Intento conectarme a una unidad DropixV2 con mavros, uso una tarjeta jetson en la que instalé Ros kinetic, la tarjeta jetson y dropix están conectados a través de un interruptor
Ahora, logro obtener los datos de FCU en mi apmplanner o qgroundcontrol que instalo en el jetson especificando la dirección IP (192.168.1.130) y el puerto (4003) con TCP Link . (creo que el DropixV2/Jetson TX2 funciona y esta correctamente configurado) pero tengo problemas para conectarme via mavros a fcu.
La dirección udp que uso es:
Lanzo el nodo Mavros con el archivo apm.launch donde
< nombre del argumento = " fcu_url " predeterminado ="udp: //: 14550 @ 192.168.1.130@5760" />
< nombre del argumento = " gcs_url " predeterminado = " " />
donde 192.168.1.9 es la dirección IP del pixracer -> no funciona, intento con "udp: //: [email protected] .1.130 @ 4003", tampoco funciona
Mavros: 0,30,0
ROS: cinético
Ubuntu: 16.04
[ x ] Piloto Ardu
[ ] PX4
Versión: 3.4.2
nvidia@tegra-ubuntu:~/catkin_ws$ roslaunch mavros apm.launch
... logging to /home/nvidia/.ros/log/8dcf7ea2-87aa-11e9-9b7a-00044bc4a5de/roslaunch-tegra-ubuntu-5446.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://tegra-ubuntu:37902/
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: PITCH_270
* /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: PITCH_270
* /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: PITCH_270
* /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: PITCH_270
* /mavros/distance_sensor/sonar_1_sub/subscriber: True
* /mavros/fake_gps/eph: 2.0
* /mavros/fake_gps/epv: 2.0
* /mavros/fake_gps/fix_type: 3
* /mavros/fake_gps/geo_origin/alt: 408.0
* /mavros/fake_gps/geo_origin/lat: 47.3667
* /mavros/fake_gps/geo_origin/lon: 8.55
* /mavros/fake_gps/gps_rate: 5.0
* /mavros/fake_gps/mocap_transform: True
* /mavros/fake_gps/satellites_visible: 5
* /mavros/fake_gps/tf/child_frame_id: fix
* /mavros/fake_gps/tf/frame_id: map
* /mavros/fake_gps/tf/listen: False
* /mavros/fake_gps/tf/rate_limit: 10.0
* /mavros/fake_gps/tf/send: False
* /mavros/fake_gps/use_mocap: True
* /mavros/fake_gps/use_vision: False
* /mavros/fcu_protocol: v2.0
* /mavros/fcu_url: udp://:[email protected]...
* /mavros/gcs_url:
* /mavros/global_position/child_frame_id: base_link
* /mavros/global_position/frame_id: map
* /mavros/global_position/gps_uere: 1.0
* /mavros/global_position/rot_covariance: 99999.0
* /mavros/global_position/tf/child_frame_id: base_link
* /mavros/global_position/tf/frame_id: map
* /mavros/global_position/tf/global_frame_id: earth
* /mavros/global_position/tf/send: False
* /mavros/global_position/use_relative_alt: True
* /mavros/image/frame_id: px4flow
* /mavros/imu/angular_velocity_stdev: 0.000349065850399
* /mavros/imu/frame_id: base_link
* /mavros/imu/linear_acceleration_stdev: 0.0003
* /mavros/imu/magnetic_stdev: 0.0
* /mavros/imu/orientation_stdev: 1.0
* /mavros/local_position/frame_id: map
* /mavros/local_position/tf/child_frame_id: base_link
* /mavros/local_position/tf/frame_id: map
* /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/odometry/in/child_frame_id: base_link
* /mavros/odometry/in/frame_id: odom
* /mavros/odometry/in/frame_tf/body_frame_orientation: flu
* /mavros/odometry/in/frame_tf/local_frame: local_origin_ned
* /mavros/odometry/out/frame_tf/body_frame_orientation: frd
* /mavros/odometry/out/frame_tf/local_frame: vision_ned
* /mavros/plugin_blacklist: ['safety_area', '...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.118682389136
* /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_thrust: False
* /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /mavros/setpoint_attitude/tf/frame_id: map
* /mavros/setpoint_attitude/tf/listen: False
* /mavros/setpoint_attitude/tf/rate_limit: 50.0
