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Connect to Ardusub with mavros


(jakkala kalvik) #1

Hi, I am trying to connect to the pixhawk from a laptop (pixhawk connected to the laptop). I made a .launch file as follows


<arg name="fcu_url" default="/dev/ttyACM0:115200" />
<arg name="gcs_url" default="" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<arg name="log_output" default="screen" />

<include file="$(find mavros)/launch/node.launch">
	<arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
	<arg name="config_yaml" value="$(find mavros)/launch/apm_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)" />
	<arg name="log_output" value="$(arg log_output)" />
</include>

But when I run roslaunch mavros apm.launch it doesn’t work I get the following output

kalvik@kalvik:~$ roslaunch mavros apm.launch
… logging to /home/kalvik/.ros/log/1b4ad754-552b-11e7-bd4e-3c18a0406a68/roslaunch-kalvik-32278.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://kalvik:38919/

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /mavros/cmd/use_comp_id_system_control: False
  • /mavros/conn/heartbeat_rate: 1.0
  • /mavros/conn/system_time_rate: 0.0
  • /mavros/conn/timeout: 10.0
  • /mavros/conn/timesync_rate: 0.0
  • /mavros/distance_sensor/rangefinder_pub/field_of_view: 0.0
  • /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
  • /mavros/distance_sensor/rangefinder_pub/id: 0
  • /mavros/distance_sensor/rangefinder_pub/send_tf: False
  • /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/rangefinder_sub/id: 0
  • /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
  • /mavros/distance_sensor/rangefinder_sub/subscriber: True
  • /mavros/fcu_url: /dev/ttyACM0:57600
  • /mavros/gcs_url:
  • /mavros/global_position/frame_id: fcu
  • /mavros/global_position/rot_covariance: 99999.0
  • /mavros/global_position/tf/child_frame_id: fcu_utm
  • /mavros/global_position/tf/frame_id: local_origin
  • /mavros/global_position/tf/send: False
  • /mavros/image/frame_id: px4flow
  • /mavros/imu/angular_velocity_stdev: 0.000349065850399
  • /mavros/imu/frame_id: fcu
  • /mavros/imu/linear_acceleration_stdev: 0.0003
  • /mavros/imu/magnetic_stdev: 0.0
  • /mavros/imu/orientation_stdev: 1.0
  • /mavros/local_position/frame_id: fcu
  • /mavros/local_position/tf/child_frame_id: fcu
  • /mavros/local_position/tf/frame_id: local_origin
  • /mavros/local_position/tf/send: False
  • /mavros/mission/pull_after_gcs: True
  • /mavros/mocap/use_pose: True
  • /mavros/mocap/use_tf: False
  • /mavros/plugin_blacklist: ['actuator_contro…
  • /mavros/plugin_whitelist: []
  • /mavros/px4flow/frame_id: px4flow
  • /mavros/px4flow/ranger_fov: 0.0
  • /mavros/px4flow/ranger_max_range: 5.0
  • /mavros/px4flow/ranger_min_range: 0.3
  • /mavros/safety_area/p1/x: 1.0
  • /mavros/safety_area/p1/y: 1.0
  • /mavros/safety_area/p1/z: 1.0
  • /mavros/safety_area/p2/x: -1.0
  • /mavros/safety_area/p2/y: -1.0
  • /mavros/safety_area/p2/z: -1.0
  • /mavros/setpoint_accel/send_force: False
  • /mavros/setpoint_attitude/reverse_throttle: False
  • /mavros/setpoint_attitude/tf/child_frame_id: attitude
  • /mavros/setpoint_attitude/tf/frame_id: local_origin
  • /mavros/setpoint_attitude/tf/listen: False
  • /mavros/setpoint_attitude/tf/rate_limit: 10.0
  • /mavros/setpoint_position/tf/child_frame_id: setpoint
  • /mavros/setpoint_position/tf/frame_id: local_origin
  • /mavros/setpoint_position/tf/listen: False
  • /mavros/setpoint_position/tf/rate_limit: 50.0
  • /mavros/startup_px4_usb_quirk: False
  • /mavros/sys/disable_diag: False
  • /mavros/sys/min_voltage: 10.0
  • /mavros/target_component_id: 1
  • /mavros/target_system_id: 1
  • /mavros/tdr_radio/low_rssi: 40
  • /mavros/time/time_ref_source: fcu
  • /mavros/time/timesync_avg_alpha: 0.6
  • /mavros/time/timesync_mode: NONE
  • /mavros/vibration/frame_id: vibration
  • /mavros/vision_pose/tf/child_frame_id: vision
  • /mavros/vision_pose/tf/frame_id: local_origin
  • /mavros/vision_pose/tf/listen: False
  • /mavros/vision_pose/tf/rate_limit: 10.0
  • /mavros/vision_speed/listen_twist: False
  • /rosdistro: kinetic
  • /rosversion: 1.12.7

