Control the quadrotor using the setpoint_position topic

#1

Hello !!

I want to do a position control with my 3dr iris, I am using a optitrack camera system to send the position data to the pixhawk, I am not using a compaion computer, I am using a 3dr telemetry radio with 57600 baudrate to send the data of the cameras to pixhawk.

Here are the steps I follow:

  • I then launch px4.launch in the mavros package: roslaunch mavros px4.launch
  • After, to have the pose data sent to mavros, I use a relay node from the topic_tools:

rosrun topic_tools relay /vrpn_client_node/Quadcopter/pose /mavros/mocap/pose

  • Finally, I made a cpp file to send the setpoint: rosrun quadrirotor pub_setpoints_pos

When I do the process mentioned above using the telemetry I get the following:

: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.703930579]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.706967570]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.717059231]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.724740377]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.726969844]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.734440844]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.736978479]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.744504063]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.746983943]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.753781562]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.756849209]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.766913348]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.774913553]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.776997417]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.784687687]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.786990867]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.794315989]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.796887808]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.804683543]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.806854646]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.816917117]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.824240212]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.826934458]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.834577229]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.836897281]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.844327637]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.846900755]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.854523665]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924393.856923784]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.304071873]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.306922777]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.314970541]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.317079395]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.324340769]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.326910531]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.336949801]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.344474433]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.346987125]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.354242461]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.356929672]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.364800199]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.366912020]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.374576674]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.376779705]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.387023765]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.394375335]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.396897521]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.403945352]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.406924603]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.414306474]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.416895347]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.423947249]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.426889448]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.436820097]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.444242005]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.446859102]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.454755870]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.456876549]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.464333548]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.467026263]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.477068393]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.484642829]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.486982675]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.494240658]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.496908642]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.504800707]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.506884589]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.514390844]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.516788861]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.526983274]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.534719660]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.537182160]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.544699876]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.546941691]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.554300871]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.556923849]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.564724299]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.566986555]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924394.577077677]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.016914934]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.024658757]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.026938563]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.034937288]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.036879045]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.044614259]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.046884019]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.057067876]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.063956731]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.066978067]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.074429486]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.076852612]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.083899346]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.086921910]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.097075666]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.103886883]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.106970394]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.114452467]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.117005818]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.123953807]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.126878559]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.134600572]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.136933588]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.146985592]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.154042494]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.156876467]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.164746795]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.166963056]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.174413864]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.177002512]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.183879104]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.186869899]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.197079031]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.203872361]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.206897989]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.214676876]: 0: DROPPED Message ATT_POS_MOCAP: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1497924395.216978768]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow

But when I made that process connected the pixhawk with a USB cable I did not get that error
Why with telemetry got that problem?

I attach an image of the cpp file and my rqt_graph

#2

hey! any news on this? same issue here!

#3

I am facing the same issue. Did you find anything on this ?