Hi, I am new to MAVROS/ROS and trying to subscribe to landing_target topic, which is coming from PX4 via LANDING_TARGET(149) MAVLink message.
I’ve written these lines below to subscribe to the topic in my node, but it didn’t work.
void LandingTargetReceived(const mavros_msgs::LandingTarget::ConstPtr& msg)
{
landing_target = *msg;
}
#inside int main():
ros::Subscriber landing_target_sub = nh.subscribe<mavros_msgs::LandingTarget>
("mavros/landing_target/raw", 10, LandingTargetReceived);
I also tried setting landing_target parameters inside px4.launch as below, but it still didn’t work:
# landing_target
landing_target:
listen_lt: true
mav_frame: "LOCAL_NED"
land_target_type: "LIGHT_BEACON"
image:
width: 640 # [pixels]
height: 480
camera:
fov_x: 2.0071286398 # default: 115 [degrees]
fov_y: 2.0071286398
tf:
send: false
listen: false
frame_id: "landing_target"
child_frame_id: "camera_center"
rate_limit: 20.0
target_size: {x: 0.3, y: 0.3}
I can confirm that LANDING_TARGET MAVLink message is coming from PX4 by both mavros checkid and on QGC.
Does anyone know how I should implement the subscriber in my node?
Thanks!
MAVROS version and platform
Mavros: 1.14.0
ROS: Noetic
Ubuntu: 20.04.5 LTS
Node logs
result of px4.launch
... logging to /home/sel/.ros/log/410d55d8-966c-11ed-af6e-bde2604a0f20/roslaunch-selpi-3307.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://selpi:40419/
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /mavros/camera/frame_id: base_link
* /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/horizontal_fov_ratio: 1.0
* /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/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
* /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/ttyACM0:921600
* /mavros/gcs_url:
* /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: LIGHT_BEACON
* /mavros/landing_target/listen_lt: True
* /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: 20.0
* /mavros/landing_target/tf/send: False
* /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/mission/use_mission_item_int: True
* /mavros/mocap/use_pose: True
* /mavros/mocap/use_tf: False
* /mavros/mount/debounce_s: 4.0
* /mavros/mount/err_threshold_deg: 10.0
* /mavros/mount/negate_measured_pitch: False
* /mavros/mount/negate_measured_roll: False
* /mavros/mount/negate_measured_yaw: 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: False
* /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: noetic
* /rosversion: 1.15.15
NODES
/
mavros (mavros/mavros_node)
auto-starting new master
process[master]: started with pid [3318]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 410d55d8-966c-11ed-af6e-bde2604a0f20
process[rosout-1]: started with pid [3332]
started core service [/rosout]
process[mavros-2]: started with pid [3336]
[ INFO] [1673962730.630238523]: FCU URL: /dev/ttyACM0:921600
[ INFO] [1673962730.649565669]: serial0: device: /dev/ttyACM0 @ 921600 bps
[ INFO] [1673962730.653325307]: GCS bridge disabled
[ INFO] [1673962730.916247381]: Plugin 3dr_radio loaded
[ INFO] [1673962730.927674158]: Plugin 3dr_radio initialized
[ INFO] [1673962730.928328533]: Plugin actuator_control loaded
[ INFO] [1673962730.950045160]: Plugin actuator_control initialized
[ INFO] [1673962731.079236221]: Plugin adsb loaded
[ INFO] [1673962731.101470505]: Plugin adsb initialized
[ INFO] [1673962731.102347484]: Plugin altitude loaded
[ INFO] [1673962731.110260926]: Plugin altitude initialized
[ INFO] [1673962731.111308062]: Plugin cam_imu_sync loaded
[ INFO] [1673962731.115812179]: Plugin cam_imu_sync initialized
[ INFO] [1673962731.116562857]: Plugin camera loaded
