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MAVLink to ROS gateway with proxy for Ground Control Station
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Command sent using COMMAND_INT receives "COMMAND_ACK:UNSUPPORTED" #1933

Closed nraines2002 closed 4 months ago

nraines2002 commented 4 months ago

To anyone having this issue

Sending CONDITION_CHANGE_ALT is not yet supported but similar commands are. See wiki: https://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html

Issue details

Sending MAVLink messages via Command_Int is returning COMMAND_ACK:[COMMAND_NAME]:UNSUPPORTED. I am using MAVROS built using ROS2 Foxy to pack and send these commands, using the Command_Long MAVROS service to send a Set_Mode message works but returns COMMAND_ACK:DO_SET_MODE:DENIED. I have sent the message with frames, MAV_FRAME_GLOBAL, MAV_FRAME_LOCAL_NED, MAV_FRAME_MISSION, MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT to no avail.

Current usage:

auto request = std::make_shared<mavros_msgs::srv::CommandInt::Request>();
                request->frame = mavros_msgs::msg::Waypoint::FRAME_GLOBAL_REL_ALT;
                request->command = 113;
                request->current = 0;
                request->autocontinue = 0;
                request->param1 = 0;                        
                request->param2 = 0;                       
                request->param3 = 0;                        
                request->param4 = 0;                        
                request->x = 0;                        
                request->y = 0;                        
                request->z = alt; (altitude in meters)

                auto result = comm_client_->async_send_request(request);

