search

mavlink / mavros

MAVLink to ROS gateway with proxy for Ground Control Station
Other
879 stars 990 forks source link

"Unexpected command 176" when setting OFFBOARD-mode with PX4 in Ignition Gazebo via service /mavros/set_mode #1769

Closed snimu closed 1 year ago

snimu commented 2 years ago

Issue details

Setup: Try to set mode to OFFBOARD via service /mavros/set_mode.

Issue: Get warning [WARN] [1659439086.350950582] [mavros.cmd]: CMD: Unexpected command 176, result 1

Might be caused by issue #19999, but could also be additional error on top.

MAVROS version and platform

Mavros: Package: ros-foxy-mavros, Version: 2.1.1-1focal.20220303.113808 ROS: Foxy Ubuntu: 20.04.4 LTS

Autopilot type and version

[ ] ArduPilot [ x ] PX4

Version: v1.13.0

Node logs

Full output on PX4- and mavros-terminal:

faps@faps:~/ros_ws$ ros2 launch intrafly_essentials intrafly_essentials.launch.xml 
[INFO] [launch]: All log files can be found below /home/faps/.ros/log/2022-08-02-13-17-29-336203-faps-2055132
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [2055134]
[INFO] [create-2]: process started with pid [2055137]
[INFO] [export-3]: process started with pid [2055139]
[INFO] [export-3]: process has finished cleanly [pid 2055139]
[INFO] [bash-4]: process started with pid [2055141]
[INFO] [mavros-5]: process started with pid [2055143]
[bash-4] SITL ARGS
[bash-4] sitl_bin: /home/faps/PX4-Autopilot/build/px4_sitl_default/bin/px4
[bash-4] debugger: none
[bash-4] program: ignition
[bash-4] model: iris
[bash-4] world: base_world.sdf
[bash-4] src_path: /home/faps/PX4-Autopilot
[bash-4] build_path: /home/faps/PX4-Autopilot/build/px4_sitl_default
[bash-4] Ignition Gazebo
[bash-4] LD_LIBRARY_PATH /home/faps/ros_ws/install/vision_msgs/lib:/home/faps/ros_ws/install/intrafly_essentials_interfaces/lib:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/opt/rviz_ogre_vendor/lib:/opt/ros/foxy/lib/x86_64-linux-gnu:/opt/ros/foxy/lib:/home/faps/PX4-Autopilot//build/px4_sitl_default/build_ign_gazebo:/home/faps/PX4-Autopilot/build/px4_sitl_default/build_ign_gazebo
[bash-4] SITL COMMAND: "/home/faps/PX4-Autopilot/build/px4_sitl_default/bin/px4" "/home/faps/PX4-Autopilot/build/px4_sitl_default"/etc -s etc/init.d-posix/rcS -t "/home/faps/PX4-Autopilot"/test_data
[bash-4] Creating symlink /home/faps/PX4-Autopilot/build/px4_sitl_default/etc -> /home/faps/PX4-Autopilot/build/px4_sitl_default/tmp/ro
[bash-4] 
[bash-4] ______  __   __    ___ 
[bash-4] | ___ \ \ \ / /   /   |
[bash-4] | |_/ /  \ V /   / /| |
[bash-4] |  __/   /   \  / /_| |
[bash-4] | |     / /^\ \ \___  |
[bash-4] \_|     \/   \/     |_/
[bash-4] 
[bash-4] px4 starting.
[bash-4] 
[bash-4] INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
[bash-4] INFO  [init] found model autostart file as SYS_AUTOSTART=10016
[bash-4] INFO  [param] selected parameter default file eeprom/parameters_10016
[bash-4] INFO  [parameters] BSON document size 312 bytes, decoded 312 bytes (INT32:13, FLOAT:3)
[bash-4] [param] Loaded: eeprom/parameters_10016
[bash-4] INFO  [dataman] data manager file './dataman' size is 7866640 bytes
[bash-4] PX4 SIM HOST: localhost
[bash-4] INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
[mavros-5] [INFO] [1659439050.085920639] [mavros_node]: Starting mavros_node container
[mavros-5] [INFO] [1659439050.086003626] [mavros_node]: FCU URL: udp://:14540@127.0.0.1:14580
[mavros-5] [INFO] [1659439050.086011602] [mavros_node]: GCS URL: 
