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MAVLink to ROS gateway with proxy for Ground Control Station
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Cfbridge - Transform, To communicate with Mavros #647

Closed yti1993 closed 7 years ago

yti1993 commented 7 years ago

Issue details

I think that the original purpose of cfbridge is connecting 'CrazyRadio PA' and 'GCS (like Qgroundcontrol)'. But, I want to that cfbridge connects CrazyRadio PA and mavros. [ like that serial connect CF 2.0 (Crazyflie 2.0 using px4 firmware) with mavros by using USB connection ("/dev/ttyACM0") ]. So I think, Source code of cfbridge should be revised.

Analyzing Source code of cfbridge is so hard... (I am second year collage student ) In my opinion, cfbridge should be added source code that have a similar function px4 connect to mavros.

Ultimately, what I want is to connect CF2 to mavros using cfbridge and receive CF2 data from mavros by using ubuntu terminal command "rostopic echo".

I don't get data about topic "/mavros/imu/data_raw" ...

and, I change my think .I am trying to fix mavros.

Issue details 2

... logging to /home/taein/.ros/log/a08a2e50-dbe7-11e6-bea8-1002b5a58570/roslaunch-taein-15U560-KA70K-12520.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://taein-15U560-KA70K:35756/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /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: ROLL_180
 * /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: ROLL_180
 * /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: ROLL_180
 * /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/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/fcu_url: udp://127.0.0.1:1...
 * /mavros/gcs_url: udp://127.0.0.1:1...
 * /mavros/global_position/frame_id: fcu
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: fcu_utm
 * /mavros/global_position/tf/frame_id: local_origin
 * /mavros/global_position/tf/send: False
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.000349065850399
 * /mavros/imu/frame_id: fcu
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/local_position/frame_id: fcu
 * /mavros/local_position/tf/child_frame_id: fcu
 * /mavros/local_position/tf/frame_id: local_origin
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.0
 * /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_throttle: False
 * /mavros/setpoint_attitude/tf/child_frame_id: attitude
 * /mavros/setpoint_attitude/tf/frame_id: local_origin
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 10.0
 * /mavros/setpoint_position/tf/child_frame_id: setpoint
 * /mavros/setpoint_position/tf/frame_id: local_origin
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/startup_px4_usb_quirk: True
 * /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/vibration/frame_id: vibration
 * /mavros/vision_pose/tf/child_frame_id: vision
 * /mavros/vision_pose/tf/frame_id: local_origin
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: False
 * /rosdistro: indigo
 * /rosversion: 1.11.20