MAVROS version and platform

Mavros: 2.6.0 ROS: Foxy(ROS2) Ubuntu: 20.04

Autopilot type and version

[X] ArduPilot [ ] PX4

Version: 4.4/4.3/4.2

Node logs

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [mavros_node-1]: process started with pid [31941]
[mavros_node-1] [INFO] [1707933903.665168676] [mavros.mavros_node]: Starting mavros_node container
[mavros_node-1] [INFO] [1707933903.665209627] [mavros.mavros_node]: FCU URL: udp://127.0.0.1:14551@14555
[mavros_node-1] [INFO] [1707933903.665214103] [mavros.mavros_node]: GCS URL: 
[mavros_node-1] [INFO] [1707933903.665217100] [mavros.mavros_node]: UAS Prefix: /uas1
[mavros_node-1] [INFO] [1707933903.665219714] [mavros.mavros_node]: Starting mavros router node
[mavros_node-1] [INFO] [1707933903.666820160] [mavros.mavros_router]: Built-in SIMD instructions: SSE, SSE2
[mavros_node-1] [INFO] [1707933903.666834159] [mavros.mavros_router]: Built-in MAVLink package version: 2022.12.30
[mavros_node-1] [INFO] [1707933903.666837857] [mavros.mavros_router]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros_node-1] [INFO] [1707933903.666841316] [mavros.mavros_router]: MAVROS Router started
[mavros_node-1] [INFO] [1707933903.666910852] [mavros.mavros_router]: Requested to add endpoint: type: 0, url: udp://127.0.0.1:14551@14555
[mavros_node-1] [INFO] [1707933903.667066687] [mavros.mavros_router]: Endpoint link[1000] created
[mavros_node-1] [INFO] [1707933903.667800774] [mavros.mavros_router]: link[1000] opened successfully
[mavros_node-1] [INFO] [1707933903.667853348] [mavros.mavros_router]: Requested to add endpoint: type: 2, url: /uas1
[mavros_node-1] [INFO] [1707933903.667909999] [mavros.mavros_router]: Endpoint link[1001] created
[mavros_node-1] [INFO] [1707933903.668478830] [mavros.mavros_router]: link[1001] opened successfully
[mavros_node-1] [INFO] [1707933903.668499282] [mavros.mavros_node]: Starting mavros uas node
[mavros_node-1] [INFO] [1707933903.692806472] [mavros.mavros]: UAS Executor started, threads: 16
[mavros_node-1] [INFO] [1707933903.702229853] [mavros.mavros]: Plugin actuator_control created
[mavros_node-1] [INFO] [1707933903.702450869] [mavros.mavros]: Plugin actuator_control initialized
[mavros_node-1] [INFO] [1707933903.712210043] [mavros.mavros]: Plugin adsb created
[mavros_node-1] [INFO] [1707933903.712367654] [mavros.mavros]: Plugin adsb initialized
[mavros_node-1] [INFO] [1707933903.714001194] [mavros.mavros]: Plugin altitude created
[mavros_node-1] [INFO] [1707933903.714112516] [mavros.mavros]: Plugin altitude initialized
[mavros_node-1] [INFO] [1707933903.715526701] [mavros.mavros]: Plugin cam_imu_sync created
[mavros_node-1] [INFO] [1707933903.715620668] [mavros.mavros]: Plugin cam_imu_sync initialized
[mavros_node-1] [INFO] [1707933903.717062842] [mavros.mavros]: Plugin camera created
[mavros_node-1] [INFO] [1707933903.717154404] [mavros.mavros]: Plugin camera initialized
[mavros_node-1] [INFO] [1707933903.718840078] [mavros.mavros]: Plugin cellular_status created
[mavros_node-1] [INFO] [1707933903.718858793] [mavros.mavros]: Plugin cellular_status initialized
[mavros_node-1] [INFO] [1707933903.722791091] [mavros.mavros]: Plugin command created
[mavros_node-1] [INFO] [1707933903.722904703] [mavros.mavros]: Plugin command initialized
[mavros_node-1] [INFO] [1707933903.724987898] [mavros.mavros]: Plugin companion_process_status created
[mavros_node-1] [INFO] [1707933903.725006676] [mavros.mavros]: Plugin companion_process_status initialized
[mavros_node-1] [INFO] [1707933903.727415122] [mavros.mavros]: Plugin debug_value created
[mavros_node-1] [INFO] [1707933903.727651921] [mavros.mavros]: Plugin debug_value initialized
[mavros_node-1] [INFO] [1707933903.729460901] [mavros.distance_sensor]: DS: Plugin not configured!
[mavros_node-1] [INFO] [1707933903.729526346] [mavros.mavros]: Plugin distance_sensor created
[mavros_node-1] [INFO] [1707933903.729606876] [mavros.mavros]: Plugin distance_sensor initialized
[mavros_node-1] [INFO] [1707933903.731696267] [mavros.mavros]: Plugin esc_status created
[mavros_node-1] [INFO] [1707933903.731820175] [mavros.mavros]: Plugin esc_status initialized
[mavros_node-1] [INFO] [1707933903.733695248] [mavros.mavros]: Plugin esc_telemetry created
[mavros_node-1] [INFO] [1707933903.733844488] [mavros.mavros]: Plugin esc_telemetry initialized