* /mavros/setpoint_attitude/use_quaternion: False
* /mavros/setpoint_position/mav_frame: LOCAL_NED
* /mavros/setpoint_position/tf/child_frame_id: target_position
* /mavros/setpoint_position/tf/frame_id: map
* /mavros/setpoint_position/tf/listen: False
* /mavros/setpoint_position/tf/rate_limit: 50.0
* /mavros/setpoint_raw/thrust_scaling: 1.0
* /mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /mavros/startup_px4_usb_quirk: False
* /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/time/timesync_mode: MAVLINK
* /mavros/vibration/frame_id: base_link
* /mavros/vision_pose/tf/child_frame_id: vision_estimate
* /mavros/vision_pose/tf/frame_id: map
* /mavros/vision_pose/tf/listen: False
* /mavros/vision_pose/tf/rate_limit: 10.0
* /mavros/vision_speed/listen_twist: True
* /mavros/vision_speed/twist_cov: True
* /mavros/wheel_odometry/child_frame_id: base_link
* /mavros/wheel_odometry/count: 2
* /mavros/wheel_odometry/frame_id: map
* /mavros/wheel_odometry/send_raw: True
* /mavros/wheel_odometry/send_twist: False
* /mavros/wheel_odometry/tf/child_frame_id: base_link
* /mavros/wheel_odometry/tf/frame_id: map
* /mavros/wheel_odometry/tf/send: True
* /mavros/wheel_odometry/use_rpm: False
* /mavros/wheel_odometry/vel_error: 0.1
* /mavros/wheel_odometry/wheel0/radius: 0.05
* /mavros/wheel_odometry/wheel0/x: 0.0
* /mavros/wheel_odometry/wheel0/y: -0.15
* /mavros/wheel_odometry/wheel1/radius: 0.05
* /mavros/wheel_odometry/wheel1/x: 0.0
* /mavros/wheel_odometry/wheel1/y: 0.15
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
/
mavros (mavros/mavros_node)
auto-starting new master
process[master]: started with pid [5462]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 8dcf7ea2-87aa-11e9-9b7a-00044bc4a5de
process[rosout-1]: started with pid [5477]
started core service [/rosout]
process[mavros-2]: started with pid [5499]
[ INFO] [1559750223.461869756]: FCU URL: udp://:[email protected]<strong i="24">@4003</strong>
[ INFO] [1559750223.474840164]: udp0: Bind address: 0.0.0.0:4003
[ WARN] [1559750223.478187117]: udp0: resolve error: Host not found (non-authoritative), try again later
[ WARN] [1559750223.478622955]: udp0: Remote address resolve failed.
[ INFO] [1559750223.480387807]: GCS bridge disabled
[ INFO] [1559750223.569797795]: Plugin 3dr_radio loaded
[ INFO] [1559750223.580270524]: Plugin 3dr_radio initialized
[ INFO] [1559750223.580953527]: Plugin actuator_control loaded
[ INFO] [1559750223.626528484]: Plugin actuator_control initialized
[ INFO] [1559750223.657462323]: Plugin adsb loaded
[ INFO] [1559750223.706253961]: Plugin adsb initialized
[ INFO] [1559750223.707865726]: Plugin altitude loaded
[ INFO] [1559750223.732266009]: Plugin altitude initialized
[ INFO] [1559750223.736802235]: Plugin cam_imu_sync loaded
[ INFO] [1559750223.750192928]: Plugin cam_imu_sync initialized
[ INFO] [1559750223.752247506]: Plugin command loaded
[ INFO] [1559750223.904195824]: Plugin command initialized
[ INFO] [1559750223.907354363]: Plugin companion_process_status loaded
[ INFO] [1559750223.977109860]: Plugin companion_process_status initialized
[ INFO] [1559750223.980305614]: Plugin debug_value loaded
[ INFO] [1559750224.082366653]: Plugin debug_value initialized
[ INFO] [1559750224.083216887]: Plugin distance_sensor blacklisted
[ INFO] [1559750224.086037252]: Plugin fake_gps loaded
[ INFO] [1559750224.437273536]: Plugin fake_gps initialized
[ INFO] [1559750224.440456554]: Plugin ftp loaded
[ INFO] [1559750224.593281186]: Plugin ftp initialized
[ INFO] [1559750224.597463622]: Plugin global_position loaded
[ INFO] [1559750225.018331211]: Plugin global_position initialized
[ INFO] [1559750225.019912768]: Plugin gps_rtk loaded
[ INFO] [1559750225.081685983]: Plugin gps_rtk initialized
