Saya bekerja dengan buruh pelabuhan dan saya menggunakan ros-melodic-mavros dan ros-melodic-mavros-extras untuk mengendalikan drone iris PX4. di versi 1.1 itu bekerja dengan baik. Saya mengendalikan drone menggunakan Positiontarget dengan topik : '/iris_{}/mavros/setpoint_raw/local tapi tidak ada yang terjadi di 1.2. Tidak ada opsi untuk mendapatkan versi sebelumnya dari apt-get (mengapa?)
Mavros: 1.2
ROS: melodi
Ubuntu: 18.04
buruh pelabuhan : 19.03.11
Gazebo : 9
[ ] ArduPilot
[ x ] PX4
Versi: 1.10
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"
---
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
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
Poin sedang dipublikasikan (diperiksa dengan rostopic echo) tetapi drone tidak bergerak sama sekali.
Saya mengalami masalah yang sama. Kode saya berfungsi di 1.1.0, setelah dipaksa untuk memutakhirkan ke 1.2.0 semuanya rusak. Sekarang UAV saya bermasalah dengan giroskopnya karena alasan yang aneh.
Anda dapat checkout 1.1.0 dan membangunnya dari sumber. Tetapi saya pikir ada sesuatu yang lain karena setpoint_raw tetap sama selama bertahun-tahun.