Hi @patrickelectric, thanks for your response.
What I’m trying to do is to control Pixhawk through MavROS to make the ROV fully autonomous as these commands can be sent from companion computer( where I installed Ubuntu 16 and ROS kinect as well as bluerov pkgs on the companion RPi). Now my ground PC and RPi with Ubuntu are both ROS and bluerov pkgs installed, configured in a same network.
My commands are:
roscore (on ground PC as it’s currently set to be ROS master)
roslaunch bluerov bluerov_r1.launch ( on RPi as the Pixhawk is connect to it and camera module is on it)
roslaunch bluerov_apps teleop_f310.launch ( on ground PC as I connect the joystick to it)
Here’s the rqt_graph at this time.
Then the error below appears whenever I sent any command through joystick.
Connection to joystick device lost unexpectedly. Will reopen.
I also tried to send some commands directly through rosservice or rostopic pub, but only one of them worked.
rosservice call /mavros/cmd/arming “value: true”
By using this command, I can arm the ROV(indicated by the LED on PixHawk). But other commands such as publish to setpoint_velocity don’t work(no motor rotates).
Joystick control via QGroundControl is always fine. But I need to
- Use joystick node in ROS to control the vehicle
- Send command through ROS to control the vehicle( through waypoints, etc)
Any suggestions? Thank you. (Hope I have stated everything clear)