[ INFO] [1559750225.083764177]: Plugin hil loaded
[ INFO] [1559750225.427401120]: Plugin hil initialized
[ INFO] [1559750225.431058472]: Plugin home_position loaded
[ INFO] [1559750225.516632262]: Plugin home_position initialized
[ INFO] [1559750225.518683960]: Plugin imu loaded
[ INFO] [1559750225.711054436]: Plugin imu initialized
[ INFO] [1559750225.714079632]: Plugin local_position loaded
[ INFO] [1559750225.885319243]: Plugin local_position initialized
[ INFO] [1559750225.888706997]: Plugin log_transfer loaded
[ INFO] [1559750225.968242811]: Plugin log_transfer initialized
[ INFO] [1559750225.972833948]: Plugin manual_control loaded
[ INFO] [1559750226.050620911]: Plugin manual_control initialized
[ INFO] [1559750226.052553122]: Plugin mocap_pose_estimate loaded
[ INFO] [1559750226.165184457]: Plugin mocap_pose_estimate initialized
[ INFO] [1559750226.168666642]: Plugin obstacle_distance loaded
[ INFO] [1559750226.232932192]: Plugin obstacle_distance initialized
[ INFO] [1559750226.235467182]: Plugin odom loaded
[ INFO] [1559750226.422482079]: Plugin odom initialized
[ INFO] [1559750226.424826864]: Plugin param loaded
[ INFO] [1559750226.485708980]: Plugin param initialized
[ INFO] [1559750226.487106603]: Plugin px4flow loaded
[ INFO] [1559750226.670059927]: Plugin px4flow initialized
[ INFO] [1559750226.670908177]: Plugin rangefinder blacklisted
[ INFO] [1559750226.675407571]: Plugin rc_io loaded
[ INFO] [1559750226.764025661]: Plugin rc_io initialized
[ INFO] [1559750226.764813079]: Plugin safety_area blacklisted
[ INFO] [1559750226.768927419]: Plugin setpoint_accel loaded
[ INFO] [1559750226.854688184]: Plugin setpoint_accel initialized
[ INFO] [1559750226.858705597]: Plugin setpoint_attitude loaded
[ INFO] [1559750227.072812439]: Plugin setpoint_attitude initialized
[ INFO] [1559750227.074534251]: Plugin setpoint_position loaded
[ INFO] [1559750227.237974555]: Plugin setpoint_position initialized
[ INFO] [1559750227.240345323]: Plugin setpoint_raw loaded
[ INFO] [1559750227.310804720]: Plugin setpoint_raw initialized
[ INFO] [1559750227.311891144]: Plugin setpoint_velocity loaded
[ INFO] [1559750227.360008035]: Plugin setpoint_velocity initialized
[ INFO] [1559750227.361727768]: Plugin sys_status loaded
[ INFO] [1559750227.455098529]: Plugin sys_status initialized
[ INFO] [1559750227.456235705]: Plugin sys_time loaded
[ INFO] [1559750227.511878497]: TM: Timesync mode: MAVLINK
[ INFO] [1559750227.521997725]: Plugin sys_time initialized
[ INFO] [1559750227.522869495]: Plugin trajectory loaded
[ INFO] [1559750227.580087125]: Plugin trajectory initialized
[ INFO] [1559750227.581347660]: Plugin vfr_hud loaded
[ INFO] [1559750227.587423203]: Plugin vfr_hud initialized
[ INFO] [1559750227.587740993]: Plugin vibration blacklisted
[ INFO] [1559750227.588741722]: Plugin vision_pose_estimate loaded
[ INFO] [1559750227.688787927]: Plugin vision_pose_estimate initialized
[ INFO] [1559750227.689986350]: Plugin vision_speed_estimate loaded
[ INFO] [1559750227.748213317]: Plugin vision_speed_estimate initialized
[ INFO] [1559750227.750082169]: Plugin waypoint loaded
[ INFO] [1559750227.807717043]: Plugin waypoint initialized
[ INFO] [1559750227.808072177]: Plugin wheel_odometry blacklisted
[ INFO] [1559750227.810319010]: Plugin wind_estimation loaded
[ INFO] [1559750227.818950439]: Plugin wind_estimation initialized
[ INFO] [1559750227.819426852]: Autostarting mavlink via USB on PX4
[ INFO] [1559750227.820190303]: Built-in SIMD instructions: ARM NEON
[ INFO] [1559750227.820476829]: Built-in MAVLink package version: 2019.4.4
[ INFO] [1559750227.820787675]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1559750227.821021785]: MAVROS started. MY ID 1.240, TARGET ID 1.1
rostopic echo /diagnostics
.....
