First, while(ros::ok() && current_state.connected){ should be while(ros::ok() && !current_state.connected){.
Also - https://github.com/mavlink/mavros/blob/master/mavros/src/plugins/setpoint_position.cpp#L69 - make sure you are getting data from the global_position/global topic.

I corrected the while loop with the !
rostopic echo global_position/global returns the correct output:

header: 
  seq: 283
  stamp: 
    secs: 193
    nsecs: 832815640
  frame_id: "base_link"
status: 
  status: 0
  service: 1
latitude: 42.3005867
longitude: -6.7324631
altitude: 2120.89452234
position_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
position_covariance_type: 1

However, it is still not working. when I run the code it finishes without arming or enabling offboard.
The only warning it produces is:

[ WARN] [1514991840.139563807, 7583.766000000]: SPG: sp not sent.
INFO  [tone_alarm] negative
[ WARN] [1514991840.303175629, 7583.928000000]: CMD: Unexpected command 176, result 1

I have to translate from global to local and then send in mavros/setpoint_position/local otherwise it won't work.
I am curious, is it me the only one with this problem? Is someone able to reproduce the aircraft offboard example just by publishing in mavros/setpoint_position/global?

@mzahana can you please guide @danividanivi on the issue above? Thanks

I would just like to mention that I have also encountered this issue. I was able to confirm that I was publishing to the correct topic, but MAVROS does not seem to be able to translate it into a correct MAVLINK setpoint message for the PX4. I checked using QGroundcontrol and was only able to see a setpoint message being published on the PX4 when using local.

@mzahana can you restest your implementation and make sure it works? Thanks

@eric1221bday quick question: do you get GPS data on MAVROS? Also what do you mean with:

but MAVROS does not seem to be able to translate it into a correct MAVLINK setpoint message for the PX4

This sounds kinda vague and we can't debug any issue with information like this.

I was using SITL, and yes, GPS simulation was enabled and I was able to view the topic in ROS. As for the mavlink thing. What I meant was simply that it didn't seem like the global setpoint was being sent to the px4 correctly, since I was unable to see it using Mavlink Inspector.

This isn't supposed to publish any global position setpoint, but rather convert from global to local and publish as a local position setpoint. So you actually never see a global setpoint.

I was able to deduce that yes, and I was similarly unable to see any local setpoints either from the PX4.

Well that does depend on how your node is set and what you publish or not to MAVROS. This cannot be debugged without further info.

@eric1221bday anything else to add or can we close this?

I will retest this on my side and get back to you.

Any progress? I'm having the same issue and can't seem to find a solution.

Make sure you set the header.stamp field. Only then it works!

Good afternoon! Could anyone confirm that publishing to the topic /mavros/setpoint_position/global they hace successfully managed to control the drone’s position? I am having the same issue (no response obtained, px4 does not seem to receive any message) even setting the header.stamp field

Yes, it works for me!

Same here... (does not work for me)

@tropappar do you mind sharing some sample code. I am running script similar to the one at the top, yet on rqt_graph I don’t see any topics being published from my node even though it is successfully publishing.

Here you go:

#include <ros/ros.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/State.h>
#include <mavros_msgs/GlobalPositionTarget.h>
#include <sensor_msgs/NavSatFix.h>

// global variables
mavros_msgs::State current_state;
sensor_msgs::NavSatFix global_position;
bool global_position_received = false;

// callback functions
void globalPosition_cb(const sensor_msgs::NavSatFix::ConstPtr& msg) {
    global_position = *msg;
    global_position_received = true;
    ROS_INFO_ONCE("Got global position: [%.2f, %.2f, %.2f]", msg->latitude, msg->longitude, msg->altitude);
}

void state_cb(const mavros_msgs::State::ConstPtr& msg) {
    current_state = *msg;
}

