Aknawby
July 18, 2025, 4:49pm
1
Hey everyone,
I’m attempting to record the mavlink data from my blue rov2 using ros bags in ros2 jazzy. I have the mavlink/mavros package running for the most part however I get tons of time sync warningsRTT too high for timesync message is shown in the Mavros console (most commonly when using ArduRover), the SCHED_LOOP_RATE parameter should be increased. This is because Mavros ignores TIMESYNC messages if the round trip time is more than 10ms."
I also saw that setting timesync_rate to 0 will disable it, although I’m worried about possible side effects.
I’ve also notices most of the topics never publish any data, which I thought was strange
Any suggestions are greatly appreciated.
Hi @Aknawby ,
From what we know these messages are not important.
opened 12:17PM - 09 Feb 23 UTC
This is only bug and feature tracker, please use it
to report bugs or request f… eatures.
----
### Issue details
Hi. I am trying to build a simple simulation using ROS Noetic, MAVROS and ArduPilot for fixed wing UAVs. I am trying to send messages for example velocity, acceleration change, using mavros topics but i dont give any reactions from simulation. I think the error RTT to high for timesync is related to this problem because i can send messages using ROS services perfectly. How to solve this problem and connect simulation normally.
Thanks a lot.
### MAVROS version and platform
Mavros: Latest version for ROS Noetic
ROS: Noetic
Ubuntu: 20.04
### Autopilot type and version
[x] ArduPilot
[ ] PX4
Version: 4.0.4
### Node logs
```
attached all log files to end of the text
```
### Diagnostics
```
header:
seq: 56
stamp:
secs: 1675944633
nsecs: 779404227
frame_id: ''
status:
-
level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "udp://127.0.0.1:14551@14555"
values:
-
key: "Received packets:"
value: "6304"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "46"
-
key: "Tx sequence number:"
value: "0"
-
key: "Rx total bytes:"
value: "217040"
-
key: "Tx total bytes:"
value: "21133"
-
key: "Rx speed:"
value: "4001.000000"
-
key: "Tx speed:"
value: "320.000000"
-
level: 0
name: "mavros: GPS"
message: "3D fix"
hardware_id: "udp://127.0.0.1:14551@14555"
values:
-
key: "Satellites visible"
value: "10"
-
key: "Fix type"
value: "6"
-
key: "EPH (m)"
value: "1.21"
-
key: "EPV (m)"
value: "2.00"
-
level: 1
name: "mavros: Mount"
message: "Can not diagnose in this targeting mode"
hardware_id: "udp://127.0.0.1:14551@14555"
values:
-
key: "Mode"
value: "255"
-
level: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "udp://127.0.0.1:14551@14555"
values:
-
key: "Heartbeats since startup"
value: "63"
-
key: "Frequency (Hz)"
value: "1.039967"
-
key: "Vehicle type"
value: "Fixed wing aircraft"
-
key: "Autopilot type"
value: "ArduPilot"
-
key: "Mode"
value: "MANUAL"
-
key: "System status"
value: "Standby"
-
level: 0
name: "mavros: System"
message: "Normal"
hardware_id: "udp://127.0.0.1:14551@14555"
values:
-
key: "Sensor present"
value: "0x1361FC3F"
-
key: "Sensor enabled"
value: "0x1261803F"
-
key: "Sensor health"
value: "0x1371803F"
-
key: "3D gyro"
value: "Ok"
-
key: "3D accelerometer"
value: "Ok"
-
key: "3D magnetometer"
value: "Ok"
-
key: "absolute pressure"
value: "Ok"
-
key: "differential pressure"
value: "Ok"
-
key: "GPS"
value: "Ok"
-
key: "motor outputs / control"
value: "Ok"
-
key: "rc receiver"
value: "Ok"
-
key: "AHRS subsystem health"
value: "Ok"
-
key: "Terrain subsystem health"
value: "Ok"
-
key: "Battery"
value: "Ok"
-
key: "pre-arm check status. Always healthy when armed"
value: "Ok"
-
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"
-
level: 0
name: "mavros: Battery"
message: "Normal"
hardware_id: "udp://127.0.0.1:14551@14555"
values:
-
key: "Voltage"
value: "12.59"
-
key: "Current"
value: "-0.0"
-
key: "Remaining"
value: "100.0"
-
level: 0
name: "mavros: Time Sync"
message: "Normal"
hardware_id: "udp://127.0.0.1:14551@14555"
values:
-
key: "Timesyncs since startup"
value: "630"
-
key: "Frequency (Hz)"
value: "9.999619"
-
key: "Last RTT (ms)"
value: "8.225267"
-
key: "Mean RTT (ms)"
value: "13.983896"
-
key: "Last remote time (s)"
value: "72.252012000"
-
key: "Estimated time offset (s)"
value: "1675944561.517242908"
-
level: 0
name: "mavros: APM Memory"
message: "Normal"
hardware_id: "udp://127.0.0.1:14551@14555"
values:
-
key: "Free memory (B)"
value: "131072"
-
key: "Heap top"
value: "0x0000"
-
level: 2
name: "mavros: APM Hardware"
message: "Not initialised"
hardware_id: "udp://127.0.0.1:14551@14555"
values:
-
key: "Core voltage"
value: "-1.000000"
-
key: "I2C errors"
value: "0"
---
```
### Check ID
```
OK. I got messages from 1:1.
---
Received 1829 messages, from 1 addresses
sys:comp list of messages
1:1 0, 1, 129, 2, 136, 137, 11020, 147, 11030, 22, 152, 24, 27, 29, 30, 32, 33, 163, 36, 164, 168, 42, 49, 178, 65, 193, 73, 74, 111, 241, 242, 116, 125
```
[logs.zip](https://github.com/mavlink/mavros/files/10696950/logs.zip)
1 Like