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [12532]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a08a2e50-dbe7-11e6-bea8-1002b5a58570
process[rosout-1]: started with pid [12545]
started core service [/rosout]
process[mavros-2]: started with pid [12563]
[ INFO] [1484569856.238197042]: FCU URL: udp://127.0.0.1:14580@0.0.0.0:14560
[ INFO] [1484569856.238425947]: udp0: Bind address: 127.0.0.1:14580
[ INFO] [1484569856.238480004]: udp0: Remote address: 0.0.0.0:14560
[ INFO] [1484569856.238576272]: GCS URL: udp://127.0.0.1:14590@0.0.0.0:14550
[ INFO] [1484569856.238642137]: udp1: Bind address: 127.0.0.1:14590
[ INFO] [1484569856.238686056]: udp1: Remote address: 0.0.0.0:14550
[ INFO] [1484569856.238856016]: udp0: Remote address: 127.0.0.1:14560
[ INFO] [1484569856.271708230]: Plugin 3dr_radio loaded and initialized
[ INFO] [1484569856.274434689]: Plugin actuator_control loaded and initialized
[ INFO] [1484569856.275509375]: Plugin altitude loaded and initialized
[ INFO] [1484569856.320592546]: Plugin cam_imu_sync loaded and initialized
[ INFO] [1484569856.326093671]: Plugin command loaded and initialized
[ INFO] [1484569856.326152512]: Plugin distance_sensor blacklisted
[ INFO] [1484569856.333212131]: Plugin ftp loaded and initialized
[ INFO] [1484569856.342576643]: Plugin global_position loaded and initialized
[ INFO] [1484569856.343205746]: Plugin hil_controls loaded and initialized
[ INFO] [1484569856.343236179]: Plugin image_pub blacklisted
[ INFO] [1484569856.351974329]: Plugin imu_pub loaded and initialized
[ INFO] [1484569856.361339804]: Plugin local_position loaded and initialized
[ INFO] [1484569856.362028415]: Plugin manual_control loaded and initialized
[ INFO] [1484569856.366735267]: Plugin mocap_pose_estimate loaded and initialized
[ INFO] [1484569856.369055679]: Plugin param loaded and initialized
[ INFO] [1484569856.373669199]: Plugin px4flow loaded and initialized
[ INFO] [1484569856.377149285]: Plugin rc_io loaded and initialized
[ INFO] [1484569856.377210159]: Plugin safety_area blacklisted
[ INFO] [1484569856.380455085]: Plugin setpoint_accel loaded and initialized
[ INFO] [1484569856.396292187]: Plugin setpoint_attitude loaded and initialized
[ INFO] [1484569856.401664935]: Plugin setpoint_position loaded and initialized
[ INFO] [1484569856.410424210]: Plugin setpoint_raw loaded and initialized
[ INFO] [1484569856.412811411]: Plugin setpoint_velocity loaded and initialized
[ INFO] [1484569856.423643470]: Plugin sys_status loaded and initialized
[ INFO] [1484569856.427046345]: Plugin sys_time loaded and initialized
[ INFO] [1484569856.428313878]: Plugin vfr_hud loaded and initialized
[ INFO] [1484569856.428357139]: Plugin vibration blacklisted
[ INFO] [1484569856.436320786]: Plugin vision_pose_estimate loaded and initialized
[ INFO] [1484569856.439568911]: Plugin vision_speed_estimate loaded and initialized
[ INFO] [1484569856.443158499]: Plugin waypoint loaded and initialized
[ INFO] [1484569856.443207592]: Autostarting mavlink via USB on PX4
[ INFO] [1484569856.443265234]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1484569856.443290688]: Built-in MAVLink package version: 2016.5.20
[ INFO] [1484569856.443303406]: Built-in MAVLink dialect: ardupilotmega
[ INFO] [1484569856.443318438]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1484569908.733474745]: CON: Got HEARTBEAT, connected. FCU: PX4
[ WARN] [1484569908.835733667]: TM: Clock skew detected (-1484569901.728733778 s). Hard syncing clocks.
[ WARN] [1484569909.778337413]: CMD: Unexpected command 520, result 0
[ WARN] [1484569910.740218283]: VER: broadcast request timeout, retries left 4
[ WARN] [1484569911.739465193]: VER: broadcast request timeout, retries left 3
[ WARN] [1484569912.738555784]: VER: unicast request timeout, retries left 2
[ WARN] [1484569913.738546596]: VER: unicast request timeout, retries left 1
[ WARN] [1484569914.738813630]: VER: unicast request timeout, retries left 0
[ WARN] [1484569915.739098998]: VER: your FCU don't support AUTOPILOT_VERSION, switched to default capabilities
[ INFO] [1484569923.747044393]: WP

