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MAVLink to ROS gateway with proxy for Ground Control Station
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I can't see the mavros topic on wifi #1999

Open yuan-0816 opened 1 month ago

yuan-0816 commented 1 month ago

Issue details

I am using a Raspberry Pi 4 connected to an Ardupilot Pixhawk 6C, and I use MAVROS to start it. When I run ros2 topic list on the Raspberry Pi, I can see the topics being published. However, when I run ros2 topic list on another computer (OS is ubuntu 22.04) on the same WiFi network, I can't see the topics.

MAVROS version and platform

Mavros: 2.8.0 ROS: Humble Ubuntu: 22.04

Autopilot type and version

[ x ] ArduPilot [ ] PX4

Version: ArduCopter V4.5.3

Node logs

drone@drone-desktop:~/Desktop/drone_ws$ ros2 launch flight_control flight_prepare.launch.py 
[INFO] [launch]: All log files can be found below /home/drone/.ros/log/2024-10-09-16-30-42-230050-drone-desktop-8280
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [mavros_node-1]: process started with pid [8290]
[mavros_node-1] [INFO] [1728462643.051490999] [mavros.mavros_node]: Starting mavros_node container
[mavros_node-1] [INFO] [1728462643.051785084] [mavros.mavros_node]: FCU URL: /dev/ttyACM0
[mavros_node-1] [INFO] [1728462643.051829046] [mavros.mavros_node]: GCS URL: 
[mavros_node-1] [INFO] [1728462643.051860285] [mavros.mavros_node]: UAS Prefix: /uas1
[mavros_node-1] [INFO] [1728462643.051887896] [mavros.mavros_node]: Starting mavros router node
[mavros_node-1] [INFO] [1728462643.074448128] [mavros.mavros_router]: Built-in SIMD instructions: ARM NEON
[mavros_node-1] [INFO] [1728462643.074558347] [mavros.mavros_router]: Built-in MAVLink package version: 2024.6.6
[mavros_node-1] [INFO] [1728462643.074593809] [mavros.mavros_router]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros_node-1] [INFO] [1728462643.074623401] [mavros.mavros_router]: MAVROS Router started
[mavros_node-1] [INFO] [1728462643.074733213] [mavros.mavros_router]: Requested to add endpoint: type: 0, url: /dev/ttyACM0
[mavros_node-1] [INFO] [1728462643.074813989] [mavros.mavros_router]: Endpoint link[1000] created
[mavros_node-1] [INFO] [1728462643.078372841] [mavros.mavros_router]: link[1000] opened successfully
[mavros_node-1] [INFO] [1728462643.078715925] [mavros.mavros_router]: Requested to add endpoint: type: 2, url: /uas1
[mavros_node-1] [INFO] [1728462643.078815793] [mavros.mavros_router]: Endpoint link[1001] created
[mavros_node-1] [INFO] [1728462643.081405911] [mavros.mavros_router]: link[1000] detected remote address 1.1
[mavros_node-1] [INFO] [1728462643.085689022] [mavros.mavros_router]: link[1001] opened successfully
[mavros_node-1] [INFO] [1728462643.085948219] [mavros.mavros_node]: Starting mavros uas node
[mavros_node-1] [INFO] [1728462643.224852704] [mavros.mavros]: UAS Executor started, threads: 4
[mavros_node-1] [INFO] [1728462643.224967942] [mavros.mavros]: Plugin actuator_control ignored
[mavros_node-1] [INFO] [1728462643.282649470] [mavros.mavros]: Plugin adsb created
[mavros_node-1] [INFO] [1728462643.282821984] [mavros.mavros]: Plugin adsb initialized
[mavros_node-1] [INFO] [1728462643.282871131] [mavros.mavros]: Plugin altitude ignored
[mavros_node-1] [INFO] [1728462643.302213687] [mavros.mavros]: Plugin cam_imu_sync created
[mavros_node-1] [INFO] [1728462643.302409496] [mavros.mavros]: Plugin cam_imu_sync initialized
[mavros_node-1] [INFO] [1728462643.322778303] [mavros.mavros]: Plugin camera created
[mavros_node-1] [INFO] [1728462643.322942207] [mavros.mavros]: Plugin camera initialized
[mavros_node-1] [INFO] [1728462643.343785242] [mavros.mavros]: Plugin cellular_status created
