ INFO] [1653208830.407382445, 2223.197000000]: Plugin vfr_hud loaded
[ INFO] [1653208830.408161637, 2223.198000000]: Plugin vfr_hud initialized
[ INFO] [1653208830.408203716, 2223.198000000]: Plugin vibration blacklisted
[ INFO] [1653208830.408367255, 2223.198000000]: Plugin vision_pose_estimate loaded
[ INFO] [1653208830.414898379, 2223.205000000]: Plugin vision_pose_estimate initialized
[ INFO] [1653208830.414952927, 2223.205000000]: Plugin vision_speed_estimate blacklisted
[ INFO] [1653208830.415133683, 2223.205000000]: Plugin waypoint loaded
[ INFO] [1653208830.418754733, 2223.208000000]: Plugin waypoint initialized
[ INFO] [1653208830.418796044, 2223.208000000]: Plugin wheel_odometry blacklisted
[ INFO] [1653208830.419013285, 2223.209000000]: Plugin wind_estimation loaded
[ INFO] [1653208830.419578187, 2223.209000000]: Plugin wind_estimation initialized
[ INFO] [1653208830.419797362, 2223.209000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1653208830.419836174, 2223.209000000]: Built-in MAVLink package version: 2022.3.3
[ INFO] [1653208830.419876569, 2223.209000000]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1653208830.419907453, 2223.210000000]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1653208830.419976713, 2223.210000000]: udp0: Remote address: 127.0.0.1:49554
[ INFO] [1653208830.420432644, 2223.210000000]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[ INFO] [1653208830.423701010, 2223.213000000]: RC_CHANNELS message detected!
[ INFO] [1653208830.423900419, 2223.214000000]: IMU: Raw IMU message used.
[ WARN] [1653208831.426766241, 2224.206000000]: CMD: Unexpected command 520, result 0
[ INFO] [1653208831.427290725, 2224.206000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1653208831.427373497, 2224.207000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1653208831.427441458, 2224.207000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1653208831.427513121, 2224.207000000]: VER: 1.1: Capabilities         0x000000000000fbef
[ INFO] [1653208831.427569814, 2224.207000000]: VER: 1.1: Flight software:     040004ff ( 40502bd)
[ INFO] [1653208831.427626005, 2224.207000000]: VER: 1.1: Middleware software: 00000000 (        )
[ INFO] [1653208831.427682025, 2224.207000000]: VER: 1.1: OS software:         00000000 (        )
[ INFO] [1653208831.427737265, 2224.207000000]: VER: 1.1: Board hardware:      00000000
[ INFO] [1653208831.427790019, 2224.207000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1653208831.427841319, 2224.207000000]: VER: 1.1: UID:                 0000000000000000
[ INFO] [1653208840.453572583, 2233.210000000]: HP: requesting home position
[ INFO] [1653208840.459019150, 2233.215000000]: FCU: ArduCopter V4.0.4 (40502bd9)
[ INFO] [1653208840.459631901, 2233.216000000]: FCU: 8acfe56cbeab4ead96d72e86473085ac
[ INFO] [1653208840.460173918, 2233.217000000]: FCU: Frame: QUAD
[ INFO] [1653208840.787011749, 2233.543000000]: PR: parameters list received
[ INFO] [1653208845.478198563, 2238.212000000]: GF: mission received
[ INFO] [1653208845.480857246, 2238.215000000]: RP: mission received
[ INFO] [1653208845.481113027, 2238.215000000]: WP: mission received
esharet commented 2 years ago

I used Foxy with Ardupilot and it works. You should change your pixhawk parameter SYSID_MYGCS=1. I also added ARMING_CHECK=0,ARMING_REQUIRE=0