Mavros: Tous les sujets mavros sont vides

Créé le 25 juil. 2018 · 4Commentaires · Source: mavlink/mavros

Détails du problème

J'exécute mavros sur mon ordinateur et je me connecte au pixhawk à l'aide de la télémétrie, tous les ports sont correctement définis, mais tous les sujets mavros semblent être vides, le seul qui a publié des données était /mavros/state, comment puis-je résoudre ça ?

Version et plateforme MAVROS

Mavros : ?0.18.4 ?
ROS : cinétique
Ubuntu : 16.04

Type et version du pilote automatique

[ ] ArduPilot
[x] PX4

Version : 2.4.8

Journaux de nœud

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://furgbot:44159/

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: /dev/ttyUSB0
 * /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/frame_tf/body_frame_orientation: frd
 * /mavros/odometry/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_velocity/mav_frame: LOCAL_NED
 * /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/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
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES
  /
    mavros (mavros/mavros_node)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [10135]
[ INFO] [1532524740.139679607]: FCU URL: /dev/ttyUSB0
[ INFO] [1532524740.140570367]: serial0: device: /dev/ttyUSB0 @ 57600 bps
[ INFO] [1532524740.141457809]: GCS bridge disabled
[ INFO] [1532524740.147259861]: Plugin 3dr_radio loaded
[ INFO] [1532524740.148295592]: Plugin 3dr_radio initialized
[ INFO] [1532524740.148352517]: Plugin actuator_control loaded
[ INFO] [1532524740.150609825]: Plugin actuator_control initialized
[ INFO] [1532524740.151957946]: Plugin adsb loaded
[ INFO] [1532524740.155132081]: Plugin adsb initialized
[ INFO] [1532524740.155391407]: Plugin altitude loaded
[ INFO] [1532524740.158531972]: Plugin altitude initialized
[ INFO] [1532524740.158602914]: Plugin cam_imu_sync loaded
[ INFO] [1532524740.159171173]: Plugin cam_imu_sync initialized
[ INFO] [1532524740.159235399]: Plugin command loaded
[ INFO] [1532524740.162443798]: Plugin command initialized
[ INFO] [1532524740.162497119]: Plugin debug_value loaded
[ INFO] [1532524740.165695481]: Plugin debug_value initialized
[ INFO] [1532524740.165715167]: Plugin distance_sensor blacklisted
[ INFO] [1532524740.165766480]: Plugin fake_gps loaded
[ INFO] [1532524740.179250610]: Plugin fake_gps initialized
[ INFO] [1532524740.179332789]: Plugin ftp loaded
[ INFO] [1532524740.183631735]: Plugin ftp initialized
[ INFO] [1532524740.183690164]: Plugin global_position loaded
[ INFO] [1532524740.193809273]: Plugin global_position initialized
[ INFO] [1532524740.193869528]: Plugin hil loaded
[ INFO] [1532524740.202786257]: Plugin hil initialized
[ INFO] [1532524740.202895671]: Plugin home_position loaded
[ INFO] [1532524740.208622619]: Plugin home_position initialized
[ INFO] [1532524740.208927381]: Plugin imu loaded
[ INFO] [1532524740.215678847]: Plugin imu initialized
[ INFO] [1532524740.215770317]: Plugin local_position loaded
[ INFO] [1532524740.219332028]: Plugin local_position initialized
[ INFO] [1532524740.219415692]: Plugin manual_control loaded
[ INFO] [1532524740.221468151]: Plugin manual_control initialized
[ INFO] [1532524740.221525631]: Plugin mocap_pose_estimate loaded
[ INFO] [1532524740.224106463]: Plugin mocap_pose_estimate initialized
[ INFO] [1532524740.224158163]: Plugin obstacle_distance loaded
[ INFO] [1532524740.226010979]: Plugin obstacle_distance initialized
[ INFO] [1532524740.226068412]: Plugin odom loaded
[ INFO] [1532524740.228473191]: Plugin odom initialized
[ INFO] [1532524740.228540709]: Plugin param loaded
[ INFO] [1532524740.229898319]: Plugin param initialized
[ INFO] [1532524740.229963278]: Plugin px4flow loaded
[ INFO] [1532524740.235888441]: Plugin px4flow initialized
[ INFO] [1532524740.235947078]: Plugin rangefinder blacklisted
[ INFO] [1532524740.236092940]: Plugin rc_io loaded
