μλ
νμΈμ,
APM νμ¨μ΄μ ν¨κ» Pixhawk 2λ₯Ό μ¬μ©νκ³ μμ΅λλ€. GPS κ±°λΆ νκ²½μμ mavrosμ fake_gps κΈ°λ₯μ μ¬μ©νλ €κ³ ν©λλ€. μΏΌλμ νμ§νλ λ°μ΄ν°λ₯Ό κ°μ Έμ€κ³ μμ΅λλ€.
λ΄κ° λ νκ±°μ§:
λλ κ·Έ λ°μ΄ν°λ₯Ό / mavros / fake_gps / mocap / pose μ£Όμ μ κ²μνκ³ μμ΅λλ€.
GPS_TYPE λ§€κ° λ³μλ₯Ό 14λ‘ μ€μ νμ΅λλ€.
κ·Έ λ°μ 무μμν΄μΌν©λκΉ?
μμ μ½λλ₯Ό μλνμ΅λλ€ : https://dev.px4.io/en/ros/mavros_offboard.html
OFFBOARDλ₯Ό μ¬μ©ν μ μκΈ° λλ¬Έμ GUIDED λͺ¨λλ‘ λ³κ²½νμ΅λλ€.
μ€ν μ μΏΌλλ 무μ₯ λ° λ¬΄μ₯ ν΄μ λ§ κ°λ₯ν©λλ€.
λ°μ΄ν°λ / mavros / global_position / global λ° / mavros / global_position / local μ£Όμ μ κ²μλ©λλ€.
μ€μ κ°μ μ¬μ©νκΈ°μν κ²μ΄ λλ½ λμμ΅λκΉ?
κ°μ¬ν©λλ€.
λ§λΈλ‘μ€: 0.25.0
ROS : ν€λ€ν±
Ubuntu : 16.04
[] ArduPilot 3.5.5
roslaunch mavros apm.launch
... logging to /home/iarc/.ros/log/1febaee0-721d-11e8-9249-d46d6dbd4f34/roslaunch-iarc-nuc-7785.log
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://192.168.1.113:43529/
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /mavros/cmd/use_comp_id_system_control: False
* /mavros/conn/heartbeat_rate: 1.0
* /mavros/conn/system_time_rate: 0.0
* /mavros/conn/timeout: 10.0
* /mavros/conn/timesync_rate: 0.0
* /mavros/distance_sensor/rangefinder_pub/field_of_view: 0.0
* /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
* /mavros/distance_sensor/rangefinder_pub/id: 0
* /mavros/distance_sensor/rangefinder_pub/send_tf: False
* /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/rangefinder_sub/id: 1
* /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
* /mavros/distance_sensor/rangefinder_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: 0
* /mavros/fake_gps/geo_origin/lat: 0
* /mavros/fake_gps/geo_origin/lon: 0
* /mavros/fake_gps/gps_rate: 5.0
* /mavros/fake_gps/mocap_transform: False
* /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/ttyACM0:57600
* /mavros/gcs_url:
* /mavros/global_position/child_frame_id: base_link
* /mavros/global_position/frame_id: map
* /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/estimator_type: 3
* /mavros/odometry/frame_tf/desired_frame: ned
* /mavros/plugin_blacklist: ['actuator_contro...
* /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: False
* /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: NONE
* /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: False
* /rosdistro: kinetic
* /rosversion: 1.12.13
NODES
/
mavros (mavros/mavros_node)
ROS_MASTER_URI=http://192.168.1.113:11311
process[mavros-1]: started with pid [7803]
[ INFO] [1529233100.904693726]: FCU URL: /dev/ttyACM0:57600
[ INFO] [1529233100.907066529]: serial0: device: /dev/ttyACM0 @ 57600 bps
[ INFO] [1529233100.907533645]: GCS bridge disabled
[ INFO] [1529233100.917808324]: Plugin 3dr_radio loaded
[ INFO] [1529233100.919697375]: Plugin 3dr_radio initialized
[ INFO] [1529233100.919734284]: Plugin actuator_control blacklisted
[ INFO] [1529233100.922886504]: Plugin adsb loaded
[ INFO] [1529233100.926845739]: Plugin adsb initialized
[ INFO] [1529233100.926925649]: Plugin altitude blacklisted
[ INFO] [1529233100.927045572]: Plugin cam_imu_sync loaded
[ INFO] [1529233100.927855154]: Plugin cam_imu_sync initialized
[ INFO] [1529233100.928014385]: Plugin command loaded
[ INFO] [1529233100.933157757]: Plugin command initialized
[ INFO] [1529233100.933194582]: Plugin debug_value blacklisted
[ INFO] [1529233100.933371202]: Plugin distance_sensor loaded
[ INFO] [1529233100.942871617]: Plugin distance_sensor initialized
[ INFO] [1529233100.943050631]: Plugin fake_gps loaded
[ INFO] [1529233100.955037809]: Plugin fake_gps initialized
