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Mavros request fail issue #601

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yunshin opened this issue Sep 18, 2016 · 2 comments
Closed

Mavros request fail issue #601

yunshin opened this issue Sep 18, 2016 · 2 comments
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@yunshin
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yunshin commented Sep 18, 2016

Hello.
I'm trying to connect pixhawk to Nvidia jetson TX1 board.
I installed ROS Indigo including mavros on TX1.
However, everytime I try to use command:$ mavros mavsys mode -c OFFBOARD, it says mavros request fail.
When I type $dmesg

1

So I set fcu_url value to /dev/ttyACM0:57600 in my px4.launch file as below.

2

After then, I run roscore and roslaunch mavros px4.launch

`ubuntu@tegra-ubuntu:~/ros_catkin_ws/install_isolated/share/mavros/launch$ roslaunch mavros px4.launch
... logging to /home/ubuntu/.ros/log/896a075a-7d95-11e6-9e8c-00044b5809b8/roslaunch-tegra-ubuntu-1295.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://192.168.0.21:33842/

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: /dev/ttyACM0:57600
  • /mavros/gcs_url:
  • /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)

ROS_MASTER_URI=http://192.168.0.21:11311

core service [/rosout] found
process[mavros-1]: started with pid [1329]
[ INFO] [1474199232.933956237]: FCU URL: /dev/ttyACM0:57600
[ INFO] [1474199232.934397689]: serial0: device: /dev/ttyACM0 @ 57600 bps
[ INFO] [1474199233.013188434]: GCS bridge disabled
[ INFO] [1474199233.136606797]: Plugin 3dr_radio loaded and initialized
[ INFO] [1474199233.147394097]: Plugin actuator_control loaded and initialized
[ INFO] [1474199233.151594092]: Plugin altitude loaded and initialized
[ INFO] [1474199233.416842076]: Plugin cam_imu_sync loaded and initialized
[ INFO] [1474199233.433452526]: Plugin command loaded and initialized
[ INFO] [1474199233.433578462]: Plugin distance_sensor blacklisted
[ INFO] [1474199233.459200976]: Plugin ftp loaded and initialized
[ INFO] [1474199233.485126506]: Plugin global_position loaded and initialized
[ INFO] [1474199233.487630222]: Plugin hil_controls loaded and initialized
[ INFO] [1474199233.487717616]: Plugin image_pub blacklisted
[ INFO] [1474199233.511452135]: Plugin imu_pub loaded and initialized
[ INFO] [1474199233.531940397]: Plugin local_position loaded and initialized
[ INFO] [1474199233.534377811]: Plugin manual_control loaded and initialized
[ INFO] [1474199233.549304534]: Plugin mocap_pose_estimate loaded and initialized
[ INFO] [1474199233.557574213]: Plugin param loaded and initialized
[ INFO] [1474199233.575298032]: Plugin px4flow loaded and initialized
[ INFO] [1474199233.588493060]: Plugin rc_io loaded and initialized
[ INFO] [1474199233.588586444]: Plugin safety_area blacklisted
[ INFO] [1474199233.600930025]: Plugin setpoint_accel loaded and initialized
[ INFO] [1474199233.641511189]: Plugin setpoint_attitude loaded and initialized
[ INFO] [1474199233.661666017]: Plugin setpoint_position loaded and initialized
[ INFO] [1474199233.694834938]: Plugin setpoint_raw loaded and initialized
[ INFO] [1474199233.704689855]: Plugin setpoint_velocity loaded and initialized
[ INFO] [1474199233.724599062]: Plugin sys_status loaded and initialized
[ INFO] [1474199233.736115519]: Plugin sys_time loaded and initialized
[ INFO] [1474199233.740434731]: Plugin vfr_hud loaded and initialized
[ INFO] [1474199233.740528115]: Plugin vibration blacklisted
[ INFO] [1474199233.769315690]: Plugin vision_pose_estimate loaded and initialized
[ INFO] [1474199233.782049265]: Plugin vision_speed_estimate loaded and initialized
[ INFO] [1474199233.794921798]: Plugin waypoint loaded and initialized
[ INFO] [1474199233.795055129]: Autostarting mavlink via USB on PX4
[ INFO] [1474199233.795149972]: Built-in SIMD instructions: None
[ INFO] [1474199233.795204867]: Built-in MAVLink package version: 2016.5.20
[ INFO] [1474199233.795247418]: Built-in MAVLink dialect: ardupilotmega
[ INFO] [1474199233.795292522]: MAVROS started. MY ID 1.240, TARGET ID 1.1
`
These are what I got. It does not seem to receive heartbeat. When I type 'rosrun mavros mavsys mode -c OFFBOARD' in this state, it says "Request failed. Check mavros logs".