Diagnostics

header: 
  seq: 126
  stamp: 
    secs: 1484570016
    nsecs: 444639574
  frame_id: ''
status: 
  - 
    level: 0
    name: mavros: FCU connection
    message: connected
    hardware_id: udp://127.0.0.1:14580@0.0.0.0:14560
    values: 
      - 
        key: Received packets:
        value: 5785
      - 
        key: Dropped packets:
        value: 0
      - 
        key: Buffer overruns:
        value: 0
      - 
        key: Parse errors:
        value: 0
      - 
        key: Rx sequence number:
        value: 170
      - 
        key: Tx sequence number:
        value: 221
      - 
        key: Rx total bytes:
        value: 655544
      - 
        key: Tx total bytes:
        value: 47215
      - 
        key: Rx speed:
        value: 2308.000000
      - 
        key: Tx speed:
        value: 277.000000
  - 
    level: 0
    name: mavros: GCS bridge
    message: connected
    hardware_id: udp://127.0.0.1:14580@0.0.0.0:14560
    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: 175277
      - 
        key: Rx speed:
        value: 0.000000
      - 
        key: Tx speed:
        value: 1444.000000
  - 
    level: 2
    name: mavros: GPS
    message: No satellites
    hardware_id: udp://127.0.0.1:14580@0.0.0.0:14560
    values: 
      - 
        key: Satellites visible
        value: 0
      - 
        key: Fix type
        value: 0
      - 
        key: EPH (m)
        value: Unknown
      - 
        key: EPV (m)
        value: Unknown
  - 
    level: 0
    name: mavros: Heartbeat
    message: Normal
    hardware_id: udp://127.0.0.1:14580@0.0.0.0:14560
    values: 
      - 
        key: Heartbeats since startup
        value: 77
      - 
        key: Frequency (Hz)
        value: 0.692292
      - 
        key: Vehicle type
        value: Quadrotor
      - 
        key: Autopilot type
        value: PX4
      - 
        key: Mode
        value: MANUAL
      - 
        key: System status
        value: Standby
  - 
    level: 2
    name: mavros: System
    message: Sensor helth
    hardware_id: udp://127.0.0.1:14580@0.0.0.0:14560
    values: 
      - 
        key: Sensor present
        value: 0x01FF1CFE
      - 
        key: Sensor enabled
        value: 0xCCD92101
      - 
        key: Sensor helth
        value: 0x52590012
      - 
        key: Sensor 3D Gyro
        value: Fail
      - 
        key: Sensor Laser Position
        value: Fail
      - 
        key: Sensor Z/Alt Control
        value: Fail
      - 
        key: Sensor RC Receiver
        value: Ok
      - 
        key: Sensor 3D Mag 2
        value: Ok
      - 
        key: Geofence health
        value: Ok
      - 
        key: Terrain health
        value: Ok
      - 
        key: CPU Load (%)
        value: 723.2
      - 
        key: Drop rate (%)
        value: 4265.5
      - 
        key: Errors comm
        value: 65533
      - 
        key: Errors count #1
        value: 2252
      - 
        key: Errors count #2
        value: 0
      - 
        key: Errors count #3
        value: 0
      - 
        key: Errors count #4
        value: 0
  - 
    level: 0
    name: mavros: Battery
    message: Normal
    hardware_id: udp://127.0.0.1:14580@0.0.0.0:14560
    values: 
      - 
        key: Voltage
        value: 62.53
      - 
        key: Current
        value: 13.0
      - 
        key: Remaining
        value: 0.0
  - 
    level: 0
    name: mavros: Time Sync
    message: Normal
    hardware_id: udp://127.0.0.1:14580@0.0.0.0:14560
    values: 
      - 
        key: Timesyncs since startup
        value: 729
      - 
        key: Frequency (Hz)
        value: 7.307556
      - 
        key: Last dt (ms)
        value: 0.853837
      - 
        key: Mean dt (ms)
        value: 0.778614
      - 
        key: Last system time (s)
        value: 115.043905000
      - 
        key: Time offset (s)
        value: 1484569901.388169050
---

MAVROS version and platform

Mavros: 0.18.4 ROS: indigo Ubuntu: 14.04

Autopilot type and version

[ ] ArduPilot [ v ] PX4

Version: ?3.7.1?

