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    Issue with ROS2 set-up, Deserialization of UORB Topics

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    • 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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