Can not read Pixhawk IMU data with mavros

Issue details

Hi, I am new to Mavros and ROS so please be patient :slight_smile:

I am trying to read IMU linear acceleration data directly from a Pixhawk (connected via USB) with a C++ program without success.
Initially I had try to send command using this example:

https://dev.px4.io/v1.9.0/en/ros/mavros_offboard.html

and in the terminal where I launch px4.launch I see the arming and offboard configuration without a problem.

So I move forward and using a publisher and a subscriber I have tried to read the IMU (without setting the arming and the offboard like previously), but the value printed are all 0.

[ INFO] [1588859687.955951158]: 
msg_imu.linear_acceleration.z= 0.000000 
 msg.z= 0.000000 

[ INFO] [1588859688.019932463]: 
 Orientation X_list: 0.000000 
 Orientation Y_lis: 0.000000 
 Orientation Z_lis: 0.000000 

I have tried to see the values with rostopic echo but I can not see anything, the same thing happen with all other topic that I try.
I have also try to run a node with:
rosrun mavros mavros_node _fcu_url:="/dev/ttyACM0:57600"
and read the IMU with:
rostopic echo /mavros/imu/data
but I can not see anything even in this way.

I think there is a problem of communication between my program and the PX4, but I do not find any clue…

This is the publisher:

```
#include "ros/ros.h"
#include "geometry_msgs/Vector3.h"
#include "sensor_msgs/Imu.h" //Imu data, orientation computed by FCU
#include "mavros_msgs/State.h"
#include "mavros_msgs/StreamRate.h"

sensor_msgs::Imu msg_imu; 
geometry_msgs::Vector3 msg;
mavros_msgs::State current_state;
mavros_msgs::StreamRate streamRate;

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

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

    ros::Subscriber state_sub = nh.subscribe<mavros_msgs::State>("mavros/state", 10, state_cb);
    ros::Publisher chatter_pub = nh.advertise<sensor_msgs::Imu>("/mavros/imu/data", 1000);
    ros::ServiceClient stream_rate_client = nh.serviceClient<mavros_msgs::StreamRate>("mavros/set_stream_rate");
    ros::Rate rate(15);   //the setpoint publishing rate MUST be faster than 2Hz

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

    streamRate.request.stream_id = 0;
    streamRate.request.message_rate = 100;
    streamRate.request.on_off = 1;
    if (true == stream_rate_client.call(streamRate))
    {
        ROS_INFO("OK. Stream rate set");
    }
    else
    {
        ROS_INFO("Failed to call service: stream rate");
    }

    int count = 0;
    while (ros::ok() && current_state.connected){
        
        msg.x=msg_imu.linear_acceleration.x;
        msg.y=msg_imu.linear_acceleration.y;
        msg.z=msg_imu.linear_acceleration.z; 
        ROS_INFO("\nmsg_imu.linear_acceleration.z= %f \n msg.z= %f \n",msg_imu.linear_acceleration.z,msg.z);
        chatter_pub.publish(msg_imu);

        ros::spinOnce();
        rate.sleep();
        ++count;  
    }
    return 0;
}
```

and this is the subscriber:

```
#include "ros/ros.h"
#include "geometry_msgs/Vector3.h"
#include "sensor_msgs/Imu.h" //Imu data, orientation computed by FCU
#include "mavros_msgs/State.h"

sensor_msgs::Imu msg; 

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

void chatterCallback(const sensor_msgs::Imu::ConstPtr& msg)
{
  ROS_INFO("\n Orientation X_list: %f \n Orientation Y_lis: %f \n Orientation Z_lis: %f \n\n", msg->linear_acceleration.x,msg->linear_acceleration.y,msg->linear_acceleration.z);
}


int main(int argc, char **argv){
    ros::init(argc, argv, "imu_data_listener");
    ros::NodeHandle nh;
    ros::Subscriber state_sub = nh.subscribe<mavros_msgs::State>("mavros/state", 10, state_cb);
    ros::Subscriber sub = nh.subscribe("/mavros/imu/data", 1000,chatterCallback);
    ros::Rate rate(15);
    // wait for FCU connection
    while(ros::ok() && !current_state.connected){
        ros::spinOnce();
        rate.sleep();
    }


     while(ros::ok()){
   
      ros::spinOnce();
      rate.sleep();
  }
    return 0;
}
```

