connection between 'local_origin_ned' and 'fcu'

[zillay-bot]

Issue details

after launching multi uavs file in gazebo i am getting the following error:

[ERROR] [1583659890.453104544, 4802.476000000]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.

MAVROS version and platform

Mavros: 0.23.3
ROS: Kinetic
Ubuntu: 16.04

Autopilot type and version

[ ] ArduPilot
[ X ] PX4

Version: 1.7.3

Diagnostics

rostopic echo -n1 /diagnostics
header:
seq: 4841
stamp:
secs: 4853
nsecs: 200000000
frame_id: ''
status:

level: 0
name: "uav0/mavros: FCU connection"
message: "connected"
hardware_id: "udp://:14540@localhost:14580"
values: 
  - 
    key: "Received packets:"
    value: "62538"
  - 
    key: "Dropped packets:"
    value: "0"
  - 
    key: "Buffer overruns:"
    value: "0"
  - 
    key: "Parse errors:"
    value: "0"
  - 
    key: "Rx sequence number:"
    value: "73"
  - 
    key: "Tx sequence number:"
    value: "19"
  - 
    key: "Rx total bytes:"
    value: "116371187"
  - 
    key: "Tx total bytes:"
    value: "2681732"
  - 
    key: "Rx speed:"
    value: "23854.000000"
  - 
    key: "Tx speed:"
    value: "558.000000"

• level: 0
  name: "uav0/mavros: GPS"
  message: "3D fix"
  hardware_id: "udp://:14540@localhost:14580"
  values:

  key: "Satellites visible"
  value: "10"
  

  • key: "Fix type"
    value: "3"
  • key: "EPH (m)"
    value: "0.00"
  • key: "EPV (m)"
    value: "0.00"

• level: 0
  name: "uav0/mavros: Heartbeat"
  message: "Normal"
  hardware_id: "udp://:14540@localhost:14580"
  values:

  key: "Heartbeats since startup"
  value: "4853"
  

  • key: "Frequency (Hz)"
    value: "1.000000"
  • key: "Vehicle type"
    value: "Quadrotor"
  • key: "Autopilot type"
    value: "PX4 Autopilot"
  • key: "Mode"
    value: "AUTO.LOITER"
  • key: "System status"
    value: "Standby"

• level: 2
  name: "uav0/mavros: System"
  message: "Sensor health"
  hardware_id: "udp://:14540@localhost:14580"
  values:

  key: "Sensor present"
  value: "0x00000020"
  

  • key: "Sensor enabled"
    value: "0x0020000F"
  • key: "Sensor health"
    value: "0x00200020"
  • key: "3D gyro"
    value: "Fail"
  • key: "3D accelerometer"
    value: "Fail"
  • key: "3D magnetometer"
    value: "Fail"
  • key: "absolute pressure"
    value: "Fail"
  • key: "AHRS subsystem health"
    value: "Ok"
  • key: "CPU Load (%)"
    value: "0.0"
  • key: "Drop rate (%)"
    value: "0.0"
  • key: "Errors comm"
    value: "0"
  • key: "Errors count mavconn library. #1"
    value: "0"
  • key: "Errors count Pub/sub for Mavlink.msg #2"
    value: "0"
  • key: "Errors count Plugin loading functionality. #3"
    value: "0"
  • key: "Errors count Diagnostic mesages. #4"
    value: "0"

• level: 0
  name: "uav0/mavros: Battery"
  message: "Normal"
  hardware_id: "udp://:14540@localhost:14580"
  values:

  key: "Voltage"
  value: "12.15"
  

  • key: "Current"
    value: "-1.0"
  • key: "Remaining"
    value: "100.0"

• level: 0
  name: "uav0/mavros: Time Sync"
  message: "Normal"
  hardware_id: "udp://:14540@localhost:14580"
  values:

  key: "Timesyncs since startup"
  value: "48531"
  

  • key: "Frequency (Hz)"
    value: "10.000000"
  • key: "Last RTT (ms)"
    value: "0.000000"
  • key: "Mean RTT (ms)"
    value: "0.072613"
  • key: "Last remote time (s)"
    value: "4853.148000000"
  • key: "Estimated time offset (s)"
    value: "0.008778333"

---

Check ID

rosrun mavros checkid
WARNING: mavros/target_system_id not set. Used default value: 1
WARNING: mavros/target_component_id not set. Used default value: 1
NOTE: Target parameters may be unset, but that may be result of incorrect --mavros-ns option.Double check results!
ERROR. I got 0 addresses, but not your target 1:1

---

Received 0 messages, from 0 addresses
sys:comp list of messages

[TSC21]

This problem has already been reported and it is solved already on latest version. Please update your MAVROS version (0.23 is quite old).