Mavros: Mavros 1.2 ne fonctionne pas correctement URGENT

Détails du problème

Je travaille avec docker et j'utilise ros-melodic-mavros et ros-melodic-mavros-extras pour contrôler un drone à iris PX4. dans la version 1.1, cela fonctionnait très bien. Je contrôle des drones en utilisant Positiontarget sur le sujet : '/iris_{}/mavros/setpoint_raw/local mais rien ne se passe dans 1.2. Il n'y a pas d'option pour obtenir une version précédente d'apt-get (pourquoi ?)

Version et plateforme MAVROS

Mavros : 1.2
ROS : mélodique
Ubuntu : 18.04
docker : 19.03.11
Gazebo : 9

Type et version du pilote automatique

[ ] ArduPilot
[x] PX4

Version : 1.10

Diagnostique

header: 
  seq: 889
  stamp: 
    secs: 1345
    nsecs: 601000000
  frame_id: ''
status: 
  - 
    level: 0
    name: "iris_1/mavros: FCU connection"
    message: "connected"
    hardware_id: "udp://:14541<strong i="20">@localhost</strong>:14581"
    values: 
      - 
        key: "Received packets:"
        value: "27630"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "238"
      - 
        key: "Tx sequence number:"
        value: "0"
      - 
        key: "Rx total bytes:"
        value: "24864594"
      - 
        key: "Tx total bytes:"
        value: "735053"
      - 
        key: "Rx speed:"
        value: "24529.000000"
      - 
        key: "Tx speed:"
        value: "742.000000"
  - 
    level: 0
    name: "iris_1/mavros: GPS"
    message: "3D fix"
    hardware_id: "udp://:14541<strong i="21">@localhost</strong>:14581"
    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: "iris_1/mavros: Heartbeat"
    message: "Normal"
    hardware_id: "udp://:14541<strong i="22">@localhost</strong>:14581"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "1016"
      - 
        key: "Frequency (Hz)"
        value: "0.951928"
      - 
        key: "Vehicle type"
        value: "Quadrotor"
      - 
        key: "Autopilot type"
        value: "PX4 Autopilot"
      - 
        key: "Mode"
        value: "OFFBOARD"
      - 
        key: "System status"
        value: "Active"
  - 
    level: 2
    name: "iris_1/mavros: System"
    message: "Sensor health"
    hardware_id: "udp://:14541<strong i="23">@localhost</strong>:14581"
    values: 
      - 
        key: "Sensor present"
        value: "0x1020002F"
      - 
        key: "Sensor enabled"
        value: "0x1021000F"
      - 
        key: "Sensor health"
        value: "0x1020002F"
      - 
        key: "3D gyro"
        value: "Ok"
      - 
        key: "3D accelerometer"
        value: "Ok"
      - 
        key: "3D magnetometer"
        value: "Ok"
      - 
        key: "absolute pressure"
        value: "Ok"
      - 
        key: "rc receiver"
        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 #1"
        value: "0"
      - 
        key: "Errors count #2"
        value: "0"
      - 
        key: "Errors count #3"
        value: "0"
      - 
        key: "Errors count #4"
        value: "0"
  - 
    level: 0
    name: "iris_1/mavros: Battery"
    message: "Normal"
    hardware_id: "udp://:14541<strong i="24">@localhost</strong>:14581"
    values: 
      - 
        key: "Voltage"
        value: "11.32"
      - 
        key: "Current"
        value: "-1.0"
      - 
        key: "Remaining"
        value: "51.0"
  - 
    level: 0
    name: "iris_1/mavros: Time Sync"
    message: "Normal"
    hardware_id: "udp://:14541<strong i="25">@localhost</strong>:14581"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "10168"
      - 
        key: "Frequency (Hz)"
        value: "9.995240"
      - 
        key: "Last RTT (ms)"
        value: "0.000000"
      - 
        key: "Mean RTT (ms)"
        value: "0.117328"
      - 
        key: "Last remote time (s)"
        value: "1016.949000000"
      - 
        key: "Estimated time offset (s)"
        value: "328.622159175"
---

Vérifier l'identité

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

Vérifier l'ID de l'espace de noms de drone unique

rosrun mavros checkid --mavros-ns iris_1/mavros

ERROR. I got 0 addresses, but not your target 2:1

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

Des points sont publiés (vérifiés avec écho rostopique) mais le drone ne bouge pas du tout.