Detail masalah
Saya menjalankan mavros di komputer saya dan menghubungkan ke pixhawk menggunakan telemetri, semua port diatur dengan benar, namun semua topik mavros tampaknya kosong, satu-satunya yang memiliki data yang dipublikasikan adalah /mavros/state, bagaimana saya bisa memecahkan ini?
Versi dan platform MAVROS
Mavros: ?0.18.4?
ROS: Kinetik
Ubuntu: 16.04
Jenis dan versi autopilot
[ ] ArduPilot
[ x ] PX4
Versi: 2.4.8
Log simpul
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
Diagnostik
``` judul:
seq: 14
stempel:
detik: 1532524754
nsecs: 670326788
frame_id: ''
status:
tingkat: 0
nama: "mavros: koneksi FCU"
pesan: "terhubung"
hardware_id: "/dev/ttyUSB0"
nilai:
kunci: "Paket yang diterima:"
nilai: "16"
kunci: "Paket yang jatuh:"
nilai: "0"
kunci: "Buffer overruns:"
nilai: "0"
kunci: "Kesalahan penguraian:"
nilai: "0"
kunci: "Nomor urut Rx:"
nilai: "67"
kunci: "Nomor urut Tx:"
nilai: "131"
kunci: "Rx total byte:"
nilai: "314"
kunci: "Tx total byte:"
nilai: "3585"
kunci: "Kecepatan rx:"
nilai: "21.250000"
kunci: "Kecepatan tx:"
nilai: "80.500000"
level 2
nama: "mavros: GPS"
pesan: "Tidak ada satelit"
hardware_id: "/dev/ttyUSB0"
nilai:
kunci: "Satelit terlihat"
nilai: "0"
kunci: "Perbaiki jenis"
nilai: "0"
kunci: "EPH (m)"
nilai: "Tidak diketahui"
kunci: "EPV (m)"
nilai: "Tidak diketahui"
tingkat: 0
nama: "mavros: Detak jantung"
pesan: "Biasa"
hardware_id: "/dev/ttyUSB0"
nilai:
kunci: "Detak jantung sejak startup"
nilai: "15"
kunci: "Frekuensi (Hz)"
nilai: "1.042150"
kunci: "Jenis kendaraan"
nilai: "Quadrotor"
kunci: "Jenis pilot otomatis"
nilai: "ArduPilotMega / ArduCopter"
kunci: "Modus"
nilai: "STABILISASI"
kunci: "Status sistem"
nilai: "Siaga"
tingkat: 0
nama: "mavros: Sistem"
pesan: "Biasa"
hardware_id: "/dev/ttyUSB0"
nilai:
kunci: "Sensor hadir"
nilai: "0x00000000"
kunci: "Sensor diaktifkan"
nilai: "0x00000000"
kunci: "Sensor kesehatan"
nilai: "0x00000000"
kunci: "Pemuatan CPU (%)"
nilai: "0,0"
kunci: "Tingkat penurunan (%)"
nilai: "0,0"
kunci: "Kesalahan comm"
nilai: "0"
kunci: "Kesalahan dihitung #1"
nilai: "0"
kunci: "Kesalahan dihitung #2"
nilai: "0"
kunci: "Kesalahan dihitung #3"
nilai: "0"
kunci: "Kesalahan menghitung #4"
nilai: "0"
level 2
nama: "mavros: Baterai"
pesan: "Tidak ada data"
hardware_id: "/dev/ttyUSB0"
nilai:
kunci: "Tegangan"
nilai: "-1,00"
kunci: "Saat ini"
nilai: "0,0"
kunci: "Sisa"
nilai: "0,0"
level 2
nama: "mavros: Sinkronisasi Waktu"
pesan: "Tidak ada acara yang direkam."
hardware_id: "/dev/ttyUSB0"
nilai:
kunci: "Sinkronisasi waktu sejak startup"
nilai: "0"
kunci: "Frekuensi (Hz)"
nilai: "0,000000"
kunci: "RTT terakhir (md)"
nilai: "0,000000"
kunci: "Rataan RTT (md)"
nilai: "0,000000"
kunci: "Waktu jarak jauh terakhir"
nilai: "0,000000000"
kunci: "Perkiraan waktu offset (s)"
### Check ID
OKE. Saya mendapat pesan dari 1:1.
Menerima 16 pesan, dari 1 alamat
sys:comp daftar pesan
1:1 0, 253
```
TeixeiraRafael
Semua 4 komentar
Periksa wiring, sepertinya USB-UART Tx -> FCU Rx rusak.
Periksa juga kecepatan streaming. Coba rosrun mavros mavsys rate --all 10 .
vooon
pada 25 Jul 2018
👍2
Saya menggunakan telemetri, tidak ada kabel.
Menjalankan rosrun mavros mavsys rate --all 10 tidak menyelesaikan masalah :(
TeixeiraRafael
pada 25 Jul 2018
@TeixeiraRafael memperbarui?
TSC21
pada 31 Mei 2019
Periksa wiring, sepertinya USB-UART Tx -> FCU Rx rusak.
Periksa juga kecepatan streaming. Cobarosrun mavros mavsys rate --all 10.
Itu memecahkan masalah saya, terima kasih banyak!!!
AbelMartinez90
pada 20 Feb 2020
Apakah halaman ini membantu?
0 / 5 - 0 peringkat
Masalah terkait
TSC21
·
12Komentar
Tutorgaming
·
4Komentar
shening
·
10Komentar
eleboss
·
3Komentar
mtsakaguchi
·
5Komentar
Komentar yang paling membantu
Periksa wiring, sepertinya USB-UART Tx -> FCU Rx rusak.
Periksa juga kecepatan streaming. Coba
rosrun mavros mavsys rate --all 10.