Px4-autopilot: Unsupported FCU gazebo
Hello,
I had this setup running yesterday but after returning to it I am facing the following issues:
make px4_stil_default gazebo
and then:
roslaunch px4 mavros_posix_sitl.launch
In launch file:
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
.bashrc:
source ~/catkin_ws/devel_isolated/setup.bash ~/catkin_ws/src/Firmware/Tools/setup_gazebo.bash ~/catkin_ws/src/Firmware ~/catkin_ws/src/Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/catkin_ws/src/Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/catkin_ws/src/Firmware/Tools/sitl_gazebo
Topic /mavros/status tells me that the FCU is not connected.
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
connected: False
armed: False
guided: False
mode: ''
system_status: 0
MODE: Unsupported FCU comes up when I try to set an offboard mode.
Output:
roslaunch px4 mavros_posix_sitl.launch
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: udp://:14540@loca...
* /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: 0.000349065850399
* /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/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: 0.118682389136
* /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: 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: kinetic
* /rosversion: 1.12.14
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
sitl (px4/px4)
vehicle_spawn_pawel_vyper_16100_3946803529953526077 (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [16110]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to d3a0baf2-78e3-11e9-a9da-34e12ddc2ac6
process[rosout-1]: started with pid [16123]
started core service [/rosout]
process[sitl-2]: started with pid [16148]
INFO [px4] Creating symlink /home/pawel/catkin_ws/src/Firmware/ROMFS/px4fmu_common -> /home/pawel/.ros/etc
0 WARNING: setRealtimeSched failed (not run as root?)
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [16161]
process[gazebo_gui-4]: started with pid [16189]
process[vehicle_spawn_pawel_vyper_16100_3946803529953526077-5]: started with pid [16200]
process[mavros-6]: started with pid [16207]
INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO [simulator] Waiting for simulator to connect on TCP port 4560
[ INFO] [1558125552.562221872]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1558125552.564143506]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1558125552.564265737]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1558125552.564575118]: GCS bridge disabled
[ INFO] [1558125552.576139557]: Plugin 3dr_radio loaded
[ INFO] [1558125552.578478110]: Plugin 3dr_radio initialized
[ INFO] [1558125552.578624054]: Plugin actuator_control loaded
[ INFO] [1558125552.582574369]: Plugin actuator_control initialized
[ INFO] [1558125552.585771365]: Plugin adsb loaded
[ INFO] [1558125552.590773617]: Plugin adsb initialized
[ INFO] [1558125552.590968817]: Plugin altitude loaded
[ INFO] [1558125552.592221694]: Plugin altitude initialized
[ INFO] [1558125552.592426427]: Plugin cam_imu_sync loaded
[ INFO] [1558125552.593194845]: Plugin cam_imu_sync initialized
[ INFO] [1558125552.593410754]: Plugin command loaded
[ INFO] [1558125552.598970570]: Plugin command initialized
[ INFO] [1558125552.599191667]: Plugin companion_process_status loaded
[ INFO] [1558125552.601706754]: Plugin companion_process_status initialized
[ INFO] [1558125552.601888484]: Plugin debug_value loaded
[ INFO] [1558125552.606823199]: Plugin debug_value initialized
[ INFO] [1558125552.606877515]: Plugin distance_sensor blacklisted
[ INFO] [1558125552.607067809]: Plugin fake_gps loaded
[ INFO] [1558125552.620454800]: Plugin fake_gps initialized
[ INFO] [1558125552.620706724]: Plugin ftp loaded
[ INFO] [1558125552.628585691]: Plugin ftp initialized
[ INFO] [1558125552.628738447]: Plugin global_position loaded
[ INFO] [1558125552.644614290]: Plugin global_position initialized
[ INFO] [1558125552.644792866]: Plugin gps_rtk loaded
[ INFO] [1558125552.647383597]: Plugin gps_rtk initialized
[ INFO] [1558125552.647538881]: Plugin hil loaded
[ INFO] [1558125552.663755007]: Plugin hil initialized
[ INFO] [1558125552.663977183]: Plugin home_position loaded