// main function
int main(int argc, char **argv) {
    ros::init(argc, argv, "test");
    ros::NodeHandle nh;

    ros::ServiceClient arming_client = nh.serviceClient < mavros_msgs::CommandBool > ("mavros/cmd/arming");
    ros::ServiceClient set_mode_client = nh.serviceClient < mavros_msgs::SetMode > ("mavros/set_mode");
    ros::Subscriber state_sub = nh.subscribe < mavros_msgs::State > ("mavros/state", 10, state_cb);
    ros::Subscriber global_pos_sub = nh.subscribe < sensor_msgs::NavSatFix > ("mavros/global_position/global", 1, globalPosition_cb);
    ros::Publisher goal_pos_pub = nh.advertise < mavros_msgs::GlobalPositionTarget > ("mavros/setpoint_position/global", 10);

    ros::Rate rate(10);

    // wait for fcu connection
    while (ros::ok() && !current_state.connected) {
        ROS_INFO_ONCE("Waiting for FCU connection...");
        ros::spinOnce();
        rate.sleep();
    }
    ROS_INFO("FCU connected");

    // wait for position information
    while (ros::ok() && !global_position_received) {
        ROS_INFO_ONCE("Waiting for GPS signal...");
        ros::spinOnce();
        rate.sleep();
    }
    ROS_INFO("GPS position received");

    // set target position
    mavros_msgs::GlobalPositionTarget goal_position;
    goal_position.latitude = global_position.latitude;
    goal_position.longitude = global_position.longitude;
    goal_position.altitude = global_position.altitude;

    // send a few setpoints before starting
    for (int i=0; i<20; ++i) {
        goal_position.header.stamp = ros::Time::now();
        goal_pos_pub.publish(goal_position);
        ros::spinOnce();
        rate.sleep();
    }

    // set mode
    mavros_msgs::SetMode offb_set_mode;
    offb_set_mode.request.base_mode = 0;
    offb_set_mode.request.custom_mode = "OFFBOARD";
    if (set_mode_client.call(offb_set_mode) && offb_set_mode.response.mode_sent) {
        ROS_INFO("OFFBOARD enabled");
    } else {
        ROS_ERROR("Failed to set OFFBOARD");
    }

    // arm
    mavros_msgs::CommandBool arm_cmd;
    arm_cmd.request.value = true;
    if (arming_client.call(arm_cmd) && arm_cmd.response.success) {
        ROS_INFO("Vehicle armed");
    } else {
        ROS_ERROR("Arming failed");
    }

    // take off to 5m above ground
    goal_position.altitude = goal_position.altitude + 5.0;
    while (ros::ok()) {
        goal_position.header.stamp = ros::Time::now();
        goal_pos_pub.publish(goal_position);
        ros::spinOnce();
        ROS_INFO_THROTTLE(1, "At altitude %.2f", global_position.altitude);
        rate.sleep();
    }

    return 0;
}

Good afternoon! Could anyone confirm that publishing to the topic /mavros/setpoint_position/global they hace successfully managed to control the drone’s position? I am having the same issue (no response obtained, px4 does not seem to receive any message) even setting the header.stamp field

me too, but the topic /mavros/setpoint_raw/global has worked normally.

hi zxz0622,
I've been working on /mavros/setpoint_raw/global for about 4 days but I couldn't move the quadcopter by giving the latitude longitude altitude value. Can you tell me how you do it please ?
Can you share the parameters of the /mavros/setpoint_raw/global ? ( coordinate_frame ...)

Sorry for digging up an old thread, but I am trying to do the same. I am unable to control the vehicle by sending position setpoints on _mavros/setpoint_position/global_. Vehicle arms, sits on the ground spinning rotors and disarms after timeout. I can confirm that rostopic echo /mavros/setpoint_position/global shows that setpoints from my code are being published. I can also confirm that sending local co-ordinate setpoints on _mavros/setpoint_position/global_ works perfectly.
Am I supposed to set any other field than lat, lon and lat?

MAVROS version and platform

Mavros: master
ROS: Melodic
Ubuntu: 18.04
Autopilot type and version

[ ] ArduPilot
[X] PX4

Version: master

Diagnostics
a sample of rostopic echo:
header: seq: 10 stamp: secs: 1861 nsecs: 652000000 frame_id: "base_footprint" pose: position: latitude: 19.1345485 longitude: 72.9122298 altitude: -48.3160189477 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0
Just curious, does frame_id field play any role? I tried with _local_origin_ too, with no effect.

