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This is only bug and feature tracker, please use it
to report bugs or request features.
Issue details
Please describe the problem, or desired feature
Hi , I am using multiple robots each one runs a mavros node I added a tf_prefix and namespace to all robot's nodes and frames the problem is although I changed the frames in the apm_config.yaml from 'map' >> 'robot_2/map' and 'base_link' >> 'robot_2/base_link' I still find these frames ( base_link,base_link_frd ,odom,odom_ned,map and map_ned) were published to the tf topic any idea of what else I should change or what's I'm missing , here is my tf frames tree frames.pdf
Thanks in advance
MAVROS version and platform
Mavros: master
ROS: Melodic
Ubuntu: 18.04
Autopilot type and version
[ X ] ArduPilot
[ ] PX4
Version: ArduRover V4.0.0 (0e52bafa)
Node logs
roslaunch functions apm_multi_robot.launch
... logging to /home/optimus/.ros/log/3765039c-eeba-11eb-bb8d-d03745187cad/roslaunch-Autobot-11457.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.
Some of static transforms are hardcoded into the node, some just requires config changes.
Please note that tf_prefix param support dropped while ago from tf lib.
This is only bug and feature tracker, please use it
to report bugs or request features.
Issue details
Please describe the problem, or desired feature
Hi , I am using multiple robots each one runs a mavros node I added a tf_prefix and namespace to all robot's nodes and frames the problem is although I changed the frames in the apm_config.yaml from 'map' >> 'robot_2/map' and 'base_link' >> 'robot_2/base_link' I still find these frames ( base_link,base_link_frd ,odom,odom_ned,map and map_ned) were published to the tf topic any idea of what else I should change or what's I'm missing , here is my tf frames tree
frames.pdf
Thanks in advance
MAVROS version and platform
Mavros: master
ROS: Melodic
Ubuntu: 18.04
Autopilot type and version
[ X ] ArduPilot
[ ] PX4
Version: ArduRover V4.0.0 (0e52bafa)
Node logs
roslaunch functions apm_multi_robot.launch
... logging to /home/optimus/.ros/log/3765039c-eeba-11eb-bb8d-d03745187cad/roslaunch-Autobot-11457.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://Autobot:37433/
SUMMARY
CLEAR PARAMETERS
PARAMETERS
NODES
/robot_2/
mavros (mavros/mavros_node)
ROS_MASTER_URI=http://localhost:11311
process[robot_2/mavros-1]: started with pid [11489]
[ INFO] [1627378024.575008614]: FCU URL: /dev/ttyACM0:921600
[ INFO] [1627378024.583434347]: serial0: device: /dev/ttyACM0 @ 921600 bps
[ INFO] [1627378024.584584897]: GCS URL: udp://:14556@192.168.8.100:14551
[ INFO] [1627378024.585873887]: udp1: Bind address: 0.0.0.0:14556
[ INFO] [1627378024.586566457]: udp1: Remote address: 192.168.8.100:14551
[ INFO] [1627378024.707851650]: Plugin 3dr_radio loaded
[ INFO] [1627378024.726980726]: Plugin 3dr_radio initialized
[ INFO] [1627378024.727423029]: Plugin actuator_control blacklisted
[ INFO] [1627378024.788838379]: Plugin adsb loaded
[ INFO] [1627378024.832117855]: Plugin adsb initialized
[ INFO] [1627378024.832705943]: Plugin altitude blacklisted
[ INFO] [1627378024.833431065]: Plugin cam_imu_sync loaded
[ INFO] [1627378024.838485724]: Plugin cam_imu_sync initialized
[ INFO] [1627378024.839679087]: Plugin command loaded
[ INFO] [1627378024.926784148]: Plugin command initialized
[ INFO] [1627378024.928627736]: Plugin companion_process_status loaded
[ INFO] [1627378024.944078125]: Plugin companion_process_status initialized
