<![CDATA[ROS]]>https://forum.modalai.com/category/25RSS for NodeMon, 18 May 2026 15:02:51 GMTMon, 27 Apr 2026 13:49:30 GMT60<![CDATA[Unable to echo ros2 topic from drone to a computer]]>@ApoorvThapliyal Thank you for your help. also I was able to work with jazzy by only subscribing and printing with node. since error only occurred when I tried to echo the topic and not when another node is subscribing it. but using docker seems like most viable option to me since I m using ubuntu 24.04. Thank you for your help again

]]>https://forum.modalai.com/topic/5183/unable-to-echo-ros2-topic-from-drone-to-a-computerhttps://forum.modalai.com/topic/5183/unable-to-echo-ros2-topic-from-drone-to-a-computerMon, 27 Apr 2026 13:49:30 GMT<![CDATA[Ros2 Humble on Voxl2]]>@Zachary-Lowell-0

Thank you for the feedback! This was very helpful

]]>https://forum.modalai.com/topic/4876/ros2-humble-on-voxl2https://forum.modalai.com/topic/4876/ros2-humble-on-voxl2Tue, 18 Nov 2025 15:34:18 GMT<![CDATA[VEHICLE VISUAL ODOMETRY NOT PUBLISHING]]>Hi @taiwohazeez,

The " /fmu/in" prefix is used for sending data to the autopilot - you're never going to receive data from the autopilot listening to that topic.

Look at the "/fmu/out" topics to see messages coming from the autopilot.

Best,
Ted

]]>https://forum.modalai.com/topic/4651/vehicle-visual-odometry-not-publishinghttps://forum.modalai.com/topic/4651/vehicle-visual-odometry-not-publishingMon, 04 Aug 2025 20:28:13 GMT<![CDATA[Issue sending custom odometry to PX4 via MAVROS]]>Hi @teddy-zaremba,

The fusing part was a bit tricky, but it works now.
Thank you!

]]>https://forum.modalai.com/topic/4638/issue-sending-custom-odometry-to-px4-via-mavroshttps://forum.modalai.com/topic/4638/issue-sending-custom-odometry-to-px4-via-mavrosWed, 30 Jul 2025 09:08:45 GMT<![CDATA[Getting Range finder information in ROS and more.]]>Hi @Judoor-0,

Cool! Feel free to make a MR or post the link to your code if you want someone to review it.

]]>https://forum.modalai.com/topic/4602/getting-range-finder-information-in-ros-and-morehttps://forum.modalai.com/topic/4602/getting-range-finder-information-in-ros-and-moreThu, 17 Jul 2025 07:19:20 GMT<![CDATA[voxl_mpa_to_ros2 only publishes left stereo camera]]>@teddy-zaremba Nevermind, I was able to separate the images by modifying the voxl-camera-server.conf file to treat each camera as separate and it seems to be working now

]]>https://forum.modalai.com/topic/4577/voxl_mpa_to_ros2-only-publishes-left-stereo-camerahttps://forum.modalai.com/topic/4577/voxl_mpa_to_ros2-only-publishes-left-stereo-cameraTue, 08 Jul 2025 23:16:26 GMT<![CDATA[ROS2 ON VOXL2]]>@taiwohazeez Could you post the error and we can take a look?

Also here's an easier way of installing it if you just want to run this script on the voxl.

wget http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.5/binary-arm64/voxl-ros2-foxy_0.0.1_arm64.deb wget http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.5/binary-arm64/voxl-mpa-to-ros2_0.0.7_arm64.deb sudo dpkg -i voxl-ros2-foxy sudo dpkg -i voxl-mpa-to-ros2 voxl-configure-mpa-to-ros2 ]]>https://forum.modalai.com/topic/4551/ros2-on-voxl2https://forum.modalai.com/topic/4551/ros2-on-voxl2Mon, 30 Jun 2025 16:16:13 GMT<![CDATA[VOXL2 ROS2 Starling Code Inconsistencies]]>@claw said in VOXL2 ROS2 Starling Code Inconsistencies:

@Zachary-Lowell-0 Thank you for your help and guidance. Is there a way to get the status information like battery voltage using Python?