[ INFO] [1558125552.668328296]: Plugin home_position initialized
[ INFO] [1558125552.668518526]: Plugin imu loaded
[ INFO] [1558125552.677006309]: Plugin imu initialized
[ INFO] [1558125552.677189570]: Plugin local_position loaded
[ INFO] [1558125552.683335256]: Plugin local_position initialized
[ INFO] [1558125552.683522424]: Plugin log_transfer loaded
[ INFO] [1558125552.687678459]: Plugin log_transfer initialized
[ INFO] [1558125552.687883031]: Plugin manual_control loaded
[ INFO] [1558125552.691316133]: Plugin manual_control initialized
[ INFO] [1558125552.691463908]: Plugin mocap_pose_estimate loaded
[ INFO] [1558125552.695985724]: Plugin mocap_pose_estimate initialized
[ INFO] [1558125552.696165074]: Plugin obstacle_distance loaded
[ INFO] [1558125552.698680668]: Plugin obstacle_distance initialized
[ INFO] [1558125552.698865158]: Plugin odom loaded
[ INFO] [1558125552.705634549]: Plugin odom initialized
[ INFO] [1558125552.705899832]: Plugin param loaded
[ INFO] [1558125552.709305718]: Plugin param initialized
[ INFO] [1558125552.709505431]: Plugin px4flow loaded
[ INFO] [1558125552.716073614]: Plugin px4flow initialized
[ INFO] [1558125552.716122246]: Plugin rangefinder blacklisted
[ INFO] [1558125552.716304496]: Plugin rc_io loaded
[ INFO] [1558125552.720887672]: Plugin rc_io initialized
[ INFO] [1558125552.720924876]: Plugin safety_area blacklisted
[ INFO] [1558125552.721077447]: Plugin setpoint_accel loaded
[ INFO] [1558125552.726647710]: Plugin setpoint_accel initialized
[ INFO] [1558125552.726892477]: Plugin setpoint_attitude loaded
[ INFO] [1558125552.732289264]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1558125552.733571012]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1558125552.740251601]: Plugin setpoint_attitude initialized
[ INFO] [1558125552.740494911]: Plugin setpoint_position loaded
[ INFO] [1558125552.760492069]: Plugin setpoint_position initialized
[ INFO] [1558125552.760644424]: Plugin setpoint_raw loaded
[ INFO] [1558125552.766528856]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1558125552.767387823]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1558125552.774100588]: Plugin setpoint_raw initialized
[ INFO] [1558125552.774385432]: Plugin setpoint_velocity loaded
[ INFO] [1558125552.781776154]: Plugin setpoint_velocity initialized
[ INFO] [1558125552.782159485]: Plugin sys_status loaded
[ INFO] [1558125552.793962312]: Plugin sys_status initialized
[ INFO] [1558125552.794111894]: Plugin sys_time loaded
[ INFO] [1558125552.799401538]: TM: Timesync mode: MAVLINK
[ INFO] [1558125552.801106321]: Plugin sys_time initialized
[ INFO] [1558125552.801377117]: Plugin trajectory loaded
[ INFO] [1558125552.809382349]: Plugin trajectory initialized
[ INFO] [1558125552.809560917]: Plugin vfr_hud loaded
[ INFO] [1558125552.810356337]: Plugin vfr_hud initialized
[ INFO] [1558125552.810395583]: Plugin vibration blacklisted
[ INFO] [1558125552.810581699]: Plugin vision_pose_estimate loaded
[ INFO] [1558125552.818096910]: Plugin vision_pose_estimate initialized
[ INFO] [1558125552.818264992]: Plugin vision_speed_estimate loaded
[ INFO] [1558125552.821916591]: Plugin vision_speed_estimate initialized
[ INFO] [1558125552.822065624]: Plugin waypoint loaded
[ INFO] [1558125552.826377106]: Plugin waypoint initialized
[ INFO] [1558125552.826410610]: Plugin wheel_odometry blacklisted
[ INFO] [1558125552.826555999]: Plugin wind_estimation loaded
[ INFO] [1558125552.827418617]: Plugin wind_estimation initialized
[ INFO] [1558125552.827458861]: Autostarting mavlink via USB on PX4
[ INFO] [1558125552.827624724]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1558125552.827640390]: Built-in MAVLink package version: 2019.4.4
[ INFO] [1558125552.827684914]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1558125552.827701327]: MAVROS started. MY ID 1.240, TARGET ID 1.1
SpawnModel script started
[INFO] [1558125553.142383, 0.000000]: Loading model XML from file
[INFO] [1558125553.142633, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1558125554.302872583, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1558125554.331528804, 0.052000000]: Physics dynamic reconfigure ready.