[mavros_node-1] [INFO] [1728462643.343929238] [mavros.mavros]: Plugin cellular_status initialized
[mavros_node-1] [INFO] [1728462643.405587590] [mavros.mavros]: Plugin command created
[mavros_node-1] [INFO] [1728462643.405755363] [mavros.mavros]: Plugin command initialized
[mavros_node-1] [INFO] [1728462643.429050946] [mavros.mavros]: Plugin companion_process_status created
[mavros_node-1] [INFO] [1728462643.429194572] [mavros.mavros]: Plugin companion_process_status initialized
[mavros_node-1] [INFO] [1728462643.429239701] [mavros.mavros]: Plugin debug_value ignored
[mavros_node-1] [INFO] [1728462643.452826184] [mavros.distance_sensor]: DS: rangefinder_pub: Loading config: id: 0
[mavros_node-1] frame_id: lidar
[mavros_node-1] field_of_view: 0.0
[mavros_node-1] send_tf: false
[mavros_node-1] sensor_position: {x: 0.0, y: 0.0, z: -0.1}
[mavros_node-1] [INFO] [1728462643.456851932] [mavros.distance_sensor]: DS: rangefinder_sub: Loading config: subscriber: true
[mavros_node-1] id: 1
[mavros_node-1] orientation: PITCH_270
[mavros_node-1] [INFO] [1728462643.459316831] [mavros.mavros]: Plugin distance_sensor created
[mavros_node-1] [INFO] [1728462643.459578639] [mavros.mavros]: Plugin distance_sensor initialized
[mavros_node-1] [INFO] [1728462643.487361088] [mavros.mavros]: Plugin esc_status created
[mavros_node-1] [INFO] [1728462643.487535157] [mavros.mavros]: Plugin esc_status initialized
[mavros_node-1] [INFO] [1728462643.512481253] [mavros.mavros]: Plugin esc_telemetry created
[mavros_node-1] [INFO] [1728462643.512663267] [mavros.mavros]: Plugin esc_telemetry initialized
[mavros_node-1] [INFO] [1728462643.544127195] [mavros.mavros]: Plugin fake_gps created
[mavros_node-1] [INFO] [1728462643.544290431] [mavros.mavros]: Plugin fake_gps initialized
[mavros_node-1] [INFO] [1728462643.544341412] [mavros.mavros]: Plugin ftp ignored
[mavros_node-1] [INFO] [1728462643.579926418] [mavros.mavros]: Plugin geofence created
[mavros_node-1] [INFO] [1728462643.580128728] [mavros.mavros]: Plugin geofence initialized
[mavros_node-1] [INFO] [1728462643.632955622] [mavros.mavros]: Plugin gimbal_control created
[mavros_node-1] [INFO] [1728462643.633156006] [mavros.mavros]: Plugin gimbal_control initialized
[mavros_node-1] [INFO] [1728462643.683013347] [mavros.mavros]: Plugin global_position created
[mavros_node-1] [INFO] [1728462643.683325357] [mavros.mavros]: Plugin global_position initialized
[mavros_node-1] [INFO] [1728462643.714678010] [mavros.mavros]: Plugin gps_input created
[mavros_node-1] [INFO] [1728462643.714999872] [mavros.mavros]: Plugin gps_input initialized
[mavros_node-1] [INFO] [1728462643.751191437] [mavros.mavros]: Plugin gps_rtk created
[mavros_node-1] [INFO] [1728462643.751373877] [mavros.mavros]: Plugin gps_rtk initialized
[mavros_node-1] [INFO] [1728462643.787735863] [mavros.mavros]: Plugin gps_status created
[mavros_node-1] [INFO] [1728462643.787932913] [mavros.mavros]: Plugin gps_status initialized
[mavros_node-1] [INFO] [1728462643.822215028] [mavros.mavros]: Plugin guided_target created
[mavros_node-1] [INFO] [1728462643.822604943] [mavros.mavros]: Plugin guided_target initialized
[mavros_node-1] [INFO] [1728462643.822706237] [mavros.mavros]: Plugin hil ignored
[mavros_node-1] [INFO] [1728462643.861221149] [mavros.mavros]: Plugin home_position created
[mavros_node-1] [INFO] [1728462643.861394237] [mavros.mavros]: Plugin home_position initialized
[mavros_node-1] [INFO] [1728462643.909516142] [mavros.mavros]: Plugin imu created
[mavros_node-1] [INFO] [1728462643.909742229] [mavros.mavros]: Plugin imu initialized
[mavros_node-1] [INFO] [1728462643.958653835] [mavros.mavros]: Plugin landing_target created