[ INFO] [1529233100.955071701]: Plugin ftp blacklisted
[ INFO] [1529233100.955248411]: Plugin global_position loaded
[ INFO] [1529233100.973410008]: Plugin global_position initialized
[ INFO] [1529233100.973452160]: Plugin hil blacklisted
[ INFO] [1529233100.973617757]: Plugin home_position loaded
[ INFO] [1529233100.977492334]: Plugin home_position initialized
[ INFO] [1529233100.977692161]: Plugin imu loaded
[ INFO] [1529233100.984270055]: Plugin imu initialized
[ INFO] [1529233100.984451873]: Plugin local_position loaded
[ INFO] [1529233100.989291483]: Plugin local_position initialized
[ INFO] [1529233100.989510646]: Plugin manual_control loaded
[ INFO] [1529233100.992795357]: Plugin manual_control initialized
[ INFO] [1529233100.992844272]: Plugin mocap_pose_estimate blacklisted
[ INFO] [1529233100.992994825]: Plugin obstacle_distance loaded
[ INFO] [1529233100.995429976]: Plugin obstacle_distance initialized
[ INFO] [1529233100.995575217]: Plugin odom loaded
[ INFO] [1529233100.999476117]: Plugin odom initialized
[ INFO] [1529233100.999861248]: Plugin param loaded
[ INFO] [1529233101.003437383]: Plugin param initialized
[ INFO] [1529233101.003533073]: Plugin px4flow blacklisted
[ INFO] [1529233101.003707552]: Plugin rangefinder loaded
[ INFO] [1529233101.005058203]: Plugin rangefinder initialized
[ INFO] [1529233101.005262754]: Plugin rc_io loaded
[ INFO] [1529233101.009053322]: Plugin rc_io initialized
[ INFO] [1529233101.009096818]: Plugin safety_area blacklisted
[ INFO] [1529233101.009248917]: Plugin setpoint_accel loaded
[ INFO] [1529233101.012390968]: Plugin setpoint_accel initialized
[ INFO] [1529233101.012684757]: Plugin setpoint_attitude loaded
[ INFO] [1529233101.022731729]: Plugin setpoint_attitude initialized
[ INFO] [1529233101.022927908]: Plugin setpoint_position loaded
[ INFO] [1529233101.036281193]: Plugin setpoint_position initialized
[ INFO] [1529233101.036517508]: Plugin setpoint_raw loaded
[ INFO] [1529233101.046721225]: Plugin setpoint_raw initialized
[ INFO] [1529233101.046908548]: Plugin setpoint_velocity loaded
[ INFO] [1529233101.052510683]: Plugin setpoint_velocity initialized
[ INFO] [1529233101.052785529]: Plugin sys_status loaded
[ INFO] [1529233101.061974310]: Plugin sys_status initialized
[ INFO] [1529233101.062195184]: Plugin sys_time loaded
[ INFO] [1529233101.065219807]: TM: Timesync mode: NONE
[ INFO] [1529233101.065815237]: Plugin sys_time initialized
[ INFO] [1529233101.065991897]: Plugin vfr_hud loaded
[ INFO] [1529233101.067270138]: Plugin vfr_hud initialized
[ INFO] [1529233101.067307615]: Plugin vibration blacklisted
[ INFO] [1529233101.067455484]: Plugin vision_pose_estimate loaded
[ INFO] [1529233101.076259336]: Plugin vision_pose_estimate initialized
[ INFO] [1529233101.076298309]: Plugin vision_speed_estimate blacklisted
[ INFO] [1529233101.076496955]: Plugin waypoint loaded
[ INFO] [1529233101.082239613]: Plugin waypoint initialized
[ INFO] [1529233101.082336193]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1529233101.082357679]: Built-in MAVLink package version: 2018.4.4
[ INFO] [1529233101.082385235]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1529233101.082404631]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1529233101.093278229]: IMU: Raw IMU message used.
[ WARN] [1529233101.093778768]: IMU: linear acceleration on RAW_IMU known on APM only.
[ WARN] [1529233101.093807927]: IMU: ~imu/data_raw stores unscaled raw acceleration report.