I check dignostics message via
rostopic echo -n1 /diagnostics

`
header:
seq: 116
stamp:
secs: 1474199385
nsecs: 298692825
frame_id: ''
status:

level: 1
name: mavros: FCU connection
message: not connected
hardware_id: /dev/ttyACM0:57600
values:

key: Received packets:
value: 195
  • key: Dropped packets:
    value: 0
  • key: Buffer overruns:
    value: 0
  • key: Parse errors:
    value: 0
  • key: Rx sequence number:
    value: 97
  • key: Tx sequence number:
    value: 25
  • key: Rx total bytes:
    value: 8116
  • key: Tx total bytes:
    value: 41976
  • key: Rx speed:
    value: 0.000000
  • key: Tx speed:
    value: 397.000000

  • level: 2
    name: mavros: GPS
    message: No satellites
    hardware_id: /dev/ttyACM0:57600
    values:

    key: Satellites visible
    value: 0

    key: Fix type
    value: 0

    key: EPH (m)
    value: Unknown

    key: EPV (m)
    value: Unknown

  • level: 2
    name: mavros: Heartbeat
    message: No events recorded.
    hardware_id: /dev/ttyACM0:57600
    values:

    key: Heartbeats since startup
    value: 0

    key: Frequency (Hz)
    value: 0.000000

    key: Vehicle type
    value: Generic

    key: Autopilot type
    value: Generic

    key: Mode
    value: ''

    key: System status
    value: Uninit

  • level: 0
    name: mavros: System
    message: Normal
    hardware_id: /dev/ttyACM0:57600
    values:

    key: Sensor present
    value: 0x00000000

    key: Sensor enabled
    value: 0x00000000

    key: Sensor helth
    value: 0x00000000

    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: 2
    name: mavros: Battery
    message: No data
    hardware_id: /dev/ttyACM0:57600
    values:

    key: Voltage
    value: -1.00

    key: Current
    value: 0.0

    key: Remaining
    value: 0.0

  • level: 2
    name: mavros: Time Sync
    message: No events recorded.
    hardware_id: /dev/ttyACM0:57600
    values:

    key: Timesyncs since startup
    value: 0

    key: Frequency (Hz)
    value: 0.000000

    key: Last dt (ms)
    value: 0.000000

    key: Mean dt (ms)
    value: 0.000000

    key: Last system time (s)
    value: 0.000000000

    key: Time offset (s)
    value: 0.000000000

`
In Level 1, it says 'not connected'.
How can I fix this connection problem??
I tried to set baudrate as 57600, 921600 and 1152000 but it did not work.

  • I checked out that the connection between pixhawk and my desktop is fine. Only the connection between pixhawk and TX1 is the problem.
    Any advice will be very thankful to me.
@yunshin yunshin closed this as completed Sep 18, 2016
@vooon vooon added the question label Sep 19, 2016
@KKLaLaLa
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hi ,i have meet the same problem with you.I solve it though modify px4.launch file.
first you should us ls -a /dev to look which serial you use. ttyusb0 or ttyacm0.when i use ttyusb0.It have the same problem like you.if you use ttyacm0.then ecernthong will be ok.

@chaqing
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chaqing commented Oct 4, 2020

I meet the same problemwith you.Can you elaborate more?Thanks!

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@vooon @yunshin @KKLaLaLa @chaqing