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MAVLink to ROS gateway with proxy for Ground Control Station
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Connection problem between PixHawk and Xavier NX #1947

Open zhangshuaiqing opened 1 month ago

zhangshuaiqing commented 1 month ago

I want to connect PixHawk and Xavier NX through the serial port and send data through MavLink.

Now I have a problem. I connect the PixHawk's serial port Telem2 to the Xavier NX's pin8, pin9, and pin10.

Then, I used QGC to set the parameters of PixHawk as shown in the figure below.

I have installed ROS and MAVROS on Xavier NX.

I modified the parameter fcu_url in px4.launch.

Then, the script px4.launch was executed.

Check the connection results through the commands rostopic echo /mavros/state and rostopic echo /diagnostics.

It seems the results were unsatisfactory.

Below is the detailed process.

I set the parameters of PixHawk on QGC as followed Screenshot from 2024-05-07 18-45-32 Screenshot from 2024-05-07 18-49-06

The result of command mavlink status run on QGC Screenshot from 2024-05-07 10-43-28

Then I run command roslaunch mavros px4.launch

drone@ubuntu:/opt/ros/noetic/share/mavros/launch$ roslaunch mavros px4.launch 
... logging to /home/drone/.ros/log/8fb350cc-0c5c-11ef-b0e4-fae180623635/roslaunch-ubuntu-4260.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:35051/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/camera/frame_id: base_link
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 408.0
 * /mavros/fake_gps/geo_origin/lat: 47.3667
 * /mavros/fake_gps/geo_origin/lon: 8.55
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: True
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: /dev/ttyTHS0:921600
 * /mavros/gcs_url: 
 * /mavros/global_position/child_frame_id: base_link
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/gps_uere: 1.0
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/landing_target/camera/fov_x: 2.0071286398
 * /mavros/landing_target/camera/fov_y: 2.0071286398
 * /mavros/landing_target/image/height: 480
 * /mavros/landing_target/image/width: 640
 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /mavros/landing_target/listen_lt: False
 * /mavros/landing_target/mav_frame: LOCAL_NED
 * /mavros/landing_target/target_size/x: 0.3
 * /mavros/landing_target/target_size/y: 0.3
 * /mavros/landing_target/tf/child_frame_id: camera_center
 * /mavros/landing_target/tf/frame_id: landing_target
 * /mavros/landing_target/tf/listen: False
 * /mavros/landing_target/tf/rate_limit: 10.0
 * /mavros/landing_target/tf/send: True
 * /mavros/local_position/frame_id: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mission/use_mission_item_int: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/mount/debounce_s: 4.0
 * /mavros/mount/err_threshold_deg: 10.0
 * /mavros/mount/negate_measured_pitch: False
 * /mavros/mount/negate_measured_roll: False
 * /mavros/mount/negate_measured_yaw: False
 * /mavros/odometry/fcu/odom_child_id_des: base_link
 * /mavros/odometry/fcu/odom_parent_id_des: map
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /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: odom
 * /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: odom
 * /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: odom
 * /mavros/wheel_odometry/tf/send: False
 * /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: 1.16.0