Reply

@claw yes you can follow this post to get battery over the DDS: https://forum.modalai.com/topic/4353/voxl2-px4-ros2-mpa-to-ros2-for-battery-voltage-problems/12?_=1745355297145

]]>https://forum.modalai.com/topic/4318/voxl2-ros2-starling-code-inconsistencieshttps://forum.modalai.com/topic/4318/voxl2-ros2-starling-code-inconsistenciesFri, 04 Apr 2025 20:52:02 GMT<![CDATA[Which development environment is suitable to build ROS2 packages and nodes for the RB5]]>@Zachary-Lowell-0

What kind of upgrade is necessary for this Rb5? Should we upgrade the sdk?
we can run ros2 foxy with it. The dds is also working.

How did you build this ros2 packages and nodes
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2

Thank you

]]>https://forum.modalai.com/topic/4268/which-development-environment-is-suitable-to-build-ros2-packages-and-nodes-for-the-rb5https://forum.modalai.com/topic/4268/which-development-environment-is-suitable-to-build-ros2-packages-and-nodes-for-the-rb5Wed, 19 Mar 2025 12:51:48 GMT<![CDATA[How to build-compile FOXY ROS2 packages and nodes for RB5]]>You need to push the install folder as thats where the executables live in ros2 once you run colcon build. src folder is just the code you wrote with zero executables after colcon build is run.

]]>https://forum.modalai.com/topic/4248/how-to-build-compile-foxy-ros2-packages-and-nodes-for-rb5https://forum.modalai.com/topic/4248/how-to-build-compile-foxy-ros2-packages-and-nodes-for-rb5Mon, 10 Mar 2025 13:57:42 GMT<![CDATA[IMU stream rate fixed at 10Hz (PX4)]]>@Eric-Katzfey got it, thank you for the info.

]]>https://forum.modalai.com/topic/4235/imu-stream-rate-fixed-at-10hz-px4https://forum.modalai.com/topic/4235/imu-stream-rate-fixed-at-10hz-px4Wed, 05 Mar 2025 16:26:44 GMT<![CDATA[Stuck installing ros-melodic-pcl-conversions]]>@VSK said in Stuck installing ros-melodic-pcl-conversions:

configure python-twisted-core:all 17.9.0-2ubuntu0.3 <none>
status half-configured python-twisted-core:all 17.9.0-2ubuntu0.3

Maybe that package got corrupted on the install. Can you try running sudo apt-get clean?

If that doesn't work, you could also try removing both of the packages and do the install again.

$ sudo apt remove python-twisted-core:all $ sudo apt remove ros-melodic-pcl-ros ros-melodic-pcl-conversions ]]>https://forum.modalai.com/topic/4097/stuck-installing-ros-melodic-pcl-conversionshttps://forum.modalai.com/topic/4097/stuck-installing-ros-melodic-pcl-conversionsThu, 16 Jan 2025 19:10:01 GMT<![CDATA[Offboard mode and ROS2 with Rb5]]>@Zachary-Lowell-0

offboard mode:
d5d4a98e-4bf0-4aa7-baee-522cb331b4a7-image.png

The drone does NOT arm from the ROS2 command but it can be armed with the RC

3)rb5:~$ voxl-inspect-services
Scanning services...
bea8dc77-6e7c-4635-b0b0-c7b9a5ec7676-image.png

4)/usr/bin/voxl-px4-start
466822e7-ff3f-4c08-a6c4-780b619665d0-image.png

Best wishes,

]]>https://forum.modalai.com/topic/4090/offboard-mode-and-ros2-with-rb5https://forum.modalai.com/topic/4090/offboard-mode-and-ros2-with-rb5Wed, 15 Jan 2025 12:19:08 GMT<![CDATA[/tof_depth image conversion problem]]>@Alex-Kushleyev thank you alex i'll try that

