can't start HIL,need help #412
Comments
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Dump here What version of mavros, px4 and ROS used? |
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I use ros hydro and the latest px4, and hydro level mavros. I think jMAVSim is connecting with the Pixhawk, as it shows: in http://pixhawk.org/dev/ros/hil it says: so I think it may be something wrong between jMAVSim and Mavros. |
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i run rostopic echo -n1 /diagnostics: |
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I think you should use that launch: https://github.com/PX4/Firmware/blob/master/launch/mavros_sitl.launch And your mavros too old. |
<arg name="fcu_url" default="udp://:14554@192.168.1.5:14555" />
<arg name="gcs_url" default="udp://:14556@192.168.1.5:14550" />So at least you should provide this parameters to px4.launch. |
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@vooon |
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here is my launch file: <launch>
<!-- vim: ft=xml -->
<!-- example launch script for PX4 based FCU's -->
<arg name="gcs_url" default="udp://:14556@192.168.1.100:14550" />
<arg name="fcu_url" default="udp://:14554@192.168.1.100:14555" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<include file="$(find mavros)/launch/node.launch">
<arg name="blacklist_yaml" value="$(find mavros)/launch/px4_blacklist.yaml" />
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
</include>
</launch>Is there something wrong? |
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@v01d |
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Perhaps there may be <launch>
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="<url>" />
<arg name="gcs_url" value="<url>" />
</include>
</launch>Anyway your mavros looks outdated (something about version 0.8-0.9), i recommend to upgrade Next check with |
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@vooon Meanwhile, when I connect pixhawk via serial port and run: it can be connected as it shows: [ INFO] [1446334866.819164422]: MAVROS started. MY ID [1, 240], TARGET ID [1, 1] BUT when I run it shows： why does this happened? Can you help me? Thanks a lot |
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Because: 0 - Generic - modes unknown. We support only APM (ArduPilotMega) and PX4 firmwares. |
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hi, @vooon here is log when I run 'rostopic echo -n1 /diagnostics' # joel@joel-X450VC:~/catkin_ws$ rostopic echo -n1 /diagnostics
header:
seq: 23
stamp:
secs: 1446401626
nsecs: 611840330
frame_id: ''
status:
-
level: 1
name: mavros: FCU connection
message: not connected
hardware_id: udp://:14554@192.168.1.126:14555
values:
-
key: Received packets:
value: 0
-
key: Dropped packets:
value: 0
-
key: Buffer overruns:
value: 0
-
key: Parse errors:
value: 0
-
key: Rx sequence number:
value: 0
-
key: Tx sequence number:
value: 25
-
key: Rx total bytes:
value: 0
-
key: Tx total bytes:
value: 425
-
key: Rx speed:
value: 0.000000
-
key: Tx speed:
value: 17.000000
-
level: 2
name: mavros: GPS
message: No satellites
hardware_id: udp://:14554@192.168.1.126:14555
values:
-
key: Satellites visible
value: 0
-
key: Fix type
value: 0
-
key: EPH (m)
value: Unknown
-
key: EPV (m)
value: Unknown
-
level: 2
name: mavros: Heartbeat
message: No events recorded.
