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    Issue with ROS2 set-up, Deserialization of UORB Topics

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    • J
      jmltt
      last edited by

      I have a Sentinel running VOXL SDK v1.1.2. I installed ros2 foxy a while ago when the documentation linked to a bash script here to install it

      https://github.com/jetsonhacks/installROS2

      I'm running the mircodds agent and trying to listen to one of the PX4 topics (specifically vehicle_local_position) but I'm getting the same deserialization issue that was brought up here

      https://forum.modalai.com/topic/3453/unable-to-subscribe-to-vehicle_command_position-topic?_=1718720783022

      I thought I must have pulled the px4_msg repo from the main branch instead of the release/1.14 branch as mentioned in that thread, but I've deleted and reinstalled everything according to the documentation and still can't get it to work. I purged and reinstalled voxl-microdds and voxl-ros2-foxy from the offline suite. I even built voxl-mpa-to-ros2 from source and explicitly pulled the correct branches. Is this a known issue or am I doing something wrong?

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      • J
        jmltt
        last edited by jmltt

        I think I found the issue but not sure how to solve it.

        Every branch of voxl-mpa-to-ros2 that I've seen in the voxlSDK gitlab repo is pulling from the branch of px4_msgs @ a692ca42

        (see here: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/tree/sdk-1.1.0/colcon_ws/src?ref_type=tags)

        which has one more variable in the message definition of VehicleLocalPosition.msg at line 42 than the message definitions included in all recent branches of the px4-firmware:

        float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only

        Here's the message definition for the master branch of voxl-px4: https://github.com/modalai/px4-firmware/blob/b5c45bb232afc6a936b8349f4fa0be1efeb17707/msg/VehicleLocalPosition.msg
        Here's the message definition every branch of voxl-mpa-to-ros2 is linking to: https://github.com/PX4/px4_msgs/blob/a692ca426e35d8f5085979febc9065fe60907cb7/msg/VehicleLocalPosition.msg

        Not sure how many other messages this affects. Is this an easy fix on the dev side?

        1 Reply Last reply Reply Quote 0
        • Zachary Lowell 0Z
          Zachary Lowell 0 ModalAI Team
          last edited by

          Hi @jmltt - will try and recreate the same issue you are seeing and the solution you proposed as a fix!

          If this is the case I will merge in a PR and it will be on the most recent dev branch for voxl-mpa-to-ros, anyways - will test out the solution soon.

          Zach

          J 1 Reply Last reply Reply Quote 0
          • J
            jmltt @Zachary Lowell 0
            last edited by

            @Zachary-Lowell-0 Sounds good, thank you!

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            • Zachary Lowell 0Z
              Zachary Lowell 0 ModalAI Team
              last edited by

              @jmltt said in Issue with ROS2 set-up, Deserialization of UORB Topics:

              Not sure how many other messages this affects. Is this an easy fix on the dev side?

              Reply

              So @jmltt it looks like this isnt necessarily an issue with the branch itself as mainline px4_msgs also has the unaided_heading in part of the VehicleLocalPosition:
              https://github.com/PX4/px4_msgs/blob/f90685f29174d4debfe31e22b4cf1412c3c16448/msg/VehicleLocalPosition.msg#L42C9-L42C24

              Trying to figure out a way to remove it without recreating a new submodule - will hopefully have a fix soon.

              Zach

              1 Reply Last reply Reply Quote 0
              • Zachary Lowell 0Z
                Zachary Lowell 0 ModalAI Team
                last edited by

                Ok @jmltt I fixed it - there was a giant conflict with versioning on px4_msgs and px4_ros_coms which was fun to deal with 🙂 - anyways I have a branch waiting for approval to be merged into the most recent nightly and you can then pull the dev from the apt repository when it gets merged in - until then feel free to rebuild voxl-mpa-to-ros2 deb and install on your voxl2 from the branch zach/submodule update: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/tree/zach/submodule_update

                Cheers!
                Zach

                Eric KatzfeyE J 2 Replies Last reply Reply Quote 1
                • Eric KatzfeyE
                  Eric Katzfey ModalAI Team @Zachary Lowell 0
                  last edited by

                  @Zachary-Lowell-0 The updated Debian package can be found here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-mpa-to-ros2_0.0.3-202406240850_arm64.deb

                  1 Reply Last reply Reply Quote 1
                  • J
                    jmltt @Zachary Lowell 0
                    last edited by

                    @Zachary-Lowell-0 Awesome, thanks for fixing this I really appreciate it!