]]>https://forum.modalai.com/topic/4075/tof_depth-image-conversion-problemhttps://forum.modalai.com/topic/4075/tof_depth-image-conversion-problemThu, 09 Jan 2025 01:21:06 GMT<![CDATA[Bridging microdds agent and dds discovery server]]>I'm finding it impossible to run ros2 nodes on multiple vehicles networked together without using the fastdds discovery server to limit traffic to unicast and cut down discovery traffic. Using the default ros2 / fast dds set-up floods the network with traffic once add a third vehicle to the network. Only problem with the discovery server is it isolates the vehicle nodes from the px4 topics exposed by the microdds agent, which I need to publish to.

Is there a way to bridge the microdds agent and nodes that are connected to a dds discovery server? The command line options for running the agent seem pretty limited (can specify discover port but not address) and it's not clear to me how the default agent discovery even works (unicast/multicast/both) and whether or not it's configurable

]]>https://forum.modalai.com/topic/4037/bridging-microdds-agent-and-dds-discovery-serverhttps://forum.modalai.com/topic/4037/bridging-microdds-agent-and-dds-discovery-serverWed, 18 Dec 2024 16:33:17 GMT<![CDATA[ROS2 performance issues with multiple vehicles]]>Has anyone encountered latency issues / stalls in data streams when running ROS2 nodes on multiple vehicles? I'm running ros nodes to publish mocap data as odometry data to sentinel vehicles and am seeing significant performance degradation whenever I have more than 2 vehicles running (see here for more details https://forum.modalai.com/topic/4018/issues-with-multiple-vehicles-on-microhard-network)

I'm reading through the dds documentation to figure out how to tune it to reduce network traffic. Using a discovery server seems like a good option but then it cuts off communication with the microdds-agent and I'm not sure how to get around that. I'm modifying a dds xml profile to try to reduce rtps traffic, but I'm still having issues.

If anyone else has encountered similar issues I'd appreciate any recommendations, thanks!

]]>https://forum.modalai.com/topic/4025/ros2-performance-issues-with-multiple-vehicleshttps://forum.modalai.com/topic/4025/ros2-performance-issues-with-multiple-vehiclesFri, 13 Dec 2024 21:56:55 GMT<![CDATA[MAVROS]]>Hello! I have a quick question. I've been trying to run run_mavros_test.sh from inside a docker container. It runs, but it arms the drone momentarily and then disarms it. My question is: should I fly the drone in position mode first and then switch it to offboard mode? or is the code already programmed so the drone can takeoff on its own? Here is the script:

roskinetic:mavros_test$ ./run_mavros_test.sh
... logging to /root/.ros/log/7efa64a8-ab6e-11ef-8bf5-d88083c8a075/roslaunch-apq8096-2008.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://10.45.249.205:44127/