header:
seq: 213
stamp:
secs: 1559749833
nsecs: 25246782
frame_id: ''
status:
-
level: 1
name: "mavros: FCU connection"
message: "not connected"
hardware_id: "udp://:[email protected]@4003"
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: "0"
-
key: "Rx speed:"
value: "0.000000"
-
key: "Tx speed:"
value: "0.000000"
-
level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "udp://:[email protected]@4003"
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: "udp://:[email protected]@4003"
values:
-
key: "Heartbeats since startup"
value: "0"
-
key: "Frequency (Hz)"
value: "0.000000"
-
key: "Vehicle type"
value: "Generic micro air vehicle"
-
key: "Autopilot type"
value: "Generic autopilot"
-
key: "Mode"
value: ''
-
key: "System status"
value: "Uninit"
-
level: 0
name: "mavros: System"
message: "Normal"
hardware_id: "udp://:[email protected]@4003"
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 #1"
value: "0"
-
key: "Errors count #2"
value: "0"
-
key: "Errors count #3"
value: "0"
-
key: "Errors count #4"
value: "0"
.....
nvidia@tegra-ubuntu:~/catkin_ws$ rosrun mavros checkid
ERROR. I got 0 addresses, but not your target 1:1
---
Received 0 messages, from 0 addresses
sys:comp list of messages
Encontré esto en github: cliente TCP: tcp: // [servidor_host] [: puerto] [/? ids = sysid, compid] y puerto TCP predeterminado: 5760
lo intento
<arg nombre = " fcu_url " predeterminado ="tcp: //: 5760 @ 192.168.1.130 @ 5760" />
< nombre del argumento = " gcs_url " predeterminado = " " />
nvidia@tegra-ubuntu:~/catkin_ws$ roslaunch mavros apm.launch
... logging to /home/nvidia/.ros/log/e9c8318c-8835-11e9-9bef-00044bc4a5de/roslaunch-tegra-ubuntu-23384.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://tegra-ubuntu:34819/
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /mavros/cmd/use_comp_id_system_control: False
* /mavros/conn/heartbeat_mav_type: ONBOARD_CONTROLLER
* /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/rangefinder_pub/field_of_view: 0.0
* /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
* /mavros/distance_sensor/rangefinder_pub/id: 0
* /mavros/distance_sensor/rangefinder_pub/send_tf: False
* /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/rangefinder_sub/id: 1
* /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
* /mavros/distance_sensor/rangefinder_sub/subscriber: True
* /mavros/fake_gps/eph: 2.0
* /mavros/fake_gps/epv: 2.0
* /mavros/fake_gps/fix_type: 3
* /mavros/fake_gps/geo_origin/alt: 408.0
* /mavros/fake_gps/geo_origin/lat: 47.3667
* /mavros/fake_gps/geo_origin/lon: 8.55
* /mavros/fake_gps/gps_rate: 5.0
* /mavros/fake_gps/mocap_transform: True
* /mavros/fake_gps/satellites_visible: 5
* /mavros/fake_gps/tf/child_frame_id: fix
* /mavros/fake_gps/tf/frame_id: map
* /mavros/fake_gps/tf/listen: False
* /mavros/fake_gps/tf/rate_limit: 10.0
* /mavros/fake_gps/tf/send: False
* /mavros/fake_gps/use_mocap: True
* /mavros/fake_gps/use_vision: False
* /mavros/fcu_protocol: v2.0
* /mavros/fcu_url: tcp://[email protected]...
* /mavros/gcs_url:
* /mavros/global_position/child_frame_id: base_link
* /mavros/global_position/frame_id: map
* /mavros/global_position/gps_uere: 1.0
* /mavros/global_position/rot_covariance: 99999.0
* /mavros/global_position/tf/child_frame_id: base_link
* /mavros/global_position/tf/frame_id: map
* /mavros/global_position/tf/global_frame_id: earth
* /mavros/global_position/tf/send: False
* /mavros/global_position/use_relative_alt: True
* /mavros/image/frame_id: px4flow
* /mavros/imu/angular_velocity_stdev: 0.000349065850399
* /mavros/imu/frame_id: base_link
* /mavros/imu/linear_acceleration_stdev: 0.0003
* /mavros/imu/magnetic_stdev: 0.0
* /mavros/imu/orientation_stdev: 1.0
* /mavros/local_position/frame_id: map
* /mavros/local_position/tf/child_frame_id: base_link
* /mavros/local_position/tf/frame_id: map
* /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/odometry/estimator_type: 3
* /mavros/odometry/frame_tf/desired_frame: ned
* /mavros/plugin_blacklist: ['actuator_contro...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.118682389136
* /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_thrust: False
* /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /mavros/setpoint_attitude/tf/frame_id: map
