Mavros: ~set_stream_rate 서비스 호출에 대한 응답 없음

문제 세부정보

~set_stream_rate 서비스 호출을 사용하여 IMU의 업데이트 속도를 높이려고 합니다. 나는 불행히도 성공하지 못하고 비율을 높이거나 낮추려고 시도했습니다.

나는 다음을 시도했다:
터미널에서: rosservice call /mavros/set_stream_rate 1 200 1 (0 200 1, 0 10 1, 0 10 0 등으로도 시도)

C++에서:

#include <mavros_msgs/StreamRate.h>

    ros::ServiceClient stream_rate_client;
    ros::NodeHandle nh;
    stream_rate_client = nh.serviceClient<mavros_msgs::StreamRate>("/mavros/set_stream_rate");

    mavros_msgs::StreamRate streamRate;
    streamRate.request.stream_id = 1;
    streamRate.request.message_rate = 200;
    streamRate.request.on_off = true;
    stream_rate_client.call(streamRate);

이들 중 어느 것도 효과가 없었으며 이유를 모릅니다. 또한 디버깅을 진행하는 방법을 모릅니다.

MAVROS 버전 및 플랫폼

마브로스: 0.25.1
ROS: 키네틱
우분투: 16.04

자동 조종 장치 유형 및 버전

[ ] 아두파일럿
[ x ] PX4

버전: 1.7.3

노드 로그

$ rosrun mavros mavros_node _fcu_url:=tcp://127.0.0.1:5760 _system_id:=2
[ INFO] [1527166997.534725386]: FCU URL: tcp://127.0.0.1:5760
[ INFO] [1527166997.538179020]: tcp0: Server address: 127.0.0.1:5760
[ INFO] [1527166997.538583530]: GCS URL: udp://@
[ INFO] [1527166997.538851787]: udp1: Bind address: 0.0.0.0:14555
[ INFO] [1527166997.582075509]: Plugin 3dr_radio loaded
[ INFO] [1527166997.587216072]: Plugin 3dr_radio initialized
[ INFO] [1527166997.587433590]: Plugin actuator_control loaded
[ INFO] [1527166997.602908470]: Plugin actuator_control initialized
[ INFO] [1527166997.608098772]: Plugin adsb loaded
[ INFO] [1527166997.624933409]: Plugin adsb initialized
[ INFO] [1527166997.625174728]: Plugin altitude loaded
[ INFO] [1527166997.629202189]: Plugin altitude initialized
[ INFO] [1527166997.629439220]: Plugin cam_imu_sync loaded
[ INFO] [1527166997.631736889]: Plugin cam_imu_sync initialized
[ INFO] [1527166997.632005870]: Plugin command loaded
[ INFO] [1527166997.656271690]: Plugin command initialized
[ INFO] [1527166997.656518171]: Plugin debug_value loaded
[ INFO] [1527166997.679747716]: Plugin debug_value initialized
[ INFO] [1527166997.680021635]: Plugin distance_sensor loaded
[ WARN] [1527166997.684616922]: DS: plugin not configured!
[ INFO] [1527166997.684730488]: Plugin distance_sensor initialized
[ INFO] [1527166997.684972781]: Plugin fake_gps loaded
[ INFO] [1527166997.728127889]: Plugin fake_gps initialized
[ INFO] [1527166997.728480748]: Plugin ftp loaded
[ INFO] [1527166997.758929019]: Plugin ftp initialized
[ INFO] [1527166997.759219651]: Plugin global_position loaded
[ INFO] [1527166997.818296662]: Plugin global_position initialized
[ INFO] [1527166997.818588156]: Plugin hil loaded
[ INFO] [1527166997.882781780]: Plugin hil initialized
[ INFO] [1527166997.883048549]: Plugin home_position loaded
[ INFO] [1527166997.903052314]: Plugin home_position initialized
[ INFO] [1527166997.903807895]: Plugin imu loaded
[ INFO] [1527166997.933612538]: Plugin imu initialized
[ INFO] [1527166997.933850257]: Plugin local_position loaded
[ INFO] [1527166997.952751657]: Plugin local_position initialized
[ INFO] [1527166997.953008414]: Plugin manual_control loaded
[ INFO] [1527166997.968141910]: Plugin manual_control initialized
[ INFO] [1527166997.968481980]: Plugin mocap_pose_estimate loaded
[ INFO] [1527166997.984059425]: Plugin mocap_pose_estimate initialized
[ INFO] [1527166997.984304531]: Plugin obstacle_distance loaded
[ INFO] [1527166997.997733823]: Plugin obstacle_distance initialized
[ INFO] [1527166997.998059268]: Plugin odom loaded
[ INFO] [1527166998.013623175]: Plugin odom initialized
[ INFO] [1527166998.013984083]: Plugin param loaded
[ INFO] [1527166998.023299249]: Plugin param initialized
[ INFO] [1527166998.023588331]: Plugin px4flow loaded
[ INFO] [1527166998.042473344]: Plugin px4flow initialized
