tf_prefix issue when using mavros with multiple robots #1598

sammar80 · 2021-07-27T09:45:23Z

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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

/robot_2/mavros/

PARAMETERS

/robot_2/mavros/cmd/use_comp_id_system_control: False
/robot_2/mavros/conn/heartbeat_mav_type: ONBOARD_CONTROLLER
/robot_2/mavros/conn/heartbeat_rate: 1.0
/robot_2/mavros/conn/system_time_rate: 1.0
/robot_2/mavros/conn/timeout: 10.0
/robot_2/mavros/conn/timesync_rate: 10.0
/robot_2/mavros/distance_sensor/rangefinder_pub/field_of_view: 0.0
/robot_2/mavros/distance_sensor/rangefinder_pub/frame_id: lidar
/robot_2/mavros/distance_sensor/rangefinder_pub/id: 0
/robot_2/mavros/distance_sensor/rangefinder_pub/send_tf: False
/robot_2/mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
/robot_2/mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
/robot_2/mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
/robot_2/mavros/distance_sensor/rangefinder_sub/id: 1
/robot_2/mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
/robot_2/mavros/distance_sensor/rangefinder_sub/subscriber: True
/robot_2/mavros/fake_gps/eph: 2.0
/robot_2/mavros/fake_gps/epv: 2.0
/robot_2/mavros/fake_gps/fix_type: 3
/robot_2/mavros/fake_gps/geo_origin/alt: 408.0
/robot_2/mavros/fake_gps/geo_origin/lat: 47.3667
/robot_2/mavros/fake_gps/geo_origin/lon: 8.55
/robot_2/mavros/fake_gps/gps_id: 4
/robot_2/mavros/fake_gps/gps_rate: 5.0
/robot_2/mavros/fake_gps/horiz_accuracy: 0.5
/robot_2/mavros/fake_gps/mocap_transform: False
/robot_2/mavros/fake_gps/mocap_withcovariance: False
/robot_2/mavros/fake_gps/satellites_visible: 6
/robot_2/mavros/fake_gps/speed_accuracy: 0.0
/robot_2/mavros/fake_gps/tf/child_frame_id: fix
/robot_2/mavros/fake_gps/tf/frame_id: robot_2/map
/robot_2/mavros/fake_gps/tf/listen: False
/robot_2/mavros/fake_gps/tf/rate_limit: 10.0
/robot_2/mavros/fake_gps/tf/send: False
/robot_2/mavros/fake_gps/use_hil_gps: True
/robot_2/mavros/fake_gps/use_mocap: True
/robot_2/mavros/fake_gps/use_vision: False
/robot_2/mavros/fake_gps/vert_accuracy: 0.5
/robot_2/mavros/fcu_protocol: v2.0
/robot_2/mavros/fcu_url: /dev/ttyACM0:921600
/robot_2/mavros/gcs_url: udp://:14556@192....
/robot_2/mavros/global_position/child_frame_id: robot_2/base_link
/robot_2/mavros/global_position/frame_id: robot_2/map
/robot_2/mavros/global_position/gps_uere: 1.0
/robot_2/mavros/global_position/rot_covariance: 99999.0
/robot_2/mavros/global_position/tf/child_frame_id: robot_2/base_link
/robot_2/mavros/global_position/tf/frame_id: robot_2/map
/robot_2/mavros/global_position/tf/global_frame_id: earth
/robot_2/mavros/global_position/tf/send: False
/robot_2/mavros/global_position/use_relative_alt: True
/robot_2/mavros/image/frame_id: px4flow
/robot_2/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
/robot_2/mavros/imu/frame_id: robot_2/base_link
/robot_2/mavros/imu/linear_acceleration_stdev: 0.0003
/robot_2/mavros/imu/magnetic_stdev: 0.0
/robot_2/mavros/imu/orientation_stdev: 1.0
/robot_2/mavros/landing_target/camera/fov_x: 2.0071286398
/robot_2/mavros/landing_target/camera/fov_y: 2.0071286398
/robot_2/mavros/landing_target/image/height: 480
/robot_2/mavros/landing_target/image/width: 640
/robot_2/mavros/landing_target/land_target_type: VISION_FIDUCIAL
/robot_2/mavros/landing_target/listen_lt: False
/robot_2/mavros/landing_target/mav_frame: LOCAL_NED
/robot_2/mavros/landing_target/target_size/x: 0.3
/robot_2/mavros/landing_target/target_size/y: 0.3
/robot_2/mavros/landing_target/tf/child_frame_id: camera_center
/robot_2/mavros/landing_target/tf/frame_id: landing_target