[INFO] [1558125554.349635, 0.000000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1558125554.492483, 0.168000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1558125554.585788539, 0.260000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1558125554.613007172, 0.288000000]: Physics dynamic reconfigure ready.
[vehicle_spawn_pawel_vyper_16100_3946803529953526077-5] process has finished cleanly
log file: /home/pawel/.ros/log/d3a0baf2-78e3-11e9-a9da-34e12ddc2ac6/vehicle_spawn_pawel_vyper_16100_3946803529953526077-5*.log
[ERROR] [1558125576.253675999, 21.916000000]: MODE: Unsupported FCU
Edited by @julianoes for ``` around output.
pawelpetruch
All 7 comments
Hi, everything you have done seems correct. Could you please check that all the paths you have set are correct?
Try starting posix_sitl.launch and mavros px4.launch separately and see if you get any further.
mrivi
on 18 May 2019
@mrivi Running roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557 yields the same results.
All the paths in .bashrc seems to be correct, as here: https://dev.px4.io/en/simulation/ros_interface.html
My tree: /catkin_ws/src/Firmware /catkin_ws/src/mavros /catkin_ws/src/mavlink /catkin_ws/src/my_package
I make it through catkin_make_isolated.
========
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: udp://:14540@127....
* /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: 0.000349065850399
* /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/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: True
* /mavros/local_position/tf/send_fcu: False
* /mavros/mission/pull_after_gcs: True
* /mavros/mocap/use_pose: True
* /mavros/mocap/use_tf: True
* /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: 0.118682389136
* /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: 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: kinetic
* /rosversion: 1.12.14
NODES
/
mavros (mavros/mavros_node)
ROS_MASTER_URI=http://localhost:11311
process[mavros-1]: started with pid [26077]
[ INFO] [1558191592.005168937]: FCU URL: udp://:[email protected]:14557
[ INFO] [1558191592.007096399]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1558191592.007195161]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1558191592.007461415]: GCS bridge disabled
[ INFO] [1558191592.019340501]: Plugin 3dr_radio loaded
[ INFO] [1558191592.021325065]: Plugin 3dr_radio initialized
[ INFO] [1558191592.021440126]: Plugin actuator_control loaded
[ INFO] [1558191592.025328724]: Plugin actuator_control initialized
[ INFO] [1558191592.028323888]: Plugin adsb loaded
[ INFO] [1558191592.032674146]: Plugin adsb initialized
[ INFO] [1558191592.032847051]: Plugin altitude loaded
[ INFO] [1558191592.034971273]: Plugin altitude initialized
[ INFO] [1558191592.035184832]: Plugin cam_imu_sync loaded
[ INFO] [1558191592.036182340]: Plugin cam_imu_sync initialized
[ INFO] [1558191592.036358207]: Plugin command loaded
[ INFO] [1558191592.044287574]: Plugin command initialized
[ INFO] [1558191592.044502513]: Plugin companion_process_status loaded
[ INFO] [1558191592.048169352]: Plugin companion_process_status initialized
[ INFO] [1558191592.048393745]: Plugin debug_value loaded
[ INFO] [1558191592.055311064]: Plugin debug_value initialized
[ INFO] [1558191592.055356494]: Plugin distance_sensor blacklisted
[ INFO] [1558191592.055536601]: Plugin fake_gps loaded
[ INFO] [1558191592.069899004]: Plugin fake_gps initialized
[ INFO] [1558191592.070062036]: Plugin ftp loaded
[ INFO] [1558191592.080117531]: Plugin ftp initialized
[ INFO] [1558191592.080336342]: Plugin global_position loaded
[ INFO] [1558191592.099723021]: Plugin global_position initialized
[ INFO] [1558191592.099912152]: Plugin gps_rtk loaded
[ INFO] [1558191592.103254185]: Plugin gps_rtk initialized
[ INFO] [1558191592.103400116]: Plugin hil loaded
[ INFO] [1558191592.121310284]: Plugin hil initialized
[ INFO] [1558191592.121433254]: Plugin home_position loaded
[ INFO] [1558191592.125405226]: Plugin home_position initialized
[ INFO] [1558191592.125550940]: Plugin imu loaded
[ INFO] [1558191592.136972830]: Plugin imu initialized
[ INFO] [1558191592.137139531]: Plugin local_position loaded
[ INFO] [1558191592.148767030]: Plugin local_position initialized
[ INFO] [1558191592.149041531]: Plugin log_transfer loaded
[ INFO] [1558191592.153756124]: Plugin log_transfer initialized
[ INFO] [1558191592.153988689]: Plugin manual_control loaded
[ INFO] [1558191592.159030978]: Plugin manual_control initialized
[ INFO] [1558191592.159280817]: Plugin mocap_pose_estimate loaded
[ERROR] [1558191592.161441043]: Use one motion capture source.