[mavros-5] [INFO] [1659439050.086016321] [mavros_node]: UAS Prefix: /uas1
[mavros-5] [INFO] [1659439050.086020256] [mavros_node]: Starting mavros router node
[mavros-5] [INFO] [1659439050.108914675] [mavros_router]: Built-in SIMD instructions: SSE, SSE2
[mavros-5] [INFO] [1659439050.108946517] [mavros_router]: Built-in MAVLink package version: 2022.3.3
[mavros-5] [INFO] [1659439050.108953029] [mavros_router]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros-5] [INFO] [1659439050.108957884] [mavros_router]: MAVROS Router started
[mavros-5] [INFO] [1659439050.108983407] [mavros_router]: Requested to add endpoint: type: 0, url: udp://:14540@127.0.0.1:14580
[mavros-5] [INFO] [1659439050.109022838] [mavros_router]: Endpoint link[1000] created
[mavros-5] [INFO] [1659439050.109906020] [mavros_router]: link[1000] opened successfully
[mavros-5] [INFO] [1659439050.109943715] [mavros_router]: Requested to add endpoint: type: 2, url: /uas1
[mavros-5] [INFO] [1659439050.109957789] [mavros_router]: Endpoint link[1001] created
[mavros-5] [INFO] [1659439050.110325890] [mavros_router]: link[1001] opened successfully
[mavros-5] [INFO] [1659439050.110354521] [mavros_node]: Starting mavros uas node
[create-2] [INFO] [1659439050.275937516] [ros_ign_gazebo.spawn_uav]: Requested creation of entity.
[create-2] [INFO] [1659439050.276088488] [ros_ign_gazebo.spawn_uav]: OK creation of entity.
[INFO] [create-2]: process has finished cleanly [pid 2055137]
[mavros-5] [INFO] [1659439050.289342798] [mavros]: UAS Executor started, threads: 8
[mavros-5] [INFO] [1659439050.407481363] [mavros]: Plugin actuator_control created
[mavros-5] [INFO] [1659439050.407571839] [mavros]: Plugin actuator_control initialized
[mavros-5] [INFO] [1659439050.407599023] [mavros]: Plugin adsb ignored
[mavros-5] [INFO] [1659439050.411331635] [mavros]: Plugin altitude created
[mavros-5] [INFO] [1659439050.411385750] [mavros]: Plugin altitude initialized
[mavros-5] [INFO] [1659439050.504469554] [mavros]: Plugin cam_imu_sync created
[mavros-5] [INFO] [1659439050.504518741] [mavros]: Plugin cam_imu_sync initialized
[mavros-5] [INFO] [1659439050.507248504] [mavros]: Plugin camera created
[mavros-5] [INFO] [1659439050.507303759] [mavros]: Plugin camera initialized
[mavros-5] [INFO] [1659439050.511638648] [mavros]: Plugin command created
[mavros-5] [INFO] [1659439050.511696624] [mavros]: Plugin command initialized
[mavros-5] [INFO] [1659439050.514450708] [mavros]: Plugin companion_process_status created
[mavros-5] [INFO] [1659439050.514483105] [mavros]: Plugin companion_process_status initialized
[mavros-5] [INFO] [1659439050.518007965] [mavros]: Plugin debug_value created
[mavros-5] [INFO] [1659439050.518063195] [mavros]: Plugin debug_value initialized
[mavros-5] [INFO] [1659439050.518071897] [mavros]: Plugin distance_sensor ignored
[mavros-5] [INFO] [1659439050.521420207] [mavros]: Plugin esc_status created
[mavros-5] [INFO] [1659439050.521456817] [mavros]: Plugin esc_status initialized
[mavros-5] [INFO] [1659439050.524888411] [mavros]: Plugin esc_telemetry created
[mavros-5] [INFO] [1659439050.524943755] [mavros]: Plugin esc_telemetry initialized
[mavros-5] [INFO] [1659439050.529640862] [mavros]: Plugin fake_gps created
[mavros-5] [INFO] [1659439050.529692356] [mavros]: Plugin fake_gps initialized
[mavros-5] [INFO] [1659439050.540732248] [mavros]: Plugin ftp created
[mavros-5] [INFO] [1659439050.540786886] [mavros]: Plugin ftp initialized