[mavros_node-1] [INFO] [1728462643.958839997] [mavros.mavros]: Plugin landing_target initialized
[mavros_node-1] [INFO] [1728462644.010618992] [mavros.mavros]: Plugin local_position created
[mavros_node-1] [INFO] [1728462644.010831968] [mavros.mavros]: Plugin local_position initialized
[mavros_node-1] [INFO] [1728462644.063454577] [mavros.mavros]: Plugin log_transfer created
[mavros_node-1] [INFO] [1728462644.063633720] [mavros.mavros]: Plugin log_transfer initialized
[mavros_node-1] [INFO] [1728462644.103950224] [mavros.mavros]: Plugin mag_calibration_status created
[mavros_node-1] [INFO] [1728462644.104157719] [mavros.mavros]: Plugin mag_calibration_status initialized
[mavros_node-1] [INFO] [1728462644.146472838] [mavros.mavros]: Plugin manual_control created
[mavros_node-1] [INFO] [1728462644.147029675] [mavros.mavros]: Plugin manual_control initialized
[mavros_node-1] [INFO] [1728462644.189241519] [mavros.mavros]: Plugin mocap_pose_estimate created
[mavros_node-1] [INFO] [1728462644.189413774] [mavros.mavros]: Plugin mocap_pose_estimate initialized
[mavros_node-1] [INFO] [1728462644.243361200] [mavros.mavros]: Plugin mount_control created
[mavros_node-1] [INFO] [1728462644.243581231] [mavros.mavros]: Plugin mount_control initialized
[mavros_node-1] [INFO] [1728462644.288205031] [mavros.mavros]: Plugin nav_controller_output created
[mavros_node-1] [INFO] [1728462644.288891883] [mavros.mavros]: Plugin nav_controller_output initialized
[mavros_node-1] [INFO] [1728462644.333960837] [mavros.mavros]: Plugin obstacle_distance created
[mavros_node-1] [INFO] [1728462644.334127796] [mavros.mavros]: Plugin obstacle_distance initialized
[mavros_node-1] [INFO] [1728462644.382046028] [mavros.mavros]: Plugin odometry created
[mavros_node-1] [INFO] [1728462644.382241134] [mavros.mavros]: Plugin odometry initialized
[mavros_node-1] [INFO] [1728462644.429275019] [mavros.mavros]: Plugin onboard_computer_status created
[mavros_node-1] [INFO] [1728462644.429443385] [mavros.mavros]: Plugin onboard_computer_status initialized
[mavros_node-1] [INFO] [1728462644.484541559] [mavros.mavros]: Plugin optical_flow created
[mavros_node-1] [INFO] [1728462644.485047712] [mavros.mavros]: Plugin optical_flow initialized
[mavros_node-1] [INFO] [1728462644.534774471] [mavros.mavros]: Plugin param created
[mavros_node-1] [INFO] [1728462644.534989225] [mavros.mavros]: Plugin param initialized
[mavros_node-1] [INFO] [1728462644.583714547] [mavros.mavros]: Plugin play_tune created
[mavros_node-1] [INFO] [1728462644.583990095] [mavros.mavros]: Plugin play_tune initialized
[mavros_node-1] [INFO] [1728462644.584079982] [mavros.mavros]: Plugin px4flow ignored
[mavros_node-1] [INFO] [1728462644.646620536] [mavros.mavros]: Plugin rallypoint created
[mavros_node-1] [INFO] [1728462644.646952398] [mavros.mavros]: Plugin rallypoint initialized
[mavros_node-1] [INFO] [1728462644.697660594] [mavros.mavros]: Plugin rangefinder created
[mavros_node-1] [INFO] [1728462644.697852496] [mavros.mavros]: Plugin rangefinder initialized
[mavros_node-1] [INFO] [1728462644.757459572] [mavros.mavros]: Plugin rc_io created
[mavros_node-1] [INFO] [1728462644.757673696] [mavros.mavros]: Plugin rc_io initialized
[mavros_node-1] [INFO] [1728462644.811407239] [mavros.mavros]: Plugin setpoint_accel created
[mavros_node-1] [INFO] [1728462644.811668639] [mavros.mavros]: Plugin setpoint_accel initialized
[mavros_node-1] [INFO] [1728462644.873154925] [mavros.mavros]: Plugin setpoint_attitude created
[mavros_node-1] [INFO] [1728462644.873391993] [mavros.mavros]: Plugin setpoint_attitude initialized
[mavros_node-1] [INFO] [1728462644.943543626] [mavros.mavros]: Plugin setpoint_position created