[ INFO] [1529233101.248482208]: CON: Got HEARTBEAT, connected. FCU: ArduPilotMega / ArduCopter
[ INFO] [1529233102.256140604]: VER: 1.1: Capabilities 0x0000000000001bcf
[ INFO] [1529233102.256182404]: VER: 1.1: Flight software: 030505ff (27229c830384802e1bcae90b)
[ INFO] [1529233102.256234497]: VER: 1.1: Middleware software: 00000000 (0384802e1bcae90b)
[ INFO] [1529233102.256319103]: VER: 1.1: OS software: 00000000 (1bcae90b)
[ INFO] [1529233102.256398035]: VER: 1.1: Board hardware: 00000000
[ INFO] [1529233102.256436218]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1529233102.256547518]: VER: 1.1: UID: 0000000000000000
[ WARN] [1529233102.256762459]: CMD: Unexpected command 520, result 0
[ INFO] [1529233103.394170126]: FCU: GPS 1: specified as MAV
[ INFO] [1529233107.414786119]: FCU: GPS 1: specified as MAV
[ INFO] [1529233111.249279828]: HP: requesting home position
[ INFO] [1529233111.253802921]: FCU: APM:Copter V3.5.5 (27229c83)
[ INFO] [1529233111.253972217]: FCU: PX4: 0384802e NuttX: 1bcae90b
[ INFO] [1529233111.254091634]: FCU: Frame: QUAD
[ INFO] [1529233111.254203199]: FCU: PX4v3 003C0044 31375102 33343537
[ INFO] [1529233111.447864456]: FCU: GPS 1: specified as MAV
[ INFO] [1529233115.481029316]: FCU: GPS 1: specified as MAV
[ INFO] [1529233116.253756914]: WP: mission received
[ INFO] [1529233119.515181385]: FCU: GPS 1: specified as MAV
[ INFO] [1529233120.225944654]: PR: parameters list received
[ INFO] [1529233121.249355747]: HP: requesting home position
[ INFO] [1529233123.555016685]: FCU: GPS 1: specified as MAV
[ INFO] [1529233127.590272598]: FCU: GPS 1: specified as MAV
[ INFO] [1529233131.249285398]: HP: requesting home position
[ INFO] [1529233131.628315571]: FCU: GPS 1: specified as MAV
[ WARN] [1529233135.071486383]: GP: No GPS fix
[ INFO] [1529233135.075731838]: RC_CHANNELS message detected!
[ WARN] [1529233135.076477046]: TM: Wrong FCU time.
[ INFO] [1529233135.653925863]: FCU: GPS 1: specified as MAV
[ INFO] [1529233139.685347724]: FCU: GPS 1: specified as MAV
[ INFO] [1529233141.249356342]: HP: requesting home position
[ INFO] [1529233143.717709032]: FCU: GPS 1: specified as MAV
[ INFO] [1529233147.752196306]: FCU: GPS 1: specified as MAV
[ INFO] [1529233151.249823219]: HP: requesting home position
[ INFO] [1529233151.784442458]: FCU: GPS 1: specified as MAV
[ INFO] [1529233155.808994927]: FCU: GPS 1: specified as MAV
[ INFO] [1529233159.842142713]: FCU: GPS 1: specified as MAV
[ INFO] [1529233161.249325469]: HP: requesting home position
[ INFO] [1529233163.867081122]: FCU: GPS 1: specified as MAV
[ INFO] [1529233167.901698837]: FCU: GPS 1: specified as MAV
[ WARN] [1529233167.902534354]: GP: No GPS fix
[ INFO] [1529233171.249009537]: HP: requesting home position
[ INFO] [1529233171.926019409]: FCU: GPS 1: specified as MAV
[ INFO] [1529233175.952398268]: FCU: GPS 1: specified as MAV
[ INFO] [1529233179.983146598]: FCU: GPS 1: specified as MAV
[ INFO] [1529233181.249289068]: HP: requesting home position
[ INFO] [1529233184.006929757]: FCU: GPS 1: specified as MAV
[ WARN] [1529233186.787595623]: CMD: Unexpected command 11, result 0
[ INFO] [1529233188.027575700]: FCU: GPS 1: specified as MAV
[ INFO] [1529233191.249731575]: HP: requesting home position
[ INFO] [1529233192.112129587]: FCU: GPS 1: specified as MAV
[ WARN] [1529233195.200561229]: TM: Wrong FCU time.
[ INFO] [1529233196.143702084]: FCU: GPS 1: specified as MAV
[ INFO] [1529233200.170517098]: FCU: GPS 1: specified as MAV
[ WARN] [1529233200.191084345]: GP: No GPS fix
[ INFO] [1529233201.249219509]: HP: requesting home position
[ INFO] [1529233204.200820562]: FCU: GPS 1: specified as MAV
[ INFO] [1529233208.224145083]: FCU: GPS 1: specified as MAV
[ INFO] [1529233211.248923744]: HP: requesting home position
[ INFO] [1529233212.258277496]: FCU: GPS 1: specified as MAV
[ INFO] [1529233216.285994373]: FCU: GPS 1: specified as MAV
[ INFO] [1529233220.312574027]: FCU: GPS 1: specified as MAV
[ INFO] [1529233221.249636027]: HP: requesting home position
[ INFO] [1529233224.337966981]: FCU: GPS 1: specified as MAV
[ INFO] [1529233228.368042929]: FCU: GPS 1: specified as MAV
[ INFO] [1529233231.249305788]: HP: requesting home position
[ INFO] [1529233241.249557762]: HP: requesting home position
[ INFO] [1529233251.249011158]: HP: requesting home position
[ WARN] [1529233255.327671766]: TM: Wrong FCU time.