Someone can help me please? I
Thanks in advance

MAVROS version and platform

Mavros: 1.1.0
ROS: Melodic
Ubuntu: 18.04

Autopilot type and version

[ ] ArduPilot
[ x ] PX4

Version: 1.9.2

Node logs


    SUMMARY
    ========

    CLEAR PARAMETERS
     * /mavros/

    PARAMETERS
     * /mavros/cmd/use_comp_id_system_control: False
     * /mavros/conn/heartbeat_rate: 1.0
     * /mavros/conn/system_time_rate: 1.0
     * /mavros/conn/timeout: 10.0
     * /mavros/conn/timesync_rate: 10.0
     * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
     * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
     * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
     * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
     * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
     * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
     * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
     * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
     * /mavros/distance_sensor/laser_1_sub/id: 3
     * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
     * /mavros/distance_sensor/laser_1_sub/subscriber: True
     * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
     * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
     * /mavros/distance_sensor/lidarlite_pub/id: 1
     * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
     * /mavros/distance_sensor/lidarlite_pub/send_tf: True
     * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
     * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
     * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
     * /mavros/distance_sensor/sonar_1_sub/id: 2
     * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
     * /mavros/distance_sensor/sonar_1_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: 408.0
     * /mavros/fake_gps/geo_origin/lat: 47.3667
     * /mavros/fake_gps/geo_origin/lon: 8.55
     * /mavros/fake_gps/gps_rate: 5.0
     * /mavros/fake_gps/mocap_transform: True
     * /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: udp://@127.0.0.1
     * /mavros/global_position/child_frame_id: base_link
     * /mavros/global_position/frame_id: map
     * /mavros/global_position/gps_uere: 1.0
     * /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: 0.0003490659 // 0...
     * /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/landing_target/camera/fov_x: 2.0071286398
     * /mavros/landing_target/camera/fov_y: 2.0071286398
     * /mavros/landing_target/image/height: 480
     * /mavros/landing_target/image/width: 640
     * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
     * /mavros/landing_target/listen_lt: False
     * /mavros/landing_target/mav_frame: LOCAL_NED
     * /mavros/landing_target/target_size/x: 0.3
     * /mavros/landing_target/target_size/y: 0.3
     * /mavros/landing_target/tf/child_frame_id: camera_center
     * /mavros/landing_target/tf/frame_id: landing_target
     * /mavros/landing_target/tf/listen: False
     * /mavros/landing_target/tf/rate_limit: 10.0
     * /mavros/landing_target/tf/send: True
     * /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/fcu/odom_child_id_des: base_link
     * /mavros/odometry/fcu/odom_parent_id_des: map
     * /mavros/plugin_blacklist: ['safety_area', '...
     * /mavros/plugin_whitelist: []
     * /mavros/px4flow/frame_id: px4flow
     * /mavros/px4flow/ranger_fov: 0.118682
     * /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_raw/thrust_scaling: 1.0
     * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
     * /mavros/startup_px4_usb_quirk: True
     * /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: MAVLINK
     * /mavros/vibration/frame_id: base_link
     * /mavros/vision_pose/tf/child_frame_id: vision_estimate
     * /mavros/vision_pose/tf/frame_id: odom
     * /mavros/vision_pose/tf/listen: False
     * /mavros/vision_pose/tf/rate_limit: 10.0
     * /mavros/vision_speed/listen_twist: True
     * /mavros/vision_speed/twist_cov: True
     * /mavros/wheel_odometry/child_frame_id: base_link
     * /mavros/wheel_odometry/count: 2
     * /mavros/wheel_odometry/frame_id: odom
     * /mavros/wheel_odometry/send_raw: True
     * /mavros/wheel_odometry/send_twist: False
     * /mavros/wheel_odometry/tf/child_frame_id: base_link
     * /mavros/wheel_odometry/tf/frame_id: odom
     * /mavros/wheel_odometry/tf/send: False
     * /mavros/wheel_odometry/use_rpm: False
     * /mavros/wheel_odometry/vel_error: 0.1
     * /mavros/wheel_odometry/wheel0/radius: 0.05
     * /mavros/wheel_odometry/wheel0/x: 0.0
     * /mavros/wheel_odometry/wheel0/y: -0.15
     * /mavros/wheel_odometry/wheel1/radius: 0.05
     * /mavros/wheel_odometry/wheel1/x: 0.0
     * /mavros/wheel_odometry/wheel1/y: 0.15
     * /rosdistro: melodic
     * /rosversion: 1.14.5