[mavros_node-1] [INFO] [1728462644.943711566] [mavros.mavros]: Plugin setpoint_position initialized
[mavros_node-1] [INFO] [1728462645.015958606] [mavros.mavros]: Plugin setpoint_raw created
[mavros_node-1] [INFO] [1728462645.016209470] [mavros.mavros]: Plugin setpoint_raw initialized
[mavros_node-1] [INFO] [1728462645.089225252] [mavros.mavros]: Plugin setpoint_trajectory created
[mavros_node-1] [INFO] [1728462645.089465746] [mavros.mavros]: Plugin setpoint_trajectory initialized
[mavros_node-1] [INFO] [1728462645.157324923] [mavros.mavros]: Plugin setpoint_velocity created
[mavros_node-1] [INFO] [1728462645.157512511] [mavros.mavros]: Plugin setpoint_velocity initialized
[mavros_node-1] [INFO] [1728462645.267910680] [mavros.mavros]: Plugin sys_status created
[mavros_node-1] [INFO] [1728462645.268183673] [mavros.mavros]: Plugin sys_status initialized
[mavros_node-1] [INFO] [1728462645.330839876] [mavros.time]: TM: Timesync mode: MAVLINK
[mavros_node-1] [INFO] [1728462645.354759469] [mavros.mavros]: Plugin sys_time created
[mavros_node-1] [INFO] [1728462645.354967186] [mavros.mavros]: Plugin sys_time initialized
[mavros_node-1] [INFO] [1728462645.421474435] [mavros.mavros]: Plugin tdr_radio created
[mavros_node-1] [INFO] [1728462645.421703411] [mavros.mavros]: Plugin tdr_radio initialized
[mavros_node-1] [INFO] [1728462645.488521671] [mavros.mavros]: Plugin terrain created
[mavros_node-1] [INFO] [1728462645.488728906] [mavros.mavros]: Plugin terrain initialized
[mavros_node-1] [INFO] [1728462645.566100000] [mavros.mavros]: Plugin trajectory created
[mavros_node-1] [INFO] [1728462645.567725865] [mavros.mavros]: Plugin trajectory initialized
[mavros_node-1] [INFO] [1728462645.644564861] [mavros.mavros]: Plugin tunnel created
[mavros_node-1] [INFO] [1728462645.644794041] [mavros.mavros]: Plugin tunnel initialized
[mavros_node-1] [INFO] [1728462645.723719001] [mavros.mavros]: Plugin vfr_hud created
[mavros_node-1] [INFO] [1728462645.723965624] [mavros.mavros]: Plugin vfr_hud initialized
[mavros_node-1] [INFO] [1728462645.724019604] [mavros.mavros]: Plugin vibration ignored
[mavros_node-1] [INFO] [1728462645.810115283] [mavros.mavros]: Plugin vision_pose created
[mavros_node-1] [INFO] [1728462645.810337925] [mavros.mavros]: Plugin vision_pose initialized
[mavros_node-1] [INFO] [1728462645.888974319] [mavros.mavros]: Plugin vision_speed created
[mavros_node-1] [INFO] [1728462645.889163518] [mavros.mavros]: Plugin vision_speed initialized
[mavros_node-1] [INFO] [1728462645.990345596] [mavros.mavros]: Plugin waypoint created
[mavros_node-1] [INFO] [1728462645.990837676] [mavros.mavros]: Plugin waypoint initialized
[mavros_node-1] [INFO] [1728462645.990944802] [mavros.mavros]: Plugin wheel_odometry ignored
[mavros_node-1] [INFO] [1728462646.064957656] [mavros.mavros]: Plugin wind_estimation created
[mavros_node-1] [INFO] [1728462646.065278536] [mavros.mavros]: Plugin wind_estimation initialized
[mavros_node-1] [INFO] [1728462646.073291268] [mavros.mavros]: Built-in SIMD instructions: ARM NEON
[mavros_node-1] [INFO] [1728462646.073453319] [mavros.mavros]: Built-in MAVLink package version: 2024.6.6
[mavros_node-1] [INFO] [1728462646.073497929] [mavros.mavros]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros_node-1] [INFO] [1728462646.073528558] [mavros.mavros]: MAVROS UAS via /uas1 started. MY ID 1.191, TARGET ID 1.1
[mavros_node-1] [INFO] [1728462646.082283233] [mavros.mavros]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[mavros_node-1] [INFO] [1728462646.082796238] [mavros.mission]: WP: detected enable_partial_push: 1
[mavros_node-1] [INFO] [1728462646.087278693] [mavros.rc]: RC_CHANNELS message detected!