[ INFO] [1627378024.944783299]: Plugin debug_value blacklisted
[ INFO] [1627378024.944986221]: Plugin distance_sensor blacklisted
[ INFO] [1627378024.946461779]: Plugin esc_status loaded
[ INFO] [1627378024.955954102]: Plugin esc_status initialized
[ INFO] [1627378024.958584116]: Plugin fake_gps loaded
[ INFO] [1627378025.158119719]: Plugin fake_gps initialized
[ INFO] [1627378025.160458997]: Plugin ftp blacklisted
[ INFO] [1627378025.161528659]: Plugin global_position loaded
[ INFO] [1627378025.299884335]: udp1: Remote address: 192.168.8.100:14551
[ INFO] [1627378025.311788437]: Plugin global_position initialized
[ INFO] [1627378025.312435328]: Plugin gps_rtk loaded
[ INFO] [1627378025.349859136]: Plugin gps_rtk initialized
[ INFO] [1627378025.350356857]: Plugin gps_status loaded
[ INFO] [1627378025.367588958]: Plugin gps_status initialized
[ INFO] [1627378025.367866257]: Plugin hil blacklisted
[ INFO] [1627378025.368971285]: Plugin home_position loaded
[ INFO] [1627378025.390878921]: Plugin home_position initialized
[ INFO] [1627378025.392179422]: Plugin imu loaded
[ INFO] [1627378025.456691361]: Plugin imu initialized
[ INFO] [1627378025.457201478]: Plugin landing_target loaded
[ INFO] [1627378025.615943136]: Plugin landing_target initialized
[ INFO] [1627378025.616548516]: Plugin local_position loaded
[ INFO] [1627378025.672841341]: Plugin local_position initialized
[ INFO] [1627378025.673567506]: Plugin log_transfer loaded
[ INFO] [1627378025.698016872]: Plugin log_transfer initialized
[ INFO] [1627378025.698626627]: Plugin manual_control loaded
[ INFO] [1627378025.741493124]: Plugin manual_control initialized
[ INFO] [1627378025.742040898]: Plugin mocap_pose_estimate loaded
[ INFO] [1627378025.768401146]: Plugin mocap_pose_estimate initialized
[ INFO] [1627378025.769151530]: Plugin mount_control loaded
[ INFO] [1627378025.811198423]: Plugin mount_control initialized
[ INFO] [1627378025.811486243]: Plugin obstacle_distance blacklisted
[ INFO] [1627378025.811911566]: Plugin odom loaded
[ INFO] [1627378025.839985399]: Plugin odom initialized
[ INFO] [1627378025.840715261]: Plugin onboard_computer_status loaded
[ INFO] [1627378025.866973631]: Plugin onboard_computer_status initialized
[ INFO] [1627378025.872710026]: Plugin param loaded
[ INFO] [1627378025.890589487]: Plugin param initialized
[ INFO] [1627378025.891099865]: Plugin play_tune loaded
[ INFO] [1627378025.901382416]: Plugin play_tune initialized
[ INFO] [1627378025.901501429]: Plugin px4flow blacklisted
[ INFO] [1627378025.901960659]: Plugin rangefinder loaded
[ INFO] [1627378025.905305691]: Plugin rangefinder initialized
[ INFO] [1627378025.905642627]: Plugin rc_io loaded
[ INFO] [1627378025.924616282]: Plugin rc_io initialized
[ INFO] [1627378025.924742952]: Plugin safety_area blacklisted
[ INFO] [1627378025.927610212]: Plugin setpoint_accel loaded
[ INFO] [1627378025.955303723]: Plugin setpoint_accel initialized
[ INFO] [1627378025.955708212]: Plugin setpoint_attitude loaded
[ INFO] [1627378026.018074784]: Plugin setpoint_attitude initialized
[ INFO] [1627378026.018665841]: Plugin setpoint_position loaded
[ INFO] [1627378026.104327949]: Plugin setpoint_position initialized
[ INFO] [1627378026.105007081]: Plugin setpoint_raw loaded
[ INFO] [1627378026.173415993]: Plugin setpoint_raw initialized
[ INFO] [1627378026.174156064]: Plugin setpoint_trajectory loaded
[ INFO] [1627378026.206219528]: Plugin setpoint_trajectory initialized
[ INFO] [1627378026.206785845]: Plugin setpoint_velocity loaded
