Hello all,
I have been stuck for a while now as I am unable to reliably connect to my drone through a wireless connection. For my application, I am using Mocap setup to send pose information to /mavros/vision_pose/pose topic. I’m fairly certain that I am doing this correctly as I was able to run a mission in simulation (gazebo) using this workflow. I have set all the necessary parameters so that mavros uses mocap pose information, i.e. EKF2_AID_MASK = 24 and EKF2_HGT_MODE = 3
In my px4.launch file, I have the following:
<arg name="fcu_url" value="udp://:14549@192.168.1.91:14554" />
<arg name="gcs_url" value="udp-b://127.0.0.1:14555@14550" />
I am using a ESP8266 wifi module and have the host and client port set up to 14549 and 14554 respectively.
I have attached the console output of my launch file, as this is where I am seeing the error. I cannot connect to the drone or change any parameter values through QGroundControl when this is happening.
Console output:
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /cortex_bridge/cortex_ip: 192.168.1.200
* /cortex_bridge/local_ip: 192.168.1.132
* /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: False
* /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: udp://:14551@192....
* /mavros/gcs_url: udp-b://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/in/child_frame_id: base_link
* /mavros/odometry/in/frame_id: odom
* /mavros/odometry/in/frame_tf/body_frame_orientation: flu
* /mavros/odometry/in/frame_tf/local_frame: local_origin_ned
* /mavros/odometry/out/frame_tf/body_frame_orientation: frd
* /mavros/odometry/out/frame_tf/local_frame: vision_ned
* /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: True
* /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: map
* /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: map
* /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: map
* /mavros/wheel_odometry/tf/send: True
* /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: 1.14.12
NODES
/
cortex_bridge (cortex_bridge/cortex_bridge)
localize_node (oscillation_ctrl/MocapBridge.py)
mavros (mavros/mavros_node)
auto-starting new master
process[master]: started with pid [25077]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to be037d96-a94c-11ec-8347-5cbaefc247f3
process[rosout-1]: started with pid [25107]
started core service [/rosout]
process[localize_node-2]: started with pid [25125]
process[cortex_bridge-3]: started with pid [25126]
process[mavros-4]: started with pid [25127]
[ INFO] [1647890761.907737705]: FCU URL: udp://:14551@192.168.1.91:14556
[ INFO] [1647890761.909675875]: udp0: Bind address: 0.0.0.0:14551
[ INFO] [1647890761.909722497]: udp0: Remote address: 192.168.1.91:14556
[ INFO] [1647890761.909894119]: GCS URL: udp-b://127.0.0.1:14555@14550
[ INFO] [1647890761.909951927]: udp1: Bind address: 127.0.0.1:14555
[ INFO] [1647890761.909966536]: udp1: Remote address: 255.255.255.255:14550
[ INFO] [1647890761.919127823]: Plugin 3dr_radio loaded
[ INFO] [1647890761.921273545]: udp0: Remote address: 192.168.1.91:14556
[ INFO] [1647890761.927530142]: Plugin 3dr_radio initialized
[ INFO] [1647890761.927631224]: Plugin actuator_control loaded
[ INFO] [1647890761.969173406]: Plugin actuator_control initialized
[ INFO] [1647890761.972349189]: Plugin adsb loaded
[ INFO] [1647890761.978101467]: Cortex Connection Initialized
[ INFO] [1647890761.983655504]: ContextFrameRate = 60.0 Hz
[ INFO] [1647890761.983673079]: Using SDK Version 4.1.3.1
[ INFO] [1647890761.984398671]: Plugin adsb initialized
[ INFO] [1647890761.984498206]: Plugin altitude loaded
[ INFO] [1647890761.985361444]: Plugin altitude initialized
[ INFO] [1647890761.985426012]: Plugin cam_imu_sync loaded
[ INFO] [1647890761.985879244]: Plugin cam_imu_sync initialized
[ INFO] [1647890761.985959222]: Plugin command loaded
[ INFO] [1647890761.990536323]: Plugin command initialized
[ INFO] [1647890761.990599031]: Plugin companion_process_status loaded
[ INFO] [1647890761.992628650]: Plugin companion_process_status initialized
[ INFO] [1647890761.992721031]: Plugin debug_value loaded
[ INFO] [1647890761.996496597]: Plugin debug_value initialized
[ INFO] [1647890761.996514495]: Plugin distance_sensor blacklisted
[ INFO] [1647890761.996522374]: Plugin fake_gps blacklisted
[ INFO] [1647890761.996624386]: Plugin ftp loaded
[ INFO] [1647890762.001690870]: Plugin ftp initialized