[mavros_node-1] [INFO] [1728462646.087798068] [mavros.imu]: IMU: Raw IMU message used.
[mavros_node-1] [WARN] [1728462646.088728988] [mavros.global_position]: GP: No GPS fix
[mavros_node-1] [INFO] [1728462646.137495360] [mavros.mavros_router]: link[1001] detected remote address 1.191
[mavros_node-1] [WARN] [1728462647.101232696] [mavros.cmd]: CMD: Unexpected command 520, result 0
[mavros_node-1] [INFO] [1728462647.102184466] [mavros.geofence]: GF: Using MISSION_ITEM_INT
[mavros_node-1] [INFO] [1728462647.102596474] [mavros.rallypoint]: RP: Using MISSION_ITEM_INT
[mavros_node-1] [INFO] [1728462647.102798617] [mavros.mission]: WP: Using MISSION_ITEM_INT
[mavros_node-1] [INFO] [1728462647.102862170] [mavros.sys]: VER: 1.1: Capabilities         0x000000000000fbef
[mavros_node-1] [INFO] [1728462647.103035629] [mavros.sys]: VER: 1.1: Flight software:     040503ff (ee14ff38)
[mavros_node-1] [INFO] [1728462647.103104645] [mavros.sys]: VER: 1.1: Middleware software: 00000000 (        )
[mavros_node-1] [INFO] [1728462647.103346157] [mavros.sys]: VER: 1.1: OS software:         00000000 (6a85082cb1S)
[mavros_node-1] [INFO] [1728462647.103482246] [mavros.sys]: VER: 1.1: Board hardware:      00380000
[mavros_node-1] [INFO] [1728462647.103521486] [mavros.sys]: VER: 1.1: VID/PID:             3162:0053
[mavros_node-1] [INFO] [1728462647.103559152] [mavros.sys]: VER: 1.1: UID:                 0000000000000000
[INFO] [ros2-2]: process started with pid [8341]
[mavros_node-1] [ERROR] [1728462654.613233883] [mavros.sys]: FCU: EKF3 waiting for GPS config data
[mavros_node-1] [ERROR] [1728462654.613867272] [mavros.sys]: FCU: EKF3 waiting for GPS config data
[mavros_node-1] [INFO] [1728462656.085827558] [mavros.home_position]: HP: requesting home position
[mavros_node-1] [INFO] [1728462656.101314481] [mavros.sys]: FCU: ArduCopter V4.5.3 (ee14ff38)
[mavros_node-1] [INFO] [1728462656.105086835] [mavros.sys]: FCU: ChibiOS: 6a85082c
[mavros_node-1] [INFO] [1728462656.107014872] [mavros.sys]: FCU: Pixhawk6C 0031004E 3133510E 31343630
[mavros_node-1] [INFO] [1728462656.107556079] [mavros.sys]: FCU: IOMCU: 410 2003 411FC231
[mavros_node-1] [INFO] [1728462656.108104267] [mavros.sys]: FCU: RCOut: PWM:1-16
[mavros_node-1] [INFO] [1728462656.110080080] [mavros.sys]: FCU: IMU0: fast sampling enabled 2.0kHz
[mavros_node-1] [INFO] [1728462656.110695729] [mavros.sys]: FCU: Frame: HEXA/PLUS
[mavros_node-1] [WARN] [1728462658.339446491] [mavros.time]: TM: RTT too high for timesync: 1100.57 ms.
[INFO] [ros2-2]: process has finished cleanly [pid 8341]
[mavros_node-1] [WARN] [1728462659.563524959] [mavros.time]: TM: RTT too high for timesync: 1225.36 ms.
[mavros_node-1] [WARN] [1728462660.009760227] [mavros.time]: TM: RTT too high for timesync: 572.97 ms.
[mavros_node-1] [INFO] [1728462661.091852960] [mavros.mission]: WP: mission received
[mavros_node-1] [WARN] [1728462661.100376000] [mavros.param]: PR: request param #356 timeout, retries left 2, and 291 params still missing
[mavros_node-1] [ERROR] [1728462664.614238729] [mavros.sys]: FCU: EKF3 waiting for GPS config data
[mavros_node-1] [ERROR] [1728462664.614997631] [mavros.sys]: FCU: EKF3 waiting for GPS config data
[mavros_node-1] [ERROR] [1728462665.190901709] [mavros.sys]: FCU: PreArm: RC not found
[mavros_node-1] [ERROR] [1728462665.191558540] [mavros.sys]: FCU: PreArm: EKF attitude is bad
[mavros_node-1] [ERROR] [1728462665.192741207] [mavros.sys]: FCU: PreArm: AHRS: EKF3 Yaw inconsistent 27 deg. Wait o
[mavros_node-1] [ERROR] [1728462665.193390058] [mavros.sys]: FCU: r reboot
[mavros_node-1] [INFO] [1728462666.090131670] [mavros.rallypoint]: RP: mission received
[mavros_node-1] [INFO] [1728462671.086103554] [mavros.geofence]: GF: mission received

