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    • Kiazoa JoaoK
      Kiazoa Joao
      last edited by

      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

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