[mavros_node-1] [INFO] [1707933903.736842509] [mavros.mavros]: Plugin fake_gps created
[mavros_node-1] [INFO] [1707933903.736861143] [mavros.mavros]: Plugin fake_gps initialized
[mavros_node-1] [INFO] [1707933903.742475746] [mavros.mavros]: Plugin ftp created
[mavros_node-1] [INFO] [1707933903.742602083] [mavros.mavros]: Plugin ftp initialized
[mavros_node-1] [INFO] [1707933903.746066304] [mavros.mavros]: Plugin geofence created
[mavros_node-1] [INFO] [1707933903.746350427] [mavros.mavros]: Plugin geofence initialized
[mavros_node-1] [INFO] [1707933903.751794206] [mavros.mavros]: Plugin global_position created
[mavros_node-1] [INFO] [1707933903.751982463] [mavros.mavros]: Plugin global_position initialized
[mavros_node-1] [INFO] [1707933903.754728709] [mavros.mavros]: Plugin gps_input created
[mavros_node-1] [INFO] [1707933903.754775044] [mavros.mavros]: Plugin gps_input initialized
[mavros_node-1] [INFO] [1707933903.757993112] [mavros.mavros]: Plugin gps_rtk created
[mavros_node-1] [INFO] [1707933903.758107666] [mavros.mavros]: Plugin gps_rtk initialized
[mavros_node-1] [INFO] [1707933903.761141094] [mavros.mavros]: Plugin gps_status created
[mavros_node-1] [INFO] [1707933903.761389456] [mavros.mavros]: Plugin gps_status initialized
[mavros_node-1] [INFO] [1707933903.764441217] [mavros.mavros]: Plugin guided_target created
[mavros_node-1] [INFO] [1707933903.764536190] [mavros.mavros]: Plugin guided_target initialized
[mavros_node-1] [INFO] [1707933903.769620814] [mavros.mavros]: Plugin hil created
[mavros_node-1] [INFO] [1707933903.769739181] [mavros.mavros]: Plugin hil initialized
[mavros_node-1] [INFO] [1707933903.773400334] [mavros.mavros]: Plugin home_position created
[mavros_node-1] [INFO] [1707933903.773507488] [mavros.mavros]: Plugin home_position initialized
[mavros_node-1] [INFO] [1707933903.778182123] [mavros.mavros]: Plugin imu created
[mavros_node-1] [INFO] [1707933903.778471049] [mavros.mavros_router]: link[1000] detected remote address 1.1
[mavros_node-1] [INFO] [1707933903.778520140] [mavros.mavros]: Plugin imu initialized
[mavros_node-1] [INFO] [1707933903.783464321] [mavros.mavros]: Plugin landing_target created
[mavros_node-1] [INFO] [1707933903.783573767] [mavros.mavros]: Plugin landing_target initialized
[mavros_node-1] [INFO] [1707933903.787895523] [mavros.mavros]: Plugin local_position created
[mavros_node-1] [INFO] [1707933903.788046555] [mavros.mavros]: Plugin local_position initialized
[mavros_node-1] [INFO] [1707933903.793014582] [mavros.mavros]: Plugin log_transfer created
[mavros_node-1] [INFO] [1707933903.793167025] [mavros.mavros]: Plugin log_transfer initialized
[mavros_node-1] [INFO] [1707933903.796654842] [mavros.mavros]: Plugin mag_calibration_status created
[mavros_node-1] [INFO] [1707933903.796795197] [mavros.mavros]: Plugin mag_calibration_status initialized
[mavros_node-1] [INFO] [1707933903.800723466] [mavros.mavros]: Plugin manual_control created
[mavros_node-1] [INFO] [1707933903.800830989] [mavros.mavros]: Plugin manual_control initialized
[mavros_node-1] [INFO] [1707933903.804312065] [mavros.mavros]: Plugin mocap_pose_estimate created
[mavros_node-1] [INFO] [1707933903.804336905] [mavros.mavros]: Plugin mocap_pose_estimate initialized
[mavros_node-1] [INFO] [1707933903.809928914] [mavros.mavros]: Plugin mount_control created
[mavros_node-1] [INFO] [1707933903.810095539] [mavros.mavros]: Plugin mount_control initialized
[mavros_node-1] [INFO] [1707933903.813736354] [mavros.mavros]: Plugin nav_controller_output created
[mavros_node-1] [INFO] [1707933903.813857487] [mavros.mavros]: Plugin nav_controller_output initialized
[mavros_node-1] [INFO] [1707933903.817774228] [mavros.mavros]: Plugin obstacle_distance created
[mavros_node-1] [INFO] [1707933903.817797557] [mavros.mavros]: Plugin obstacle_distance initialized
[mavros_node-1] [INFO] [1707933903.822412428] [mavros.mavros]: Plugin odometry created
[mavros_node-1] [INFO] [1707933903.822538309] [mavros.mavros]: Plugin odometry initialized
[mavros_node-1] [INFO] [1707933903.826722733] [mavros.mavros]: Plugin onboard_computer_status created
[mavros_node-1] [INFO] [1707933903.826754928] [mavros.mavros]: Plugin onboard_computer_status initialized
[mavros_node-1] [INFO] [1707933903.832050624] [mavros.mavros]: Plugin optical_flow created
