Mavros, PX4, Pixhawk, ROS, Qgroundcontrol,RTABMAP

QGroundControl
1

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 :slight_smile:

Regards,