[ INFO] [1627378026.246260382]: Plugin setpoint_velocity initialized
[ INFO] [1627378026.247306762]: Plugin sys_status loaded
[ INFO] [1627378026.324123282]: Plugin sys_status initialized
[ INFO] [1627378026.324878510]: Plugin sys_time loaded
[ INFO] [1627378026.353579390]: TM: Timesync mode: MAVLINK
[ INFO] [1627378026.361655427]: Plugin sys_time initialized
[ INFO] [1627378026.362334506]: Plugin trajectory loaded
[ INFO] [1627378026.393055177]: Plugin trajectory initialized
[ INFO] [1627378026.393980044]: Plugin vfr_hud loaded
[ INFO] [1627378026.410220662]: Plugin vfr_hud initialized
[ INFO] [1627378026.410689111]: Plugin vibration blacklisted
[ INFO] [1627378026.411401004]: Plugin vision_pose_estimate loaded
[ INFO] [1627378026.450539543]: Plugin vision_pose_estimate initialized
[ INFO] [1627378026.450844134]: Plugin vision_speed_estimate blacklisted
[ INFO] [1627378026.451399564]: Plugin waypoint loaded
[ INFO] [1627378026.486410551]: Plugin waypoint initialized
[ INFO] [1627378026.486649203]: Plugin wheel_odometry blacklisted
[ INFO] [1627378026.487152185]: Plugin wind_estimation loaded
[ INFO] [1627378026.489623184]: Plugin wind_estimation initialized
[ INFO] [1627378026.489824387]: Built-in SIMD instructions: ARM NEON
[ INFO] [1627378026.489898296]: Built-in MAVLink package version: 2020.9.10
[ INFO] [1627378026.489967776]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1627378026.490031632]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1627378026.715624195]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[ INFO] [1627378026.757253839]: RC_CHANNELS message detected!
[ INFO] [1627378026.761013829]: IMU: Raw IMU message used.
[ WARN] [1627378026.763481444]: GP: No GPS fix
[ INFO] [1627378026.959280078]: FCU: EKF2 IMU1 is using external nav data
[ INFO] [1627378026.959621493]: FCU: EKF2 IMU1 initial pos NED = 0.0,0.0,-0.0 (m)
[ INFO] [1627378026.969212100]: FCU: EKF2 IMU0 is using external nav data
[ INFO] [1627378026.969388146]: FCU: EKF2 IMU0 initial pos NED = 0.0,0.0,-0.0 (m)
[ WARN] [1627378027.745108280]: CMD: Unexpected command 520, result 0
[ INFO] [1627378027.745399173]: WP: Using MISSION_ITEM_INT
[ INFO] [1627378027.745583500]: VER: 1.1: Capabilities 0x000000000000f1ef
[ INFO] [1627378027.745680117]: VER: 1.1: Flight software: 040000ff ( 0e52baf)
[ INFO] [1627378027.745754650]: VER: 1.1: Middleware software: 00000000 ( )
[ INFO] [1627378027.745826840]: VER: 1.1: OS software: 00000000 ( 0997003)
[ INFO] [1627378027.746011115]: VER: 1.1: Board hardware: 00000000
[ INFO] [1627378027.746095076]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1627378027.746182890]: VER: 1.1: UID: 0000000000000000
[ INFO] [1627378036.727768625]: HP: requesting home position
[ INFO] [1627378036.735375015]: FCU: ArduRover V4.0.0 (0e52bafa)
[ INFO] [1627378036.735572416]: FCU: ChibiOS: 0997003f
[ INFO] [1627378036.735923102]: FCU: fmuv4 00330026 374E5005 2031384B
[ WARN] [1627378037.728138569]: PR: request list timeout, retries left 2
[ WARN] [1627378038.728520651]: PR: request list timeout, retries left 1
[ WARN] [1627378039.729298945]: PR: request list timeout, retries left 0
[ WARN] [1627378041.732953457]: CMD: Command 410 -- wait ack timeout
[ WARN] [1627378041.733886918]: CMD: Unexpected command 410, result 0
[ INFO] [1627378041.810473749]: FCU: ArduRover V4.0.0 (0e52bafa)
[ INFO] [1627378041.810820685]: FCU: ChibiOS: 0997003f
[ INFO] [1627378041.811013137]: FCU: fmuv4 00330026 374E5005 2031384B
[ WARN] [1627378041.830272374]: TM : RTT too high for timesync: 3965.87 ms.