                    T 1 Reply Last reply Reply Quote 0
                    • T
                      tahawaru @jmltt
                      last edited by

                      @Zachary-Lowell-0

                      I'm following the tutorial at https://docs.modalai.com/building-ros2-nodes/
                      I dont get the 's' for 'px4_ros_coms'.
                      Instead, I have 'px4_ros_com' which doesn't have an executable. So I get:

                      rb5:~/colcon_ws$ ros2 run px4_ros_com px4_ros_com
                      No executable found

                      Any help on this is welcome.

                      1 Reply Last reply Reply Quote 0
                      • Zachary Lowell 0Z
                        Zachary Lowell 0 ModalAI Team
                        last edited by

                        Hi @tahawaru looks like its just a type on the documentation I will update it:

                        Please just try running ros2 run px4_ros_com px4_ros_com - no s anywhere in site. Note this package is fully managed by PX4 - not modalAI and can be followed here: https://github.com/PX4/px4_ros_com

                        LMK if this helps,
                        Zach

                        T 1 Reply Last reply Reply Quote 0
                        • T
                          tahawaru @Zachary Lowell 0
                          last edited by

                          @Zachary-Lowell-0

                          Still getting the same issue

                          rb5:~/colcon_ws$ ros2 run px4_ros_com px4_ros_com
                          No executable found

                          1 Reply Last reply Reply Quote 0
                          • Zachary Lowell 0Z
                            Zachary Lowell 0 ModalAI Team
                            last edited by

                            @tahawaru said in Issue with ROS2 set-up, Deserialization of UORB Topics:

                            No executable found

                            Reply

                            @tahawaru why are you trying to run px4_ros_com's package in general? The package pertinent to voxl-mpa-to-ros2 is voxl_mpa_to_ros2 - what is it exactly you are trying to do?

                            T 2 Replies Last reply Reply Quote 0
                            • T
                              tahawaru @Zachary Lowell 0
                              last edited by

                              @Zachary-Lowell-0

                              I'm following this content https://docs.modalai.com/building-ros2-nodes/

                              After sourcing, and getting the "no executables found" error, I tried
                              rb5:~/colcon_ws$ ros2 pkg executables px4_ros_com
                              px4_ros_com debug_vect_advertiser
                              px4_ros_com offboard_control
                              px4_ros_com sensor_combined_listener
                              px4_ros_com vehicle_gps_position_listener

                              1 Reply Last reply Reply Quote 0
                              • T
                                tahawaru @Zachary Lowell 0
                                last edited by

                                @Zachary-Lowell-0

                                I'm having a similar error from running a ros2 command

                                rb5:~/colcon_ws$ ros2 run voxl_offboard_figure8 voxl_offboard_figure8
                                [INFO] [1723134293.283379373] [offboard_figure8_node]: Offboard Figure 8 Node Alive!
                                2024-08-08 16:24:53.442 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                2024-08-08 16:24:53.950 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                [INFO] [1723134294.428290964] [offboard_figure8_node]: Switching to offboard mode
                                [INFO] [1723134294.428816835] [offboard_figure8_node]: Arm command sent
                                2024-08-08 16:24:54.452 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                2024-08-08 16:24:54.951 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                2024-08-08 16:24:55.452 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                2024-08-08 16:24:55.961 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                2024-08-08 16:24:56.461 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                2024-08-08 16:24:56.971 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                2024-08-08 16:24:57.482 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                2024-08-08 16:24:57.988 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                2024-08-08 16:24:58.488 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                2024-08-08 16:24:58.998 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                2024-08-08 16:24:59.507 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                2024-08-08 16:25:00.016 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                2024-08-08 16:25:00.528 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change