[mavros-5] [INFO] [1659439050.547225720] [mavros]: Plugin geofence created
[mavros-5] [INFO] [1659439050.547305787] [mavros]: Plugin geofence initialized
[mavros-5] [INFO] [1659439050.562233568] [mavros]: Plugin global_position created
[mavros-5] [INFO] [1659439050.562303125] [mavros]: Plugin global_position initialized
[mavros-5] [INFO] [1659439050.568111006] [mavros]: Plugin gps_input created
[mavros-5] [INFO] [1659439050.568163705] [mavros]: Plugin gps_input initialized
[mavros-5] [INFO] [1659439050.573546657] [mavros]: Plugin gps_rtk created
[mavros-5] [INFO] [1659439050.573581914] [mavros]: Plugin gps_rtk initialized
[mavros-5] [INFO] [1659439050.578149546] [mavros]: Plugin gps_status created
[mavros-5] [INFO] [1659439050.578224422] [mavros]: Plugin gps_status initialized
[mavros-5] [INFO] [1659439050.578234929] [mavros]: Plugin hil ignored
[mavros-5] [INFO] [1659439050.582950214] [mavros]: Plugin home_position created
[mavros-5] [INFO] [1659439050.583003343] [mavros]: Plugin home_position initialized
[mavros-5] [INFO] [1659439050.588857468] [mavros]: Plugin imu created
[mavros-5] [INFO] [1659439050.588919749] [mavros]: Plugin imu initialized
[mavros-5] [INFO] [1659439050.588934389] [mavros]: Plugin landing_target ignored
[mavros-5] [INFO] [1659439050.594889781] [mavros]: Plugin local_position created
[mavros-5] [INFO] [1659439050.594933197] [mavros]: Plugin local_position initialized
[mavros-5] [INFO] [1659439050.602316672] [mavros]: Plugin log_transfer created
[mavros-5] [INFO] [1659439050.602356929] [mavros]: Plugin log_transfer initialized
[mavros-5] [INFO] [1659439050.607507989] [mavros]: Plugin mag_calibration_status created
[mavros-5] [INFO] [1659439050.607556837] [mavros]: Plugin mag_calibration_status initialized
[mavros-5] [INFO] [1659439050.607573043] [mavros]: Plugin manual_control ignored
[mavros-5] [INFO] [1659439050.613590350] [mavros]: Plugin mocap_pose_estimate created
[mavros-5] [INFO] [1659439050.613638860] [mavros]: Plugin mocap_pose_estimate initialized
[mavros-5] [INFO] [1659439050.620533917] [mavros]: Plugin mount_control created
[mavros-5] [INFO] [1659439050.620589461] [mavros]: Plugin mount_control initialized
[mavros-5] [INFO] [1659439050.626549277] [mavros]: Plugin nav_controller_output created
[mavros-5] [INFO] [1659439050.626652322] [mavros]: Plugin nav_controller_output initialized
[mavros-5] [INFO] [1659439050.634627637] [mavros]: Plugin obstacle_distance created
[mavros-5] [INFO] [1659439050.634672542] [mavros]: Plugin obstacle_distance initialized
[mavros-5] [INFO] [1659439050.643494505] [mavros]: Plugin odometry created
[mavros-5] [INFO] [1659439050.643545691] [mavros]: Plugin odometry initialized
[mavros-5] [INFO] [1659439050.650939856] [mavros]: Plugin onboard_computer_status created
[mavros-5] [INFO] [1659439050.650970819] [mavros]: Plugin onboard_computer_status initialized
[mavros-5] [INFO] [1659439050.659245327] [mavros]: Plugin param created
[mavros-5] [INFO] [1659439050.659313344] [mavros]: Plugin param initialized
[mavros-5] [INFO] [1659439050.667293339] [mavros]: Plugin play_tune created
[mavros-5] [INFO] [1659439050.667340255] [mavros]: Plugin play_tune initialized
[mavros-5] [INFO] [1659439050.675726364] [mavros]: Plugin px created
[mavros-5] [INFO] [1659439050.675772856] [mavros]: Plugin px initialized
[mavros-5] [INFO] [1659439050.683943760] [mavros]: Plugin rallypoint created