[mavros_node-1] [INFO] [1707933903.832163751] [mavros.mavros]: Plugin optical_flow initialized
[mavros_node-1] [INFO] [1707933903.837892580] [mavros.mavros]: Plugin param created
[mavros_node-1] [INFO] [1707933903.838020136] [mavros.mavros]: Plugin param initialized
[mavros_node-1] [INFO] [1707933903.842673902] [mavros.mavros]: Plugin play_tune created
[mavros_node-1] [INFO] [1707933903.842704361] [mavros.mavros]: Plugin play_tune initialized
[mavros_node-1] [INFO] [1707933903.848291843] [mavros.mavros]: Plugin px4flow created
[mavros_node-1] [INFO] [1707933903.848409817] [mavros.mavros]: Plugin px4flow initialized
[mavros_node-1] [INFO] [1707933903.853756380] [mavros.mavros]: Plugin rallypoint created
[mavros_node-1] [INFO] [1707933903.853859790] [mavros.mavros]: Plugin rallypoint initialized
[mavros_node-1] [INFO] [1707933903.858139214] [mavros.mavros]: Plugin rangefinder created
[mavros_node-1] [INFO] [1707933903.858275359] [mavros.mavros]: Plugin rangefinder initialized
[mavros_node-1] [INFO] [1707933903.863707150] [mavros.mavros]: Plugin rc_io created
[mavros_node-1] [INFO] [1707933903.863896215] [mavros.mavros]: Plugin rc_io initialized
[mavros_node-1] [INFO] [1707933903.868803393] [mavros.mavros]: Plugin setpoint_accel created
[mavros_node-1] [INFO] [1707933903.868834572] [mavros.mavros]: Plugin setpoint_accel initialized
[mavros_node-1] [INFO] [1707933903.876047834] [mavros.mavros]: Plugin setpoint_attitude created
[mavros_node-1] [INFO] [1707933903.876101667] [mavros.mavros]: Plugin setpoint_attitude initialized
[mavros_node-1] [INFO] [1707933903.882920068] [mavros.mavros]: Plugin setpoint_position created
[mavros_node-1] [INFO] [1707933903.882951723] [mavros.mavros]: Plugin setpoint_position initialized
[mavros_node-1] [INFO] [1707933903.890337346] [mavros.mavros]: Plugin setpoint_raw created
[mavros_node-1] [INFO] [1707933903.890516115] [mavros.mavros]: Plugin setpoint_raw initialized
[mavros_node-1] [INFO] [1707933903.897095659] [mavros.mavros]: Plugin setpoint_trajectory created
[mavros_node-1] [INFO] [1707933903.897128225] [mavros.mavros]: Plugin setpoint_trajectory initialized
[mavros_node-1] [INFO] [1707933903.903057472] [mavros.mavros]: Plugin setpoint_velocity created
[mavros_node-1] [INFO] [1707933903.903089100] [mavros.mavros]: Plugin setpoint_velocity initialized
[mavros_node-1] [INFO] [1707933903.914013379] [mavros.mavros]: Plugin sys_status created
[mavros_node-1] [INFO] [1707933903.914392517] [mavros.mavros]: Plugin sys_status initialized
[mavros_node-1] [INFO] [1707933903.919521272] [mavros.time]: TM: Timesync mode: MAVLINK
[mavros_node-1] [INFO] [1707933903.922690153] [mavros.mavros]: Plugin sys_time created
[mavros_node-1] [INFO] [1707933903.922836102] [mavros.mavros]: Plugin sys_time initialized
[mavros_node-1] [INFO] [1707933903.928864287] [mavros.mavros]: Plugin tdr_radio created
[mavros_node-1] [INFO] [1707933903.929033677] [mavros.mavros]: Plugin tdr_radio initialized
[mavros_node-1] [INFO] [1707933903.934910990] [mavros.mavros]: Plugin terrain created
[mavros_node-1] [INFO] [1707933903.935041156] [mavros.mavros]: Plugin terrain initialized
[mavros_node-1] [INFO] [1707933903.942162585] [mavros.mavros]: Plugin trajectory created
[mavros_node-1] [INFO] [1707933903.942292825] [mavros.mavros]: Plugin trajectory initialized
[mavros_node-1] [INFO] [1707933903.949145447] [mavros.mavros]: Plugin tunnel created
[mavros_node-1] [INFO] [1707933903.949275528] [mavros.mavros]: Plugin tunnel initialized
[mavros_node-1] [INFO] [1707933903.955516479] [mavros.mavros]: Plugin vfr_hud created
[mavros_node-1] [INFO] [1707933903.955644181] [mavros.mavros]: Plugin vfr_hud initialized
[mavros_node-1] [INFO] [1707933903.962247534] [mavros.mavros]: Plugin vibration created
[mavros_node-1] [INFO] [1707933903.962409913] [mavros.mavros]: Plugin vibration initialized
[mavros_node-1] [INFO] [1707933903.970522399] [mavros.mavros]: Plugin vision_pose created
[mavros_node-1] [INFO] [1707933903.970557937] [mavros.mavros]: Plugin vision_pose initialized
[mavros_node-1] [INFO] [1707933903.978888759] [mavros.mavros]: Plugin vision_speed created
[mavros_node-1] [INFO] [1707933903.978926714] [mavros.mavros]: Plugin vision_speed initialized
[mavros_node-1] [INFO] [1707933903.988717782] [mavros.mavros]: Plugin waypoint created
