custom_mode: OFFBOARD invalid?

[zhahaoyu]

After I connected my ros node to mavros, I was trying to send custom_mode OFFBOARD, but the mavros console outputs [ WARN] [1477604919.660821416]: CMD: Unexpected command 176, result 0

The code I use is

    ros::ServiceClient set_mode_client = nh.serviceClient<mavros_msgs::SetMode("mavros/set_mode");
    mavros_msgs::SetMode offb_set_mode;
    offb_set_mode.request.custom_mode = "OFFBOARD";
    set_mode_client.call(offb_set_mode)

[vooon]

And what? State.custom_mode won't change to offboard?

[vooon]

And i guess you use PX4? Versions? ROS?

[vooon]

Related / dup of #512

[zhahaoyu]

@vooon Yes I am using PX4, latest source version and ROS kinetic. What I found out is

1. I have to arm the vehicle first, then switch it to offboard, which is different from the order suggested by the example http://dev.px4.io/ros-mavros-offboard.html
2. I am able to change it to offboard mode, but mavros still reports it as unexpected command.

[vooon]

You may ignore command 176 and 400 because it's parasitic effect of PX4 internal message processing. PX4 resend SET_MODE message to uORB command topic (also it serve COMMAND_LONG and _INT) so command processor later send confirmation which is unexpected for command plugin.

[zhahaoyu]

Thanks @vooon

[bhaskar-glitch]

You may ignore command 176 and 400 because it's parasitic effect of PX4 internal message processing. PX4 resend SET_MODE message to uORB command topic (also it serve COMMAND_LONG and _INT) so command processor later send confirmation which is unexpected for command plugin.

HI @vooon I need a help..I'm unable to switch to offbaord mode and the error is CMD: Unexpected command 176, result 1 please help