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    Issue with ROS2 set-up, Deserialization of UORB Topics

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    • 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!

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        • 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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