[ INFO] [1532524740.243778549]: Plugin rc_io initialized
[ INFO] [1532524740.243802586]: Plugin safety_area blacklisted
[ INFO] [1532524740.243870030]: Plugin setpoint_accel loaded
[ INFO] [1532524740.246187187]: Plugin setpoint_accel initialized
[ INFO] [1532524740.246253737]: Plugin setpoint_attitude loaded
[ INFO] [1532524740.252595059]: Plugin setpoint_attitude initialized
[ INFO] [1532524740.252657187]: Plugin setpoint_position loaded
[ INFO] [1532524740.261450252]: Plugin setpoint_position initialized
[ INFO] [1532524740.261515864]: Plugin setpoint_raw loaded
[ INFO] [1532524740.268158623]: Plugin setpoint_raw initialized
[ INFO] [1532524740.268383531]: Plugin setpoint_velocity loaded
[ INFO] [1532524740.276825212]: Plugin setpoint_velocity initialized
[ INFO] [1532524740.276920055]: Plugin sys_status loaded
[ INFO] [1532524740.282360303]: Plugin sys_status initialized
[ INFO] [1532524740.282423479]: Plugin sys_time loaded
[ INFO] [1532524740.286036302]: TM: Timesync mode: MAVLINK
[ INFO] [1532524740.286767320]: Plugin sys_time initialized
[ INFO] [1532524740.286817082]: Plugin trajectory loaded
[ INFO] [1532524740.290167432]: Plugin trajectory initialized
[ INFO] [1532524740.290226974]: Plugin vfr_hud loaded
[ INFO] [1532524740.290598036]: Plugin vfr_hud initialized
[ INFO] [1532524740.290610682]: Plugin vibration blacklisted
[ INFO] [1532524740.290650152]: Plugin vision_pose_estimate loaded
[ INFO] [1532524740.296187419]: Plugin vision_pose_estimate initialized
[ INFO] [1532524740.296276442]: Plugin vision_speed_estimate loaded
[ INFO] [1532524740.299224358]: Plugin vision_speed_estimate initialized
[ INFO] [1532524740.299365077]: Plugin waypoint loaded
[ INFO] [1532524740.307388635]: Plugin waypoint initialized
[ INFO] [1532524740.307476371]: Plugin wind_estimation loaded
[ INFO] [1532524740.307867388]: Plugin wind_estimation initialized
[ INFO] [1532524740.307885804]: Autostarting mavlink via USB on PX4
[ INFO] [1532524740.307908617]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1532524740.307920568]: Built-in MAVLink package version: 2018.6.6
[ INFO] [1532524740.307938150]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1532524740.307951275]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1532524740.662002728]: CON: Got HEARTBEAT, connected. FCU: ArduPilotMega / ArduCopter
[ERROR] [1532524741.664232667]: FCU: PreArm: RC not calibrated
[ WARN] [1532524742.666504554]: VER: broadcast request timeout, retries left 4
[ WARN] [1532524743.666206438]: VER: broadcast request timeout, retries left 3
[ WARN] [1532524749.666643707]: VER: unicast request timeout, retries left 2
[ INFO] [1532524750.663332281]: HP: requesting home position
[ WARN] [1532524754.670196600]: VER: unicast request timeout, retries left 1
[ WARN] [1532524754.670448943]: PR: request list timeout, retries left 2
[ WARN] [1532524755.671549987]: PR: request list timeout, retries left 1
[ WARN] [1532524756.668121134]: WP: timeout, retries left 2
[ WARN] [1532524756.672777236]: PR: request list timeout, retries left 0
[ WARN] [1532524757.668707712]: WP: timeout, retries left 1
[ WARN] [1532524758.669090605]: WP: timeout, retries left 0
[ERROR] [1532524759.669772958]: WP: timed out.
[ WARN] [1532524759.673896620]: VER: unicast request timeout, retries left 0
[ INFO] [1532524760.663114292]: HP: requesting home position
[ WARN] [1532524764.677398420]: VER: your FCU don't support AUTOPILOT_VERSION, switched to default capabilities
[ INFO] [1532524770.662948243]: HP: requesting home position
[ERROR] [1532524771.768363026]: FCU: PreArm: RC not calibrated
[ INFO] [1532524780.663289432]: HP: requesting home position
[ INFO] [1532524790.662794211]: HP: requesting home position
[ INFO] [1532524800.662551567]: HP: requesting home position
[ERROR] [1532524801.804852187]: FCU: PreArm: RC not calibrated
[ INFO] [1532524810.662370647]: HP: requesting home position