    NODES
      /
        mavros (mavros/mavros_node)

    ROS_MASTER_URI=http://localhost:11311

    process[mavros-1]: started with pid [22744]
    [ INFO] [1588859677.110862124]: FCU URL: /dev/ttyACM0:57600
    [ INFO] [1588859677.112726534]: serial0: device: /dev/ttyACM0 @ 57600 bps
    [ INFO] [1588859677.114798996]: GCS URL: udp://@127.0.0.1
    [ INFO] [1588859677.115039019]: udp1: Bind address: 0.0.0.0:14555
    [ INFO] [1588859677.115099590]: udp1: Remote address: 127.0.0.1:14550
    [ INFO] [1588859677.122338006]: Plugin 3dr_radio loaded
    [ INFO] [1588859677.123523596]: Plugin 3dr_radio initialized
    [ INFO] [1588859677.123579349]: Plugin actuator_control loaded
    [ INFO] [1588859677.125367710]: Plugin actuator_control initialized
    [ INFO] [1588859677.127807119]: Plugin adsb loaded
    [ INFO] [1588859677.129790180]: Plugin adsb initialized
    [ INFO] [1588859677.129888483]: Plugin altitude loaded
    [ INFO] [1588859677.130496615]: Plugin altitude initialized
    [ INFO] [1588859677.130577211]: Plugin cam_imu_sync loaded
    [ INFO] [1588859677.130946931]: Plugin cam_imu_sync initialized
    [ INFO] [1588859677.131047098]: Plugin command loaded
    [ INFO] [1588859677.134687038]: Plugin command initialized
    [ INFO] [1588859677.134771546]: Plugin companion_process_status loaded
    [ INFO] [1588859677.136033136]: Plugin companion_process_status initialized
    [ INFO] [1588859677.136102242]: Plugin debug_value loaded
    [ INFO] [1588859677.138419781]: Plugin debug_value initialized
    [ INFO] [1588859677.138441597]: Plugin distance_sensor blacklisted
    [ INFO] [1588859677.138545752]: Plugin fake_gps loaded
    [ INFO] [1588859677.144273459]: Plugin fake_gps initialized
    [ INFO] [1588859677.144382143]: Plugin ftp loaded
    [ INFO] [1588859677.148552434]: Plugin ftp initialized
    [ INFO] [1588859677.148639908]: Plugin global_position loaded
    [ INFO] [1588859677.156777056]: Plugin global_position initialized
    [ INFO] [1588859677.156860044]: Plugin gps_rtk loaded
    [ INFO] [1588859677.158025666]: Plugin gps_rtk initialized
    [ INFO] [1588859677.158112985]: Plugin hil loaded
    [ INFO] [1588859677.165344310]: Plugin hil initialized
    [ INFO] [1588859677.165449005]: Plugin home_position loaded
    [ INFO] [1588859677.167386603]: Plugin home_position initialized
    [ INFO] [1588859677.167545313]: Plugin imu loaded
    [ INFO] [1588859677.171066577]: Plugin imu initialized
    [ INFO] [1588859677.171145764]: Plugin landing_target loaded
    [ INFO] [1588859677.177448295]: Plugin landing_target initialized
    [ INFO] [1588859677.177530161]: Plugin local_position loaded
    [ INFO] [1588859677.180875926]: Plugin local_position initialized
    [ INFO] [1588859677.180953724]: Plugin log_transfer loaded
    [ INFO] [1588859677.182984394]: Plugin log_transfer initialized
    [ INFO] [1588859677.183069432]: Plugin manual_control loaded
    [ INFO] [1588859677.184840231]: Plugin manual_control initialized
    [ INFO] [1588859677.184914549]: Plugin mocap_pose_estimate loaded
    [ INFO] [1588859677.186560366]: Plugin mocap_pose_estimate initialized
    [ INFO] [1588859677.186629195]: Plugin mount_control loaded
    [ INFO] [1588859677.188622155]: Plugin mount_control initialized
    [ INFO] [1588859677.188697197]: Plugin obstacle_distance loaded
    [ INFO] [1588859677.189976578]: Plugin obstacle_distance initialized
    [ INFO] [1588859677.190044683]: Plugin odom loaded
    [ INFO] [1588859677.192463270]: Plugin odom initialized
    [ INFO] [1588859677.192542982]: Plugin onboard_computer_status loaded
    [ INFO] [1588859677.193799853]: Plugin onboard_computer_status initialized
    [ INFO] [1588859677.193922472]: Plugin param loaded
    [ INFO] [1588859677.195717095]: Plugin param initialized