[ INFO] [1529233261.248929313]: HP: requesting home position
[ INFO] [1529233271.248681832]: HP: requesting home position
[ INFO] [1529233281.249366743]: HP: requesting home position
[ INFO] [1529233286.901058197]: FCU: GPS 1: specified as MAV
[ WARN] [1529233286.913974601]: GP: No GPS fix
[ INFO] [1529233290.928028111]: FCU: GPS 1: specified as MAV
[ INFO] [1529233291.249449155]: HP: requesting home position
[ INFO] [1529233294.949740956]: FCU: GPS 1: specified as MAV
[ INFO] [1529233298.977783913]: FCU: GPS 1: specified as MAV
[ INFO] [1529233301.249022461]: HP: requesting home position
[ INFO] [1529233303.007798640]: FCU: GPS 1: specified as MAV
[ INFO] [1529233307.040855179]: FCU: GPS 1: specified as MAV
[ INFO] [1529233311.071646472]: FCU: GPS 1: specified as MAV
[ INFO] [1529233311.249484208]: HP: requesting home position
[ INFO] [1529233315.108677495]: FCU: GPS 1: specified as MAV
[ WARN] [1529233315.380266121]: TM: Wrong FCU time.
[ INFO] [1529233319.146834635]: FCU: GPS 1: specified as MAV
[ WARN] [1529233319.162073776]: GP: No GPS fix
[ INFO] [1529233321.249184201]: HP: requesting home position
[ INFO] [1529233323.175349773]: FCU: GPS 1: specified as MAV
[ INFO] [1529233327.205661862]: FCU: GPS 1: specified as MAV
[ INFO] [1529233331.233739427]: FCU: GPS 1: specified as MAV
[ INFO] [1529233331.249530318]: HP: requesting home position
[ INFO] [1529233335.268604835]: FCU: GPS 1: specified as MAV
[ INFO] [1529233339.299985616]: FCU: GPS 1: specified as MAV
[ INFO] [1529233341.248873702]: HP: requesting home position
[ INFO] [1529233343.332455953]: FCU: GPS 1: specified as MAV
[ INFO] [1529233347.361766277]: FCU: GPS 1: specified as MAV
[ INFO] [1529233351.249429500]: HP: requesting home position
[ INFO] [1529233351.389718728]: FCU: GPS 1: specified as MAV
[ WARN] [1529233351.390070171]: GP: No GPS fix
[ INFO] [1529233355.419317598]: FCU: GPS 1: specified as MAV
[ INFO] [1529233359.450095251]: FCU: GPS 1: specified as MAV
[ INFO] [1529233361.248966447]: HP: requesting home position
[ INFO] [1529233363.489095254]: FCU: GPS 1: specified as MAV
[ INFO] [1529233367.512442875]: FCU: GPS 1: specified as MAV
[ INFO] [1529233371.248639415]: HP: requesting home position
[ INFO] [1529233371.538314556]: FCU: GPS 1: specified as MAV
[ WARN] [1529233375.426974748]: TM: Wrong FCU time.
[ INFO] [1529233375.570707437]: FCU: GPS 1: specified as MAV
[ INFO] [1529233379.600086762]: FCU: GPS 1: specified as MAV
[ INFO] [1529233381.249291464]: HP: requesting home position
[ WARN] [1529233383.609857168]: GP: No GPS fix
[ INFO] [1529233383.626871073]: FCU: GPS 1: specified as MAV
[ INFO] [1529233387.662994914]: FCU: GPS 1: specified as MAV
[ INFO] [1529233391.248993310]: HP: requesting home position
[ INFO] [1529233391.686922293]: FCU: GPS 1: specified as MAV
[ INFO] [1529233395.714712687]: FCU: GPS 1: specified as MAV
[ INFO] [1529233399.750133517]: FCU: GPS 1: specified as MAV
[ INFO] [1529233401.249354961]: HP: requesting home position
[ INFO] [1529233403.779743139]: FCU: GPS 1: specified as MAV
[ INFO] [1529233407.812814964]: FCU: GPS 1: specified as MAV
[ INFO] [1529233411.248654159]: HP: requesting home position
[ INFO] [1529233411.846221497]: FCU: GPS 1: specified as MAV
[ INFO] [1529233415.874353495]: FCU: GPS 1: specified as MAV
[ WARN] [1529233415.945644587]: GP: No GPS fix
[ INFO] [1529233419.903408485]: FCU: GPS 1: specified as MAV
[ INFO] [1529233421.249254246]: HP: requesting home position
[ INFO] [1529233423.932839130]: FCU: GPS 1: specified as MAV
[ INFO] [1529233427.962273008]: FCU: GPS 1: specified as MAV
[ INFO] [1529233431.249328032]: HP: requesting home position
[ INFO] [1529233431.984509354]: FCU: GPS 1: specified as MAV
[ WARN] [1529233435.500096395]: TM: Wrong FCU time.