[mavros_node-1] [INFO] [1707933903.988946085] [mavros.mavros]: Plugin waypoint initialized
[mavros_node-1] [INFO] [1707933904.000567011] [mavros.mavros]: Plugin wheel_odomotry created
[mavros_node-1] [INFO] [1707933904.000837508] [mavros.mavros]: Plugin wheel_odomotry initialized
[mavros_node-1] [INFO] [1707933904.009442794] [mavros.mavros]: Plugin wind_estimation created
[mavros_node-1] [INFO] [1707933904.009682496] [mavros.mavros]: Plugin wind_estimation initialized
[mavros_node-1] [INFO] [1707933904.010807810] [mavros.mavros]: Built-in SIMD instructions: SSE, SSE2
[mavros_node-1] [INFO] [1707933904.010825309] [mavros.mavros]: Built-in MAVLink package version: 2022.12.30
[mavros_node-1] [INFO] [1707933904.010831619] [mavros.mavros]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros_node-1] [INFO] [1707933904.010835917] [mavros.mavros]: MAVROS UAS via /uas1 started. MY ID 1.191, TARGET ID 1.1
[mavros_node-1] [INFO] [1707933904.393996997] [mavros.mavros]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[mavros_node-1] [INFO] [1707933904.394313099] [mavros.mission]: WP: detected enable_partial_push: 1
[mavros_node-1] [INFO] [1707933904.910330482] [mavros.mavros_router]: link[1001] detected remote address 1.191
[mavros_node-1] [WARN] [1707933905.910701735] [mavros.cmd]: CMD: Unexpected command 520, result 0
[mavros_node-1] [INFO] [1707933905.911363797] [mavros.geofence]: GF: Using MISSION_ITEM_INT
[mavros_node-1] [INFO] [1707933905.911538923] [mavros.rallypoint]: RP: Using MISSION_ITEM_INT
[mavros_node-1] [INFO] [1707933905.911568953] [mavros.mission]: WP: Using MISSION_ITEM_INT
[mavros_node-1] [INFO] [1707933905.911607701] [mavros.sys]: VER: 1.1: Capabilities         0x000000000000fbef
[mavros_node-1] [INFO] [1707933905.911630978] [mavros.sys]: VER: 1.1: Flight software:     040404ff (5d7fb310)
[mavros_node-1] [INFO] [1707933905.911642713] [mavros.sys]: VER: 1.1: Middleware software: 00000000 (        )
[mavros_node-1] [INFO] [1707933905.911689967] [mavros.sys]: VER: 1.1: OS software:         00000000 (        )
[mavros_node-1] [INFO] [1707933905.911702787] [mavros.sys]: VER: 1.1: Board hardware:      00000000
[mavros_node-1] [INFO] [1707933905.911721576] [mavros.sys]: VER: 1.1: VID/PID:             0000:0000
[mavros_node-1] [INFO] [1707933905.911730888] [mavros.sys]: VER: 1.1: UID:                 0000000000000000
[mavros_node-1] [INFO] [1707933910.705101518] [mavros.imu]: IMU: Raw IMU message used.
[mavros_node-1] [INFO] [1707933910.957335539] [mavros.rc]: RC_CHANNELS message detected!
[mavros_node-1] [INFO] [1707933913.989391482] [mavros.sys]: FCU: EKF3 IMU1 origin set
[mavros_node-1] [INFO] [1707933913.989822825] [mavros.sys]: FCU: EKF3 IMU0 origin set
[mavros_node-1] [INFO] [1707933914.041155927] [mavros.sys]: FCU: Field Elevation Set: 584m
[mavros_node-1] [INFO] [1707933914.401244833] [mavros.sys]: FCU: ArduCopter V4.4.4 (5d7fb310)
[mavros_node-1] [INFO] [1707933914.401826175] [mavros.sys]: FCU: e31b46e56bcd4999acf04729cf7c7a12
[mavros_node-1] [INFO] [1707933914.402372956] [mavros.sys]: FCU: Frame: QUAD/PLUS
[mavros_node-1] [INFO] [1707933919.404201860] [mavros.mission]: WP: mission received
[mavros_node-1] [INFO] [1707933924.401243696] [mavros.rallypoint]: RP: mission received
[mavros_node-1] [INFO] [1707933929.404235200] [mavros.geofence]: GF: mission received
[mavros_node-1] [INFO] [1707933936.788577508] [mavros.sys]: FCU: EKF3 IMU1 is using GPS
[mavros_node-1] [INFO] [1707933936.799617279] [mavros.sys]: FCU: EKF3 IMU0 is using GPS
[mavros_node-1] [WARN] [1707933940.817061140] [mavros.param]: PR: Param STAT_RUNTIME (65535/1339): 3624 different index: 1056/1339
[mavros_node-1] [INFO] [1707933947.913245950] [mavros.param]: PR: parameters list received
[mavros_node-1] [WARN] [1707933999.741639068] [mavros.cmd]: CMD: Unexpected command 176, result 0
[mavros_node-1] [INFO] [1707934001.118261468] [mavros.sys]: FCU: Arming motors
[mavros_node-1] [INFO] [1707934006.702258283] [mavros.sys]: FCU: EKF3 IMU1 MAG0 in-flight yaw alignment complete
[mavros_node-1] [INFO] [1707934006.707407427] [mavros.sys]: FCU: EKF3 IMU0 MAG0 in-flight yaw alignment complete
[mavros_node-1] [WARN] [1707934017.190007248] [mavros.cmd]: CMD: Unexpected command 113, result 3
[mavros_node-1] [WARN] [1707934027.194112615] [mavros.cmd]: CMD: Unexpected command 113, result 3