                                My Rb5 specs:
                                rb5:~/colcon_ws$ voxl-version

                                system-image: 1.7.1-M0052-14.1a-perf-nightly-20231025
                                kernel: #1 SMP PREEMPT Thu Oct 26 05:24:02 UTC 2023 4.19.125

                                hw version: M0052

                                voxl-suite:

                                Packages:
                                Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.1/binary-arm64/
                                Last Updated: 2024-07-19 09:01:43
                                List:
                                libmodal-cv 0.4.0
                                libmodal-exposure 0.1.0
                                libmodal-journal 0.2.2
                                libmodal-json 0.4.3
                                libmodal-pipe 2.9.2
                                libqrb5165-io 0.4.2
                                libvoxl-cci-direct 0.2.1
                                libvoxl-cutils 0.1.1
                                mv-voxl 0.1-r0
                                qrb5165-bind 0.1-r0
                                ...............
                                voxl-mavlink 0.1.1
                                voxl-mavlink-server 1.3.2
                                voxl-microdds-agent 2.4.1-0
                                voxl-modem 1.0.8
                                voxl-mongoose 7.7.0-1
                                voxl-mpa-to-ros 0.3.7
                                voxl-mpa-to-ros2 0.0.4
                                voxl-mpa-tools 1.1.3
                                voxl-neopixel-manager 0.0.3
                                voxl-opencv 4.5.5-2
                                voxl-portal 0.6.3
                                voxl-px4 1.14.0-2.0.63
                                voxl-px4-imu-server 0.1.2
                                voxl-px4-params 0.3.3
                                voxl-qvio-server 1.0.0
                                voxl-remote-id 0.0.9
                                voxl-ros2-foxy 0.0.1
                                voxl-streamer 0.7.4
                                voxl-tag-detector 0.0.4
                                voxl-tflite-server 0.3.1
                                voxl-utils 1.3.3
                                voxl-uvc-server 0.1.6
                                voxl-vision-hub 1.7.3

                                There is no response from the drone.

                                T 1 Reply Last reply Reply Quote 0
                                • T
                                  tahawaru @tahawaru
                                  last edited by

                                  @tom
                                  Hi Tom,
                                  I have downloaded the src files from https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/tree/master/colcon_ws/src?ref_type=heads
                                  Then I build with colcon build
                                  The command "ros2 run voxl_offboard_figure8 voxl_offboard_figure8 " outputs the following while the rb5 is not responding at all
                                  [INFO] [1727710160.087447748] [offboard_figure8_node]: Offboard Figure 8 Node Alive!
                                  [INFO] [1727710161.215068375] [offboard_figure8_node]: Switching to offboard mode
                                  [INFO] [1727710161.225198835] [offboard_figure8_node]: Arm command sent
                                  [INFO] [1727710170.118029165] [offboard_figure8_node]: Doing figure 8 now
                                  [INFO] [1727710183.178457539] [offboard_figure8_node]: Switching to land mode

                                  Can someone update the short introduction to ROS2 usage with the rb5? Please.

                                  @tahawaru said in Issue with ROS2 set-up, Deserialization of UORB Topics:

                                  @Zachary-Lowell-0

                                  I'm having a similar error from running a ros2 command

                                  rb5:~/colcon_ws$ ros2 run voxl_offboard_figure8 voxl_offboard_figure8
                                  [INFO] [1723134293.283379373] [offboard_figure8_node]: Offboard Figure 8 Node Alive!
                                  2024-08-08 16:24:53.442 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                  2024-08-08 16:24:53.950 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                  [INFO] [1723134294.428290964] [offboard_figure8_node]: Switching to offboard mode
                                  [INFO] [1723134294.428816835] [offboard_figure8_node]: Arm command sent
                                  2024-08-08 16:24:54.452 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                  2024-08-08 16:24:54.951 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                  2024-08-08 16:24:55.452 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                  2024-08-08 16:24:55.961 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                  2024-08-08 16:24:56.461 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                  2024-08-08 16:24:56.971 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                  2024-08-08 16:24:57.482 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                  2024-08-08 16:24:57.988 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                  2024-08-08 16:24:58.488 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                  2024-08-08 16:24:58.998 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                  2024-08-08 16:24:59.507 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                  2024-08-08 16:25:00.016 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
                                  2024-08-08 16:25:00.528 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change