Diagnostique

``` en-tête :
séquence : 14
timbre:
secondes : 1532524754
nsec: 670326788
frame_id : ''
statut:

niveau : 0
nom : « mavros : connexion FCU »
message : "connecté"
hardware_id : "/dev/ttyUSB0"
valeurs:
- clé : « Paquets reçus : »
  
  valeur : "16"
- clé : « Paquets abandonnés : »
  
  valeur : "0"
- clé : « Dépassements de la mémoire tampon : »
  
  valeur : "0"
- clé : "Erreurs d'analyse :"
  
  valeur : "0"
- clé : « Numéro de séquence Rx : »
  
  valeur : "67"
- touche : "Numéro de séquence Tx : »
  
  valeur : « 131 »
- clé : « Rx total d'octets : »
  
  valeur : " 314 "
- clé : "Tx total d'octets :"
  
  valeur : "3585"
- touche : « Vitesse Rx : »
  
  valeur : « 21.250000 »
- touche : « Vitesse Tx : »
  
  valeur : « 80.500000 »
niveau 2
nom : " mavros : GPS "
message : "Pas de satellites"
hardware_id : "/dev/ttyUSB0"
valeurs:
- clé : " Satellites visibles "
  
  valeur : "0"
- clé : "Type de correctif"
  
  valeur : "0"
- touche : "EPH (m)"
  
  valeur : "Inconnu"
- clé : "VPE (m)"
  
  valeur : "Inconnu"
niveau : 0
nom : " mavros : battement de coeur "
message : "normal"
hardware_id : "/dev/ttyUSB0"
valeurs:
- clé : « battements de cœur depuis le démarrage »
  
  valeur : "15"
- touche : "Fréquence (Hz)"
  
  valeur : "1.042150"
- clé : "Type de véhicule"
  
  valeur : "Quadrotor"
- touche : "Type de pilote automatique"
  
  valeur : "ArduPilotMega / ArduCopter"
- touche : "Mode"
  
  valeur : "STABILISER"
- touche : "État du système"
  
  valeur : « Veille »
niveau : 0
nom : "mavros : système"
message : "normal"
hardware_id : "/dev/ttyUSB0"
valeurs:
- touche : "Capteur présent"
  
  valeur : "0x00000000"
- touche : "Capteur activé"
  
  valeur : "0x00000000"
- touche : « Sensor Helth »
  
  valeur : "0x00000000"
- clé : "Charge CPU (%)"
  
  valeur : « 0,0 »
- clé : "Taux de chute (%)"
  
  valeur : « 0,0 »
- clé : « Erreurs comm. »
  
  valeur : "0"
- clé : "Les erreurs comptent n° 1"
  
  valeur : "0"
- clé : « Erreurs compte #2 »
  
  valeur : "0"
- clé : « Erreurs compte #3 »
  
  valeur : "0"
- clé : « Erreurs compte #4 »
  
  valeur : "0"
niveau 2
nom : "mavros : batterie"
message : "Pas de données"
hardware_id : "/dev/ttyUSB0"
valeurs:
- touche : "Tension"
  
  valeur : "-1,00"
- clé : "Actuel"
  
  valeur : « 0,0 »
- clé : « restant »
  
  valeur : « 0,0 »
niveau 2
nom : "mavros : synchronisation de l'heure"
message : "Aucun événement enregistré."
hardware_id : "/dev/ttyUSB0"
valeurs:
- clé : "Timesyncs depuis le démarrage"
  
  valeur : "0"
- touche : "Fréquence (Hz)"
  
  valeur : "0.000000"
- touche : "Dernier RTT (ms)"
  
  valeur : "0.000000"
- touche : "Moyenne RTT (ms)"
  
  valeur : "0.000000"
- touche : "Dernière heure(s) à distance"
  
  valeur : "0,000000000"
- touche : "Décalage(s) horaire estimé(s)"


### Check ID

D'ACCORD. J'ai reçu des messages de 1:1.

Reçu 16 messages, à partir de 1 adresses
sys:comp liste des messages
1:1 0, 253

```

APM question

Source

TeixeiraRafael

Commentaire le plus utile

Vérifiez le câblage, ressemble à USB-UART Tx -> FCU Rx cassé.
Vérifiez également les taux de diffusion. Essayez rosrun mavros mavsys rate --all 10 .

vooon le 25 juil. 2018

👍2

Tous les 4 commentaires

Vérifiez le câblage, ressemble à USB-UART Tx -> FCU Rx cassé.
Vérifiez également les taux de diffusion. Essayez rosrun mavros mavsys rate --all 10 .

vooon le 25 juil. 2018

👍2

J'utilise la télémétrie, il n'y a pas de câblage.
L'exécution de rosrun mavros mavsys rate --all 10 n'a pas résolu le problème :(

TeixeiraRafael le 25 juil. 2018

@TeixeiraRafael mises à jour?

TSC21 le 31 mai 2019

Vérifiez le câblage, ressemble à USB-UART Tx -> FCU Rx cassé.
Vérifiez également les taux de diffusion. Essayez rosrun mavros mavsys rate --all 10 .

Cela a résolu mon problème, merci beaucoup !!!