[ INFO] [1529233436.006257174]: FCU: GPS 1: specified as MAV
[ INFO] [1529233440.039063452]: FCU: GPS 1: specified as MAV
[ INFO] [1529233441.249443599]: HP: requesting home position
[ INFO] [1529233444.079404012]: FCU: GPS 1: specified as MAV
[ INFO] [1529233448.105451615]: FCU: GPS 1: specified as MAV
[ WARN] [1529233448.126532297]: GP: No GPS fix
[ INFO] [1529233451.249306373]: HP: requesting home position
[ INFO] [1529233452.143016622]: FCU: GPS 1: specified as MAV
[ INFO] [1529233456.168985599]: FCU: GPS 1: specified as MAV
[ INFO] [1529233460.196618407]: FCU: GPS 1: specified as MAV
[ INFO] [1529233461.249133610]: HP: requesting home position
[ INFO] [1529233464.227714397]: FCU: GPS 1: specified as MAV
[ INFO] [1529233468.261722299]: FCU: GPS 1: specified as MAV
[ INFO] [1529233471.248625641]: HP: requesting home position
[ INFO] [1529233481.249068977]: HP: requesting home position
[ INFO] [1529233491.249042000]: HP: requesting home position
[ WARN] [1529233495.522446777]: TM: Wrong FCU time.
[ INFO] [1529233501.249318446]: HP: requesting home position
[ INFO] [1529233511.249172243]: HP: requesting home position
[ INFO] [1529233521.248836416]: HP: requesting home position
[ INFO] [1529233531.249503656]: HP: requesting home position
[ INFO] [1529233541.249042618]: HP: requesting home position
[ INFO] [1529233551.249461932]: HP: requesting home position
[ WARN] [1529233555.581892810]: TM: Wrong FCU time.
[ INFO] [1529233561.249301280]: HP: requesting home position
[ INFO] [1529233571.249552332]: HP: requesting home position
[ INFO] [1529233581.249404226]: HP: requesting home position
[ INFO] [1529233591.249340694]: HP: requesting home position
[ INFO] [1529233601.249134821]: HP: requesting home position
[ INFO] [1529233611.248867728]: HP: requesting home position
[ WARN] [1529233615.634297444]: TM: Wrong FCU time.
[ INFO] [1529233621.249271320]: HP: requesting home position
[ INFO] [1529233631.249518855]: HP: requesting home position
[ INFO] [1529233641.248807186]: HP: requesting home position
[ INFO] [1529233651.248936152]: HP: requesting home position
[ INFO] [1529233661.249330179]: HP: requesting home position
[ INFO] [1529233671.248947692]: HP: requesting home position
[ WARN] [1529233675.660762296]: TM: Wrong FCU time.
[ INFO] [1529233681.249632431]: HP: requesting home position
[ INFO] [1529233691.248845092]: HP: requesting home position
[ INFO] [1529233701.249006952]: HP: requesting home position
[ INFO] [1529233711.249445211]: HP: requesting home position
[ INFO] [1529233721.249430880]: HP: requesting home position
[ INFO] [1529233731.249171087]: HP: requesting home position
[ WARN] [1529233735.698660133]: TM: Wrong FCU time.
[ INFO] [1529233741.249518988]: HP: requesting home position
[ INFO] [1529233751.248892504]: HP: requesting home position
[ INFO] [1529233761.249125937]: HP: requesting home position
[ INFO] [1529233771.249541330]: HP: requesting home position
[ INFO] [1529233781.249461834]: HP: requesting home position
[ INFO] [1529233791.249648463]: HP: requesting home position
[ WARN] [1529233795.725572246]: TM: Wrong FCU time.
[ INFO] [1529233801.248934706]: HP: requesting home position
[ INFO] [1529233811.249255778]: HP: requesting home position
[ INFO] [1529233821.249206161]: HP: requesting home position
[ INFO] [1529233831.249502995]: HP: requesting home position
[ INFO] [1529233841.248692377]: HP: requesting home position
[ INFO] [1529233851.249376398]: HP: requesting home position
[ WARN] [1529233855.810071689]: TM: Wrong FCU time.
[ INFO] [1529233861.248920285]: HP: requesting home position
[ INFO] [1529233871.248628598]: HP: requesting home position
[ INFO] [1529233881.248989665]: HP: requesting home position
[ INFO] [1529233891.249602943]: HP: requesting home position
[ INFO] [1529233901.249465007]: HP: requesting home position
[ INFO] [1529233911.249521154]: HP: requesting home position
[ WARN] [1529233915.839602673]: TM: Wrong FCU time.