/robot_2/mavros/landing_target/tf/listen: False
/robot_2/mavros/landing_target/tf/rate_limit: 10.0
/robot_2/mavros/landing_target/tf/send: False
/robot_2/mavros/local_position/frame_id: robot_2/map
/robot_2/mavros/local_position/tf/child_frame_id: robot_2/base_link
/robot_2/mavros/local_position/tf/frame_id: robot_2/map
/robot_2/mavros/local_position/tf/send: False
/robot_2/mavros/local_position/tf/send_fcu: False
/robot_2/mavros/mission/pull_after_gcs: True
/robot_2/mavros/mission/use_mission_item_int: True
/robot_2/mavros/mocap/use_pose: True
/robot_2/mavros/mocap/use_tf: False
/robot_2/mavros/odometry/estimator_type: 3
/robot_2/mavros/odometry/frame_tf/desired_frame: ned
/robot_2/mavros/plugin_blacklist: ['actuator_contro...
/robot_2/mavros/plugin_whitelist: []
/robot_2/mavros/px4flow/frame_id: px4flow
/robot_2/mavros/px4flow/ranger_fov: 0.118682
/robot_2/mavros/px4flow/ranger_max_range: 5.0
/robot_2/mavros/px4flow/ranger_min_range: 0.3
/robot_2/mavros/safety_area/p1/x: 1.0
/robot_2/mavros/safety_area/p1/y: 1.0
/robot_2/mavros/safety_area/p1/z: 1.0
/robot_2/mavros/safety_area/p2/x: -1.0
/robot_2/mavros/safety_area/p2/y: -1.0
/robot_2/mavros/safety_area/p2/z: -1.0
/robot_2/mavros/setpoint_accel/send_force: False
/robot_2/mavros/setpoint_attitude/reverse_thrust: False
/robot_2/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
/robot_2/mavros/setpoint_attitude/tf/frame_id: robot_2/map
/robot_2/mavros/setpoint_attitude/tf/listen: False
/robot_2/mavros/setpoint_attitude/tf/rate_limit: 50.0
/robot_2/mavros/setpoint_attitude/use_quaternion: False
/robot_2/mavros/setpoint_position/mav_frame: BODY_NED
/robot_2/mavros/setpoint_position/tf/child_frame_id: target_position
/robot_2/mavros/setpoint_position/tf/frame_id: robot_2/map
/robot_2/mavros/setpoint_position/tf/listen: False
/robot_2/mavros/setpoint_position/tf/rate_limit: 50.0
/robot_2/mavros/setpoint_raw/thrust_scaling: 1.0
/robot_2/mavros/setpoint_velocity/mav_frame: BODY_NED
/robot_2/mavros/startup_px4_usb_quirk: False
/robot_2/mavros/sys/disable_diag: False
/robot_2/mavros/sys/min_voltage: 10.0
/robot_2/mavros/target_component_id: 1
/robot_2/mavros/target_system_id: 1
/robot_2/mavros/tdr_radio/low_rssi: 40
/robot_2/mavros/tf_prefix: robot_2
/robot_2/mavros/time/time_ref_source: fcu
/robot_2/mavros/time/timesync_avg_alpha: 0.6
/robot_2/mavros/time/timesync_mode: MAVLINK
/robot_2/mavros/vibration/frame_id: robot_2/base_link
/robot_2/mavros/vision_pose/tf/child_frame_id: vision_estimate
/robot_2/mavros/vision_pose/tf/frame_id: robot_2/map
/robot_2/mavros/vision_pose/tf/listen: False
/robot_2/mavros/vision_pose/tf/rate_limit: 10.0
/robot_2/mavros/vision_speed/listen_twist: True
/robot_2/mavros/vision_speed/twist_cov: True
/robot_2/mavros/wheel_odometry/child_frame_id: robot_2/base_link
/robot_2/mavros/wheel_odometry/count: 2
/robot_2/mavros/wheel_odometry/frame_id: robot_2/map
/robot_2/mavros/wheel_odometry/send_raw: False
/robot_2/mavros/wheel_odometry/send_twist: False
/robot_2/mavros/wheel_odometry/tf/child_frame_id: robot_2/base_link
/robot_2/mavros/wheel_odometry/tf/frame_id: robot_2/map
/robot_2/mavros/wheel_odometry/tf/send: False
/robot_2/mavros/wheel_odometry/use_rpm: False
/robot_2/mavros/wheel_odometry/vel_error: 0.1
/robot_2/mavros/wheel_odometry/wheel0/radius: 0.05
/robot_2/mavros/wheel_odometry/wheel0/x: 0.0
/robot_2/mavros/wheel_odometry/wheel0/y: -0.15
/robot_2/mavros/wheel_odometry/wheel1/radius: 0.05
/robot_2/mavros/wheel_odometry/wheel1/x: 0.0
/robot_2/mavros/wheel_odometry/wheel1/y: 0.15
/rosdistro: melodic
/rosversion: 1.14.9