Thanks.

Make sure that you publish a point that is above the drone's altitude. It may seem a silly suggestion but it is possible that one can forget GPS altitude can be far above local altitude.

@swaroophangal I am also struggling to solve a similar problem with you by using a code given by @tropappar in the above.
That is, by sending position a setpoint through "mavros/setpoint_position/global," the vehicle successfully enters into offboard and even arms but sits on the ground.
I tried to send a position setpoint "mavros/setpoint_raw/global" as well, but also failed with a same phenomenon (i.e., the vehicle successfully enters into offboard and even arms but sits on the ground.)

@burak-yildizoz Also, I rechecked that the published point to be above the drone's GPS altitude (the code given by @tropappar in the above solved this by using "goal_position.altitude = goal_position.altitude + 5.0;"). In particular, I played around with the "+5" with other values but ended up with no success.

Could someone help?
Thank you!

--
MAVROS version and platform

Mavros: master
ROS: Kinetic
Ubuntu: 16.04
Autopilot type and version

[ ] ArduPilot
[X] PX4

Version: master

Diagnostics
a sample of rostopic echo /mavros/global_position/global:
header:
seq: 206
stamp:
secs: 1286
nsecs: 28000000
frame_id: "base_link"
status:
status: 0
service: 1
latitude: 47.3977421
longitude: 8.5455932
altitude: 535.327916774
position_covariance: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
position_covariance_type: 2

rqt_graph

@jungx148 You need to check if your fmu is receiving the mavlink setpoints you are sending.

@Jaeyoung-Lim Hello, thank you very much for all your efforts for the Pixhawk community and also the quick response.

I am having previously stated issues while I was working on converting your previously published "modudculab_ros" project (link) which was built for local offboard control to the one of global offboard control.

Regarding your comment, "You need to check if your fmu is receiving the mavlink setpoints you are sending," I checked a parameter, "POSITION_TARGET_GLOBAL_INT (link)," through QGC and noticed that no mavlink setpoints were indeed received by fmu as you stated as shown in the below picture captured from QGC screen.

In addition, I attached the output of roslaunch modudculab_ros ctrl_pos_gazebo_offb.launch in the below.

`sunghunjung2@gcs:~$ roslaunch modudculab_ros ctrl_pos_gazebo_offb.launch
... logging to /home/sunghunjung2/.ros/log/c7421548-ea08-11ea-8a18-b052161d0343/roslaunch-gcs-16794.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://gcs:35869/

SUMMARY

PARAMETERS

• /mavros/conn_heartbeat: 5.0
• /mavros/conn_timeout: 5.0
• /mavros/fcu_url: udp://:14540@127....
• /mavros/frame_id: world
• /mavros/gcs_url:
• /mavros/mocap/use_pose: False
• /mavros/mocap/use_tf: True
• /mavros/startup_px4_usb_quirk: True
• /mavros/target_component_id: 1
• /mavros/target_system_id: 1
• /rosdistro: kinetic
• /rosversion: 1.12.15

NODES
/
mavros (mavros/mavros_node)
offb_node (modudculab_ros/pub_setpoints_traj)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [16811]
process[offb_node-2]: started with pid [16812]
`

--
Regarding this issue, I suspect the following two parts.

SUSPECT 1:
I suspect this problem is related to the installed MAVROS version on my desktop.
I installed ros-kinetic-mavros* using apt command and also saved the latest mavros git package in the catkin_ws/src folder.

SUSPECT 2:
When I used

ros::Publisher goal_pos_pub = nh.advertise < mavros_msgs::GlobalPositionTarget > ("mavros/setpoint_position/global", 10);,

I received the following error message

[ERROR] [1598713832.833795288, 426.168000000]: Client [/mavros] wants topic /mavros/setpoint_position/global to have datatype/md5sum [geographic_msgs/GeoPoseStamped/cc409c8ed6064d8a846fa207bf3fba6b], but our version has [mavros_msgs/GlobalPositionTarget/076ded0190b9e045f9c55264659ef102]. Dropping connection.