[ INFO] [1529233921.249167122]: HP: requesting home position
[ INFO] [1529233931.249239963]: HP: requesting home position
[ INFO] [1529233941.249008651]: HP: requesting home position
[ INFO] [1529233951.248840613]: HP: requesting home position
[ INFO] [1529233961.249624098]: HP: requesting home position
[ INFO] [1529233971.249236874]: HP: requesting home position
[ WARN] [1529233975.883673824]: TM: Wrong FCU time.
[ INFO] [1529233981.248869482]: HP: requesting home position
[ INFO] [1529233991.249665175]: HP: requesting home position
[ INFO] [1529234001.249437581]: HP: requesting home position
[ INFO] [1529234011.249133372]: HP: requesting home position
[ INFO] [1529234021.249644236]: HP: requesting home position
[ INFO] [1529234031.249353099]: HP: requesting home position
[ WARN] [1529234035.961871520]: TM: Wrong FCU time.
[ INFO] [1529234041.249298719]: HP: requesting home position
[ INFO] [1529234051.249243604]: HP: requesting home position
[ INFO] [1529234061.249666832]: HP: requesting home position
[ INFO] [1529234071.249297121]: HP: requesting home position
[ INFO] [1529234081.249317568]: HP: requesting home position
[ INFO] [1529234091.249500240]: HP: requesting home position
[ WARN] [1529234095.965315243]: TM: Wrong FCU time.
[ INFO] [1529234101.249055145]: HP: requesting home position
[ INFO] [1529234111.248864856]: HP: requesting home position
[ INFO] [1529234121.249184079]: HP: requesting home position
[ INFO] [1529234131.249046792]: HP: requesting home position
place here result of:
rostopic echo -n1 /diagnostics
header:
seq: 1121
stamp:
secs: 1529234554
nsecs: 82984505
frame_id: ''
status:
-
level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "/dev/ttyACM0:57600"
values:
-
key: "Received packets:"
value: "51732"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "98"
-
key: "Tx sequence number:"
value: "62"
-
key: "Rx total bytes:"
value: "11044217"
-
key: "Tx total bytes:"
value: "362018"
-
key: "Rx speed:"
value: "11498.000000"
-
key: "Tx speed:"
value: "378.000000"
-
level: 0
name: "mavros: GPS"
message: "3D fix"
hardware_id: "/dev/ttyACM0:57600"
values:
-
key: "Satellites visible"
value: "5"
-
key: "Fix type"
value: "3"
-
key: "EPH (m)"
value: "99.99"
-
key: "EPV (m)"
value: "99.99"
-
level: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "/dev/ttyACM0:57600"
values:
-
key: "Heartbeats since startup"
value: "1449"
-
key: "Frequency (Hz)"
value: "1.037027"
-
key: "Vehicle type"
value: "Quadrotor"
-
key: "Autopilot type"
value: "ArduPilotMega / ArduCopter"
-
key: "Mode"
value: "GUIDED"
-
key: "System status"
value: "Standby"
-
level: 2
name: "mavros: System"
message: "Sensor helth"
hardware_id: "/dev/ttyACM0:57600"
values:
-
key: "Sensor present"
value: "0x0160FD6F"
-
key: "Sensor enabled"
value: "0x0260FD6F"
-
key: "Sensor helth"
value: "0x0160FD6F"
-
key: "3D gyro"
value: "Ok"
-
key: "3D accelerometer"
value: "Ok"
-
key: "3D magnetometer"
value: "Ok"
-
key: "absolute pressure"
value: "Ok"
-
key: "GPS"
value: "Ok"
-
key: "optical flow"
value: "Ok"
-
key: "laser based position"
value: "Ok"
-
key: "3D angular rate control"
value: "Ok"
-
key: "attitude stabilization"
value: "Ok"
-
key: "yaw position"
value: "Ok"
-
key: "z/altitude control"
value: "Ok"
-
key: "x/y position control"
value: "Ok"
-
key: "motor outputs / control"
value: "Ok"
-
key: "AHRS subsystem health"
value: "Ok"
-
key: "Terrain subsystem health"
value: "Ok"
-
key: "Battery"
value: "Fail"
-
key: "CPU Load (%)"
value: "58.5"
-
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: 1
name: "mavros: Battery"
message: "Low voltage"
hardware_id: "/dev/ttyACM0:57600"
values:
-
key: "Voltage"
value: "0.00"
-
key: "Current"
value: "-0.0"
-
key: "Remaining"
value: "-1.0"
rosrun mavros checkid
OK. I got messages from 1:1.