Diagnostics

---
header:
  stamp:
    sec: 1707936516
    nanosec: 670130231
  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: '6'
  - key: EPH (m)
    value: '1.21'
  - key: EPV (m)
    value: '2.00'
- level: "\x01"
  name: 'mavros: Mount'
  message: Can not diagnose in this targeting mode
  hardware_id: uas:///uas1
  values:
  - key: Mode
    value: '255'
- level: "\0"
  name: 'mavros: System'
  message: Normal
  hardware_id: uas:///uas1
  values:
  - key: Sensor present
    value: '0x5771FC2F'
  - key: Sensor enabled
    value: '0x5361FC2F'
  - key: Sensor health
    value: '0x5771FC2F'
  - key: 3D gyro
    value: Ok
  - key: 3D accelerometer
    value: Ok
  - key: 3D magnetometer
    value: Ok
  - key: absolute pressure
    value: Ok
  - key: GPS
    value: Ok
  - key: 3D angular rate control
    value: Ok
  - key: attitude stabilization
    value: Ok
  - key: yaw position
    value: Ok
  - key: z/altitude control
    value: Ok
  - key: x/y position control
    value: Ok
  - key: motor outputs / control
    value: Ok
  - key: rc receiver
    value: Ok
  - key: AHRS subsystem health
    value: Ok
  - key: Terrain subsystem health
    value: Ok
  - key: Logging
    value: Ok
  - key: Battery
    value: Ok
  - key: pre-arm check status. Always healthy when armed
    value: Ok
  - key: propulsion (actuator, esc, motor or propellor)
    value: Ok
  - key: CPU Load (%)
    value: '0.0'
  - 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: '12.59'
  - key: Current
    value: '-28.1'
  - key: Remaining
    value: '0.0'
- level: "\0"
  name: 'mavros: Heartbeat'
  message: Normal
  hardware_id: uas:///uas1
  values:
  - key: Heartbeats since startup
    value: '2691'
  - key: Frequency (Hz)
    value: '0.999989'
  - key: Vehicle type
    value: Quadrotor
  - key: Autopilot type
    value: ArduPilot
  - key: Mode
    value: GUIDED
  - key: System status
    value: ACTIVE

Check ID

Result of running ros2 run mavros mav checkid after sourcing ros2 setup with mavros connected to sitl.


