This is only bug and feature tracker, please use it to report bugs or request features.

Issue details

现在可以用遥控器来控制舵机转动，所以一种方法是通过控制遥控器的值来控制舵机。但是我在试了发布/mavros/rc/override来控制rc通道的值，可以确定的是/mavros/rc/override发布出消息了，但是/mavros/rc/in /mavros/rc/out均无变化。请问是选的话题不对还是操作不对呢。另外一种方法是直接控制舵机，但是我用了/mavros/actuator_control话题还是无反应，对于此方法我把混控器文件写入/etc文件，group为2，但是舵机无反应

MAVROS version and platform

Mavros: ?0.18.4? ROS: ?Kinetic? Ubuntu: ?16.04?

Autopilot type and version

[ ] ArduPilot [ ] PX4

Version: ?3.7.1?

Node logs

started roslaunch server http://ubuntu:45627/

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/ttyACM0:9600
/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)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [10239] [ INFO] [1717482589.570150887]: FCU URL: /dev/ttyACM0:9600 [ INFO] [1717482589.574797359]: serial0: device: /dev/ttyACM0 @ 9600 bps [ INFO] [1717482589.576540870]: GCS bridge disabled [ INFO] [1717482589.597404856]: Plugin 3dr_radio loaded [ INFO] [1717482589.601828949]: Plugin 3dr_radio initialized [ INFO] [1717482589.602061120]: Plugin actuator_control loaded [ INFO] [1717482589.605505964]: Plugin actuator_control initialized [ INFO] [1717482589.616862692]: Plugin adsb loaded [ INFO] [1717482589.622009093]: Plugin adsb initialized [ INFO] [1717482589.622221935]: Plugin altitude loaded [ INFO] [1717482589.623480110]: Plugin altitude initialized [ INFO] [1717482589.623603508]: Plugin cam_imu_sync loaded [ INFO] [1717482589.624359738]: Plugin cam_imu_sync initialized [ INFO] [1717482589.624476224]: Plugin camera loaded [ INFO] [1717482589.625261351]: Plugin camera initialized [ INFO] [1717482589.625385677]: Plugin cellular_status loaded [ INFO] [1717482589.628346113]: Plugin cellular_status initialized [ INFO] [1717482589.628512393]: Plugin command loaded [ INFO] [1717482589.636909325]: Plugin command initialized [ INFO] [1717482589.637198011]: Plugin companion_process_status loaded [ INFO] [1717482589.640998969]: Plugin companion_process_status initialized [ INFO] [1717482589.641433583]: Plugin debug_value loaded [ INFO] [1717482589.647856464]: Plugin debug_value initialized [ INFO] [1717482589.647935828]: Plugin distance_sensor blacklisted [ INFO] [1717482589.648084571]: Plugin esc_status loaded [ INFO] [1717482589.649475393]: Plugin esc_status initialized [ INFO] [1717482589.649637449]: Plugin esc_telemetry loaded [ INFO] [1717482589.650325451]: Plugin esc_telemetry initialized [ INFO] [1717482589.650490547]: Plugin fake_gps loaded [ INFO] [1717482589.666942569]: Plugin fake_gps initialized [ INFO] [1717482589.667312667]: Plugin ftp loaded [ INFO] [1717482589.677124005]: Plugin ftp initialized [ INFO] [1717482589.677502040]: Plugin geofence loaded [ INFO] [1717482589.681107180]: Plugin geofence initialized [ INFO] [1717482589.681292054]: Plugin global_position loaded [ INFO] [1717482589.696895009]: Plugin global_position initialized [ INFO] [1717482589.697094315]: Plugin gps_input loaded [ INFO] [1717482589.702079428]: Plugin gps_input initialized [ INFO] [1717482589.702656321]: Plugin gps_rtk loaded [ INFO] [1717482589.706360634]: Plugin gps_rtk initialized [ INFO] [1717482589.706696459]: Plugin gps_status loaded [ INFO] [1717482589.710951455]: Plugin gps_status initialized [ INFO] [1717482589.711314033]: Plugin guided_target loaded [ INFO] [1717482589.715885717]: Plugin guided_target initialized [ INFO] [1717482589.716062302]: Plugin hil loaded [ INFO] [1717482589.728585808]: Plugin hil initialized [ INFO] [1717482589.728813371]: Plugin home_position loaded [ INFO] [1717482589.733754194]: Plugin home_position initialized [ INFO] [1717482589.734053569]: Plugin imu loaded [ INFO] [1717482589.745746377]: Plugin imu initialized [ INFO] [1717482589.746071737]: Plugin landing_target loaded [ INFO] [1717482589.761068486]: Plugin landing_target initialized [ INFO] [1717482589.761345748]: Plugin local_position loaded [ INFO] [1717482589.771096987]: Plugin local_position initialized [ INFO] [1717482589.771432844]: Plugin log_transfer loaded [ INFO] [1717482589.776922270]: Plugin log_transfer initialized [ INFO] [1717482589.777391894]: Plugin mag_calibration_status loaded [ INFO] [1717482589.778866943]: Plugin mag_calibration_status initialized [ INFO] [1717482589.779085418]: Plugin manual_control loaded [ INFO] [1717482589.782181637]: Plugin manual_control initialized [ INFO] [1717482589.782389295]: Plugin mocap_pose_estimate loaded [ INFO] [1717482589.786433145]: Plugin mocap_pose_estimate initialized [ INFO] [1717482589.786636003]: Plugin mount_control loaded [ WARN] [1717482589.792333888]: Could not retrive negate_measured_roll parameter value, using default (0) [ WARN] [1717482589.792887579]: Could not retrive negate_measured_pitch parameter value, using default (0) [ WARN] [1717482589.793459096]: Could not retrive negate_measured_yaw parameter value, using default (0) [ WARN] [1717482589.795090570]: Could not retrive debounce_s parameter value, using default (4.000000) [ WARN] [1717482589.795544992]: Could not retrive err_threshold_deg parameter value, using default (10.000000) [ INFO] [1717482589.795650245]: Plugin mount_control initialized [ INFO] [1717482589.795830830]: Plugin nav_controller_output loaded [ INFO] [1717482589.796592501]: Plugin nav_controller_output initialized [ INFO] [1717482589.796723131]: Plugin obstacle_distance loaded [ INFO] [1717482589.802972083]: Plugin obstacle_distance initialized [ INFO] [1717482589.803346790]: