Closed Scoeerg closed 1 year ago
ros run mavros mav param --help
or ros param list /mavros/param --help
(a bit unsure about ros
command).
Most of the commands mav<something>
became mav <something>
, a subcommand to mav
.
E.g.: https://github.com/mavlink/mavros/blob/ros2/mavros/mavros/cmd/param.py
Thanks @vooon
ros2 param list /mavros/param
is a dump from all parameters one can set, i.e. a VERY long list:
ACRO_TURN_RATE
.
.
.
WRC_ENABLE
one of which is actually SYSID_MYGCS
. Then running based on ROS2 Tutorial on Parameters
ros2 param set /mavros/param SYSID_MYGCS 1
worked like a charm. Will close the issue.
This is only bug and feature tracker, please use it to report bugs or request features.
Issue details
I am publishing RCOVERRIDE in topic
/mavros/rc/override
using some minimal ROS2 Foxy Python Publisher. While the RC works fine, Rcoverride cannot engage the motors.What I suspect is, that it's about
SYSID_MYGCS
which is1
for the Pixhawk, but supposedly must also be1
for the companion computer. In ROS1 the command would be something along the line ofrosrun mavros mavparam set SYSID_MYGCS 1
. What's the equivalent in ROS2? I would guess it'ssystem_id
,component_id
,target_system_id
ortarget_component_id
in the parameter file.MAVROS version and platform
Mavros: 2.0.0 ROS2 Alpha, installed with
sudo apt install ros-foxy-mavros
ROS2: Foxy Ubuntu: 20.04. LTSAutopilot type and version
[X] ArduPilot [ ] PX4
Version: 4.2.3. Ardurover
Details
with
mavros_param.yaml
:ros2 run mavros mav checkid
returnsRouter topic: /uas1/mavlink_source, target: 1.1
Diagnostics
ros2 topic echo /diagnostics
:From Source
ros2 topic echo /uas1/mavlink_source
:and Sink
ros2 topic echo /uas1/mavlink_source
:and for those who wonder, this is the minimal
publisher.py
:Which might be an issue in itself. Since Python is not a typed language, using MissionPlanner to observe the Ardupilot tells me my
msg.channels = [1800, 0, 1800, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
has type array uint16 but the RC-Message has type list(?). Probably nothing, if interested I can attach some screenshots.