Open olayasturias opened 6 years ago
Hello ! I had the same issue. I solved it by adding two more lines in the file bridge.py :
class Bridge(object):
""" MAVLink bridge
Attributes:
┊ conn (TYPE): MAVLink connection
┊ data (dict): Deal with all data
"""
def __init__(self, device='udpin:192.168.2.1:14550', baudrate=115200):
┊ """
┊ Args:
┊ ┊ device (str, optional): Input device
┊ ┊ ┊ https://ardupilot.github.io/MAVProxy/html/getting_started/starting.html#master
┊ ┊ baudrate (int, optional): Baudrate for serial communication
┊ """
┊ self.conn = mavutil.mavlink_connection(device, baud=baudrate)
#--------Lines to initiate mavlink data stream-----------
┊ self.conn.wait_heartbeat()
┊ self.conn.mav.request_data_stream_send(self.conn.target_system, self.conn.target_component, mavutil.mavlink.MAV_DATA_STREAM_ALL,4, 1)
#---------------------------
┊ self.data = {}
.....
If you want more information about the parameters of the request_data_stream_send method you can check https://mavlink.io/en/mavgen_python/#listen to see how to use pymavlink and https://mavlink.io/en/messages/common.html for the parameters (e.g. MAV_DATA_STREAM_ALL)
Otherwise, if you start QGroundControl at the same time or before launching the bluerov2 node, it works for me.
BR, Nathan
When launching the bluerov2 node by doing:
roslaunch bluerov_ros_playground bluerov2_node.launch
(there's a mistake in the README, where bluerov_node is called)The following text appears in the console:
After that, I echoed the topics /BlueRov2/battery, /BlueRov2/imu/data, and odometry, and nothing happens. Maybe they aren't supposed to publish anything? However, the image and state topics are publishing the topics well.
On the other hand, when launching
roslaunch bluerov_ros_playground user_mav.launch
the imu data is correctly displayed in the topic /mavros/imu/data (with a very high error in the Z axis, though).