And then, I replaced it with

ros::Publisher goal_pos_pub = nh.advertise < mavros_msgs::GlobalPositionTarget > ("geographic_msgs/GeoPoseStamped", 10);

and it did not result in any error message. However, in either way, the parameter, "POSITION_TARGET_GLOBAL_INT" does not appear in the QGC mavlink inspector.

Again, thank you very much for your invaluable time to review this issue.

I couldn't solve the above problem, and so I change to use mavros_msgs to pull waypoints from QGC, insert externally calculated yaw angle, and push combined waypoints (pulled waypoints from QGC with externally calculated yaw angle).

In this way, I could successfully control MAV as I wanted. Thank you very much.

@jungx148 That is not the solution and just a workaround.

Have you checked if the setpoints you are sending is reaching the fmu?

@jungx148 Is it possible that your problem is related to #1414?

Did any anyone reach any conclusion yet??

I tried publishing on these 3 topics but with no luck

"/mavros/setpoint_raw/global"
"/mavros/setpoint_raw/target_global"
"/mavros/setpoint_position/global"

N.B: I doing a gazebo simulation only

Well I recently found this error:

Well the topic /mavros/setpoint_position/global finally worked (but with altitude offset?). From rostopic info /mavros/setpoint_position/global I found out that the message type that I should be working with is geographic_msgs/GeoPoseStamped not mavros_msgs/GlobalPositionTarget I don't know why the documentation is not updated.

I am also trying to do the same maneuver i.e. publish mavros_msgs::GlobalPositionTarget message on the mavros/setpoint_raw/global topic and it works fine. The drone takes off and goes to the desired waypoint. I wanted to ask if anyone has successfully navigated the drone to multiple waypoints and if we need a logic to check if the waypoint is reached?
The reason I am asking this is that I am not sure how the gazebo sets its home position, so when the drone goes to any random lat lon alt provided, it goes to that waypoint indefinitely. Is there any way to check if that waypoint is reached and then provide another waypoint?
Any suggestions would be highly appreciated.
Thanks in advance.

I am also trying to do the same maneuver i.e. publish mavros_msgs::GlobalPositionTarget message on the mavros/setpoint_raw/global topic and it works fine. The drone takes off and goes to the desired waypoint. I wanted to ask if anyone has successfully navigated the drone to multiple waypoints and if we need a logic to check if the waypoint is reached?
The reason I am asking this is that I am not sure how the gazebo sets its home position, so when the drone goes to any random lat lon alt provided, it goes to that waypoint indefinitely. Is there any way to check if that waypoint is reached and then provide another waypoint?
Any suggestions would be highly appreciated.
Thanks in advance.

Just keep publishing global position setpoints until the drone is inside an acceptable region, like ~50 cm in xy-plane and 10 cm in z axis. Then, publish another point.

Didn't quite follow. Could you please send a simple sample code so that I can get an idea? I tried a couple of things but those didn't work. Z-axis 10cm or m?
Thanks.

Didn't quite follow. Could you please send a simple sample code so that I can get an idea? I tried a couple of things but those didn't work. Z-axis 10cm or m?
Thanks.

I wrote it just to give you the idea. Subscribe to global position, either convert to cartesian coordinates or just simply have a threshold in lat/lon degrees around 1e-6 such that the difference between the drone and the desired point is lower than a threshold. You need to treat altitude differently, because its value is not in degrees but in meters. If the drone is inside a box, waypoint reached.

Currently, I am using sensor_msgs::NavSatFix to get the position of the drone. When you say, subscribe to global position, are you talking about this subscriber?
Also, it would be really helpful if you could elaborate a little bit on how to create a threshold in lat/lon degrees around 0.000001 and how to check if the drone is inside the box?
If you have already implemented it, could you please share a small snippet of the logic that you are mentioning? That would make things a lot easier.
Thanks a lot.

Hello everyone,
If anyone has solved the navigation of a drone with multiple waypoints in the global frame, could you please take a look at [https://github.com/mavlink/mavros/issues/1553} and help me with the issue. I have been trying to implement it for a few weeks but not able to get to a solution. I just want to navigate the drone using lat lon alt to multiple waypoints.
Thanks in advance.