[ INFO] [1647890762.001773538]: Plugin global_position loaded
[ INFO] [1647890762.014264888]: Plugin global_position initialized
[ INFO] [1647890762.014353664]: Plugin gps_rtk loaded
[ INFO] [1647890762.016203845]: Plugin gps_rtk initialized
[ INFO] [1647890762.016282111]: Plugin hil loaded
[ INFO] [1647890762.026270455]: Plugin hil initialized
[ INFO] [1647890762.026348283]: Plugin home_position loaded
[ INFO] [1647890762.028982415]: Plugin home_position initialized
[ INFO] [1647890762.029055891]: Plugin imu loaded
[ INFO] [1647890762.034312235]: Plugin imu initialized
[ INFO] [1647890762.034386292]: Plugin landing_target loaded
[ INFO] [1647890762.045537752]: Plugin landing_target initialized
[ INFO] [1647890762.045638674]: Plugin local_position loaded
[ INFO] [1647890762.050270957]: Plugin local_position initialized
[ INFO] [1647890762.050347699]: Plugin log_transfer loaded
[ INFO] [1647890762.052488913]: Plugin log_transfer initialized
[ INFO] [1647890762.052558796]: Plugin manual_control loaded
[ INFO] [1647890762.054678615]: Plugin manual_control initialized
[ INFO] [1647890762.054744360]: Plugin mocap_pose_estimate loaded
[ INFO] [1647890762.057374750]: Plugin mocap_pose_estimate initialized
[ INFO] [1647890762.057440901]: Plugin mount_control loaded
[ INFO] [1647890762.059218406]: Plugin mount_control initialized
[ INFO] [1647890762.059278249]: Plugin obstacle_distance loaded
[ INFO] [1647890762.061012031]: Plugin obstacle_distance initialized
[ INFO] [1647890762.061079288]: Plugin odom loaded
[ INFO] [1647890762.066556632]: Plugin odom initialized
[ INFO] [1647890762.066661783]: Plugin param loaded
[ INFO] [1647890762.068987902]: Plugin param initialized
[ INFO] [1647890762.069052167]: Plugin px4flow loaded
[ INFO] [1647890762.075208137]: Plugin px4flow initialized
[ INFO] [1647890762.075232469]: Plugin rangefinder blacklisted
[ INFO] [1647890762.075343871]: Plugin rc_io loaded
[ INFO] [1647890762.077913870]: Plugin rc_io initialized
[ INFO] [1647890762.077929241]: Plugin safety_area blacklisted
[ INFO] [1647890762.077994194]: Plugin setpoint_accel loaded
[ INFO] [1647890762.080406460]: Plugin setpoint_accel initialized
[ INFO] [1647890762.080541714]: Plugin setpoint_attitude loaded
[ INFO] [1647890762.088103089]: Plugin setpoint_attitude initialized
[ INFO] [1647890762.088200676]: Plugin setpoint_position loaded
[ INFO] [1647890762.098020440]: Plugin setpoint_position initialized
[ INFO] [1647890762.098097560]: Plugin setpoint_raw loaded
[ INFO] [1647890762.105655900]: Plugin setpoint_raw initialized
[ INFO] [1647890762.105753100]: Plugin setpoint_velocity loaded
[ INFO] [1647890762.109713284]: Plugin setpoint_velocity initialized
[ INFO] [1647890762.109871233]: Plugin sys_status loaded
[ INFO] [1647890762.117377743]: Plugin sys_status initialized
[ INFO] [1647890762.117460481]: Plugin sys_time loaded
[ INFO] [1647890762.121496246]: TM: Timesync mode: MAVLINK
[ INFO] [1647890762.122208823]: Plugin sys_time initialized
[ INFO] [1647890762.122271512]: Plugin trajectory loaded
[ INFO] [1647890762.126913255]: Plugin trajectory initialized
[ INFO] [1647890762.126992162]: Plugin vfr_hud loaded
[ INFO] [1647890762.127407526]: Plugin vfr_hud initialized
[ INFO] [1647890762.127425537]: Plugin vibration blacklisted
[ INFO] [1647890762.127490445]: Plugin vision_pose_estimate loaded
[ INFO] [1647890762.134177049]: Plugin vision_pose_estimate initialized
[ INFO] [1647890762.134271463]: Plugin vision_speed_estimate loaded
[ INFO] [1647890762.137099908]: Plugin vision_speed_estimate initialized
[ INFO] [1647890762.137190932]: Plugin waypoint loaded
[ INFO] [1647890762.140385071]: Plugin waypoint initialized
[ INFO] [1647890762.140401143]: Plugin wheel_odometry blacklisted
[ INFO] [1647890762.140471699]: Plugin wind_estimation loaded
[ INFO] [1647890762.140908099]: Plugin wind_estimation initialized
[ INFO] [1647890762.140940313]: Autostarting mavlink via USB on PX4
[ INFO] [1647890762.141015077]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1647890762.141026719]: Built-in MAVLink package version:
[ INFO] [1647890762.141039694]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1647890762.141050630]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1647890762.676330816]: udp1: Remote address: 127.0.0.1:14550
[ WARN] [1647890762.689842473]: RADIO_STATUS not from 3DR modem?