    [ INFO] [1588859677.195797242]: Plugin px4flow loaded
    [ INFO] [1588859677.199121395]: Plugin px4flow initialized
    [ INFO] [1588859677.199143616]: Plugin rangefinder blacklisted
    [ INFO] [1588859677.199250248]: Plugin rc_io loaded
    [ INFO] [1588859677.201254715]: Plugin rc_io initialized
    [ INFO] [1588859677.201281739]: Plugin safety_area blacklisted
    [ INFO] [1588859677.201372250]: Plugin setpoint_accel loaded
    [ INFO] [1588859677.203047119]: Plugin setpoint_accel initialized
    [ INFO] [1588859677.203200296]: Plugin setpoint_attitude loaded
    [ INFO] [1588859677.208383455]: Plugin setpoint_attitude initialized
    [ INFO] [1588859677.208481706]: Plugin setpoint_position loaded
    [ INFO] [1588859677.216161913]: Plugin setpoint_position initialized
    [ INFO] [1588859677.216265148]: Plugin setpoint_raw loaded
    [ INFO] [1588859677.220555122]: Plugin setpoint_raw initialized
    [ INFO] [1588859677.220659770]: Plugin setpoint_trajectory loaded
    [ INFO] [1588859677.223391299]: Plugin setpoint_trajectory initialized
    [ INFO] [1588859677.223591125]: Plugin setpoint_velocity loaded
    [ INFO] [1588859677.226308554]: Plugin setpoint_velocity initialized
    [ INFO] [1588859677.226535149]: Plugin sys_status loaded
    [ INFO] [1588859677.232345460]: Plugin sys_status initialized
    [ INFO] [1588859677.232524533]: Plugin sys_time loaded
    [ INFO] [1588859677.235946633]: TM: Timesync mode: MAVLINK
    [ INFO] [1588859677.236581992]: Plugin sys_time initialized
    [ INFO] [1588859677.236745051]: Plugin trajectory loaded
    [ INFO] [1588859677.239403653]: Plugin trajectory initialized
    [ INFO] [1588859677.239595297]: Plugin vfr_hud loaded
    [ INFO] [1588859677.240005778]: Plugin vfr_hud initialized
    [ INFO] [1588859677.240064781]: Plugin vibration blacklisted
    [ INFO] [1588859677.240203365]: Plugin vision_pose_estimate loaded
    [ INFO] [1588859677.243532452]: Plugin vision_pose_estimate initialized
    [ INFO] [1588859677.243716472]: Plugin vision_speed_estimate loaded
    [ INFO] [1588859677.245582672]: Plugin vision_speed_estimate initialized
    [ INFO] [1588859677.245769662]: Plugin waypoint loaded
    [ INFO] [1588859677.248570558]: Plugin waypoint initialized
    [ INFO] [1588859677.248631447]: Plugin wheel_odometry blacklisted
    [ INFO] [1588859677.248766321]: Plugin wind_estimation loaded
    [ INFO] [1588859677.249216258]: Plugin wind_estimation initialized
    [ INFO] [1588859677.249279148]: Autostarting mavlink via USB on PX4
    [ INFO] [1588859677.249445160]: Built-in SIMD instructions: SSE, SSE2
    [ INFO] [1588859677.249479404]: Built-in MAVLink package version: 2020.5.5
    [ INFO] [1588859677.249493654]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
    [ INFO] [1588859677.249528646]: MAVROS started. MY ID 1.240, TARGET ID 1.1
    [ INFO] [1588859677.330027537]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
    [ERROR] [1588859678.231668818]: FCU: Onboard controller lost
    [ INFO] [1588859678.299447654]: FCU: Onboard controller regained
    [ INFO] [1588859678.334188502]: VER: 1.1: Capabilities         0x000000000000e4ef
    [ INFO] [1588859678.334268091]: VER: 1.1: Flight software:     010b0000 (d20bca095d000000)
    [ INFO] [1588859678.334330976]: VER: 1.1: Middleware software: 010b0000 (d20bca095d000000)
    [ INFO] [1588859678.334400091]: VER: 1.1: OS software:         080200ff (66b4f2c4f2128994)
    [ INFO] [1588859678.334469900]: VER: 1.1: Board hardware:      00000011
    [ INFO] [1588859678.334543290]: VER: 1.1: VID/PID:             26ac:0011
    [ INFO] [1588859678.334606622]: VER: 1.1: UID:                 3137510c39343835
    [ WARN] [1588859678.335396844]: CMD: Unexpected command 520, result 0
    [ INFO] [1588859687.330391889]: HP: requesting home position