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [4271]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8fb350cc-0c5c-11ef-b0e4-fae180623635
process[rosout-1]: started with pid [4284]
started core service [/rosout]
process[mavros-2]: started with pid [4292]
[ INFO] [1715077718.313899932]: FCU URL: /dev/ttyTHS0:921600
[ INFO] [1715077718.321205043]: serial0: device: /dev/ttyTHS0 @ 921600 bps
[ INFO] [1715077718.322725804]: GCS bridge disabled
[ INFO] [1715077718.358468420]: Plugin 3dr_radio loaded
[ INFO] [1715077718.365511858]: Plugin 3dr_radio initialized
[ INFO] [1715077718.365828278]: Plugin actuator_control loaded
[ INFO] [1715077718.373207750]: Plugin actuator_control initialized
[ INFO] [1715077718.388633259]: Plugin adsb loaded
[ INFO] [1715077718.397428158]: Plugin adsb initialized
[ INFO] [1715077718.397873302]: Plugin altitude loaded
[ INFO] [1715077718.400644288]: Plugin altitude initialized
[ INFO] [1715077718.401042717]: Plugin cam_imu_sync loaded
[ INFO] [1715077718.402875450]: Plugin cam_imu_sync initialized
[ INFO] [1715077718.403222939]: Plugin camera loaded
[ INFO] [1715077718.405065015]: Plugin camera initialized
[ INFO] [1715077718.405403609]: Plugin cellular_status loaded
[ INFO] [1715077718.411498779]: Plugin cellular_status initialized
[ INFO] [1715077718.411884057]: Plugin command loaded
[ INFO] [1715077718.427356442]: Plugin command initialized
[ INFO] [1715077718.427746808]: Plugin companion_process_status loaded
[ INFO] [1715077718.433773472]: Plugin companion_process_status initialized
[ INFO] [1715077718.434106243]: Plugin debug_value loaded
[ INFO] [1715077718.447005032]: Plugin debug_value initialized
[ INFO] [1715077718.447138780]: Plugin distance_sensor blacklisted
[ INFO] [1715077718.447496765]: Plugin esc_status loaded
[ INFO] [1715077718.450456086]: Plugin esc_status initialized
[ INFO] [1715077718.450831380]: Plugin esc_telemetry loaded
[ INFO] [1715077718.452617302]: Plugin esc_telemetry initialized
[ INFO] [1715077718.453150278]: Plugin fake_gps loaded
[ INFO] [1715077718.488413609]: Plugin fake_gps initialized
[ INFO] [1715077718.488885279]: Plugin ftp loaded
[ INFO] [1715077718.504037020]: Plugin ftp initialized
[ INFO] [1715077718.504514514]: Plugin geofence loaded
[ INFO] [1715077718.512158859]: Plugin geofence initialized
[ INFO] [1715077718.512678972]: Plugin global_position loaded
[ INFO] [1715077718.549224397]: Plugin global_position initialized
[ INFO] [1715077718.549731488]: Plugin gps_input loaded
[ INFO] [1715077718.556256828]: Plugin gps_input initialized
[ INFO] [1715077718.556622651]: Plugin gps_rtk loaded
[ INFO] [1715077718.563508344]: Plugin gps_rtk initialized
[ INFO] [1715077718.563919603]: Plugin gps_status loaded
[ INFO] [1715077718.569406155]: Plugin gps_status initialized
[ INFO] [1715077718.569747021]: Plugin guided_target loaded
[ INFO] [1715077718.579822702]: Plugin guided_target initialized
[ INFO] [1715077718.580194797]: Plugin hil loaded
[ INFO] [1715077718.608790144]: Plugin hil initialized
[ INFO] [1715077718.609509024]: Plugin home_position loaded
[ INFO] [1715077718.617699144]: Plugin home_position initialized
[ INFO] [1715077718.618144129]: Plugin imu loaded
[ INFO] [1715077718.635126139]: Plugin imu initialized
[ INFO] [1715077718.635609137]: Plugin landing_target loaded
[ INFO] [1715077718.669705307]: Plugin landing_target initialized
[ INFO] [1715077718.670165170]: Plugin local_position loaded
[ INFO] [1715077718.690487556]: Plugin local_position initialized
[ INFO] [1715077718.690953531]: Plugin log_transfer loaded
[ INFO] [1715077718.698942357]: Plugin log_transfer initialized
[ INFO] [1715077718.699409131]: Plugin mag_calibration_status loaded
[ INFO] [1715077718.702536245]: Plugin mag_calibration_status initialized
[ INFO] [1715077718.703024362]: Plugin manual_control loaded
[ INFO] [1715077718.710420089]: Plugin manual_control initialized
[ INFO] [1715077718.710860306]: Plugin mocap_pose_estimate loaded
[ INFO] [1715077718.719899886]: Plugin mocap_pose_estimate initialized
[ INFO] [1715077718.720388515]: Plugin mount_control loaded