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /mavros/cmd/use_comp_id_system_control: False
  • /mavros/conn/heartbeat_rate: 1.0
  • /mavros/conn/system_time_rate: 1.0
  • /mavros/conn/timeout: 10.0
  • /mavros/conn/timesync_rate: 10.0
  • /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  • /mavros/distance_sensor/hrlv_ez4_pub/id: 0
  • /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
  • /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/laser_1_sub/id: 3
  • /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
  • /mavros/distance_sensor/laser_1_sub/subscriber: True
  • /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  • /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  • /mavros/distance_sensor/lidarlite_pub/id: 1
  • /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
  • /mavros/distance_sensor/lidarlite_pub/send_tf: True
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/sonar_1_sub/id: 2
  • /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
  • /mavros/distance_sensor/sonar_1_sub/subscriber: True
  • /mavros/fake_gps/eph: 2.0
  • /mavros/fake_gps/epv: 2.0
  • /mavros/fake_gps/fix_type: 3
  • /mavros/fake_gps/geo_origin/alt: 408.0
  • /mavros/fake_gps/geo_origin/lat: 47.3667
  • /mavros/fake_gps/geo_origin/lon: 8.55
  • /mavros/fake_gps/gps_rate: 5.0
  • /mavros/fake_gps/mocap_transform: True
  • /mavros/fake_gps/satellites_visible: 5
  • /mavros/fake_gps/tf/child_frame_id: fix
  • /mavros/fake_gps/tf/frame_id: map
  • /mavros/fake_gps/tf/listen: False
  • /mavros/fake_gps/tf/rate_limit: 10.0
  • /mavros/fake_gps/tf/send: False
  • /mavros/fake_gps/use_mocap: True
  • /mavros/fake_gps/use_vision: False
  • /mavros/fcu_protocol: v2.0
  • /mavros/fcu_url: udp://127.0.0.1:1...
  • /mavros/gcs_url:
  • /mavros/global_position/child_frame_id: base_link
  • /mavros/global_position/frame_id: map
  • /mavros/global_position/gps_uere: 1.0
  • /mavros/global_position/rot_covariance: 99999.0
  • /mavros/global_position/tf/child_frame_id: base_link
  • /mavros/global_position/tf/frame_id: map
  • /mavros/global_position/tf/global_frame_id: earth
  • /mavros/global_position/tf/send: False
  • /mavros/global_position/use_relative_alt: True
  • /mavros/image/frame_id: px4flow
  • /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
  • /mavros/imu/frame_id: base_link
  • /mavros/imu/linear_acceleration_stdev: 0.0003
  • /mavros/imu/magnetic_stdev: 0.0
  • /mavros/imu/orientation_stdev: 1.0
  • /mavros/landing_target/camera/fov_x: 2.0071286398
  • /mavros/landing_target/camera/fov_y: 2.0071286398
  • /mavros/landing_target/image/height: 480
  • /mavros/landing_target/image/width: 640
  • /mavros/landing_target/land_target_type: VISION_FIDUCIAL
  • /mavros/landing_target/listen_lt: False
  • /mavros/landing_target/mav_frame: LOCAL_NED
  • /mavros/landing_target/target_size/x: 0.3
  • /mavros/landing_target/target_size/y: 0.3
  • /mavros/landing_target/tf/child_frame_id: camera_center
  • /mavros/landing_target/tf/frame_id: landing_target
  • /mavros/landing_target/tf/listen: False
  • /mavros/landing_target/tf/rate_limit: 10.0
  • /mavros/landing_target/tf/send: True
  • /mavros/local_position/frame_id: map
  • /mavros/local_position/tf/child_frame_id: base_link
  • /mavros/local_position/tf/frame_id: map
  • /mavros/local_position/tf/send: False
  • /mavros/local_position/tf/send_fcu: False
  • /mavros/mission/pull_after_gcs: True
  • /mavros/mission/use_mission_item_int: True
  • /mavros/mocap/use_pose: True
  • /mavros/mocap/use_tf: False
  • /mavros/odometry/fcu/odom_child_id_des: base_link
  • /mavros/odometry/fcu/odom_parent_id_des: map
  • /mavros/plugin_blacklist: ['safety_area', '...
  • /mavros/plugin_whitelist: []
  • /mavros/px4flow/frame_id: px4flow
  • /mavros/px4flow/ranger_fov: 0.118682
  • /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_thrust: False
  • /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
  • /mavros/setpoint_attitude/tf/frame_id: map
  • /mavros/setpoint_attitude/tf/listen: False
  • /mavros/setpoint_attitude/tf/rate_limit: 50.0
  • /mavros/setpoint_attitude/use_quaternion: False
  • /mavros/setpoint_position/mav_frame: LOCAL_NED
  • /mavros/setpoint_position/tf/child_frame_id: target_position
  • /mavros/setpoint_position/tf/frame_id: map
  • /mavros/setpoint_position/tf/listen: False
  • /mavros/setpoint_position/tf/rate_limit: 50.0
  • /mavros/setpoint_raw/thrust_scaling: 1.0
  • /mavros/setpoint_velocity/mav_frame: LOCAL_NED
  • /mavros/startup_px4_usb_quirk: True
  • /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: MAVLINK
  • /mavros/vibration/frame_id: base_link
  • /mavros/vision_pose/tf/child_frame_id: vision_estimate
  • /mavros/vision_pose/tf/frame_id: odom
  • /mavros/vision_pose/tf/listen: False
  • /mavros/vision_pose/tf/rate_limit: 10.0
  • /mavros/vision_speed/listen_twist: True
  • /mavros/vision_speed/twist_cov: True
  • /mavros/wheel_odometry/child_frame_id: base_link
  • /mavros/wheel_odometry/count: 2
  • /mavros/wheel_odometry/frame_id: odom
  • /mavros/wheel_odometry/send_raw: True
  • /mavros/wheel_odometry/send_twist: False
  • /mavros/wheel_odometry/tf/child_frame_id: base_link
  • /mavros/wheel_odometry/tf/frame_id: odom
  • /mavros/wheel_odometry/tf/send: False
  • /mavros/wheel_odometry/use_rpm: False
  • /mavros/wheel_odometry/vel_error: 0.1
  • /mavros/wheel_odometry/wheel0/radius: 0.05
  • /mavros/wheel_odometry/wheel0/x: 0.0
  • /mavros/wheel_odometry/wheel0/y: -0.15
  • /mavros/wheel_odometry/wheel1/radius: 0.05
  • /mavros/wheel_odometry/wheel1/x: 0.0
  • /mavros/wheel_odometry/wheel1/y: 0.15
  • /rosdistro: kinetic
  • /rosversion: 1.12.17

