hi i try to do some operation with mavros ros2
hardware - i am connect telem 433 of holybro to linux computer with joystick and try to run this node and script(add at the end):
1) mavros node:
ros2 run mavros mavros_node --ros-args -p fcu_url:=/dev/ttyUSB0:57600 -p gcs_url:=udp://@192.168.1.142:14550 -p sysid:=1
2) joy node
3)script (at the end)
i try with another widows computer to connect via udp and check if i get radio at the radio calibartion and i dont get any information
i try to run this script at px4 with sitl and get data about the controller
the script:
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Joy
from mavros_msgs.msg import OverrideRCIn # Ensure this is the correct message type
import time
class RCOverrideNode(Node):
def __init__(self):
super().__init__('rc_override_node')
self.publisher_ = self.create_publisher(OverrideRCIn, '/mavros/rc/override', 10) # Update the publisher to OverrideRCIn
self.joy_subscription = self.create_subscription(
Joy,
'/joy',
self.joy_callback,
10
)
self.joy_subscription # prevent unused variable warning
# Call reset_parameters once at startup
self.reset_parameters()
def reset_parameters(self):
# Set all channels to 65535 at the start to indicate no override
rc_override = OverrideRCIn()
rc_override.channels = [65535] * 12 # Assuming 12 channels
self.publisher_.publish(rc_override)
self.get_logger().info('RC Override parameters reset to 65535')
time.sleep(2)
rc_override.channels = [0] * 12 # Assuming 12 channels
self.publisher_.publish(rc_override)
self.get_logger().info('RC Override parameters reset to 0')
def joy_callback(self, msg):
rc_override = OverrideRCIn() # Create an instance of OverrideRCIn
# Map joystick axes/buttons to RC channels
rc_override.channels = [
self.scale_value(msg.axes[0], -1.0, 1.0, 1000, 2000), # Roll (Ch1)
self.scale_value(msg.axes[1], -1.0, 1.0, 1000, 2000), # Pitch (Ch2)
self.scale_value(msg.axes[2], -1.0, 1.0, 1000, 2000), # Throttle (Ch3)
self.scale_value(msg.axes[3], -1.0, 1.0, 1000, 2000) # Yaw (Ch4)
]
# Debug statements
self.get_logger().info(f'Joy axes: {msg.axes}')
self.get_logger().info(f'RC Override: {rc_override.channels}')
# Publish the RC override message
self.publisher_.publish(rc_override)
@staticmethod
def scale_value(value, src_min, src_max, dst_min, dst_max):
# Scale value from source range to destination range
src_range = src_max - src_min
dst_range = dst_max - dst_min
scaled_value = ((value - src_min) * dst_range) / src_range + dst_min
return int(scaled_value)
def main(args=None):
rclpy.init(args=args)
node = RCOverrideNode()
rclpy.spin(node)
node.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()
i think i got some problem with the callibration of my fc
hi i try to do some operation with mavros ros2 hardware - i am connect telem 433 of holybro to linux computer with joystick and try to run this node and script(add at the end): 1) mavros node: ros2 run mavros mavros_node --ros-args -p fcu_url:=/dev/ttyUSB0:57600 -p gcs_url:=udp://@192.168.1.142:14550 -p sysid:=1 2) joy node 3)script (at the end)
i try with another widows computer to connect via udp and check if i get radio at the radio calibartion and i dont get any information
i try to run this script at px4 with sitl and get data about the controller
the script:
i think i got some problem with the callibration of my fc
thanks for the help
Mavros: 2.7.0 ROS: iron Ubuntu: 22.04
Autopilot type and version
[ X ] ArduPilot [ ] PX4
Version: 4.4.0
Diagnostics
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