[ WARN] [1715077718.732624036]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1715077718.733710979]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1715077718.734627986]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1715077718.737983559]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1715077718.738911093]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1715077718.739401481]: Plugin mount_control initialized
[ INFO] [1715077718.739895389]: Plugin nav_controller_output loaded
[ INFO] [1715077718.741675551]: Plugin nav_controller_output initialized
[ INFO] [1715077718.742192273]: Plugin obstacle_distance loaded
[ INFO] [1715077718.748732684]: Plugin obstacle_distance initialized
[ INFO] [1715077718.749116682]: Plugin odom loaded
[ INFO] [1715077718.759636323]: Plugin odom initialized
[ INFO] [1715077718.760054494]: Plugin onboard_computer_status loaded
[ INFO] [1715077718.765769602]: Plugin onboard_computer_status initialized
[ INFO] [1715077718.766161119]: Plugin param loaded
[ INFO] [1715077718.772622465]: Plugin param initialized
[ INFO] [1715077718.773039900]: Plugin play_tune loaded
[ INFO] [1715077718.778796541]: Plugin play_tune initialized
[ INFO] [1715077718.779245365]: Plugin px4flow loaded
[ INFO] [1715077718.794797871]: Plugin px4flow initialized
[ INFO] [1715077718.795302498]: Plugin rallypoint loaded
[ INFO] [1715077718.802347600]: Plugin rallypoint initialized
[ INFO] [1715077718.802538399]: Plugin rangefinder blacklisted
[ INFO] [1715077718.803139977]: Plugin rc_io loaded
[ INFO] [1715077718.811331058]: Plugin rc_io initialized
[ INFO] [1715077718.811517089]: Plugin safety_area blacklisted
[ INFO] [1715077718.811894911]: Plugin setpoint_accel loaded
[ INFO] [1715077718.819227668]: Plugin setpoint_accel initialized
[ INFO] [1715077718.819698282]: Plugin setpoint_attitude loaded
[ INFO] [1715077718.840659939]: Plugin setpoint_attitude initialized
[ INFO] [1715077718.841111483]: Plugin setpoint_position loaded
[ INFO] [1715077718.877130554]: Plugin setpoint_position initialized
[ INFO] [1715077718.877676618]: Plugin setpoint_raw loaded
[ INFO] [1715077718.897880967]: Plugin setpoint_raw initialized
[ INFO] [1715077718.898351773]: Plugin setpoint_trajectory loaded
[ INFO] [1715077718.909572824]: Plugin setpoint_trajectory initialized
[ INFO] [1715077718.910070027]: Plugin setpoint_velocity loaded
[ INFO] [1715077718.922982448]: Plugin setpoint_velocity initialized
[ INFO] [1715077718.923613016]: Plugin sys_status loaded
[ INFO] [1715077718.948696483]: Plugin sys_status initialized
[ INFO] [1715077718.949211797]: Plugin sys_time loaded
[ INFO] [1715077718.961881359]: TM: Timesync mode: MAVLINK
[ INFO] [1715077718.962918835]: TM: Not publishing sim time
[ INFO] [1715077718.966265930]: Plugin sys_time initialized
[ INFO] [1715077718.966738208]: Plugin terrain loaded
[ INFO] [1715077718.968290614]: Plugin terrain initialized
[ INFO] [1715077718.968634679]: Plugin trajectory loaded
[ INFO] [1715077718.981010987]: Plugin trajectory initialized
[ INFO] [1715077718.981559835]: Plugin tunnel loaded
[ INFO] [1715077718.988759323]: Plugin tunnel initialized
[ INFO] [1715077718.989207891]: Plugin vfr_hud loaded
[ INFO] [1715077718.991604510]: Plugin vfr_hud initialized
[ INFO] [1715077718.991743666]: Plugin vibration blacklisted
[ INFO] [1715077718.992058614]: Plugin vision_pose_estimate loaded
[ INFO] [1715077719.009431214]: Plugin vision_pose_estimate initialized
[ INFO] [1715077719.009872103]: Plugin vision_speed_estimate loaded
[ INFO] [1715077719.019461491]: Plugin vision_speed_estimate initialized
[ INFO] [1715077719.020016705]: Plugin waypoint loaded
[ INFO] [1715077719.031230237]: Plugin waypoint initialized
[ INFO] [1715077719.031450953]: Plugin wheel_odometry blacklisted
[ INFO] [1715077719.031868420]: Plugin wind_estimation loaded
[ INFO] [1715077719.033880945]: Plugin wind_estimation initialized
[ INFO] [1715077719.034522200]: Built-in SIMD instructions: ARM NEON
[ INFO] [1715077719.034687850]: Built-in MAVLink package version: 2024.3.3
[ INFO] [1715077719.034858395]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1715077719.034967377]: MAVROS started. MY ID 1.240, TARGET ID 1.1
^C[mavros-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit

The output of rostopic echo /mavros/state

$ rostopic echo /mavros/state
header: 
  seq: 0
  stamp: 
    secs: 1715077718
    nsecs: 948575246
  frame_id: ''
connected: False
armed: False
guided: False
manual_input: False
mode: ''
system_status: 0
---

The output rostopic echo /diagnostics

---
header: 
  seq: 88
  stamp: 
    secs: 1715077830
    nsecs: 535588294
  frame_id: ''
status: 
  - 
    level: 1
    name: "mavros: FCU connection"
    message: "not connected"
    hardware_id: "/dev/ttyTHS0:921600"
    values: 
      - 
        key: "Received packets:"
        value: "0"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "0"
      - 
        key: "Tx sequence number:"
        value: "0"
      - 
        key: "Rx total bytes:"
        value: "0"
      - 
        key: "Tx total bytes:"
        value: "35660"
      - 
        key: "Rx speed:"
        value: "0.000000"
      - 
        key: "Tx speed:"
        value: "460.000000"
  - 
    level: 2
    name: "mavros: GPS"
    message: "No satellites"
    hardware_id: "/dev/ttyTHS0:921600"
    values: 
      - 
        key: "Satellites visible"
        value: "0"
      - 
        key: "Fix type"
        value: "0"
      - 
        key: "EPH (m)"
        value: "Unknown"
      - 
        key: "EPV (m)"
        value: "Unknown"
  - 
    level: 1
    name: "mavros: Mount"
    message: "Can not diagnose in this targeting mode"
    hardware_id: "/dev/ttyTHS0:921600"
    values: 
      - 
        key: "Mode"
        value: "255"
  - 
    level: 2
    name: "mavros: Heartbeat"
    message: "No events recorded."
    hardware_id: "/dev/ttyTHS0:921600"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "0"
      - 
        key: "Frequency (Hz)"
        value: "0.000000"
      - 
        key: "Vehicle type"
        value: "Generic micro air vehicle"
      - 
        key: "Autopilot type"
        value: "Generic autopilot"
      - 
        key: "Mode"
        value: ''
      - 
        key: "System status"
        value: "Uninit"
  - 
    level: 0
    name: "mavros: System"
    message: "Normal"
    hardware_id: "/dev/ttyTHS0:921600"
    values: 
      - 
        key: "Sensor present"
        value: "0x00000000"
      - 
        key: "Sensor enabled"
        value: "0x00000000"
      - 
        key: "Sensor health"
        value: "0x00000000"
      - 
        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: 2
    name: "mavros: Battery"
    message: "No data"
    hardware_id: "/dev/ttyTHS0:921600"
    values: 
      - 
        key: "Voltage"
        value: "-1.00"
      - 
        key: "Current"
        value: "0.0"
      - 
        key: "Remaining"
        value: "0.0"
  - 
    level: 2
    name: "mavros: Time Sync"
    message: "No events recorded."
    hardware_id: "/dev/ttyTHS0:921600"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "0"
      - 
        key: "Frequency (Hz)"
        value: "0.000000"
      - 
        key: "Last RTT (ms)"
        value: "0.000000"
      - 
        key: "Mean RTT (ms)"
        value: "0.000000"
      - 
        key: "Last remote time (s)"
        value: "0.000000000"
      - 
        key: "Estimated time offset (s)"
        value: "0.000000000"
---

I would really like to achieve onboard control of PixHawk by Xavier NX via MAVROS. I am new in PixHawk, ROS, MAVROS. Please help me solve this problem. Thank you very much.