Traceback (most recent call last):
  File "/home/equinox/ros2_ws/install/mavros/lib/python3.8/site-packages/mavros/cmd/__init__.py", line 34, in __getattr__
    return object.__getattribute__(self, key)
AttributeError: 'CliClient' object has no attribute 'uas_settings'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/equinox/ros2_ws/install/mavros/lib/mavros/mav", line 14, in <module>
    cli()
  File "/usr/lib/python3/dist-packages/click/core.py", line 764, in __call__
    return self.main(*args, **kwargs)
  File "/usr/lib/python3/dist-packages/click/core.py", line 717, in main
    rv = self.invoke(ctx)
  File "/usr/lib/python3/dist-packages/click/core.py", line 1137, in invoke
    return _process_result(sub_ctx.command.invoke(sub_ctx))
  File "/usr/lib/python3/dist-packages/click/core.py", line 956, in invoke
    return ctx.invoke(self.callback, **ctx.params)
  File "/usr/lib/python3/dist-packages/click/core.py", line 555, in invoke
    return callback(*args, **kwargs)
  File "/usr/lib/python3/dist-packages/click/decorators.py", line 64, in new_func
    return ctx.invoke(f, obj, *args, **kwargs)
  File "/usr/lib/python3/dist-packages/click/core.py", line 555, in invoke
    return callback(*args, **kwargs)
  File "/home/equinox/ros2_ws/install/mavros/lib/python3.8/site-packages/mavros/cmd/checkid.py", line 129, in checkid
    checker = Checker(client=client, follow=follow, watch_time=watch_time)
  File "/home/equinox/ros2_ws/install/mavros/lib/python3.8/site-packages/mavros/cmd/checkid.py", line 44, in __init__
    self.tgt_ids = client.uas_settings.target_ids
  File "/home/equinox/ros2_ws/install/mavros/lib/python3.8/site-packages/mavros/cmd/__init__.py", line 36, in __getattr__
    return getattr(self.cli, key)
  File "/usr/lib/python3.8/functools.py", line 967, in __get__
    val = self.func(instance)
  File "/home/equinox/ros2_ws/install/mavros/lib/python3.8/site-packages/mavros/base.py", line 116, in uas_settings
    pd = call_get_parameters(node=self, node_name=self.mavros_ns, names=names)
  File "/home/equinox/ros2_ws/install/mavros/lib/python3.8/site-packages/mavros/utils.py", line 75, in call_get_parameters
    wait_for_service(client, lg)
  File "/home/equinox/ros2_ws/install/mavros/lib/python3.8/site-packages/mavros/base.py", line 55, in wait_for_service
    raise ServiceWaitTimeout(topic)
mavros.base.ServiceWaitTimeout: mavros/get_parameters```

