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Unable to ros2 topic echo /fmu/out/vehicle_local_position and /fmu/out/vehicle_status[Bug] #23241
Comments
Hi @xdwgood, the main branch refers to the 'main' in https://github.com/PX4/px4_msgs? For the flight controller firmware does it belong under this tag(https://github.com/PX4/PX4-Autopilot/releases/tag/v1.14.3)? |
yes
|
Hi, since the message definitions keep on changing is it better to revert to the stable v1.14.0 and how do you upload a custom firmware to the board? |
This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/unable-to-ros2-topic-echo-specific-topics/39239/1 |
Describe the bug
I have setup up Micro XRCE-DDS Agent & Client following the ROS2 user guide
My flight controller has no gps and is only connected to my Nvidia Jetson Orin Nx Companion computer via ethernet
![image](https://private-user-images.githubusercontent.com/104839312/338072731-cf7d7071-671c-43e1-aa28-fdae80a42791.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjA3NzA3MjQsIm5iZiI6MTcyMDc3MDQyNCwicGF0aCI6Ii8xMDQ4MzkzMTIvMzM4MDcyNzMxLWNmN2Q3MDcxLTY3MWMtNDNlMS1hYTI4LWZkYWU4MGE0Mjc5MS5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNzEyJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDcxMlQwNzQ3MDRaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1lYzI3NTk3YjdmNzRiZTA1YTdlNzZlYWI2MTFjOWQzMTIzY2YxNzU5OWEwMTkwNTFmMDA2N2FkMWUyZTVkMDliJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.yPHEevsUkGglw6mPC8x2aN_rlxluXEa_F5VWPG6y7kM)
I believed that I have setup the communication bridge correctly between my companion computer and my flight controller because I am able to see the topics being published on the client:
![image](https://private-user-images.githubusercontent.com/104839312/338066706-3221cdbb-68f0-4b5f-86f3-1f3c7636c9a1.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjA3NzA3MjQsIm5iZiI6MTcyMDc3MDQyNCwicGF0aCI6Ii8xMDQ4MzkzMTIvMzM4MDY2NzA2LTMyMjFjZGJiLTY4ZjAtNGI1Zi04NmYzLTFmM2M3NjM2YzlhMS5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNzEyJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDcxMlQwNzQ3MDRaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT0xYWRiYzIzODUxNTEzZTE2ZjdjODk5Y2U0YWUyMDk0Y2QwYmY2NGYxYWI5NTg2YTRmYTZiNDRkMTgwZmYxOTY0JlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.-BMvj1k63M32JTcQ5Nip4QsefAkaoxKumf4G34kjYVg)
![image](https://private-user-images.githubusercontent.com/104839312/338069014-509ed2fa-b880-4943-ac86-824c3815787e.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjA3NzA3MjQsIm5iZiI6MTcyMDc3MDQyNCwicGF0aCI6Ii8xMDQ4MzkzMTIvMzM4MDY5MDE0LTUwOWVkMmZhLWI4ODAtNDk0My1hYzg2LTgyNGMzODE1Nzg3ZS5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNzEyJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDcxMlQwNzQ3MDRaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT0xZGZiNDk2OWJjNzUwYjgzMTE0NjE3YjkwYjJlZDg0OWZmZGE0OWIwNTQyYmRjY2NkNGNlMTU5OWE4ZWVmYTY3JlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.7ZEsK8eRCEmYNseOOHW4w0sstZ5hAZV2s5gtl4RSbHA)
On the companion computer, I am able to
![image](https://private-user-images.githubusercontent.com/104839312/338069267-cec28cc0-79b4-406d-a638-e50864df4e47.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjA3NzA3MjQsIm5iZiI6MTcyMDc3MDQyNCwicGF0aCI6Ii8xMDQ4MzkzMTIvMzM4MDY5MjY3LWNlYzI4Y2MwLTc5YjQtNDA2ZC1hNjM4LWU1MDg2NGRmNGU0Ny5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNzEyJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDcxMlQwNzQ3MDRaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT05ZThjM2QzOTk5YTA2YWE5ZWQ2MDgzODI3NTE0OWY1NDVmZTJhOGRiOWJiNTRkNWYzNTRmZTA3ZDM5NTVmODRmJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.7F76vZD3VgFkj6C2Px_IxCURX2IDeSt1pujaeJQWQ-U)