[mavros-5] [INFO] [1659439050.683996025] [mavros]: Plugin rallypoint initialized
[mavros-5] [INFO] [1659439050.684005338] [mavros]: Plugin rangefinder ignored
[mavros-5] [INFO] [1659439050.684011793] [mavros]: Plugin rc_io ignored
[mavros-5] [INFO] [1659439050.684017248] [mavros]: Plugin setpoint_accel ignored
[mavros-5] [INFO] [1659439050.684022292] [mavros]: Plugin setpoint_attitude ignored
[mavros-5] [INFO] [1659439050.692114290] [mavros]: Plugin setpoint_position created
[mavros-5] [INFO] [1659439050.692145341] [mavros]: Plugin setpoint_position initialized
[mavros-5] [INFO] [1659439050.692155310] [mavros]: Plugin setpoint_raw ignored
[mavros-5] [INFO] [1659439050.705780117] [mavros]: Plugin setpoint_trajectory created
[mavros-5] [INFO] [1659439050.705843083] [mavros]: Plugin setpoint_trajectory initialized
[mavros-5] [INFO] [1659439050.714146596] [mavros]: Plugin setpoint_velocity created
[mavros-5] [INFO] [1659439050.714180660] [mavros]: Plugin setpoint_velocity initialized
[mavros-5] [INFO] [1659439050.727897334] [mavros]: Plugin sys_status created
[mavros-5] [INFO] [1659439050.727954727] [mavros]: Plugin sys_status initialized
[mavros-5] [INFO] [1659439050.735861040] [mavros.time]: TM: Timesync mode: MAVLINK
[mavros-5] [INFO] [1659439050.738656855] [mavros]: Plugin sys_time created
[mavros-5] [INFO] [1659439050.738695791] [mavros]: Plugin sys_time initialized
[mavros-5] [INFO] [1659439050.749545550] [mavros]: Plugin tdr_radio created
[mavros-5] [INFO] [1659439050.749586913] [mavros]: Plugin tdr_radio initialized
[mavros-5] [INFO] [1659439050.759080362] [mavros]: Plugin terrain created
[mavros-5] [INFO] [1659439050.759150413] [mavros]: Plugin terrain initialized
[mavros-5] [INFO] [1659439050.759161148] [mavros]: Plugin trajectory ignored
[mavros-5] [INFO] [1659439050.768146454] [mavros]: Plugin tunnel created
[mavros-5] [INFO] [1659439050.768219924] [mavros]: Plugin tunnel initialized
[mavros-5] [INFO] [1659439050.768234680] [mavros]: Plugin vfr_hud ignored
[mavros-5] [INFO] [1659439050.768242923] [mavros]: Plugin vibration ignored
[mavros-5] [INFO] [1659439050.778361488] [mavros]: Plugin vision_pose created
[mavros-5] [INFO] [1659439050.778398006] [mavros]: Plugin vision_pose initialized
[mavros-5] [INFO] [1659439050.789896232] [mavros]: Plugin vision_speed created
[mavros-5] [INFO] [1659439050.789934989] [mavros]: Plugin vision_speed initialized
[mavros-5] [INFO] [1659439050.789977677] [mavros]: Plugin waypoint ignored
[mavros-5] [INFO] [1659439050.801805594] [mavros]: Plugin wheel_odomotry created
[mavros-5] [INFO] [1659439050.801863024] [mavros]: Plugin wheel_odomotry initialized
[mavros-5] [INFO] [1659439050.801880037] [mavros]: Plugin wind_estimation ignored
[mavros-5] [INFO] [1659439050.803213991] [mavros]: Built-in SIMD instructions: SSE, SSE2
[mavros-5] [INFO] [1659439050.803238449] [mavros]: Built-in MAVLink package version: 2022.3.3
[mavros-5] [INFO] [1659439050.803249575] [mavros]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros-5] [INFO] [1659439050.803257366] [mavros]: MAVROS UAS via /uas1 started. MY ID 1.191, TARGET ID 1.1
[bash-4] INFO  [simulator] Simulator connected on TCP port 4560.
[mavros-5] [INFO] [1659439051.723575475] [mavros_router]: link[1001] detected remote address 1.191
[bash-4] INFO  [commander] LED: open /dev/led0 failed (22)
[bash-4] INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
[bash-4] INFO  [init] setting PWM_AUX_OUT none