[ INFO] [1647890762.911511797]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ WARN] [1647890764.915940219]: VER: broadcast request timeout, retries left 4
[ WARN] [1647890765.916573105]: VER: broadcast request timeout, retries left 3
[ WARN] [1647890771.920347696]: CMD: Command 520 -- wait ack timeout
[ WARN] [1647890771.921043835]: VER: unicast request timeout, retries left 2
[ INFO] [1647890772.912062737]: HP: requesting home position
[ WARN] [1647890776.927325145]: CMD: Command 520 -- wait ack timeout
[ WARN] [1647890776.928305352]: VER: unicast request timeout, retries left 1
[ WARN] [1647890776.928958309]: PR: request param #8 timeout, retries left 2, and 19 params still missing
[ WARN] [1647890777.917577882]: CMD: Command 410 -- wait ack timeout
[ WARN] [1647890777.930787127]: PR: request param #8 timeout, retries left 1, and 19 params still missing
[ INFO] [1647890778.707921113]: PR: parameters list received
[ WARN] [1647890778.920071351]: WP: timeout, retries left 2
[ WARN] [1647890779.920529625]: WP: timeout, retries left 1
[ WARN] [1647890780.920991604]: WP: timeout, retries left 0
[ERROR] [1647890781.926012428]: WP: timed out.
[ WARN] [1647890781.935460024]: CMD: Command 520 -- wait ack timeout
[ WARN] [1647890781.935869859]: VER: unicast request timeout, retries left 0
[ INFO] [1647890782.912036360]: HP: requesting home position
[ WARN] [1647890786.939801135]: CMD: Command 520 -- wait ack timeout
[ WARN] [1647890786.940337918]: VER: your FCU don't support AUTOPILOT_VERSION, switched to default capabilities
[ WARN] [1647890787.915843839]: CMD: Command 410 -- wait ack timeout
[ WARN] [1647890792.715253589]: RADIO_STATUS not from 3DR modem?
[ INFO] [1647890792.911957494]: HP: requesting home position
\diagnostics output:
header:
seq: 25
stamp:
secs: 1647890776
nsecs: 928787311
frame_id: ''
status:
-
level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "udp://:14551@192.168.1.91:14556"
values:
-
key: "Received packets:"
value: "449"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "132"
-
key: "Tx sequence number:"
value: "153"
-
key: "Rx total bytes:"
value: "15362"
-
key: "Tx total bytes:"
value: "139975"
-
key: "Rx speed:"
value: "1295.500000"
-
key: "Tx speed:"
value: "3144.500000"
-
level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "udp://:14551@192.168.1.91:14556"
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: "udp://:14551@192.168.1.91:14556"
values:
-
key: "Heartbeats since startup"
value: "15"
-
key: "Frequency (Hz)"
value: "1.012227"
-
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: "udp://:14551@192.168.1.91:14556"
values:
-
key: "Sensor present"
value: "0x1220802C"
-
key: "Sensor enabled"
value: "0x1221800C"
-
key: "Sensor health"
value: "0x0026800F"
-
key: "3D magnetometer"
value: "Ok"
-
key: "absolute pressure"
value: "Ok"
-
key: "motor outputs / control"
value: "Ok"
-
key: "rc receiver"
value: "Fail"
-
key: "AHRS subsystem health"
value: "Ok"
-
key: "Battery"
value: "Fail"
-
key: "CPU Load (%)"
value: "63.1"
-
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: "udp://:14551@192.168.1.91:14556"
values:
-
key: "Voltage"
value: "65.54"
-
key: "Current"
value: "-0.0"
-
key: "Remaining"
value: "-1.0"
-
level: 2
name: "mavros: Time Sync"
message: "No events recorded."
hardware_id: "udp://:14551@192.168.1.91:14556"
values:
-
key: "Timesyncs since startup"
value: "0"
-
key: "Frequency (Hz)"
value: "0.000000"
-
key: "Last RTT (ms)"
value: "0.000000"
-
key: "Mean RTT (ms)"
value: "0.000000"
-
key: "Last remote time (s)"
value: "0.000000000"
-
key: "Estimated time offset (s)"
value: "0.000000000"
-
level: 1
name: "mavros: 3DR Radio"
message: "Low remote RSSI"
hardware_id: "udp://:14551@192.168.1.91:14556"
values:
-
key: "RSSI"
value: "209"
-
key: "RSSI (dBm)"
value: "-17.0"
-
key: "Remote RSSI"
value: "0"
-
key: "Remote RSSI (dBm)"
value: "-127.0"
-
key: "Tx buffer (%)"
value: "100"
-
key: "Noice level"
value: "0"
-
key: "Remote noice level"
value: "0"
-
key: "Rx errors"
value: "0"
-
key: "Fixed"
value: "0"
---
Any help would be appreciated as I have been stuck here for far too long haha.