---
Received 3999 messages, from 1 addresses
sys:comp list of messages
1:1 0, 129, 2, 133, 1, 136, 137, 24, 150, 152, 22, 27, 29, 30, 193, 33, 35, 36, 165, 42, 173, 178, 182, 62, 65, 74, 77, 163, 100, 241, 116, 125
νλ¬κ·ΈμΈ ꡬμ±μ νμΈ νμ΅λκΉ : https://github.com/mavlink/mavros/blob/master/mavros/launch/px4_config.yaml#L161 -L182?
https://github.com/mavlink/mavros/blob/master/mavros/launch/px4_config.yaml#L165 λ₯Ό falseλ‘ μ€μ νκ³ μΆμ κ²μ
λλ€.
μμ μ½λλ₯Ό μλνμ΅λλ€ : https://dev.px4.io/en/ros/mavros_offboard.html
OFFBOARDλ₯Ό μ¬μ©ν μ μκΈ° λλ¬Έμ GUIDED λͺ¨λλ‘ λ³κ²½νμ΅λλ€.
μ€ν μ μΏΌλλ 무μ₯ λ° λ¬΄μ₯ ν΄μ λ§ κ°λ₯ν©λλ€.
μ΄κ²μμ΄ λ¬Έμ μ체μ κ΄λ ¨μ΄ μμ΅λλ€. APMμμ GUIDED λͺ¨λλ₯Ό μ¬μ©νλ λ°©λ²μ λν μ§λ¬Έμ΄ μλ κ²½μ° μ λ¬Έμ λ₯Ό μ΄κ±°λ APM ν¬λΌμ μ§λ¬Έν΄μΌ ν©λλ€.
λ°μ΄ν°λ / mavros / global_position / global λ° / mavros / global_position / local μ£Όμ μ κ²μλ©λλ€.
λ¬΄μ¨ λ°μ΄ν°? λΉμ μ λ°μ΄ν°? μλλ©΄ FCUμμ μ€λ λ°μ΄ν°?
μ€μ κ°μ μ¬μ©νκΈ°μν κ²μ΄ λλ½ λμμ΅λκΉ?
λ€μ λ§νμ§λ§, fake_gps
νλ¬κ·ΈμΈμ μ μ΄κ° μλ μΆμ μλ§ μ€μν©λλ€. λ°λΌμ λ κ°μ§ λ³λμ λ¬Έμ κ° μμ΅λλ€.
@TSC21 λ΅λ³ κ°μ¬ν©λλ€.
apm_config.yaml νμΌμ νΈμ§νμ΅λλ€. px4_config.yamlμ νΈμ§ ν νμκ° μμ΅λκΉ?
#fake_gps
fake_gps:
# select data source
use_mocap: true # ~mocap/pose
mocap_transform: false # ~mocap/tf instead of pose
use_vision: false # ~vision (pose)
# origin (default: ZΓΌrich)
geo_origin:
lat: 0 # latitude [degrees]
lon: 0 # longitude [degrees]
alt: 0 # altitude (height over the WGS-84 ellipsoid) [meters]
eph: 2.0
epv: 2.0
satellites_visible: 5 # virtual number of visible satellites
fix_type: 3 # type of GPS fix (default: 3D)
tf:
listen: false
send: false # send TF?
frame_id: "map" # TF frame_id
child_frame_id: "fix" # TF child_frame_id
rate_limit: 10.0 # TF rate
gps_rate: 5.0 # GPS data publishing rate
μμ¬: λ³κ²½ν λ€λ₯Έ 맀κ°λ³μλ 무μμ
λκΉ?
λ¬΄μ¨ λ°μ΄ν°? λΉμ μ λ°μ΄ν°? μλλ©΄ FCUμμ μ€λ λ°μ΄ν°?
μλ§ FCU. λμ€μ νμ§ν λ°μ΄ν°κ° μλμ κΉ¨λ¬μμ΅λλ€.
νμ§ν λ°μ΄ν°κ° Pixhawkμμ μ¬μ©λκ³ μλμ§ νμΈνλ λ°©λ²μ΄ μμ΅λκΉ? μ¦, μΆμ μ΄ μλνκ³ μμ΅λκΉ? λμ€μ μ μ΄ λΆλΆμ νμΈνκ² μ΅λλ€.
λ€μ λ§νμ§λ§, fake_gps νλ¬κ·ΈμΈμ μ μ΄κ° μλ μΆμ μλ§ μ€μν©λλ€. λ°λΌμ λ κ°μ§ λ³λμ λ¬Έμ κ° μμ΅λλ€.
λ€. λΉμ μ μμ μ μμμ΅λλ€.
apm_config.yaml νμΌμ νΈμ§νμ΅λλ€. px4_config.yamlμ νΈμ§ ν νμκ° μμ΅λκΉ?
APMμ μ¬μ©νκ³ μμ΅λκΉ? λ°λΌμ APMλ§ μμΌλ©΄ λ©λλ€.
μλμ κ²½λλ νμ¬ μμΉλ‘ λ³κ²½ν΄μΌν©λκΉ?