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

place here result of:
rostopic echo -n1 /diagnostics

header:
seq: 75
stamp:
secs: 1627378178
nsecs: 547903507
frame_id: ''
status:

level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "/dev/ttyACM0:921600"
values: 
  - 
    key: "Received packets:"
    value: "6622"
  - 
    key: "Dropped packets:"
    value: "0"
  - 
    key: "Buffer overruns:"
    value: "0"
  - 
    key: "Parse errors:"
    value: "0"
  - 
    key: "Rx sequence number:"
    value: "51"
  - 
    key: "Tx sequence number:"
    value: "0"
  - 
    key: "Rx total bytes:"
    value: "198567"
  - 
    key: "Tx total bytes:"
    value: "15647"
  - 
    key: "Rx speed:"
    value: "3438.000000"
  - 
    key: "Tx speed:"
    value: "481.000000"

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: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:
```
key: "Heartbeats since startup"
value: "44"
```
- key: "Frequency (Hz)"
  value: "0.962988"
- key: "Vehicle type"
  value: "Ground rover"
- key: "Autopilot type"
  value: "ArduPilot"
- key: "Mode"
  value: "GUIDED"
- key: "System status"
  value: "Critical"
level: 2
name: "mavros: System"
message: "Sensor health"
hardware_id: "/dev/ttyACM0:921600"
values:
```
key: "Sensor present"
value: "0x0320DC0B"
```
- key: "Sensor enabled"
  value: "0x0020DC0B"
- key: "Sensor health"
  value: "0x0010DD0B"
- key: "3D gyro"
  value: "Ok"
- key: "3D accelerometer"
  value: "Ok"
- key: "absolute pressure"
  value: "Ok"
- key: "3D angular rate control"
  value: "Ok"
- key: "attitude stabilization"
  value: "Ok"
- key: "yaw position"
  value: "Ok"
- key: "x/y position control"
  value: "Ok"
- key: "motor outputs / control"
  value: "Ok"
- key: "AHRS subsystem health"
  value: "Fail"
- key: "CPU Load (%)"
  value: "18.0"
- key: "Drop rate (%)"
  value: "0.0"
- key: "Errors comm"
  value: "0"
- key: "Errors count mavconn library. #1"
  value: "0"
- key: "Errors count Pub/sub for Mavlink.msg #2"
  value: "0"
- key: "Errors count Plugin loading functionality. #3"
  value: "0"
- key: "Errors count Diagnostic mesages. #4"
  value: "0"
level: 1
name: "mavros: Battery"
message: "Low voltage"
hardware_id: "/dev/ttyACM0:921600"
values:
```
key: "Voltage"
value: "0.00"
```
- key: "Current"
  value: "-0.0"
- key: "Remaining"
  value: "-1.0"
level: 0
name: "mavros: Time Sync"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:
```
key: "Timesyncs since startup"
value: "424"
```
- key: "Frequency (Hz)"
  value: "10.000230"
- key: "Last RTT (ms)"
  value: "6.656577"
- key: "Mean RTT (ms)"
  value: "172.460749"
- key: "Last remote time (s)"
  value: "1345.355940000"
- key: "Estimated time offset (s)"
  value: "1627376833.152102947"

Check ID

rosrun mavros checkid

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

The text was updated successfully, but these errors were encountered:

vooon · 2021-08-03T10:02:30Z

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.

sammar80 · 2021-08-04T06:01:11Z

Thank you @vooon do you have any idea where else I can change the configurable frames because I changed all the frames in the apm_config.yaml

apm_config_robot_1.txt

vooon added bug feature request question labels Aug 3, 2021

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tf_prefix issue when using mavros with multiple robots #1598

tf_prefix issue when using mavros with multiple robots #1598

sammar80 commented Jul 27, 2021 •

edited

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level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyACM0:921600"
values:

level: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:

level: 2
name: "mavros: System"
message: "Sensor health"
hardware_id: "/dev/ttyACM0:921600"
values:

level: 1
name: "mavros: Battery"
message: "Low voltage"
hardware_id: "/dev/ttyACM0:921600"
values:

level: 0
name: "mavros: Time Sync"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:

vooon commented Aug 3, 2021

sammar80 commented Aug 4, 2021 •

edited

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tf_prefix issue when using mavros with multiple robots #1598

tf_prefix issue when using mavros with multiple robots #1598

Comments

sammar80 commented Jul 27, 2021 • edited Loading

Issue details

MAVROS version and platform

Autopilot type and version

Node logs

SUMMARY

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:

level: 0 name: "mavros: Heartbeat" message: "Normal" hardware_id: "/dev/ttyACM0:921600" values:

level: 2 name: "mavros: System" message: "Sensor health" hardware_id: "/dev/ttyACM0:921600" values:

level: 1 name: "mavros: Battery" message: "Low voltage" hardware_id: "/dev/ttyACM0:921600" values:

level: 0 name: "mavros: Time Sync" message: "Normal" hardware_id: "/dev/ttyACM0:921600" values:

Check ID

vooon commented Aug 3, 2021

sammar80 commented Aug 4, 2021 • edited Loading

sammar80 commented Jul 27, 2021 •

edited

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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:

level: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:

level: 2
name: "mavros: System"
message: "Sensor health"
hardware_id: "/dev/ttyACM0:921600"
values:

level: 1
name: "mavros: Battery"
message: "Low voltage"
hardware_id: "/dev/ttyACM0:921600"
values:

level: 0
name: "mavros: Time Sync"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:

sammar80 commented Aug 4, 2021 •

edited

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