Plugin odom loaded [ INFO] [1717482589.810423047]: Plugin odom initialized [ INFO] [1717482589.810886206]: Plugin onboard_computer_status loaded [ INFO] [1717482589.813600614]: Plugin onboard_computer_status initialized [ INFO] [1717482589.813795888]: Plugin param loaded [ INFO] [1717482589.816846536]: Plugin param initialized [ INFO] [1717482589.817014129]: Plugin play_tune loaded [ INFO] [1717482589.819634995]: Plugin play_tune initialized [ INFO] [1717482589.819797564]: Plugin px4flow loaded [ INFO] [1717482589.827722503]: Plugin px4flow initialized [ INFO] [1717482589.827954611]: Plugin rallypoint loaded [ INFO] [1717482589.831689038]: Plugin rallypoint initialized [ INFO] [1717482589.831820020]: Plugin rangefinder blacklisted [ INFO] [1717482589.832359759]: Plugin rc_io loaded [ INFO] [1717482589.838039755]: Plugin rc_io initialized [ INFO] [1717482589.838187378]: Plugin safety_area blacklisted [ INFO] [1717482589.838564709]: Plugin setpoint_accel loaded [ INFO] [1717482589.844600114]: Plugin setpoint_accel initialized [ INFO] [1717482589.845008935]: Plugin setpoint_attitude loaded [ INFO] [1717482589.854826097]: Plugin setpoint_attitude initialized [ INFO] [1717482589.855060861]: Plugin setpoint_position loaded [ INFO] [1717482589.872370013]: Plugin setpoint_position initialized [ INFO] [1717482589.872719407]: Plugin setpoint_raw loaded [ INFO] [1717482589.885154428]: Plugin setpoint_raw initialized [ INFO] [1717482589.885521838]: Plugin setpoint_trajectory loaded [ INFO] [1717482589.890588011]: Plugin setpoint_trajectory initialized [ INFO] [1717482589.890820983]: Plugin setpoint_velocity loaded [ INFO] [1717482589.896586231]: Plugin setpoint_velocity initialized [ INFO] [1717482589.896907143]: Plugin sys_status loaded [ INFO] [1717482589.912477489]: Plugin sys_status initialized [ INFO] [1717482589.912845955]: Plugin sys_time loaded [ INFO] [1717482589.918460859]: TM: Timesync mode: MAVLINK [ INFO] [1717482589.919012535]: TM: Not publishing sim time [ INFO] [1717482589.920655849]: Plugin sys_time initialized [ INFO] [1717482589.920892437]: Plugin terrain loaded [ INFO] [1717482589.921716798]: Plugin terrain initialized [ INFO] [1717482589.921936521]: Plugin trajectory loaded [ INFO] [1717482589.927765932]: Plugin trajectory initialized [ INFO] [1717482589.928004088]: Plugin tunnel loaded [ INFO] [1717482589.932146631]: Plugin tunnel initialized [ INFO] [1717482589.932952335]: Plugin vfr_hud loaded [ INFO] [1717482589.934739401]: Plugin vfr_hud initialized [ INFO] [1717482589.935018838]: Plugin vibration blacklisted [ INFO] [1717482589.935898114]: Plugin vision_pose_estimate loaded [ INFO] [1717482589.946503796]: Plugin vision_pose_estimate initialized [ INFO] [1717482589.947327613]: Plugin vision_speed_estimate loaded [ INFO] [1717482589.951624628]: Plugin vision_speed_estimate initialized [ INFO] [1717482589.951875136]: Plugin waypoint loaded [ INFO] [1717482589.957549052]: Plugin waypoint initialized [ INFO] [1717482589.957634112]: Plugin wheel_odometry blacklisted [ INFO] [1717482589.957826218]: Plugin wind_estimation loaded [ INFO] [1717482589.958851485]: Plugin wind_estimation initialized [ INFO] [1717482589.959185454]: Built-in SIMD instructions: ARM NEON [ INFO] [1717482589.959234704]: Built-in MAVLink package version: 2024.3.3 [ INFO] [1717482589.959297075]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta [ INFO] [1717482589.959334741]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1717482593.304823686]: GF: Using MISSION_ITEM_INT [ INFO] [1717482593.305145718]: RP: Using MISSION_ITEM_INT [ INFO] [1717482593.305237307]: WP: Using MISSION_ITEM_INT [ INFO] [1717482593.305354305]: VER: 1.1: Capabilities 0x000000000000e4ff [ INFO] [1717482593.305437637]: VER: 1.1: Flight software: 010d02ff (46a12a09bf000000) [ INFO] [1717482593.305533322]: VER: 1.1: Middleware software: 010d02ff (46a12a09bf000000) [ INFO] [1717482593.305598829]: VER: 1.1: OS software: 0b0000ff (91bece51afbe7da9) [ INFO] [1717482593.305676753]: VER: 1.1: Board hardware: 00000038 [ INFO] [1717482593.305728915]: VER: 1.1: VID/PID: 3185:0038 [ INFO] [1717482593.305778390]: VER: 1.1: UID: 3131511839333437 [ WARN] [1717482593.307204093]: TM : RTT too high for timesync: 1786.35 ms. [ WARN] [1717482593.307542830]: TM : RTT too high for timesync: 1186.70 ms. [ WARN] [1717482593.307831868]: TM : RTT too high for timesync: 586.83 ms. [ INFO] [1717482593.322681378]: IMU: Attitude quaternion IMU detected! [ INFO] [1717482593.325376328]: IMU: High resolution IMU detected! [ INFO] [1717482593.406510043]: RC_CHANNELS message detected! [ INFO] [1717482594.304748710]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1717482594.308989337]: IMU: Attitude quaternion IMU detected! [ INFO] [1717482594.309408078]: IMU: High resolution IMU detected! [ INFO] [1717482594.310385951]: RC_CHANNELS message detected! [ INFO] [1717482595.320624892]: VER: 1.1: Capabilities 0x000000000000e4ff [ INFO] [1717482595.320860168]: VER: 1.1: Flight software: 010d02ff (46a12a09bf000000) [ INFO] [1717482595.320952269]: VER: 1.1: Middleware software: 010d02ff (46a12a09bf000000) [ INFO] [1717482595.321042353]: VER: 1.1: OS software: 0b0000ff (91bece51afbe7da9) [ INFO] [1717482595.321118453]: VER: 1.1: Board hardware: 00000038 [ INFO] [1717482595.321198937]: VER: 1.1: VID/PID: 3185:0038 [ INFO] [1717482595.321259932]: VER: 1.1: UID: 3131511839333437 [ WARN] [1717482595.321445765]: CMD: Unexpected command 520, result 0