[ WARN] [1627378041.860220526]: TM : RTT too high for timesync: 3398.50 ms.
[ INFO] [1627378041.877898421]: FCU: ArduRover V4.0.0 (0e52bafa)
[ INFO] [1627378041.881030218]: FCU: ChibiOS: 0997003f
[ INFO] [1627378041.881433354]: FCU: fmuv4 00330026 374E5005 2031384B
[ WARN] [1627378041.899096977]: TM : RTT too high for timesync: 2837.29 ms.
[ WARN] [1627378041.910521172]: TM : RTT too high for timesync: 2248.71 ms.
[ INFO] [1627378041.917155193]: FCU: ArduRover V4.0.0 (0e52bafa)
[ INFO] [1627378041.917891775]: FCU: ChibiOS: 0997003f
[ INFO] [1627378041.918197043]: FCU: fmuv4 00330026 374E5005 2031384B
[ WARN] [1627378041.959758770]: TM : RTT too high for timesync: 1698.01 ms.
[ WARN] [1627378041.973430365]: TM : RTT too high for timesync: 1111.67 ms.
[ WARN] [1627378041.999590349]: TM : RTT too high for timesync: 537.77 ms.
[ INFO] [1627378042.015266734]: WP: item #0 F:
[ INFO] [1627378042.015583774]: WP: mission received
[ INFO] [1627378053.815901127]: PR: parameters list received
[ WARN] [1627378057.263609083]: GP: No GPS fix
[ WARN] [1627378087.758012707]: GP: No GPS fix
Diagnostics
header:
seq: 75
stamp:
secs: 1627378178
nsecs: 547903507
frame_id: ''
status:
level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyACM0:921600"
values:
value: "0"
value: "Unknown"
value: "Unknown"
level: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:
value: "0.962988"
value: "Ground rover"
value: "ArduPilot"
value: "GUIDED"
value: "Critical"
level: 2
name: "mavros: System"
message: "Sensor health"
hardware_id: "/dev/ttyACM0:921600"
values:
value: "0x0020DC0B"
value: "0x0010DD0B"
value: "Ok"
value: "Ok"
value: "Ok"
value: "Ok"
value: "Ok"
value: "Ok"
value: "Ok"
value: "Ok"
value: "Fail"
value: "18.0"
value: "0.0"
value: "0"
value: "0"
value: "0"
value: "0"
value: "0"
level: 1
name: "mavros: Battery"
message: "Low voltage"
hardware_id: "/dev/ttyACM0:921600"
values:
value: "-0.0"
value: "-1.0"
level: 0
name: "mavros: Time Sync"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:
value: "10.000230"
value: "6.656577"
value: "172.460749"
value: "1345.355940000"
value: "1627376833.152102947"
Check ID
OK. I got messages from 1:1.
Received 1166 messages, from 1 addresses
sys:comp list of messages
1:1 0, 1, 2, 65, 24, 150, 152, 27, 29, 30, 33, 34, 163, 36, 165, 42, 178, 182, 62, 193, 194, 74, 87, 111, 241, 116, 125
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