[ INFO] [1527166998.042727126]: Plugin rangefinder loaded
[ INFO] [1527166998.045338152]: Plugin rangefinder initialized
[ INFO] [1527166998.045632059]: Plugin rc_io loaded
[ INFO] [1527166998.062006661]: Plugin rc_io initialized
[ INFO] [1527166998.062537311]: Plugin safety_area loaded
[ INFO] [1527166998.083768132]: Plugin safety_area initialized
[ INFO] [1527166998.084033551]: Plugin setpoint_accel loaded
[ INFO] [1527166998.097458792]: Plugin setpoint_accel initialized
[ INFO] [1527166998.097776863]: Plugin setpoint_attitude loaded
[ INFO] [1527166998.135016088]: Plugin setpoint_attitude initialized
[ INFO] [1527166998.135395910]: Plugin setpoint_position loaded
[ INFO] [1527166998.199004407]: Plugin setpoint_position initialized
[ INFO] [1527166998.199288389]: Plugin setpoint_raw loaded
[ INFO] [1527166998.247947782]: Plugin setpoint_raw initialized
[ INFO] [1527166998.248232176]: Plugin setpoint_velocity loaded
[ INFO] [1527166998.276827990]: Plugin setpoint_velocity initialized
[ INFO] [1527166998.277159823]: Plugin sys_status loaded
[ INFO] [1527166998.313704869]: Plugin sys_status initialized
[ INFO] [1527166998.314003064]: Plugin sys_time loaded
[ INFO] [1527166998.325176275]: TM: Timesync mode: MAVLINK
[ INFO] [1527166998.327852553]: Plugin sys_time initialized
[ INFO] [1527166998.328095534]: Plugin vfr_hud loaded
[ INFO] [1527166998.330919928]: Plugin vfr_hud initialized
[ INFO] [1527166998.331147359]: Plugin vibration loaded
[ INFO] [1527166998.335247172]: Plugin vibration initialized
[ INFO] [1527166998.335499616]: Plugin vision_pose_estimate loaded
[ INFO] [1527166998.369932485]: Plugin vision_pose_estimate initialized
[ INFO] [1527166998.370189466]: Plugin vision_speed_estimate loaded
[ INFO] [1527166998.383793912]: Plugin vision_speed_estimate initialized
[ INFO] [1527166998.384077019]: Plugin waypoint loaded
[ INFO] [1527166998.403765289]: Plugin waypoint initialized
[ INFO] [1527166998.404032333]: Plugin wind_estimation loaded
[ INFO] [1527166998.406681323]: Plugin wind_estimation initialized
[ INFO] [1527166998.406813352]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1527166998.406874153]: Built-in MAVLink package version: 2018.5.5
[ INFO] [1527166998.406924542]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1527166998.406979693]: MAVROS started. MY ID 2.240, TARGET ID 1.1
[ INFO] [1527166998.408225699]: IMU: Attitude quaternion IMU detected!
[ INFO] [1527166998.408474430]: IMU: High resolution IMU detected!
[ INFO] [1527166999.200899783]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1527166999.204518434]: IMU: High resolution IMU detected!
[ INFO] [1527166999.204972608]: IMU: Attitude quaternion IMU detected!
[ INFO] [1527167000.246101700]: VER: 1.1: Capabilities         0x00000000000024ef
[ INFO] [1527167000.246399932]: VER: 1.1: Flight software:     01060500 (00000000B9C7CD26)
[ INFO] [1527167000.246488372]: VER: 1.1: Middleware software: 01060500 (00000000B9C7CD26)
[ INFO] [1527167000.246534273]: VER: 1.1: OS software:         000000c0 (0000000000000000)
[ INFO] [1527167000.246748090]: VER: 1.1: Board hardware:      0000a4a7
[ INFO] [1527167000.246867818]: VER: 1.1: VID/PID:             0525:a4a7
[ INFO] [1527167000.246908907]: VER: 1.1: UID:                 3335511839343335
[ WARN] [1527167000.247388481]: CMD: Unexpected command 520, result 0
[ WARN] [1527167013.218527443]: PR: request param #452 timeout, retries left 2, and 1 params still missing
[ INFO] [1527167014.241870430]: WP: mission received
[ WARN] [1527167359.915573803]: CMD: Unexpected command 200, result 4
[ WARN] [1527168934.267074100]: TM: Clock skew detected (-763580720.440153122 s). Hard syncing clocks.