flight_prepare.launch.py

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, TimerAction, ExecuteProcess
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.launch_description_sources import AnyLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
import os
from ament_index_python import get_package_share_directory

def changeMavrosPublishRate():
    return TimerAction(
        period=10.0,
        actions=[
            ExecuteProcess(
                cmd=[
                    "ros2",
                    "run",
                    "mavros",
                    "mav",
                    "sys",
                    "rate",
                    "--all",
                    "100",
                ],
                output="screen",
            )
        ],
    )

def generate_launch_description():
    return LaunchDescription(
        [
            IncludeLaunchDescription(
                AnyLaunchDescriptionSource(
                    os.path.join(
                        get_package_share_directory("mavros"), "launch/apm.launch"
                    )
                ),
                launch_arguments={
                    "fcu_url": "/dev/ttyACM0",
                }.items(),
            ),
            changeMavrosPublishRate(),
        ]
    )

I can see topic on raspberry pi, ros2 topic list

drone@drone-desktop:~/Desktop/drone_ws/src$ ros2 topic list
/diagnostics
/mavros/adsb/send
/mavros/adsb/vehicle
/mavros/battery
/mavros/cam_imu_sync/cam_imu_stamp
/mavros/camera/image_captured
/mavros/cellular_status/status
/mavros/companion_process/status
/mavros/esc_status/info
/mavros/esc_status/status
/mavros/esc_telemetry/telemetry
/mavros/estimator_status
/mavros/extended_state
/mavros/fake_gps/mocap/pose
/mavros/geofence/fences
/mavros/gimbal_control/device/attitude_status
/mavros/gimbal_control/device/info
/mavros/gimbal_control/device/set_attitude
/mavros/gimbal_control/manager/info
/mavros/gimbal_control/manager/set_attitude
/mavros/gimbal_control/manager/set_manual_control
/mavros/gimbal_control/manager/set_pitchyaw
/mavros/gimbal_control/manager/status
/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/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/radio_status
/mavros/rallypoint/rallypoints
/mavros/rangefinder/rangefinder
/mavros/rangefinder_pub
/mavros/rangefinder_sub
/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/status_event
/mavros/statustext/recv
/mavros/statustext/send
/mavros/sys_status
/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/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/wind_estimation
/move_base_simple/goal
/parameter_events
/rosout
/tf
/tf_static
/uas1/mavlink_sink
/uas1/mavlink_source

But I use the another computer can't see it, ros2 topic list

yuan@msi-ubuntu:~$ ros2 topic list
/parameter_events
/rosout

I check the ROS_DOMAIN_ID before, the two computer's ROS_DOMAIN_ID=1

ajshank commented 1 month ago

Hi @yuan-0816, this does not seem to be a mavros-specific problem. It's worth investigating if you can ros2 topic pub any topic on one machine and ros2 topic echo the same on another.

yuan-0816 commented 1 month ago

Yes, I can publish the MAVROS topics by running ros2 launch flight_control flight_prepare.launch.py. However, I cannot receive the topics on another computer. Interestingly, when I publish topics unrelated to MAVROS, the other computer can receive them over WiFi.