[ INFO] [1673962731.121770985]: Plugin camera initialized
[ INFO] [1673962731.122628641]: Plugin cellular_status loaded
[ INFO] [1673962731.140569485]: Plugin cellular_status initialized
[ INFO] [1673962731.141458392]: Plugin command loaded
[ INFO] [1673962731.192137847]: Plugin command initialized
[ INFO] [1673962731.193047118]: Plugin companion_process_status loaded
[ INFO] [1673962731.210854680]: Plugin companion_process_status initialized
[ INFO] [1673962731.211916400]: Plugin debug_value loaded
[ INFO] [1673962731.247193346]: Plugin debug_value initialized
[ INFO] [1673962731.247480430]: Plugin distance_sensor blacklisted
[ INFO] [1673962731.249045274]: Plugin esc_status loaded
[ INFO] [1673962731.257061737]: Plugin esc_status initialized
[ INFO] [1673962731.257861529]: Plugin esc_telemetry loaded
[ INFO] [1673962731.262779032]: Plugin esc_telemetry initialized
[ INFO] [1673962731.263499085]: Plugin fake_gps loaded
[ INFO] [1673962731.375391647]: Plugin fake_gps initialized
[ INFO] [1673962731.376320658]: Plugin ftp loaded
[ INFO] [1673962731.422604017]: Plugin ftp initialized
[ INFO] [1673962731.423652091]: Plugin geofence loaded
[ INFO] [1673962731.443700539]: Plugin geofence initialized
[ INFO] [1673962731.445376738]: Plugin global_position loaded
[ INFO] [1673962731.567911702]: Plugin global_position initialized
[ INFO] [1673962731.569463786]: Plugin gps_input loaded
[ INFO] [1673962731.594412238]: Plugin gps_input initialized
[ INFO] [1673962731.595164947]: Plugin gps_rtk loaded
[ INFO] [1673962731.618042147]: Plugin gps_rtk initialized
[ INFO] [1673962731.618870012]: Plugin gps_status loaded
[ INFO] [1673962731.636670907]: Plugin gps_status initialized
[ INFO] [1673962731.637626637]: Plugin guided_target loaded
[ INFO] [1673962731.670008947]: Plugin guided_target initialized
[ INFO] [1673962731.670833530]: Plugin hil loaded
[ INFO] [1673962731.750325346]: Plugin hil initialized
[ INFO] [1673962731.751199773]: Plugin home_position loaded
[ INFO] [1673962731.775036401]: Plugin home_position initialized
[ INFO] [1673962731.776520777]: Plugin imu loaded
[ INFO] [1673962731.832879350]: Plugin imu initialized
[ INFO] [1673962731.833736694]: Plugin landing_target loaded
[ INFO] [1673962731.931470186]: Plugin landing_target initialized
[ INFO] [1673962731.932390968]: Plugin local_position loaded
[ INFO] [1673962731.977225055]: Plugin local_position initialized
[ INFO] [1673962731.978146931]: Plugin log_transfer loaded
[ INFO] [1673962732.001988715]: Plugin log_transfer initialized
[ INFO] [1673962732.002946163]: Plugin mag_calibration_status loaded
[ INFO] [1673962732.010927626]: Plugin mag_calibration_status initialized
[ INFO] [1673962732.011876741]: Plugin manual_control loaded
[ INFO] [1673962732.033230868]: Plugin manual_control initialized
[ INFO] [1673962732.034082743]: Plugin mocap_pose_estimate loaded
[ INFO] [1673962732.061279894]: Plugin mocap_pose_estimate initialized
[ INFO] [1673962732.062048696]: Plugin mount_control loaded
[ WARN] [1673962732.104752835]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1673962732.108623358]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1673962732.112563933]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1673962732.123977272]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1673962732.128195764]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1673962732.128756911]: Plugin mount_control initialized
[ INFO] [1673962732.130149620]: Plugin nav_controller_output loaded
[ INFO] [1673962732.136321550]: Plugin nav_controller_output initialized
[ INFO] [1673962732.137741134]: Plugin obstacle_distance loaded
[ INFO] [1673962732.162304950]: Plugin obstacle_distance initialized
