Hello,
I am trying to make it so that I can send ROS/MAVROS/MAVLink messages to PX4 on the same VOXL2 (running on Ubuntu 18.04 and using ROS 1 melodic). I am not trying to send messages from one computer to another.
Why am I having issues getting ROS/MAVROS/MAVLink connected to PX4? What do I have to change for PX4 to connect?
In terminal, I run the command roslaunch mavros px4.launch, and then rostopic echo mavros/state and I get the following output:
`
header:
seq: 0
stamp:
secs: 1718988762
nsecs: 982209441
frame_id: ‘’
connected: False
armed: False
guided: False
manual_input: False
mode: ‘’
system_status: 0
`
When I run voxl-inspect-services, I get the following output:
`
Scanning services…
Service Name | Enabled | Running | CPU Usage
docker-autorun | Disabled | Not Running |
modallink-relink | Disabled | Not Running |
voxl-camera-server | Enabled | Not Running |
voxl-cpu-monitor | Enabled | Running | 0.0%
voxl-dfs-server | Disabled | Not Running |
voxl-feature-tracker | Disabled | Not Running |
voxl-flow-server | Disabled | Not Running |
voxl-imu-server | Enabled | Running | 0.0%
voxl-lepton-server | Disabled | Not Running |
voxl-mavcam-manager | Disabled | Not Running |
voxl-mavlink-server | Enabled | Running | 0.5%
voxl-modem | Disabled | Not Running |
voxl-neopixel-manager | Disabled | Not Running |
voxl-open-vins-server | Disabled | Not Running |
voxl-portal | Enabled | Running | 0.1%
voxl-px4-imu-server | Enabled | Running | 1.1%
voxl-px4 | Enabled | Running | 36.5%
voxl-qvio-server | Disabled | Not Running |
voxl-rangefinder-server | Disabled | Not Running |
voxl-remote-id | Disabled | Not Running |
voxl-softap | Enabled | Completed |
voxl-static-ip | Enabled | Not Running |
voxl-streamer | Disabled | Not Running |
voxl-tag-detector | Disabled | Not Running |
voxl-tflite-server | Disabled | Not Running |
voxl-time-sync | Disabled | Not Running |
voxl-uvc-server | Disabled | Not Running |
voxl-vision-hub | Enabled | Running | 0.5%
voxl-wait-for-fs | Enabled | Completed |
`
For configuring ROS/MAVROS/PX4, I have the VOXL2 set in softap mode.
`
voxl2:/$ voxl-wifi
Wifi is currently set up as follows:
Current mode: softap
Current ssid: luigis_mansion_2_hd
Station mode is for connecting to a normal wifi network.
In softap mode, the VOXL will broadcast its own wifi network.
Factory mode will set up softap with the following unique SSID:
VOXL-00:c0:ca:b5:ab:a2
`
When I run voxl-px4, I get the following output:
`
[INFO] Reading from /etc/modalai/voxl-px4.conf
Found DSP signature file
[INFO] Daemon mode enabled
GPS=AUTODETECT
RC=M0065_SBUS
ESC=VOXL2_IO_PWM_ESC
POWER MANAGER=VOXLPM
DISTANCE SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=ENABLE
SENSOR_CAL=ACTUAL
EXTRA STEPS:
INFO [px4] mlockall() enabled. PX4’s virtual address space is locked into RAM.
INFO [px4] PX4 server already running for instance 0
`
When I open voxl-mavlink-server.conf in etc/modalai, the following parameters are set in the .conf file:
"primary_static_gcs_ip": "192.168.8.10",
"secondary_static_gcs_ip": "192.168.8.11",
"onboard_port_to_autopilot": 14556,
"onboard_port_from_autopilot": 14557,
"gcs_port_to_autopilot": 14558,
"gcs_port_from_autopilot": 14559,
"en_external_uart_ap": true,
"autopilot_uart_bus": 1,
"autopilot_uart_baudrate": 921600,
"en_external_ap_timesync": 1,
"en_external_ap_heartbeat": 1,
"udp_mtu": 0,
"gcs_timeout_s": 4.5