Hello,
We are testing the Rb5 outdoor in position mode.
We have the GPS coordinates but the drone keeps drifting.
Questions:
Notes: We have flashed the drone. What are the parameters needing to be set again?
Best wishes,
Please could you provide a simple example like arm() and disarm() or something similar to the offboard_control.cpp?
Best wishes,
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,
@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:
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_changeMy Rb5 specs:
rb5:~/colcon_ws$ voxl-versionsystem-image: 1.7.1-M0052-14.1a-perf-nightly-20231025
kernel: #1 SMP PREEMPT Thu Oct 26 05:24:02 UTC 2023 4.19.125hw 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 1.7.3There is no response from the drone.
I used the docker to build the ROS2 package following the instructions here roughly 2 months ago:
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2
*****voxl-mpa-to-ros2$ docker load -i qrb5165-emulator-v1.5.tar.gz
voxl-mpa-to-ros2$ docker tag qrb5165-emulator:1.5 qrb5165-emulator:latest
voxl-mpa-to-ros2$ voxl-docker -i qrb5165-emulator
qrb5165-emulator:~(master)(0.0.4)$ ./install_build_deps.sh qrb5165 dev
qrb5165-emulator:~(master)(0.0.4)$ ./build.sh qrb5165
qrb5165-emulator:~(master)(0.0.4)$ ./make_package.sh*****
I installed the build on the rb5:
*****rb5:/$ cd home/root/
rb5:~$ dpkg -i voxl-mpa-to-ros2_0.0.4_arm64.deb
rb5:~$ voxl-configure-mpa-to-ros2
rb5:~$ source /opt/ros/foxy/mpa_to_ros2/install/setup.bash
rb5:~$ ros2 topic list
rb5:~$ source /opt/ros/foxy/setup.bash
rb5:~$ ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node*****
---------------------------------After restart of the RB5
rb5:~$ ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node
Found new interface: hires_large_color
Found new interface: hires_large_encoded
Found new interface: hires_large_grey
Found new interface: hires_small_color
Found new interface: hires_small_encoded
Found new interface: hires_small_grey
Found new interface: hires_snapshot
Found new interface: qvio_overlay
Found new interface: stereo
Found new interface: tracking
Found new interface: imu_px4
Found new interface: voa_pc_out
Found new interface: vvhub_body_wrt_fixed
Found new interface: vvhub_body_wrt_local
Found new interface: qvio
I have the following on my .bashrc :
export ROS_HOME=/opt/ros/foxy
source /opt/ros/foxy/local_setup.bash
source /opt/ros/foxy/mpa_to_ros2/install/setup.bash
source /opt/ros/foxy/setup.bash
And the voxl-inspect-cam -a is as follows:
Hi
I'm recording with the ros2 bag record the topics I get from running
rb5:~$ ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node
On a different terminal I run
rb5:~/ROS2_recordings$ ros2 bag record /hires_small_encoded
then on the first terminal, I get
rb5:~$ ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node
Found new interface: hires_large_color
Found new interface: hires_large_encoded
Found new interface: hires_large_grey
Found new interface: hires_small_color
Found new interface: hires_small_encoded
Found new interface: hires_small_grey
Found new interface: hires_snapshot
Found new interface: qvio_overlay
Found new interface: stereo_front
Found new interface: stereo_rear
Found new interface: tracking
Found new interface: imu_px4
Found new interface: voa_pc_out
Found new interface: vvhub_body_wrt_fixed
Found new interface: vvhub_body_wrt_local
Found new interface: qvio
Interface hires_small_encoded now publishing
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
rb5:~$
Any help on this?
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
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.
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
Still getting the same issue
rb5:~/colcon_ws$ ros2 run px4_ros_com px4_ros_com
No executable found