Diagnostics

![image](https://github.com/mavlink/mavros/assets/153588249/c78361e7-3dc4-4e3a-ae53-1c11317784cc)
^Cnvidia@ubuntu:~$ rostopic echo /mavros/rc/override
channels: [1300, 1300, 1300, 1300, 1300, 0, 1300, 1300, 1300, 1300, 0, 0, 0, 0, 0, 0, 0, 0]
---
channels: [1300, 1300, 1300, 1300, 1300, 0, 1300, 1300, 1300, 1300, 0, 0, 0, 0, 0, 0, 0, 0]
---
channels: [1300, 1300, 1300, 1300, 1300, 0, 1300, 1300, 1300, 1300, 0, 0, 0, 0, 0, 0, 0, 0]
---
channels: [1300, 1300, 1300, 1300, 1300, 0, 1300, 1300, 1300, 1300, 0, 0, 0, 0, 0, 0, 0, 0]
---
channels: [1300, 1300, 1300, 1300, 1300, 0, 1300, 1300, 1300, 1300, 0, 0, 0, 0, 0, 0, 0, 0]
---
channels: [1300, 1300, 1300, 1300, 1300, 0, 1300, 1300, 1300, 1300, 0, 0, 0, 0, 0, 0, 0, 0]
---
^C^[[Anvidia@ubuntu:~$ rostopic echo /mavros/rc/in
header:
  seq: 306
  stamp:
    secs: 1717482624
    nsecs:   6805104
  frame_id: ''
rssi: 45
channels: [1499, 1499, 1065, 1497, 1499, 1065, 1933, 1065, 1933, 1933, 1499, 1065, 1514, 1514, 1514, 1514, 998, 998]
---
header:
  seq: 307
  stamp:
    secs: 1717482624
    nsecs: 106067132
  frame_id: ''
rssi: 45
channels: [1499, 1499, 1065, 1497, 1499, 1065, 1933, 1065, 1933, 1933, 1499, 1065, 1514, 1514, 1514, 1514, 998, 998]
---

Check ID

rosrun mavros checkid

mavlink / mavros

通过哪个话题来控制舵机转动 #1957