NODES
/
mavros (mavros/mavros_node)
mavros_test_node (mavros_test/mavros_test_node)

auto-starting new master
process[master]: started with pid [2018]
ROS_MASTER_URI=http://127.0.0.1:11311/

setting /run_id to 7efa64a8-ab6e-11ef-8bf5-d88083c8a075
process[rosout-1]: started with pid [2031]
started core service [/rosout]
process[mavros-2]: started with pid [2049]
process[mavros_test_node-3]: started with pid [2050]
[ INFO] [1732567655.774448237]: simple_demo
[ INFO] [1732567656.018483376]: FCU URL: udp://127.0.0.1:14551@:14551
[ INFO] [1732567656.026211401]: udp0: Bind address: 127.0.0.1:14551
[ INFO] [1732567656.029439915]: GCS bridge disabled
[ INFO] [1732567656.030851280]: udp0: Remote address: 127.0.0.1:44052
[ INFO] [1732567656.070837200]: Plugin 3dr_radio loaded
[ INFO] [1732567656.081406862]: Plugin 3dr_radio initialized
[ INFO] [1732567656.082445099]: Plugin actuator_control loaded
[ INFO] [1732567656.107777005]: Plugin actuator_control initialized
[ INFO] [1732567656.118612970]: Plugin adsb loaded
[ INFO] [1732567656.137550610]: Plugin adsb initialized
[ INFO] [1732567656.138005249]: Plugin altitude loaded
[ INFO] [1732567656.145799578]: Plugin altitude initialized
[ INFO] [1732567656.146365676]: Plugin cam_imu_sync loaded
[ INFO] [1732567656.151729465]: Plugin cam_imu_sync initialized
[ INFO] [1732567656.152628847]: Plugin command loaded
[ INFO] [1732567656.202628436]: Plugin command initialized
[ INFO] [1732567656.203048178]: Plugin companion_process_status loaded
[ INFO] [1732567656.231026042]: Plugin companion_process_status initialized
[ INFO] [1732567656.232932931]: Plugin debug_value loaded
[ INFO] [1732567656.269745755]: Plugin debug_value initialized
[ INFO] [1732567656.272227753]: Plugin distance_sensor blacklisted
[ INFO] [1732567656.274672250]: Plugin esc_status loaded
[ INFO] [1732567656.284547896]: Plugin esc_status initialized
[ INFO] [1732567656.285018003]: Plugin fake_gps loaded
[ INFO] [1732567656.397600607]: Plugin fake_gps initialized
[ INFO] [1732567656.398111027]: Plugin ftp loaded
[ INFO] [1732567656.446048101]: Plugin ftp initialized
[ INFO] [1732567656.446780190]: Plugin global_position loaded
[ INFO] [1732567656.599499340]: Plugin global_position initialized
[ INFO] [1732567656.601177373]: Plugin gps_rtk loaded
[ INFO] [1732567656.622658678]: Plugin gps_rtk initialized
[ INFO] [1732567656.624064105]: Plugin gps_status loaded
[ INFO] [1732567656.647914646]: Plugin gps_status initialized
[ INFO] [1732567656.648562880]: Plugin hil loaded
[ INFO] [1732567656.750733792]: Plugin hil initialized
[ INFO] [1732567656.751211973]: Plugin home_position loaded
[ INFO] [1732567656.782716060]: Plugin home_position initialized
[ INFO] [1732567656.783376794]: Plugin imu loaded
[ INFO] [1732567656.848938633]: Plugin imu initialized
[ INFO] [1732567656.850194684]: Plugin landing_target loaded
[ INFO] [1732567656.980705806]: Plugin landing_target initialized