    ```

### Diagnostics

    ```
    header: 
      seq: 91
      stamp: 
        secs: 1588858429
        nsecs: 191271372
      frame_id: ''
    status: 
      - 
        level: 0
        name: "mavros: FCU connection"
        message: "connected"
        hardware_id: "/dev/ttyACM0:57600"
        values: 
          - 
            key: "Received packets:"
            value: "2255"
          - 
            key: "Dropped packets:"
            value: "0"
          - 
            key: "Buffer overruns:"
            value: "0"
          - 
            key: "Parse errors:"
            value: "0"
          - 
            key: "Rx sequence number:"
            value: "135"
          - 
            key: "Tx sequence number:"
            value: "0"
          - 
            key: "Rx total bytes:"
            value: "65869"
          - 
            key: "Tx total bytes:"
            value: "33931"
          - 
            key: "Rx speed:"
            value: "961.000000"
          - 
            key: "Tx speed:"
            value: "890.000000"
      - 
        level: 2
        name: "mavros: GPS"
        message: "No satellites"
        hardware_id: "/dev/ttyACM0:57600"
        values: 
          - 
            key: "Satellites visible"
            value: "0"
          - 
            key: "Fix type"
            value: "0"
          - 
            key: "EPH (m)"
            value: "Unknown"
          - 
            key: "EPV (m)"
            value: "Unknown"
      - 
        level: 0
        name: "mavros: Heartbeat"
        message: "Normal"
        hardware_id: "/dev/ttyACM0:57600"
        values: 
          - 
            key: "Heartbeats since startup"
            value: "58"
          - 
            key: "Frequency (Hz)"
            value: "0.962964"
          - 
            key: "Vehicle type"
            value: "Quadrotor"
          - 
            key: "Autopilot type"
            value: "PX4 Autopilot"
          - 
            key: "Mode"
            value: "MANUAL"
          - 
            key: "System status"
            value: "Standby"
      - 
        level: 2
        name: "mavros: System"
        message: "Sensor health"
        hardware_id: "/dev/ttyACM0:57600"
        values: 
          - 
            key: "Sensor present"
            value: "0x12000020"
          - 
            key: "Sensor enabled"
            value: "0x12210020"
          - 
            key: "Sensor health"
            value: "0x00000020"
          - 
            key: "GPS"
            value: "Ok"
          - 
            key: "rc receiver"
            value: "Fail"
          - 
            key: "AHRS subsystem health"
            value: "Fail"
          - 
            key: "Battery"
            value: "Fail"
          - 
            key: "CPU Load (%)"
            value: "10.8"
          - 
            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: "mavros: Battery"
        message: "Normal"
        hardware_id: "/dev/ttyACM0:57600"
        values: 
          - 
            key: "Voltage"
            value: "65.54"
          - 
            key: "Current"
            value: "-0.0"
          - 
            key: "Remaining"
            value: "-1.0"
      - 
        level: 0
        name: "mavros: Time Sync"
        message: "Normal"
        hardware_id: "/dev/ttyACM0:57600"
        values: 
          - 
            key: "Timesyncs since startup"
            value: "580"
          - 
            key: "Frequency (Hz)"
        value: "10.000011"
      - 
        key: "Last RTT (ms)"
        value: "1.148785"
      - 
        key: "Mean RTT (ms)"
        value: "0.842208"
      - 
        key: "Last remote time (s)"
        value: "9643.207305000"
      - 
        key: "Estimated time offset (s)"
        value: "1588848785.971028805"
---

Check ID

```
OK. I got messages from 1:1.

---
Received 1046 messages, from 1 addresses
sys:comp   list of messages
  1:1     0, 1, 2, 4, 44, 77, 111, 245, 22

```