Topic list while mavros running:
/diagnostics
/mavros/actuator_control
/mavros/adsb/send
/mavros/adsb/vehicle
/mavros/altitude
/mavros/battery
/mavros/cam_imu_sync/cam_imu_stamp
/mavros/camera/image_captured
/mavros/cellular_status/status
/mavros/companion_process/status
/mavros/debug_value/debug
/mavros/debug_value/debug_float_array
/mavros/debug_value/debug_vector
/mavros/debug_value/named_value_float
/mavros/debug_value/named_value_int
/mavros/debug_value/send
/mavros/esc_status/info
/mavros/esc_status/status
/mavros/esc_telemetry/telemetry
/mavros/estimator_status
/mavros/extended_state
/mavros/fake_gps/mocap/tf
/mavros/geofence/fences
/mavros/global_position/compass_hdg
/mavros/global_position/global
/mavros/global_position/gp_lp_offset
/mavros/global_position/gp_origin
/mavros/global_position/local
/mavros/global_position/raw/fix
/mavros/global_position/raw/gps_vel
/mavros/global_position/raw/satellites
/mavros/global_position/rel_alt
/mavros/global_position/set_gp_origin
/mavros/gps_input/gps_input
/mavros/gps_rtk/rtk_baseline
/mavros/gps_rtk/send_rtcm
/mavros/gpsstatus/gps1/raw
/mavros/gpsstatus/gps1/rtk
/mavros/gpsstatus/gps2/raw
/mavros/gpsstatus/gps2/rtk
/mavros/hil/actuator_controls
/mavros/hil/controls
/mavros/hil/gps
/mavros/hil/imu_ned
/mavros/hil/optical_flow
/mavros/hil/rc_inputs
/mavros/hil/state
/mavros/home_position/home
/mavros/home_position/set
/mavros/imu/data
/mavros/imu/data_raw
/mavros/imu/diff_pressure
/mavros/imu/mag
/mavros/imu/static_pressure
/mavros/imu/temperature_baro
/mavros/imu/temperature_imu
/mavros/landing_target/lt_marker
/mavros/landing_target/pose
/mavros/landing_target/pose_in
/mavros/local_position/accel
/mavros/local_position/odom
/mavros/local_position/pose
/mavros/local_position/pose_cov
/mavros/local_position/velocity_body
/mavros/local_position/velocity_body_cov
/mavros/local_position/velocity_local
/mavros/log_transfer/raw/log_data
/mavros/log_transfer/raw/log_entry
/mavros/mag_calibration/report
/mavros/mag_calibration/status
/mavros/manual_control/control
/mavros/manual_control/send
/mavros/mission/reached
/mavros/mission/waypoints
/mavros/mocap/pose
/mavros/mocap/tf
/mavros/mount_control/command
/mavros/mount_control/orientation
/mavros/mount_control/status
/mavros/nav_controller_output/output
/mavros/obstacle/send
/mavros/odometry/in
/mavros/odometry/out
/mavros/onboard_computer/status
/mavros/optical_flow/ground_distance
/mavros/optical_flow/raw/optical_flow
/mavros/optical_flow/raw/send
/mavros/param/event
/mavros/play_tune
/mavros/px4flow/ground_distance
/mavros/px4flow/raw/optical_flow_rad
/mavros/px4flow/raw/send
/mavros/px4flow/temperature
/mavros/radio_status
/mavros/rallypoint/rallypoints
/mavros/rangefinder/rangefinder
/mavros/rc/in
/mavros/rc/out
/mavros/rc/override
/mavros/setpoint_accel/accel
/mavros/setpoint_attitude/cmd_vel
/mavros/setpoint_attitude/thrust
/mavros/setpoint_position/global
/mavros/setpoint_position/global_to_local
/mavros/setpoint_position/local
/mavros/setpoint_raw/attitude
/mavros/setpoint_raw/global
/mavros/setpoint_raw/local
/mavros/setpoint_raw/target_attitude
/mavros/setpoint_raw/target_global
/mavros/setpoint_raw/target_local
/mavros/setpoint_trajectory/desired
/mavros/setpoint_trajectory/local
/mavros/setpoint_velocity/cmd_vel
/mavros/setpoint_velocity/cmd_vel_unstamped
/mavros/state
/mavros/statustext/recv
/mavros/statustext/send
/mavros/target_actuator_control
/mavros/terrain/report
/mavros/time_reference
/mavros/timesync_status
/mavros/trajectory/desired
/mavros/trajectory/generated
/mavros/trajectory/path
/mavros/tunnel/in
/mavros/tunnel/out
/mavros/vfr_hud
/mavros/vibration/raw/vibration
/mavros/vision_pose/pose
/mavros/vision_pose/pose_cov
/mavros/vision_speed/speed_twist
/mavros/vision_speed/speed_twist_cov
/mavros/vision_speed/speed_vector
/mavros/wheel_odometry/odom
/mavros/wind_estimation
/move_base_simple/goal
/parameter_events
/rosout
/tf
/tf_static
/uas1/mavlink_sink
/uas1/mavlink_source```
vooon commented 4 months ago

I'm unsure how you got unsupported, since command int do not expect to get COMMAND_ACK after COMMAND_INT:

https://github.com/mavlink/mavros/blob/227bb05c34a75188f1d6fccff6f767d0cc9129b0/mavros/src/plugins/command.cpp#L292-L302

Bthw: ros2 run mavros mav checkid

nraines2002 commented 4 months ago

I'm unsure how you got unsupported, since command int do not expect to get COMMAND_ACK after COMMAND_INT:

https://github.com/mavlink/mavros/blob/227bb05c34a75188f1d6fccff6f767d0cc9129b0/mavros/src/plugins/command.cpp#L292-L302

Bthw: ros2 run mavros mav checkid

The COMMAND_ACK I see is from the specific commands that I'm sending using COMMAND_INT in the mavproxy window. So when I send a CONDITION_CHANGE_ALT command using command int i see "Got COMMAND_ACK:CONDITION_CHANGE_ALT:UNSUPPORTED" from the autopilot

image

vooon commented 4 months ago

Ah, i see. MAVProxy catches COMMAND_ACK and prints it on that console. The same message captured by mavros: CMD: Unexpected command 113, result 3 (unexpected because as i said, mavros do not wait and do not expect to get ACK).

But that's simply on a firmware side. Have you tried to send that command via mavproxy?

vooon commented 4 months ago

See also: https://mavlink.io/en/messages/common.html#MAV_RESULT

nraines2002 commented 4 months ago

I've found the issue, only very specific commands can be sent using COMMAND_INT. I will close the issue and update it to help any future lost souls.

Thanks for your help @vooon.