[bash-4] INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
[bash-4] INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
[bash-4] INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
[bash-4] INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
[mavros-5] [INFO] [1659439052.657497577] [mavros_router]: link[1000] detected remote address 1.1
[mavros-5] [INFO] [1659439052.657678055] [mavros.imu]: IMU: High resolution IMU detected!
[bash-4] INFO  [logger] logger started (mode=all)
[bash-4] INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
[bash-4] INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
[bash-4] INFO  [px4] Startup script returned successfully
[bash-4] pxh> INFO  [logger] Start file log (type: full)
[bash-4] INFO  [logger] [logger] ./log/2022-08-02/11_17_32.ulg  
[bash-4] INFO  [logger] Opened full log file: ./log/2022-08-02/11_17_32.ulg
[bash-4] INFO  [mavlink] partner IP: 127.0.0.1
[mavros-5] [WARN] [1659439052.729718370] [mavros.sys]: VER: broadcast request timeout, retries left 4
[mavros-5] [INFO] [1659439052.735850672] [mavros.geofence]: GF: Using MISSION_ITEM_INT
[mavros-5] [INFO] [1659439052.735888771] [mavros.rallypoint]: RP: Using MISSION_ITEM_INT
[mavros-5] [INFO] [1659439052.735914787] [mavros.sys]: VER: 1.1: Capabilities         0x000000000000e4ff
[mavros-5] [INFO] [1659439052.735934592] [mavros.sys]: VER: 1.1: Flight software:     010d0000 (3d01b5aa11000000)
[mavros-5] [INFO] [1659439052.735944770] [mavros.sys]: VER: 1.1: Middleware software: 010d0000 (3d01b5aa11000000)
[mavros-5] [INFO] [1659439052.735953466] [mavros.sys]: VER: 1.1: OS software:         050f00ff (91bece51afbe7da9)
[mavros-5] [INFO] [1659439052.735964161] [mavros.sys]: VER: 1.1: Board hardware:      00000001
[mavros-5] [INFO] [1659439052.735971534] [mavros.sys]: VER: 1.1: VID/PID:             0000:0000
[mavros-5] [INFO] [1659439052.735976522] [mavros.sys]: VER: 1.1: UID:                 4954414c44494e4f
[mavros-5] [WARN] [1659439052.740030672] [mavros.cmd]: CMD: Unexpected command 520, result 0
[mavros-5] [INFO] [1659439054.005341003] [mavros]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[mavros-5] [INFO] [1659439054.005578272] [mavros.imu]: IMU: High resolution IMU detected!
[mavros-5] [INFO] [1659439055.007498301] [mavros.sys]: VER: 1.1: Capabilities         0x000000000000e4ff
[mavros-5] [INFO] [1659439055.007536723] [mavros.sys]: VER: 1.1: Flight software:     010d0000 (3d01b5aa11000000)
[mavros-5] [INFO] [1659439055.007546659] [mavros.sys]: VER: 1.1: Middleware software: 010d0000 (3d01b5aa11000000)
[mavros-5] [INFO] [1659439055.007553485] [mavros.sys]: VER: 1.1: OS software:         050f00ff (91bece51afbe7da9)
[mavros-5] [INFO] [1659439055.007559320] [mavros.sys]: VER: 1.1: Board hardware:      00000001
[mavros-5] [INFO] [1659439055.007565511] [mavros.sys]: VER: 1.1: VID/PID:             0000:0000
[mavros-5] [INFO] [1659439055.007571370] [mavros.sys]: VER: 1.1: UID:                 4954414c44494e4f
[mavros-5] [INFO] [1659439055.450225003] [mavros.imu]: IMU: Attitude quaternion IMU detected!
[bash-4] INFO  [tone_alarm] home set
[bash-4] INFO  [tone_alarm] notify negative
[mavros-5] [INFO] [1659439074.006670046] [mavros.rallypoint]: RP: mission received
[mavros-5] [INFO] [1659439079.006477248] [mavros.geofence]: GF: mission received
[bash-4] INFO  [tone_alarm] notify negative
[mavros-5] [WARN] [1659439086.350950582] [mavros.cmd]: CMD: Unexpected command 176, result 1

