Using mavros fcu_url and gcs_url

Build DIY AUVs
1

Hi I have an auv which has a rpi4b with blueos and a jetson with ros2 using mavros to send control signals. I am having some trouble connecting the jetson and the pi. They are currently connected via an ethernet cable and I can use pymavlink to control the auv via the jetson using this code:

# Connect to mavlink
self.master = mavutil.mavlink_connection('udpin:0.0.0.0:14770')

For this to work, I created a new endpoint in blueos:

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I am now trying to connect mavros via the same jetson using this endpoint. My issue is I am stuck on what to put as the fcu_url and the gcs_url in the config file. I have experimented with a bunch of different variations, all giving me the same error:

[mavros_node-1] [INFO] [1740377262.236112864] [mavros]: MAVROS UAS via /uas1 started. MY ID 255.191, TARGET ID 1.1
[mavros_node-1] [INFO] [1740377263.208584137] [mavros_router]: link[1002] detected remote address 255.191
[mavros_node-1] [WARN] [1740377264.236142888] [mavros.sys]: VER: broadcast request timeout, retries left 4
[mavros_node-1] [WARN] [1740377265.236102585] [mavros.sys]: VER: broadcast request timeout, retries left 3
[mavros_node-1] [WARN] [1740377266.235038733] [mavros.sys]: VER: unicast request timeout, retries left 2
[mavros_node-1] [WARN] [1740377267.236294784] [mavros.sys]: VER: unicast request timeout, retries left 1
[mavros_node-1] [WARN] [1740377268.235920293] [mavros.sys]: VER: unicast request timeout, retries left 0
[mavros_node-1] [WARN] [1740377269.234302025] [mavros.sys]: VER: your FCU don't support AUTOPILOT_VERSION, switched to default capabilities

which I can’t quite wrap my head around. I can ping the pi from the jetson by running

ping 192.168.1.68

and vice versa by changing the 68 to 67. Is there anything else I need to set up for this to work? or am I just getting the fcu_url and gcs_url wrong?

3

I had this issue fixed and working by trying out random combinations of fcu_url but for some reason I suddenly started getting the same error again! Any help would be appreciated

4

Hi @kushion,

This isn’t an application or setup we’ve tested, so available advice is likely limited.

The default IP address subnet is 192.168.2.x, so it’s possible that your 192.168.1.x-configured Jetson board is struggling to connect to the other devices in your system if they’re configured to use the normal subnet.

1 Like
5

I tried a few more different ones and I got it working :14770@192.168.1.68:14770 for fcu_url