[ INFO] [1732567656.981196591]: Plugin local_position loaded
[ INFO] [1732567657.031081543]: Plugin local_position initialized
[ INFO] [1732567657.032146499]: Plugin log_transfer loaded
[ INFO] [1732567657.053963535]: Plugin log_transfer initialized
[ INFO] [1732567657.055726465]: Plugin manual_control loaded
[ INFO] [1732567657.084083602]: Plugin manual_control initialized
[ INFO] [1732567657.084582043]: Plugin mocap_pose_estimate loaded
[ INFO] [1732567657.117749111]: Plugin mocap_pose_estimate initialized
[ INFO] [1732567657.121111792]: Plugin mount_control loaded
[ INFO] [1732567657.150310133]: Plugin mount_control initialized
[ INFO] [1732567657.151656445]: Plugin obstacle_distance loaded
[ INFO] [1732567657.186162586]: Plugin obstacle_distance initialized
[ INFO] [1732567657.187244782]: Plugin odom loaded
[ INFO] [1732567657.226659604]: Plugin odom initialized
[ INFO] [1732567657.227372110]: Plugin onboard_computer_status loaded
[ INFO] [1732567657.249875766]: Plugin onboard_computer_status initialized
[ INFO] [1732567657.251266661]: Plugin param loaded
[ INFO] [1732567657.281597198]: Plugin param initialized
[ INFO] [1732567657.282266214]: Plugin play_tune loaded
[ INFO] [1732567657.296918093]: Plugin play_tune initialized
[ INFO] [1732567657.297399971]: Plugin px4flow loaded
[ INFO] [1732567657.354594405]: Plugin px4flow initialized
[ INFO] [1732567657.354769042]: Plugin rangefinder blacklisted
[ INFO] [1732567657.355204409]: Plugin rc_io loaded
[ INFO] [1732567657.382310756]: Plugin rc_io initialized
[ INFO] [1732567657.382516487]: Plugin safety_area blacklisted
[ INFO] [1732567657.383545400]: Plugin setpoint_accel loaded
[ INFO] [1732567657.408150478]: Plugin setpoint_accel initialized
[ INFO] [1732567657.411573316]: Plugin setpoint_attitude loaded
[ INFO] [1732567657.482338267]: Plugin setpoint_attitude initialized
[ INFO] [1732567657.483798850]: Plugin setpoint_position loaded
[ INFO] [1732567657.605196363]: Plugin setpoint_position initialized
[ INFO] [1732567657.607216482]: Plugin setpoint_raw loaded
[ INFO] [1732567657.680700099]: Plugin setpoint_raw initialized
[ INFO] [1732567657.681495677]: Plugin setpoint_trajectory loaded
[ INFO] [1732567657.721421077]: Plugin setpoint_trajectory initialized
[ INFO] [1732567657.723802917]: Plugin setpoint_velocity loaded
[ INFO] [1732567657.772568851]: Plugin setpoint_velocity initialized
[ INFO] [1732567657.774036362]: Plugin sys_status loaded
[ INFO] [1732567657.870624785]: Plugin sys_status initialized
[ INFO] [1732567657.871840419]: Plugin sys_time loaded
[ INFO] [1732567657.919725044]: TM: Timesync mode: MAVLINK
[ INFO] [1732567657.928006928]: Plugin sys_time initialized
[ INFO] [1732567657.928507036]: Plugin trajectory loaded
[ INFO] [1732567657.978826835]: Plugin trajectory initialized
[ INFO] [1732567657.980203095]: Plugin vfr_hud loaded
[ INFO] [1732567657.985837772]: Plugin vfr_hud initialized
[ INFO] [1732567657.986035118]: Plugin vibration blacklisted