The last two lines appear after running the following in a second terminal:

faps@faps:~/ros_ws$ ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode "{base_mode: 0, custom_mode: OFFBOARD}"
requester: making request: mavros_msgs.srv.SetMode_Request(base_mode=0, custom_mode='OFFBOARD')

response:
mavros_msgs.srv.SetMode_Response(mode_sent=True)

The last few lines change when running with QGroundControl active:

[mavros-5] [WARN] [1659439487.105551971] [mavros.cmd]: CMD: Unexpected command 520, result 0
[bash-4] INFO  [mavlink] partner IP: 127.0.0.1
[mavros-5] [INFO] [1659439487.155037547] [mavros_router]: link[1000] detected remote address 255.190
[mavros-5] [INFO] [1659439488.408544654] [mavros]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[mavros-5] [INFO] [1659439488.408791418] [mavros.imu]: IMU: High resolution IMU detected!
[mavros-5] [INFO] [1659439489.410422228] [mavros.sys]: VER: 1.1: Capabilities         0x000000000000e4ff
[mavros-5] [INFO] [1659439489.410461917] [mavros.sys]: VER: 1.1: Flight software:     010d0000 (3d01b5aa11000000)
[mavros-5] [INFO] [1659439489.410472935] [mavros.sys]: VER: 1.1: Middleware software: 010d0000 (3d01b5aa11000000)
[mavros-5] [INFO] [1659439489.410481021] [mavros.sys]: VER: 1.1: OS software:         050f00ff (91bece51afbe7da9)
[mavros-5] [INFO] [1659439489.410488795] [mavros.sys]: VER: 1.1: Board hardware:      00000001
[mavros-5] [INFO] [1659439489.410496578] [mavros.sys]: VER: 1.1: VID/PID:             0000:0000
[mavros-5] [INFO] [1659439489.410505258] [mavros.sys]: VER: 1.1: UID:                 4954414c44494e4f
[mavros-5] [INFO] [1659439489.858151297] [mavros.imu]: IMU: Attitude quaternion IMU detected!
[bash-4] WARN  [PreFlightCheck] Arming denied! manual control lost
[bash-4] INFO  [tone_alarm] home set
[bash-4] INFO  [tone_alarm] notify negative
[mavros-5] [INFO] [1659439508.409091975] [mavros.rallypoint]: RP: mission received
[mavros-5] [INFO] [1659439513.409021044] [mavros.geofence]: GF: mission received
[bash-4] INFO  [tone_alarm] notify negative
[mavros-5] [WARN] [1659439519.558935134] [mavros.cmd]: CMD: Unexpected command 176, result 1

I do not understand why manual control is lost here.

Diagnostics

---
header:
  stamp:
    sec: 1659440259
    nanosec: 703111810
  frame_id: ''
status:
- level: "\0"
  name: 'mavros: MAVROS UAS'
  message: connected
  hardware_id: uas:///uas1
  values: []
- level: "\0"
  name: 'mavros: GPS'
  message: 3D fix
  hardware_id: uas:///uas1
  values:
  - key: Satellites visible
    value: '10'
  - key: Fix type
    value: '3'
  - key: EPH (m)
    value: '0.00'
  - key: EPV (m)
    value: '0.00'
- level: "\0"
  name: 'mavros: System'
  message: Normal
  hardware_id: uas:///uas1
  values:
  - key: Sensor present
    value: '0x9028802C'
  - key: Sensor enabled
    value: '0x9028800C'
  - key: Sensor health
    value: '0x9028802C'
  - key: 3D magnetometer
    value: Ok
  - key: absolute pressure
    value: Ok
  - key: motor outputs / control
    value: Ok
  - key: 2nd 3D magnetometer
    value: Ok
  - key: AHRS subsystem health
    value: Ok
  - key: pre-arm check status. Always healthy when armed
    value: Ok
  - key: CPU Load (%)
    value: '15.8'
  - 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: "\0"
  name: 'mavros: Battery'
  message: Normal
  hardware_id: uas:///uas1
  values:
  - key: Voltage
    value: '16.20'
  - key: Current
    value: '-1.0'
  - key: Remaining
    value: '100.0'
- level: "\0"
  name: 'mavros: Heartbeat'
  message: Normal
  hardware_id: uas:///uas1
  values:
  - key: Heartbeats since startup
    value: '31'
  - key: Frequency (Hz)
    value: '0.599975'
  - key: Vehicle type
    value: Quadrotor
  - key: Autopilot type
    value: PX4 Autopilot
  - key: Mode
    value: AUTO.LOITER
  - key: System status
    value: STANDBY
---

Check ID

On ROS2, mavros checkid is not an executable (if I simply missed it, I would be happy to provide the output).

Instead, here is the flight log from PX4.

O2KAN commented 2 years ago

Have you found a solution?

snimu commented 2 years ago

Unfortunately, no. I've come upon this issue during my student job and haven't worked on the project for a while now. Sorry.

zinuok commented 1 year ago

@snimu what is the package named 'intrafly_essentials' you used? It seems that you can run the SITL on ROS2, but I can't find the 'intrafly_essentials' package

snimu commented 1 year ago

@zinuok 'intrafly_essentials' is an internal package. I'm pretty sure that the fault wasn't in that package, but it might have been some mistake in the QGroundControl-settings or something along those lines. I believe it would be appropriate to close this issue. Sorry for the inconvenience.