ros2 topic list
to show all the topicsHowever, some of the ros2 topics can be echo'ed such as
![image](https://private-user-images.githubusercontent.com/104839312/338071558-8256ca08-d177-4485-ad8d-0f8e9fc47add.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjA3NzA3MjQsIm5iZiI6MTcyMDc3MDQyNCwicGF0aCI6Ii8xMDQ4MzkzMTIvMzM4MDcxNTU4LTgyNTZjYTA4LWQxNzctNDQ4NS1hZDhkLTBmOGU5ZmM0N2FkZC5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNzEyJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDcxMlQwNzQ3MDRaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT0wMWEwMzBkZmY5ZTBjY2I2MmJhOWM5MWJjZGJmYTYwNTk0YjljZDBkNzVhODk3OTJjODE4ZjU1N2I0ZGNjYzVkJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.Bwq2QT2F65sM7lc8cn6tEifLz0jfBJv51_7SfNCtRRU)
/fmu/out/vehicle_odometry
but some topics, namely/fmu/out/vehicle_local_position
and/fmu/out/vehicle_status
cannot be echoed at allI created my own subscriber node to subscribe to
/fmu/out/vehicle_status
but the callback was not triggeredAlso, I was able to see the bandwith for
![image](https://private-user-images.githubusercontent.com/104839312/338071807-58a5bab0-55f8-4d5c-87ac-c8d43f1de191.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjA3NzA3MjQsIm5iZiI6MTcyMDc3MDQyNCwicGF0aCI6Ii8xMDQ4MzkzMTIvMzM4MDcxODA3LTU4YTViYWIwLTU1ZjgtNGQ1Yy04N2FjLWM4ZDQzZjFkZTE5MS5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNzEyJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDcxMlQwNzQ3MDRaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1kOTM4ZjU5YTU4OWUwM2M5MjA4ODRkMGJiOTk2NjY5MjdlNGJmYjYxMGM5MzlmNWU2OGYyODZiYzdhZmEzNTE4JlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.EpC8e2iLeScB1LuUC3iEyPelHXqBpv76sW0GlDKo7wE)
/fmu/out/vehicle_status
I dont believe its a px4_msgs version mismatch because I cloned from https://github.com/PX4/px4_msgs and the flight controller firmware is from the latest release 1.14.3
To Reproduce
microxrce_dds_client start
MicroXRCEAgent udp4 -p 8888
ros2 topic list
to list all topicsros2 topic echo /fmu/out/vehicle_status
and check for topicExpected behavior
Expected to see the topic data from terminal
Screenshot / Media
No response
Flight Log
No flight log
Software Version
HW arch: PX4_FMU_V6X
HW type: V6X
HW FMUM ID: 0x003
HW BASE ID: 0x000
PX4 git-hash: 1dacb4c
PX4 version: Release 1.14.3 (17695743)
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: de41e7f
Build datetime: May 30 2024 03:33:40
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 000600000000303736303532510d00480029
MCU: STM32H7[4|5]xxx, rev. V
px4_msgs version:
https://github.com/PX4/px4_msgs
Flight controller
Pixhawk6x
Vehicle type
Multicopter
How are the different components wired up (including port information)
DEVICE=eth0
BOOTPROTO=fallback
NETMASK=255.255.255.0
IPADDR=192.168.1.5
ROUTER=192.168.0.254
DNS=192.168.0.254
Companion computer netplan:
network:
version: 2
renderer: NetworkManager
ethernets:
eth0:
addresses:
- 192.168.1.45/24
nameservers:
addresses: [8.8.8.8, 8.8.4.4]
#routes:
#- to: 192.168.0.1
#via: 192.168.0.1
Additional context
No response
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