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MAVROS2: /mavros/mission/push
- Possible Bug: no response from Service
#1867
Comments
Sounds familiar to the issue somewhere inside rcl of Foxy that some messages not being received (rpc is affected). Could you please try to build latest version from source? 2.0.0 quite old. Have you tried Note it uses python helper client library. |
Thanks @vooon Unfortunately ROS2 Foxy needs to stay, since some sensor manufacturers have not yet published stable ros2 humble nodes for their hardware, even though it's EOL.
To check if this was successful, looking into MissionPlanner and try to read from Pixhawk. a) MissionPlanner throws error
where
where |
I updated the python-code. It is now a little cleaner and I added
to which the
where Good news though, waypoints are now persistent, hence restarting tl;dr: |
Ardupilot uses first waypoint to store home position (position captured on arming). That's why |
Hi. Hold on tight, I will close this issue with this comment. A couple things concerning waypoints:
where
To "solve" this issue I simply hacked it together in a way that I will send a dummy waypoint
which then solves tl;dr: response-error is fixed - wrong use of ros2 Service |
Issue details
I would like to send Waypoints in MAVROS2, here's a minimal working example based on this GIT Mavros Issue:
which in terminal outputs:
Expected behavior:
response = waypoint_push_client.call(request)
according to /srv/WayPointPush should be abool success
and auint32 wp_transfered
which I would expect is the number of transfered waypoints?!Anyway, there is no response from the Service, hence
self.get_logger().info('Waypoint sent: %s .' %('successfully' if response.success else 'not successfully'))
won't work. BUT theMavros Node
throws:Is this a bug? In parallel I have issues with MissionPlanner, to read Waypoints on my connected Windows Machine. I will come back to you once this works again.
MAVROS version and platform
Mavros: 2.0.0 ROS2 Alpha, installed with
sudo apt install ros-foxy-mavros
ROS2: Foxy
Ubuntu: 20.04. LTS
Autopilot type and version
[X] ArduPilot
[ ] PX4
Version: 4.2.3. Ardurover
Details
with
mavros_param.yaml
:ros2 run mavros mav checkid
returnsRouter topic: /uas1/mavlink_source, target: 1.1
Diagnostics
ros2 topic echo /diagnostics
:From Source
ros2 topic echo /uas1/mavlink_source
:and Sink
ros2 topic echo /uas1/mavlink_source
:ROS2 Services and Topics
ros2 topic list:
/diagnostics
/mavros/actuator_control
/mavros/altitude
/mavros/battery
/mavros/estimator_status
/mavros/extended_state
/mavros/geofence/fences
/mavros/global_position/compass_hdg
/mavros/global_position/global
/mavros/global_position/gp_lp_offset
/mavros/global_position/gp_origin
/mavros/global_position/local
/mavros/global_position/raw/fix
/mavros/global_position/raw/gps_vel
/mavros/global_position/raw/satellites
/mavros/global_position/rel_alt
/mavros/global_position/set_gp_origin
/mavros/home_position/home
/mavros/home_position/set
/mavros/imu/data
/mavros/imu/data_raw
/mavros/imu/diff_pressure
/mavros/imu/mag
/mavros/imu/static_pressure
/mavros/imu/temperature_baro
/mavros/imu/temperature_imu
/mavros/local_position/accel
/mavros/local_position/odom
/mavros/local_position/pose
/mavros/local_position/pose_cov
/mavros/local_position/velocity_body
/mavros/local_position/velocity_body_cov
/mavros/local_position/velocity_local
/mavros/manual_control/control
/mavros/manual_control/send
/mavros/mission/reached
/mavros/mission/waypoints
/mavros/nav_controller_output/output
/mavros/param/event
/mavros/rallypoint/rallypoints
/mavros/rc/in
/mavros/rc/out
/mavros/rc/override
/mavros/setpoint_accel/accel
/mavros/setpoint_attitude/cmd_vel
/mavros/setpoint_attitude/thrust
/mavros/setpoint_position/global
/mavros/setpoint_position/global_to_local
/mavros/setpoint_position/local
/mavros/setpoint_raw/attitude
/mavros/setpoint_raw/global
/mavros/setpoint_raw/local
/mavros/setpoint_raw/target_attitude
/mavros/setpoint_raw/target_global
/mavros/setpoint_raw/target_local
/mavros/setpoint_trajectory/desired
/mavros/setpoint_trajectory/local
/mavros/setpoint_velocity/cmd_vel
/mavros/setpoint_velocity/cmd_vel_unstamped
/mavros/state
/mavros/statustext/recv
/mavros/statustext/send
/mavros/target_actuator_control
/mavros/time_reference
/mavros/timesync_status
/mavros/wind_estimation
/parameter_events
/rosout
/tf
/tf_static
/uas1/mavlink_sink
/uas1/mavlink_source
ros2 service list:
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