Mavros: Mavros 1.2가 제대로 작동하지 않음 긴급

문제 세부정보

저는 docker로 작업 중이며 PX4 홍채 드론을 제어하기 위해 ros-melodic-mavros 및 ros-melodic-mavros-extras를 사용하고 있습니다. 버전 1.1에서는 잘 작동했습니다. '/iris_{}/mavros/setpoint_raw/local 주제에 대해 Positiontarget을 사용하여 드론을 제어하고 있지만 1.2에서는 아무 일도 일어나지 않습니다. apt-get에서 이전 버전을 가져오는 옵션이 없습니다(왜?)

MAVROS 버전 및 플랫폼

마브로스: 1.2
ROS: 멜로디
우분투:18.04
도커 : 19.03.11
전망대 : 9

자동 조종 장치 유형 및 버전

[ ] 아두파일럿
[ x ] PX4

버전: 1.10

진단

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"
---

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

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

단일 드론 네임스페이스의 ID 확인

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

포인트가 게시되고 있지만(로스토픽 에코로 확인) 드론이 전혀 움직이지 않습니다.