[ INFO] [1732567657.986691268]: Plugin vision_pose_estimate loaded
[ INFO] [1732567658.054422603]: Plugin vision_pose_estimate initialized
[ INFO] [1732567658.055964593]: Plugin vision_speed_estimate loaded
[ INFO] [1732567658.093805498]: Plugin vision_speed_estimate initialized
[ INFO] [1732567658.094492170]: Plugin waypoint loaded
[ INFO] [1732567658.134650957]: Plugin waypoint initialized
[ INFO] [1732567658.136200812]: Plugin wheel_odometry blacklisted
[ INFO] [1732567658.139244063]: Plugin wind_estimation loaded
[ INFO] [1732567658.149091376]: Plugin wind_estimation initialized
[ INFO] [1732567658.149379711]: Autostarting mavlink via USB on PX4
[ INFO] [1732567658.149563046]: Built-in SIMD instructions: ARM NEON
[ INFO] [1732567658.149794714]: Built-in MAVLink package version: 2021.3.3
[ INFO] [1732567658.150080498]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1732567658.150202374]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1732567658.159147336]: IMU: High resolution IMU detected!
[ INFO] [1732567658.160230000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1732567658.181075727]: RC_CHANNELS message detected!
[ INFO] [1732567658.570660380]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1732567658.579844146]: RC_CHANNELS message detected!
[ INFO] [1732567658.582709792]: IMU: High resolution IMU detected!
[ INFO] [1732567658.583442506]: IMU: Attitude quaternion IMU detected!
[ INFO] [1732567659.585899036]: WP: Using MISSION_ITEM_INT
[ INFO] [1732567659.586347893]: VER: 1.1: Capabilities 0x000000000000ecff
[ INFO] [1732567659.586770084]: VER: 1.1: Flight software: 010e0000 (030a59eccf020044)
[ INFO] [1732567659.587085503]: VER: 1.1: Middleware software: 010e0000 (030a59eccf000000)
[ INFO] [1732567659.587625819]: VER: 1.1: OS software: 0b0000ff (3f77354c0dc88793)
[ INFO] [1732567659.587946551]: VER: 1.1: Board hardware: 0000a32f
[ INFO] [1732567659.588157802]: VER: 1.1: VID/PID: 0483:a32f
[ INFO] [1732567659.588402440]: VER: 1.1: UID: 4d33501320333435
[ WARN] [1732567659.588756140]: CMD: Unexpected command 520, result 0
[ INFO] [1732567660.874123305]: waiting for offboard mode
[ INFO] [1732567660.924087164]: arming
[ INFO] [1732567660.940134001]: FCU: Armed by external command
[ INFO] [1732567660.942645218]: Vehicle armed
[ INFO] [1732567661.038320144]: FCU: [logger] /fs/microsd/log/2024-11-25/20_47_40.ulg
[ INFO] [1732567665.924117692]: disarming
[ INFO] [1732567665.948875792]: Vehicle disarmed
[ INFO] [1732567665.949181055]: done
[ INFO] [1732567665.951134715]: FCU: Disarmed by external command
[mavros_test_node-3] process has finished cleanly
log file: /root/.ros/log/7efa64a8-ab6e-11ef-8bf5-d88083c8a075/mavros_test_node-3*.log
[ INFO] [1732567668.571723371]: HP: requesting home position
[ INFO] [1732567673.575275540]: WP: mission received
[ INFO] [1732567678.572146774]: HP: requesting home position
[ INFO] [1732567688.572069028]: HP: requesting home position