[ INFO] [1673962732.163245836]: Plugin odom loaded
[ INFO] [1673962732.196294396]: Plugin odom initialized
[ INFO] [1673962732.198063720]: Plugin onboard_computer_status loaded
[ INFO] [1673962732.218178471]: Plugin onboard_computer_status initialized
[ INFO] [1673962732.219627586]: Plugin param loaded
[ INFO] [1673962732.242343276]: Plugin param initialized
[ INFO] [1673962732.243275203]: Plugin play_tune loaded
[ INFO] [1673962732.260979067]: Plugin play_tune initialized
[ INFO] [1673962732.262466724]: Plugin px4flow loaded
[ INFO] [1673962732.314258941]: Plugin px4flow initialized
[ INFO] [1673962732.315251493]: Plugin rallypoint loaded
[ INFO] [1673962732.337933069]: Plugin rallypoint initialized
[ INFO] [1673962732.338317079]: Plugin rangefinder blacklisted
[ INFO] [1673962732.340706664]: Plugin rc_io loaded
[ INFO] [1673962732.371572514]: Plugin rc_io initialized
[ INFO] [1673962732.371894233]: Plugin safety_area blacklisted
[ INFO] [1673962732.373589599]: Plugin setpoint_accel loaded
[ INFO] [1673962732.397724508]: Plugin setpoint_accel initialized
[ INFO] [1673962732.398785238]: Plugin setpoint_attitude loaded
[ INFO] [1673962732.477804032]: Plugin setpoint_attitude initialized
[ INFO] [1673962732.479015074]: Plugin setpoint_position loaded
[ INFO] [1673962732.597165400]: Plugin setpoint_position initialized
[ INFO] [1673962732.598211182]: Plugin setpoint_raw loaded
[ INFO] [1673962732.667487939]: Plugin setpoint_raw initialized
[ INFO] [1673962732.668684919]: Plugin setpoint_trajectory loaded
[ INFO] [1673962732.705631867]: Plugin setpoint_trajectory initialized
[ INFO] [1673962732.707444160]: Plugin setpoint_velocity loaded
[ INFO] [1673962732.745995431]: Plugin setpoint_velocity initialized
[ INFO] [1673962732.747423609]: Plugin sys_status loaded
[ INFO] [1673962732.897716557]: Plugin sys_status initialized
[ INFO] [1673962732.898820672]: Plugin sys_time loaded
[ INFO] [1673962732.944194656]: TM: Timesync mode: MAVLINK
[ INFO] [1673962732.947382210]: TM: Not publishing sim time
[ INFO] [1673962732.956738100]: Plugin sys_time initialized
[ INFO] [1673962732.957844820]: Plugin terrain loaded
[ INFO] [1673962732.963028416]: Plugin terrain initialized
[ INFO] [1673962732.963920761]: Plugin trajectory loaded
[ INFO] [1673962733.005612398]: Plugin trajectory initialized
[ INFO] [1673962733.007423649]: Plugin tunnel loaded
[ INFO] [1673962733.029775224]: Plugin tunnel initialized
[ INFO] [1673962733.031144027]: Plugin vfr_hud loaded
[ INFO] [1673962733.035875228]: Plugin vfr_hud initialized
[ INFO] [1673962733.037071010]: Plugin vibration blacklisted
[ INFO] [1673962733.038511531]: Plugin vision_pose_estimate loaded
[ INFO] [1673962733.096828907]: Plugin vision_pose_estimate initialized
[ INFO] [1673962733.097939012]: Plugin vision_speed_estimate loaded
[ INFO] [1673962733.127466268]: Plugin vision_speed_estimate initialized
[ INFO] [1673962733.128372050]: Plugin waypoint loaded
[ INFO] [1673962733.164657122]: Plugin waypoint initialized
[ INFO] [1673962733.165081081]: Plugin wheel_odometry blacklisted
[ INFO] [1673962733.166891915]: Plugin wind_estimation loaded
[ INFO] [1673962733.172835720]: Plugin wind_estimation initialized
[ INFO] [1673962733.174336607]: Built-in SIMD instructions: ARM NEON
[ INFO] [1673962733.174816451]: Built-in MAVLink package version: 2022.8.8
[ INFO] [1673962733.175351711]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1673962733.175680097]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1673962733.179608537]: IMU: Attitude quaternion IMU detected!
[ INFO] [1673962733.180256610]: IMU: High resolution IMU detected!