hardware_id: udp://:14554@192.168.1.126:14555
values:
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key: Heartbeats since startup
value: 0
-
key: Frequency (Hz)
value: 0.000000
-
key: Vehicle type
value: Generic
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key: Autopilot type
value: Generic
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key: Mode
value: ''
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key: System status
value: Uninit
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level: 0
name: mavros: System
message: Normal
hardware_id: udp://:14554@192.168.1.126:14555
values:
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key: Sensor present
value: 0x00000000
-
key: Sensor enabled
value: 0x00000000
-
key: Sensor helth
value: 0x00000000
-
key: CPU Load (%)
value: 0.0
-
key: Drop rate (%)
value: 0.0
-
key: Errors comm
value: 0
-
key: Errors count #1
value: 0
-
key: Errors count #2
value: 0
-
key: Errors count #3
value: 0
-
key: Errors count #4
value: 0
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level: 2
name: mavros: Battery
message: No data
hardware_id: udp://:14554@192.168.1.126:14555
values:
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key: Voltage
value: -1.00
-
key: Current
value: 0.0
-
key: Remaining
value: 0.0
---So, it shows: But it still shows： when I run I really confused.. :{ |
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anyone help??? |
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Autopilot is still |
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And then it it not mavros but firmware side. |
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do you mean that something is wrong with my pixhawk Firmware? |
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Oh, i overlooked this: not connected - check your connection URL! |
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hi @vooon jMAVSim can't connect with Mavros, as it shows: no heartbeat! here is my launch file : <launch>
<!-- vim: ft=xml -->
<!-- example launch script for PX4 based FCU's -->
<arg name="fcu_url" default="udp://:14554@localhost:14555" />
<arg name="gcs_url" default="udp://:14556@localhost:14550" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="50" />
<include file="$(find mavros)/launch/node.launch">
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
</include>
</launch>it really confused me.. |
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well, I have another question, in jMAVSim, when I start jMAVSim, it can communicate with px4, but the log shows: joel@joel-X450VC:~/jMAVSim$ java -Djava.ext.dirs= -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -serial /dev/ttyACM0 921600 -qgc WARNING: Got heartbeat from system #2 but configured to only accept messages from system #1. Please change the system ID parameter to match in order to use HITL/SITL. how to fix this problem? Is that related to MAV_SYS_ID？ |
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It is related to network connection. Until you got: There no connection. Why? Who knows... But first check what ports actually jMAVSim actually listens. I'm not sure, perhaps there some changes in jMAVSim, check sources. |
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hi, @vooon I read the setup at https://pixhawk.org/dev/ros/mavros_offboard: Make sure the flight controller gets a stream of setpoints (0.5s timeout) before you switch to offboard mode. The system will reject offboard otherwise so I follow above: first, arm the multirotor, done but it still says: I am really confused. BTW, another question, when I use QGC via UDP, QGC popup window says: then the connection will be lost. Thanks |
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I forget one thing, when I use the command: instead of using my transmitter switch, it shows the log on mavros terminal: Do you have any idea about this? Thanks |
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Please show diagnostics again. |
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hi, @vooon here is the diagnostics log: |
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do you have any free time? could I invite you to gitter? |
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You may ask at mavros gitter channel. You setted wrong UDP URL So it got self heartbeat: -
key: Vehicle type
value: Onboard-Controller
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key: Autopilot type
value: INVALID |
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@DrTon there still some problem with connection. We trying to setup following scheme:
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strict graph {
subgraph ros {
graph [
label="ROS",
compound=True,
lheight=0.21,
rank=same,
style=bold]
node [style=filled]
mavros;
gcs_bridge;
}
"Pixhawk" -- "mavros" [label="/dev/ttyACM0:921600"]
"mavros" -- "jMAVSim" [label="udp://:14560@localhost:14565"]
"mavros" -- "gcs_bridge" [label="ROSUDP"]
"gcs_bridge" -- "QGroundControl" [label="udp://:14575@localhost:14570"]
} |
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Hi, @vooon are you online? in mavros it shows: when I run rosrun mavros mavsys |
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@killerlayup seems that your error with arming related to #423. |
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@killerlayup i fixed #423. Can you update and check? |
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hi @vooon |
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Hi @killerlayup, |
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Hi @iceicehyhy |
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Hi @killerlayup , I followed the steps posted by @weiweikong, but the communication between QGC--->Mavros is not stable as I could always see " Connection Lost" . Any idea to solve this issue? |
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@iceicehyhy |
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@iceicehyhy |
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@killerlayup #427 - silent. You may try to use TCP connection method for GCS. Simply change gcs_url to |
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yes！ it works! thanks man @vooon |
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Finally :) i think may close issue now. |
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Why we here use TCP connection not UDP ? @vooon |
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Just to eliminate possible interference with other mavlink talker programs that uses UDP. I wanted to make multicast UDP transport, so port problem will gone. But really nobody support that now. |
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@vooon |
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@iceicehyhy yep |
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@killerlayup yes, it works. thank you! |
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@vooon @iceicehyhy when I connect via TCP, QGC popups window:
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need help~~ |
Hi, all
I follow the setup on http://pixhawk.org/dev/ros/hil, and can start jMAVSim and verify that it is communicating with the Pixhawk as it prints:
but when I run :
It seems that it is not communicating with pixhawk, no heartbeat. when I run:
it shows:
by the way, I use ubuntu 12.04,and px4 firmware, really need help~
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