NODES
/
mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [32289]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1b4ad754-552b-11e7-bd4e-3c18a0406a68
process[rosout-1]: started with pid [32302]
started core service [/rosout]
process[mavros-2]: started with pid [32320]
[ INFO] [1497902929.276107856]: FCU URL: /dev/ttyACM0:57600
[ WARN] [1497902929.276571316]: init: message from ASLUAV, MSG-ID 201 ignored! Table has different entry.
[ WARN] [1497902929.276714190]: init: message from autoquad, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1497902929.276728884]: init: message from autoquad, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1497902929.276860627]: init: message from matrixpilot, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1497902929.276872911]: init: message from matrixpilot, MSG-ID 151 ignored! Table has different entry.
[ WARN] [1497902929.276885841]: init: message from matrixpilot, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1497902929.276903985]: init: message from matrixpilot, MSG-ID 153 ignored! Table has different entry.
[ WARN] [1497902929.276927687]: init: message from matrixpilot, MSG-ID 155 ignored! Table has different entry.
[ WARN] [1497902929.276940944]: init: message from matrixpilot, MSG-ID 156 ignored! Table has different entry.
[ WARN] [1497902929.276955689]: init: message from matrixpilot, MSG-ID 157 ignored! Table has different entry.
[ WARN] [1497902929.276969422]: init: message from matrixpilot, MSG-ID 158 ignored! Table has different entry.
[ WARN] [1497902929.276982196]: init: message from matrixpilot, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1497902929.276995571]: init: message from matrixpilot, MSG-ID 171 ignored! Table has different entry.
[ WARN] [1497902929.277008572]: init: message from matrixpilot, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1497902929.277021561]: init: message from matrixpilot, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1497902929.277034736]: init: message from matrixpilot, MSG-ID 174 ignored! Table has different entry.
[ WARN] [1497902929.277047641]: init: message from matrixpilot, MSG-ID 175 ignored! Table has different entry.
[ WARN] [1497902929.277060501]: init: message from matrixpilot, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1497902929.277073646]: init: message from matrixpilot, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1497902929.277086526]: init: message from matrixpilot, MSG-ID 178 ignored! Table has different entry.
[ WARN] [1497902929.277099483]: init: message from matrixpilot, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1497902929.277112430]: init: message from matrixpilot, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1497902929.277125583]: init: message from matrixpilot, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1497902929.277138612]: init: message from matrixpilot, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1497902929.277151437]: init: message from matrixpilot, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1497902929.277164521]: init: message from matrixpilot, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1497902929.277177649]: init: message from matrixpilot, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1497902929.277190737]: init: message from matrixpilot, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1497902929.277324769]: init: message from paparazzi, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1497902929.277335379]: init: message from paparazzi, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1497902929.277349640]: init: message from paparazzi, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1497902929.277358370]: init: message from paparazzi, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1497902929.277372820]: init: message from paparazzi, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1497902929.277505275]: init: message from slugs, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1497902929.277515861]: init: message from slugs, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1497902929.277528732]: init: message from slugs, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1497902929.277541862]: init: message from slugs, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1497902929.277555050]: init: message from slugs, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1497902929.277567872]: init: message from slugs, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1497902929.277581546]: init: message from slugs, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1497902929.277595249]: init: message from slugs, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1497902929.277608785]: init: message from slugs, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1497902929.277622698]: init: message from slugs, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1497902929.277635349]: init: message from slugs, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1497902929.277648400]: init: message from slugs, MSG-ID 188 ignored! Table has different entry.
[ WARN] [1497902929.277663318]: init: message from slugs, MSG-ID 191 ignored! Table has different entry.
[ WARN] [1497902929.277675953]: init: message from slugs, MSG-ID 192 ignored! Table has different entry.
[ WARN] [1497902929.277689265]: init: message from slugs, MSG-ID 193 ignored! Table has different entry.
[ WARN] [1497902929.277702234]: init: message from slugs, MSG-ID 194 ignored! Table has different entry.
[ INFO] [1497902929.278009727]: serial0: device: /dev/ttyACM0 @ 57600 bps
[ INFO] [1497902929.278292474]: GCS bridge disabled
[ERROR] [1497902929.278336655]: serial0: receive: End of file
terminate called after throwing an instance of 'std::system_error’
what(): Resource deadlock avoided
================================================================================REQUIRED process [mavros-2] has died!
process has died [pid 32320, exit code -6, cmd /opt/ros/kinetic/lib/mavros/mavros_node __name:=mavros __log:=/home/kalvik/.ros/log/1b4ad754-552b-11e7-bd4e-3c18a0406a68/mavros-2.log].
log file: /home/kalvik/.ros/log/1b4ad754-552b-11e7-bd4e-3c18a0406a68/mavros-2*.log
Initiating shutdown!

[mavros-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor…
… shutting down processing monitor complete


(Jacob) #2

[ERROR] [1497902929.278336655]: serial0: receive: End of file

It looks like the serial port is closing. Do you have any other processes/applications looking at that port (ie QGC…)?


(jakkala kalvik) #3

Closed QGroundcontrol and it works thanks.