Dear Peole.
1.-Just to ask if the right topic from mavros to feed rtabmap to build up the map is:
<arg name="odom_topic" value="/mavros/local_position/odom" />
2.-When I take a look at “rostopic hz /mavros/local_position/odom” I get:
average rate: 0.650
min: 1.539s max: 1.539s std dev: 0.00000s window: 2
no new messages
average rate: 0.655
min: 1.515s max: 1.539s std dev: 0.01202s window: 3
4.-When I take a look at “rostopic echo /mavros/local_position/odom” I get:
header:
seq: 72
stamp:
secs: 1548858290
nsecs: 758918336
frame_id: “map”
child_frame_id: “base_link”
pose:
pose:
position:
x: -0.00200466089882
y: 0.00498028472066
z: 0.308459073305
orientation:
x: -0.0208578280061
y: 0.0280280862562
z: -0.515654499607
w: -0.856083999632
covariance: [1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06]
twist:
twist:
linear:
x: -0.0269354181798
y: -0.0513042242524
z: 0.113977489076
angular:
x: 0.264631807804
y: 0.000432345404988
z: -0.233702689409
covariance: [0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001]
As you can see the position is zero and does not change when the drone is moving as it does with the odom from the zed camera.
3.- Well I have tried to start a mission planner with qgrouncontrol, I can see the following:
GPS Count 17
GPS lock 3D DGPS lock
HDOP 0.7
VDOP 1.1
Course over ground 21.4
-However, when I set up or add way points in mission plan. I could successfully load the mission and when I wanted to start the mission I got the same error:
-""Unable to start vehicle not ready""
-When I take a look at mavlink inspector I can not see GLOBAL_POSITION_INT
4.-When I write the launch file “roslaunch mavros px4.launch fcu_url:=”/dev/ttyTHS1:57600" gcs_url:=“udp:=//@my_inet_addr” I get:
- Qgroundcontro says communication regain
- I get no erros
5.- I am thinking that there is a relation between the the drone not be able to get GLOBAL_POSITION_INT and the /mavros/local_position/odom.
What do you think? any clue about this issue
Regards,