[ INFO] [1673962733.205503968]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1673962733.217456318]: IMU: Attitude quaternion IMU detected!
[ INFO] [1673962733.217901475]: IMU: High resolution IMU detected!
[ INFO] [1673962734.224598804]: GF: Using MISSION_ITEM_INT
[ INFO] [1673962734.224940940]: RP: Using MISSION_ITEM_INT
[ INFO] [1673962734.225244482]: WP: Using MISSION_ITEM_INT
[ INFO] [1673962734.225634690]: VER: 1.1: Capabilities 0x000000000000e4ff
[ INFO] [1673962734.226037555]: VER: 1.1: Flight software: 010d0100 (dc7f29e2ec000000)
[ INFO] [1673962734.226321722]: VER: 1.1: Middleware software: 010d0100 (dc7f29e2ec000000)
[ INFO] [1673962734.226569534]: VER: 1.1: OS software: 0b0000ff (91bece51afbe7da9)
[ INFO] [1673962734.226756149]: VER: 1.1: Board hardware: 00000038
[ INFO] [1673962734.226968858]: VER: 1.1: VID/PID: 3185:0038
[ INFO] [1673962734.227139587]: VER: 1.1: UID: 3330510c36303537
Diagnostics
result of rostopic echo -n1 /diagnostics
header:
seq: 30
stamp:
secs: 1673962767
nsecs: 676626102
frame_id: ''
status:
-
level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "/dev/ttyACM0:921600"
values:
-
key: "Received packets:"
value: "14563"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "216"
-
key: "Tx sequence number:"
value: "1"
-
key: "Rx total bytes:"
value: "861710"
-
key: "Tx total bytes:"
value: "20267"
-
key: "Rx speed:"
value: "36233.000000"
-
key: "Tx speed:"
value: "850.000000"
-
level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyACM0:921600"
values:
-
key: "Satellites visible"
value: "0"
-
key: "Fix type"
value: "0"
-
key: "EPH (m)"
value: "Unknown"
-
key: "EPV (m)"
value: "Unknown"
-
level: 1
name: "mavros: Mount"
message: "Can not diagnose in this targeting mode"
hardware_id: "/dev/ttyACM0:921600"
values:
-
key: "Mode"
value: "255"
-
level: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:
-
key: "Heartbeats since startup"
value: "37"
-
key: "Frequency (Hz)"
value: "1.034481"
-
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/ttyACM0:921600"
values:
-
key: "Sensor present"
value: "0xB228802C"
-
key: "Sensor enabled"
value: "0x9229800C"
-
key: "Sensor health"
value: "0x822E800F"
-
key: "3D magnetometer"
value: "Ok"
-
key: "absolute pressure"
value: "Ok"
-
key: "motor outputs / control"
value: "Ok"
-
key: "rc receiver"
value: "Fail"
-
key: "2nd 3D magnetometer"
value: "Ok"
-
key: "AHRS subsystem health"
value: "Ok"
-
key: "Battery"
value: "Ok"
-
key: "pre-arm check status. Always healthy when armed"
value: "Fail"
-
key: "CPU Load (%)"
value: "33.6"
-
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/ttyACM0:921600"
values:
-
key: "Voltage"
value: "15.24"
-
key: "Current"
value: "-0.3"
-
key: "Remaining"
value: "44.0"
-
level: 0
name: "mavros: Time Sync"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:
-
key: "Timesyncs since startup"
value: "345"
-
key: "Frequency (Hz)"
value: "10.000104"
-
key: "Last RTT (ms)"
value: "1.222605"
-
key: "Mean RTT (ms)"
value: "1.470130"
-
key: "Last remote time (s)"
value: "1423.564230000"
-
key: "Estimated time offset (s)"
value: "1673961344.093223572"
---
Check ID
result of rosrun mavros checkid
rosrun mavros checkid
OK. I got messages from 1:1.
---
Received 5956 messages, from 1 addresses
sys:comp list of messages
1:1 0, 1, 2, 132, 4, 8, 140, 141, 147, 149, 26, 411, 30, 31, 32, 74, 331, 77, 83, 230, 105, 106, 111, 241, 116, 245