                                  My Rb5 specs:
                                  rb5:~/colcon_ws$ voxl-version

                                  system-image: 1.7.1-M0052-14.1a-perf-nightly-20231025
                                  kernel: #1 SMP PREEMPT Thu Oct 26 05:24:02 UTC 2023 4.19.125

                                  hw version: M0052

                                  voxl-suite:

                                  Packages:
                                  Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.1/binary-arm64/
                                  Last Updated: 2024-07-19 09:01:43
                                  List:
                                  libmodal-cv 0.4.0
                                  libmodal-exposure 0.1.0
                                  libmodal-journal 0.2.2
                                  libmodal-json 0.4.3
                                  libmodal-pipe 2.9.2
                                  libqrb5165-io 0.4.2
                                  libvoxl-cci-direct 0.2.1
                                  libvoxl-cutils 0.1.1
                                  mv-voxl 0.1-r0
                                  qrb5165-bind 0.1-r0
                                  ...............
                                  voxl-mavlink 0.1.1
                                  voxl-mavlink-server 1.3.2
                                  voxl-microdds-agent 2.4.1-0
                                  voxl-modem 1.0.8
                                  voxl-mongoose 7.7.0-1
                                  voxl-mpa-to-ros 0.3.7
                                  voxl-mpa-to-ros2 0.0.4
                                  voxl-mpa-tools 1.1.3
                                  voxl-neopixel-manager 0.0.3
                                  voxl-opencv 4.5.5-2
                                  voxl-portal 0.6.3
                                  voxl-px4 1.14.0-2.0.63
                                  voxl-px4-imu-server 0.1.2
                                  voxl-px4-params 0.3.3
                                  voxl-qvio-server 1.0.0
                                  voxl-remote-id 0.0.9
                                  voxl-ros2-foxy 0.0.1
                                  voxl-streamer 0.7.4
                                  voxl-tag-detector 0.0.4
                                  voxl-tflite-server 0.3.1
                                  voxl-utils 1.3.3
                                  voxl-uvc-server 0.1.6
                                  voxl-vision-hub 1.7.3

                                  There is no response from the drone.

                                  1 Reply Last reply Reply Quote 0
                                  • B
                                    brahim
                                    last edited by

                                    @tahawaru there are a few intermediate steps to get ros2 offboard control:

                                    • disable offboard_mode (set to false) in voxl-vision-hub.conf line 237: "offboard_mode": "false"

                                    • Ensure voxl-microdds-agent is running. You can check by running systemctl status voxl-microdds-agent

                                    • Once these steps are complete, and you have the ros2 offboard fig 8 running, you should be able to echo the offboard control mode info either in an adb shell or mavlink console:

                                    In adb you can use the command px4-listener offboard_control_mode which should return this

                                     offboard_control_mode
    timestamp: 314055050 (0.031338 seconds ago)
    position: True
    velocity: False
    acceleration: False
    attitude: False
    body_rate: False
    actuator: False
                                    • A way to verify the figure 8 ros2 node is sending setpoints to px4 is to echo trajectory setpoints: ros2 topic echo /fmu/in/trajectory_setpoint
                                    • When you kill the ros2 offboard node, you can echo that offboard mode status again and the timestamp should go stale and no longer update.
                                    T 1 Reply Last reply Reply Quote 0
                                    • T
                                      tahawaru @brahim
                                      last edited by

                                      @brahim
                                      @tom

                                      Hi and sorry for the delayed response.

                                      Main result : no response from the rb5
                                      Comments: the offboard code example in cpp is running in Gazebo but I cannot get the drone to arm via ROS2 run px4_ros_com offboard_control.

                                      This is the output from my terminal
                                      ~/ros2_ws$ ros2 run px4_ros_com offboard_control
                                      Starting offboard control node...
                                      [INFO] [1729601421.989530505] [offboard_control]: Arm command send

                                      Notes: The offboard setting is "off" not "false" on the voxl-vision-hub.conf.

                                      Do you have a recent tutorial on how to use ROS2 with the rb5?

                                      Best wishes,

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