[ INFO] [1558191592.161459339]: Plugin mocap_pose_estimate initialized
[ INFO] [1558191592.161765005]: Plugin obstacle_distance loaded
[ INFO] [1558191592.167000113]: Plugin obstacle_distance initialized
[ INFO] [1558191592.167236706]: Plugin odom loaded
[ INFO] [1558191592.178340665]: Plugin odom initialized
[ INFO] [1558191592.178588237]: Plugin param loaded
[ INFO] [1558191592.183145687]: Plugin param initialized
[ INFO] [1558191592.183308276]: Plugin px4flow loaded
[ INFO] [1558191592.192270922]: Plugin px4flow initialized
[ INFO] [1558191592.192374019]: Plugin rangefinder blacklisted
[ INFO] [1558191592.192665273]: Plugin rc_io loaded
[ INFO] [1558191592.198438994]: Plugin rc_io initialized
[ INFO] [1558191592.198492194]: Plugin safety_area blacklisted
[ INFO] [1558191592.198734133]: Plugin setpoint_accel loaded
[ INFO] [1558191592.202015334]: Plugin setpoint_accel initialized
[ INFO] [1558191592.202350179]: Plugin setpoint_attitude loaded
[ INFO] [1558191592.214736310, 5.904000000]: Plugin setpoint_attitude initialized
[ INFO] [1558191592.215001145, 5.904000000]: Plugin setpoint_position loaded
[ INFO] [1558191592.233003982, 5.924000000]: Plugin setpoint_position initialized
[ INFO] [1558191592.233161842, 5.924000000]: Plugin setpoint_raw loaded
[ INFO] [1558191592.243246784, 5.932000000]: Plugin setpoint_raw initialized
[ INFO] [1558191592.243410687, 5.936000000]: Plugin setpoint_velocity loaded
[ INFO] [1558191592.252398291, 5.944000000]: Plugin setpoint_velocity initialized
[ INFO] [1558191592.252741872, 5.944000000]: Plugin sys_status loaded
[ INFO] [1558191592.270593801, 5.960000000]: Plugin sys_status initialized
[ INFO] [1558191592.270813176, 5.960000000]: Plugin sys_time loaded
[ INFO] [1558191592.278140855, 5.968000000]: TM: Timesync mode: MAVLINK
[ INFO] [1558191592.279736223, 5.972000000]: Plugin sys_time initialized
[ INFO] [1558191592.279925191, 5.972000000]: Plugin trajectory loaded
[ INFO] [1558191592.290891387, 5.980000000]: Plugin trajectory initialized
[ INFO] [1558191592.291093422, 5.980000000]: Plugin vfr_hud loaded
[ INFO] [1558191592.292605365, 5.984000000]: Plugin vfr_hud initialized
[ INFO] [1558191592.292645010, 5.984000000]: Plugin vibration blacklisted
[ INFO] [1558191592.292802140, 5.984000000]: Plugin vision_pose_estimate loaded
[ INFO] [1558191592.305681919, 5.996000000]: Plugin vision_pose_estimate initialized
[ INFO] [1558191592.305995800, 5.996000000]: Plugin vision_speed_estimate loaded
[ INFO] [1558191592.312048972, 6.004000000]: Plugin vision_speed_estimate initialized
[ INFO] [1558191592.312275235, 6.004000000]: Plugin waypoint loaded
[ INFO] [1558191592.318352594, 6.008000000]: Plugin waypoint initialized
[ INFO] [1558191592.318426620, 6.008000000]: Plugin wheel_odometry blacklisted
[ INFO] [1558191592.318546177, 6.008000000]: Plugin wind_estimation loaded
[ INFO] [1558191592.319410261, 6.008000000]: Plugin wind_estimation initialized
[ INFO] [1558191592.319456536, 6.012000000]: Autostarting mavlink via USB on PX4
[ INFO] [1558191592.319563289, 6.012000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1558191592.319581980, 6.012000000]: Built-in MAVLink package version: 2019.4.4
