# Offboard mode and ROS2 with Rb5

Source: https://forum.modalai.com/topic/4090/offboard-mode-and-ros2-with-rb5
Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software)
Tags: ros
Posted: 2025-01-15 12:19:08 UTC by tahawaru
Replies: 2 · Views: 2154

## tahawaru · 2025-01-15 12:19:08 UTC

Hi 
I have the following rb5:
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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
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hw version:   M0052
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voxl-suite:   1.1.2
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current IP: wlan0: 192.168.1.35
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rb5:~$ 

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Issue: When I run ros2 for figure 8 , I get the following output but the rb5 is not doing figure 8
rb5:~$ ros2 run voxl_offboard_figure8 voxl_offboard_figure8 
[INFO] [1736938771.880330404] [offboard_figure8_node]: Offboard Figure 8 Node Alive!
[INFO] [1736938773.006198000] [offboard_figure8_node]: Switching to offboard mode
[INFO] [1736938773.010869569] [offboard_figure8_node]: Arm command sent
[INFO] [1736938781.907197594] [offboard_figure8_node]: Doing figure 8 now
[INFO] [1736938794.961756257] [offboard_figure8_node]: Switching to land mode

Any help on this is greatly appreciated.

Best wishes,

## Reply by Zachary Lowell 0 · 2025-01-16 22:49:15 UTC

@tahawaru just to confirm you have turned off figure 8 offboard mode in voxl-vision-hub? Also does the drone arm when stating "drone arming" - lastly, do you have the dds agent running on the voxl2? There is a part of me that is nervous since you are running this on the rb5 and not a voxl2 that the px4 instance on there is quite stale and doesnt have the dds CLIENT sitting in the executable script. take a look at `/usr/bin/voxl-px4-start` and check if there is reference to the dds client.

Zach

## Reply by tahawaru · 2025-01-20 14:32:24 UTC (in reply to Zachary Lowell 0)

@Zachary-Lowell-0 

1) offboard mode:
![d5d4a98e-4bf0-4aa7-baee-522cb331b4a7-image.png](https://forum.modalai.com/assets/uploads/files/1737382725235-d5d4a98e-4bf0-4aa7-baee-522cb331b4a7-image.png) 

2) 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](https://forum.modalai.com/assets/uploads/files/1737382905455-bea8dc77-6e7c-4635-b0b0-c7b9a5ec7676-image.png) 

4)/usr/bin/voxl-px4-start
![466822e7-ff3f-4c08-a6c4-780b619665d0-image.png](https://forum.modalai.com/assets/uploads/files/1737383495210-466822e7-ff3f-4c08-a6c4-780b619665d0-image.png) 

Best wishes,