진단

header: 
  seq: 3416
  stamp: 
    secs: 1527169233
    nsecs: 907997653
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "tcp://127.0.0.1:5760"
    values: 
      - 
        key: "Received packets:"
        value: "60196"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "159"
      - 
        key: "Tx sequence number:"
        value: "39"
      - 
        key: "Rx total bytes:"
        value: "147758546"
      - 
        key: "Tx total bytes:"
        value: "580048"
      - 
        key: "Rx speed:"
        value: "100808.000000"
      - 
        key: "Tx speed:"
        value: "390.000000"
  - 
    level: 0
    name: "mavros: GPS"
    message: "3D fix"
    hardware_id: "tcp://127.0.0.1:5760"
    values: 
      - 
        key: "Satellites visible"
        value: "8"
      - 
        key: "Fix type"
        value: "3"
      - 
        key: "EPH (m)"
        value: "1.24"
      - 
        key: "EPV (m)"
        value: "2.39"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "tcp://127.0.0.1:5760"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "2229"
      - 
        key: "Frequency (Hz)"
        value: "0.962947"
      - 
        key: "Vehicle type"
        value: "Quadrotor"
      - 
        key: "Autopilot type"
        value: "PX4 Autopilot"
      - 
        key: "Mode"
        value: "AUTO.RTL"
      - 
        key: "System status"
        value: "Standby"
  - 
    level: 0
    name: "mavros: System"
    message: "Normal"
    hardware_id: "tcp://127.0.0.1:5760"
    values: 
      - 
        key: "Sensor present"
        value: "0x00000000"
      - 
        key: "Sensor enabled"
        value: "0x00000000"
      - 
        key: "Sensor helth"
        value: "0x00000000"
      - 
        key: "CPU Load (%)"
        value: "77.8"
      - 
        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: "mavros: Battery"
    message: "Normal"
    hardware_id: "tcp://127.0.0.1:5760"
    values: 
      - 
        key: "Voltage"
        value: "17.91"
      - 
        key: "Current"
        value: "0.0"
      - 
        key: "Remaining"
        value: "100.0"
---

아이디 확인

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!
OK. I got messages from 1:1.

---
Received 9307 messages, from 1 addresses
sys:comp   list of messages
  1:1     0, 1, 2, 266, 140, 141, 147, 24, 30, 31, 32, 33, 36, 74, 76, 83, 85, 87, 230, 231, 105, 111, 241, 242, 245