λΉμ μ ν μ μμ§λ§ νμλ μλλλ€. μ΄κ²λ€μ λ¨μ§ κ°μ§ μ’νμ λλ€.
νμ§ν λ°μ΄ν°κ° Pixhawkμμ μ¬μ©λκ³ μλμ§ νμΈνλ λ°©λ²μ΄ μμ΅λκΉ? μ¦, μΆμ μ΄ μλνκ³ μμ΅λκΉ?
mavros/global_position/global
λ° mavros/local_position/local
λͺ¨λ μ¬μ©ν μ μμ΅λλ€. 첫 λ²μ§Έλ LLA μ©μ΄κ³ λ λ²μ§Έλ λ‘컬 μμΉ μ©μ
λλ€.
@TrishantRoy μ΄ λ¬Έμ κ° ν΄κ²°
μ€μ λ‘ μμ νλ μλλλ€. νλμ μ΄κ²μ λ°λ‘ 보κ΄νμ΅λλ€.
νμ¬ λ¬Έμ λ₯Ό μ’ λ£νμ§ μλ κ²μ΄ μ’μ΅λλ€. κ·Έλ¬λ νμν κ²½μ° λ«μ΅λλ€. μ΄μ κ΄λ ¨λ λ¬Έμλ μΆν μ κΈμ ν΅ν΄ μ¬λ¦¬λλ‘ νκ² μ΅λλ€.
κ°μ¬.
@trishantroy μ§ν μν©μ΄ μμ΅λκΉ?
λ΄κ° μ§λ©΄ν λ¬Έμ λ₯Ό ν΄κ²°νκΈ° μν΄ μΈλΆ μμΉ μΆμ κΈ°λ₯μ μ¬μ©νμ΅λλ€.
@trishantroy λλ¨ν©λλ€.
μ΄ λ¬Έμ λ₯Ό ν΄κ²°νλ λ°©λ²μ μλ €μ£ΌμΈμ.
λΉμ μμΉ μΆμ μ μ¬μ©νμ¬ μμΉ λͺ¨λλ‘ λλ‘ μ λ 릴 μ μμ§λ§ νμ κ±°λΆλλ λ―Έμ
λͺ¨λλ‘ μ νν λ. ν ν¬μ§μ
μ μμ²νλ κ² κ°μ΅λλ€. fake_gpsλ₯Ό μ°κ²° ν λ΄ mavros λ©μμ§λ₯Ό 보μμ§λ§ μ νμ ν μμΉλ₯Ό μμ²ν©λκΉ?
μλ‘μ΄ λ¬Έμ λ₯Ό μ΄μ΄μΌν©λκΉ?
@trishantroy λλ¨ν©λλ€.
μ΄ λ¬Έμ λ₯Ό ν΄κ²°νλ λ°©λ²μ μλ €μ£ΌμΈμ.
[ INFO] [1529234131.249046792] : HP : νν¬μ§μ μμ²
λΉμ μμΉ μΆμ μ μ¬μ©νμ¬ μμΉ λͺ¨λλ‘ λλ‘ μ λ 릴 μ μμ§λ§ νμ κ±°λΆλλ λ―Έμ λͺ¨λλ‘ μ νν λ. ν ν¬μ§μ μ μμ²νλ κ² κ°μ΅λλ€. fake_gpsλ₯Ό μ°κ²° ν λ΄ mavros λ©μμ§λ₯Ό 보μμ§λ§ μ νμ ν μμΉλ₯Ό μμ²ν©λκΉ?μλ‘μ΄ λ¬Έμ λ₯Ό μ΄μ΄μΌν©λκΉ?
@ px4Li λ«ν λ¬Έμ μ λν ν λ‘ μ κ³μνμ§ λ§μμμ€. PX4λ₯Ό μ¬μ©νλ κ²½μ° λ¬Έμ μ λν λ κ°μ§ μ루μ μ΄ μμ΅λλ€.
fake_gps
νλ¬κ·ΈμΈμ μ¬μ©νκ³ GPS λ°μ΄ν°λ‘ λ‘컬 μμΉ μΆμ μ 보λ
λλ€.LPE_FAKE_ORIGIN
λ§€κ° λ³μλ₯Ό 1
ν©λλ€.
κ°μ₯ μ μ©ν λκΈ
@ px4Li λ«ν λ¬Έμ μ λν ν λ‘ μ κ³μνμ§ λ§μμμ€. PX4λ₯Ό μ¬μ©νλ κ²½μ° λ¬Έμ μ λν λ κ°μ§ μ루μ μ΄ μμ΅λλ€.
fake_gps
νλ¬κ·ΈμΈμ μ¬μ©νκ³ GPS λ°μ΄ν°λ‘ λ‘컬 μμΉ μΆμ μ 보λ λλ€.LPE_FAKE_ORIGIN
λ§€κ° λ³μλ₯Ό1
ν©λλ€.