CF2.launch

<launch>
    <!-- MAVROS launch script PX4 (default) -->

    <arg name="ns" default="/" />
    <arg name="fcu_url" default="udp://127.0.0.1:14580@0.0.0.0:14560" /> 
    <arg name="gcs_url" default="udp://127.0.0.1:14590@0.0.0.0:14550"/> 

    <arg name="tgt_system" default="1" />
    <arg name="tgt_component" default="1" />
    <arg name="pluginlists_yaml" default="$(find mavros)/launch/px4_pluginlists.yaml" />
    <arg name="config_yaml" default="$(find mavros)/launch/px4_config.yaml" />

    <group ns="$(arg ns)">
        <include file="$(find mavros)/launch/node.launch">
            <arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
            <arg name="config_yaml" value="$(arg config_yaml)" />

            <arg name="fcu_url" value="$(arg fcu_url)" />
            <arg name="gcs_url" value="$(arg gcs_url)" />
            <arg name="tgt_system" value="$(arg tgt_system)" />
            <arg name="tgt_component" value="$(arg tgt_component)" />
        </include>
    </group>
</launch>

<!-- vim: set ft=xml et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
vooon commented 7 years ago

Remote host 0.0.0.0 - wrong! You cannot send unicast to ANY. You may use udp-b:// schema, which use broadcast for few first messages.

Regarding cfbridge, i cant say anything. Do not have any CF. Also as i know, there exist ROS stack for CrazyFlie, why mavros?

yti1993 commented 7 years ago 
... logging to /home/taein/.ros/log/35f507cc-dc7d-11e6-af8b-c808e92e4e66/roslaunch-taein-15U560-KA70K-9827.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://taein-15U560-KA70K:38543/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /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: ROLL_180
 * /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: ROLL_180
 * /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: ROLL_180
 * /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/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/fcu_url: udp-b://127.0.0.1...
 * /mavros/gcs_url: udp://127.0.0.1:1...
 * /mavros/global_position/frame_id: fcu
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: fcu_utm
 * /mavros/global_position/tf/frame_id: local_origin
 * /mavros/global_position/tf/send: False
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.000349065850399
 * /mavros/imu/frame_id: fcu
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/local_position/frame_id: fcu
 * /mavros/local_position/tf/child_frame_id: fcu
 * /mavros/local_position/tf/frame_id: local_origin
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.0
 * /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_throttle: False
 * /mavros/setpoint_attitude/tf/child_frame_id: attitude
 * /mavros/setpoint_attitude/tf/frame_id: local_origin
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 10.0
 * /mavros/setpoint_position/tf/child_frame_id: setpoint
 * /mavros/setpoint_position/tf/frame_id: local_origin
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/startup_px4_usb_quirk: True
 * /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/vibration/frame_id: vibration
 * /mavros/vision_pose/tf/child_frame_id: vision
 * /mavros/vision_pose/tf/frame_id: local_origin
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: False
 * /rosdistro: indigo
 * /rosversion: 1.11.20

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [9839]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 35f507cc-dc7d-11e6-af8b-c808e92e4e66
process[rosout-1]: started with pid [9852]
started core service [/rosout]
process[mavros-2]: started with pid [9870]
[ INFO] [1484634101.929880242]: FCU URL: udp-b://127.0.0.1:14580@:14560
[FATAL] [1484634101.930061256]: FCU: DeviceError:url:Unknown URL type
================================================================================REQUIRED process [mavros-2] has died!
process has finished cleanly
log file: /home/taein/.ros/log/35f507cc-dc7d-11e6-af8b-c808e92e4e66/mavros-2*.log
Initiating shutdown!
================================================================================
[mavros-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

thanks your Reply , @vooon .

I change udp form : udp-b://127.0.0.1:14580@:14560 but make error.. like that log

The reason why I use mavros is I try to apply motion capture supported by mavros to CF2.

dennisss commented 7 years ago

This issue is resolved here: http://discuss.px4.io/t/cfbridge-transform-to-communicate-with-mavros/2192