[ INFO] [1558191592.319611935, 6.012000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1558191592.319647330, 6.012000000]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ERROR] [1558191605.602404290, 19.288000000]: MODE: Unsupported FCU
[ERROR] [1558191610.617787998, 24.300000000]: MODE: Unsupported FCU
But then the fcu_url is: FCU URL: /dev/ttyACM0:57600
On Sat, 18 May 2019 at 17:10, Martina Rivizzigno notifications@github.com
wrote:
Try not to specify the fcu_url when you launch mavros. The default in the
launch script works fine.—
You are receiving this because you authored the thread.
Reply to this email directly, view it on GitHub
https://github.com/PX4/Firmware/issues/12038?email_source=notifications&email_token=AFC7O3XCHULO5F5253ZZXC3PWATA3A5CNFSM4HNYKQCKYY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGODVWRLVA#issuecomment-493688276,
or mute the thread
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.
pawelpetruch
on 18 May 2019
@mrsiekierka Your Firmware directory should not be in your catkin_ws. If you followed the instructions correctly, it should be in ~/src/Firmware
Jaeyoung-Lim
on 20 May 2019
@mrsiekierka I was referring to mavros_posix_sitl.launch.
I still feel like the system variables are not set properly. Can you copy here GAZEBO_MODEL_PATH, GAZEBO_RESOURCE_PATH, GAZEBO_PLUGIN_PATH, LD_LIBRARY_PATH and ROS_PACKAGE_PATH.
Could you please also check that this folder ~/catkin_ws/src/Firmware/build/px4_sitl_default exists?
mrivi
on 20 May 2019
@mrivi @Jaeyoung-Lim Thank you for helping out with this issue. I actually had sources set it up in .bashrc script what didn't work. Even though when sources where pointing at the right directories etc... So @mrivi suggestion was right!
In terms of having it in catkin_ws - that's right, I moved it after I had previous issues, shouldn't have done that probably.
That's a script .sh which launches everything correctly (instead of .bashrc).
cd src/Firmware
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
roslaunch px4 mavros_posix_sitl.launch
Thanks again!
pawelpetruch
on 21 May 2019
👍2
😄1
@mrsiekierka Your
Firmwaredirectory should not be in yourcatkin_ws. If you followed the instructions correctly, it should be in~/src/Firmware
I met this problem when I use Jetson Xavier do the Mavros Controller simulation part. Still working on it. I run
make px4_sitl_default gazebo
and
roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557"
in two seperate terminal and there seem to be no problem.
Also when I run
roslaunch px4 mavros_posix_sitl.launch I got no error.
But when I run
roslaunch geometric_controller sitl_trajectory_track_circle.launch
I get the Unsupported FCU error.
BTW, could you explain that why the Firmware should be in a catkin_ws?
HenryHuYu
on 26 Jun 2020
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Most helpful comment
@mrivi @Jaeyoung-Lim Thank you for helping out with this issue. I actually had sources set it up in .bashrc script what didn't work. Even though when sources where pointing at the right directories etc... So @mrivi suggestion was right!
In terms of having it in catkin_ws - that's right, I moved it after I had previous issues, shouldn't have done that probably.
That's a script .sh which launches everything correctly (instead of .bashrc).
Thanks again!