* /mavros/setpoint_attitude/tf/listen: False
* /mavros/setpoint_attitude/tf/rate_limit: 50.0
* /mavros/setpoint_attitude/use_quaternion: False
* /mavros/setpoint_position/mav_frame: LOCAL_NED
* /mavros/setpoint_position/tf/child_frame_id: target_position
* /mavros/setpoint_position/tf/frame_id: map
* /mavros/setpoint_position/tf/listen: False
* /mavros/setpoint_position/tf/rate_limit: 50.0
* /mavros/setpoint_raw/thrust_scaling: 1.0
* /mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /mavros/startup_px4_usb_quirk: False
* /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/time/timesync_mode: MAVLINK
* /mavros/vibration/frame_id: base_link
* /mavros/vision_pose/tf/child_frame_id: vision_estimate
* /mavros/vision_pose/tf/frame_id: map
* /mavros/vision_pose/tf/listen: False
* /mavros/vision_pose/tf/rate_limit: 10.0
* /mavros/vision_speed/listen_twist: True
* /mavros/vision_speed/twist_cov: True
* /mavros/wheel_odometry/child_frame_id: base_link
* /mavros/wheel_odometry/count: 2
* /mavros/wheel_odometry/frame_id: map
* /mavros/wheel_odometry/send_raw: True
* /mavros/wheel_odometry/send_twist: False
* /mavros/wheel_odometry/tf/child_frame_id: base_link
* /mavros/wheel_odometry/tf/frame_id: map
* /mavros/wheel_odometry/tf/send: True
* /mavros/wheel_odometry/use_rpm: False
* /mavros/wheel_odometry/vel_error: 0.1
* /mavros/wheel_odometry/wheel0/radius: 0.05
* /mavros/wheel_odometry/wheel0/x: 0.0
* /mavros/wheel_odometry/wheel0/y: -0.15
* /mavros/wheel_odometry/wheel1/radius: 0.05
* /mavros/wheel_odometry/wheel1/x: 0.0
* /mavros/wheel_odometry/wheel1/y: 0.15
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
/
mavros (mavros/mavros_node)
auto-starting new master
process[master]: started with pid [23400]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to e9c8318c-8835-11e9-9bef-00044bc4a5de
process[rosout-1]: started with pid [23415]
started core service [/rosout]
process[mavros-2]: started with pid [23435]
[ INFO] [1559810077.748363390]: FCU URL: tcp://[email protected]<strong i="14">@5760</strong>
[ WARN] [1559810077.763313881]: tcp0: resolve error: Host not found (non-authoritative), try again later
[FATAL] [1559810077.764797647]: FCU: DeviceError:tcp: resolve:Bind address resolve failed
================================================================================REQUIRED process [mavros-2] has died!
process has finished cleanly
log file: /home/nvidia/.ros/log/e9c8318c-8835-11e9-9bef-00044bc4a5de/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
¿Tengo que especificar algo más ya que es una conexión TCP ?
Proporcionas una URL incorrecta. El símbolo @
solo lo usa UDP para separar el enlace (donde mavros está escuchando) y el control remoto.
Consulte la lista de URL de conexión .
Estoy teniendo un gran problema. He creado un nuevo problema. ¿Puede alguien ayudarme por favor? #1248
hola @vooon ,
tienes razón, es un error estúpido
¿Qué son todas estas advertencias sobre TM: RTT demasiado alto para timesync:?
`
nvidia@tegra-ubuntu :~/catkin_ws$ roslaunch mavros apm.launch
... iniciando sesión en /home/nvidia/.ros/log/6a5ef696-8921-11e9-8a99-00044bc4a5de/roslaunch-tegra-ubuntu-19677.log
Comprobación del directorio de registro para el uso del disco. Esto puede tardar un rato.
Presione Ctrl-C para interrumpir
Se terminó de verificar el uso del disco del archivo de registro. El uso es <1 GB.
comenzó el servidor roslaunch http://tegra-ubuntu :39983/
BORRAR PARÁMETROS
PARÁMETROS
NODOS
/
mavros (mavros/mavros_node)
nuevo maestro de inicio automático
proceso[maestro]: comenzó con pid [19691]
ROS_MASTER_URI= http://localhost :11311
configurando /run_id en 6a5ef696-8921-11e9-8a99-00044bc4a5de
proceso[rosout-1]: comenzó con pid [19706]
comenzó el servicio central [/rosout]
proceso[mavros-2]: comenzó con pid [19724]
`
¿Qué son todas estas advertencias sobre TM: RTT demasiado alto para timesync:?
@ mohand150 Tiempo de ida y vuelta, significa que tiene una reproducción demasiado grande en su red.
Quizás sea más fácil deshabilitar sys_time, o averiguar por qué su ping es tan lento.
Muchas gracias por su ayuda. Tuve un problema con el puerto asignado al simulador. Finalmente lo arreglé.