]]>https://forum.modalai.com/topic/3980/mavroshttps://forum.modalai.com/topic/3980/mavrosMon, 25 Nov 2024 22:46:17 GMT<![CDATA[Error when lunching voxl_mpa_to_ros.launch]]>Hi @Mohammad-Goli, it seems like something on your VOXL is prematurely closing the file descriptor attached to the process that lists the pipes - I'm not sure what that is. I'm also not getting any errors with libyaml-cpp so that could be part of the problem. I'm running on SDK version 1.3.5, so I if were you I'd re-flash your VOXL and try the install again.

Flashing the VOXL guide

Sorry I couldn't recreate your issue. If you're still having a problem after re-flashing, let me know what SDK you tried and I'll give it a shot on my end.

]]>https://forum.modalai.com/topic/3972/error-when-lunching-voxl_mpa_to_ros-launchhttps://forum.modalai.com/topic/3972/error-when-lunching-voxl_mpa_to_ros-launchFri, 22 Nov 2024 21:29:12 GMT<![CDATA[Setting up Voxl2 MicroDDS Communication with PX4]]>Okay I managed to solve the problem. The reason why my external pc is unable to see the /fmu topics is probably due to the voxl-microdds-agent service starting before the network is fully "set up". From this stack overflow topic, I edited my /etc/systemd/system/voxl-microdds-agent.service file to include the line ExecStartPre=/bin/sh -c 'until ping -c1 google.com; do sleep 1; done; (this is the only "hacky" method that somehow worked). My entire service file is:

[Unit] Description=voxl-microdds-agent SourcePath=/usr/bin/MicroXRCEAgent After=network.target After=multi-user.target # After=network-online.target # Wants=network-online.target [Service] User=root Type=simple ExecStartPre=/bin/sh -c 'until ping -c1 google.com; do sleep 1; done;' ExecStart=/usr/bin/MicroXRCEAgent udp4 -p 8888 [Install] WantedBy=multi-user.target

After modifying the service file and rebooting the voxl2, the external computer can now see and echo topics from the /fmu. This will obviously not work if the voxl2 is not connected to the internet.. However you can still manually fix this by ssh or adb shell into the voxl2 and restart the service using the commands:

systemctl stop voxl-microdds-agent systemctl start voxl-microdds-agent

and the external computer should be able to see /fmu topics.

On a side note, to customize & add a prefix to the /fmu topic such that it is /drone1/fmu/ in ROS2, edit the px4 start up script /usr/bin/voxl-px4-start. There is a line that starts the microdds_client for px4 where:

# Start microdds_client for ros2 offboard messages from agent over localhost microdds_client start -t udp -h 127.0.0.1 -p 8888

Simply add -n <desired _name> such that it becomes:

# Start microdds_client for ros2 offboard messages from agent over localhost microdds_client start -t udp -h 127.0.0.1 -p 8888 -n drone2 ]]>https://forum.modalai.com/topic/3953/setting-up-voxl2-microdds-communication-with-px4https://forum.modalai.com/topic/3953/setting-up-voxl2-microdds-communication-with-px4Tue, 19 Nov 2024 05:37:37 GMT<![CDATA[problems installing voxl-mpa-to-ros2]]>@LR I removed and reinstalled voxl-mpa-to-ros2 and that is working now, for voxl-mpa-to-ros I still have the same problem

]]>https://forum.modalai.com/topic/3920/problems-installing-voxl-mpa-to-ros2https://forum.modalai.com/topic/3920/problems-installing-voxl-mpa-to-ros2Thu, 07 Nov 2024 22:19:53 GMT