Question: ros2 topic info /mavros/setpoint_velocity/cmd_vel(_unstamped) - Ardupilot Mode? #1870
Comments
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Hi, Since all setpoint_foo uses |
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Hey @vooon Thanks for the feedback. That is what I expected. Now when calling I will get info: which tells me I am in guided mode hence which according to the message documentation on mavros_msgs/SetMode should be and when sending it responds with Any suggestions? |
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No, you literally should enable GUIDED mode, not guided-bit flag of base mode. I.e. custom_mode: "GUIDED". |
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Additional information on Body Frames can be found here (ROS1): #792 Ok. So far:
To send some twist message, I again wrote some minimal example publisher, see: and I will guess the |
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If i remember correctly plugin doesn't check frame_id. And i'm really unsure if Twist plugin has right type_mask for APM as it was initially developed for PX4. |
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Additional information can be found here:
Based on your suggestion I worked on messages. With the
which I believe will be binary while in which does not work. :( Weird little details that might help: When publishing those messages in |
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Hello, As i remember, you should start publishing setpoints and then switch to GUIDED. |
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Hi, this is all fun and games, but this:
means you cannot establish a velocity "live-stream" the rover (drone) follows as a reference, unless I keep toggling mode. i.e. What I've read about, too is
Well this is just disappointing, but thank you for the heads-up. |
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Hi, as stated earlier, In Control Theory/Robotics terms read this robotics.stackexchange question on difference path/trajectory planning:
but none of them are made for my intention: reference tracking. The closest implementation to reference tracking seems to be the My solution: The standard way to give commands to a robot in ROS is using a Twist Message, as e.g. Teleop Twist Keyboard in the early turtlebot tutorials or in NAV2. To now follow the twist message as a reference, I implemented a Node that subscribes any Twist message (topic Be aware this code is rather specific to your situation, as it depends on parameters set in Ardupilot and your robot. Those are: The node "translating" Twist to RCOverride: which works just fine, hence I will close the issue. But be aware: the solution is not ideal, my hope is that there is a closed control loop on the robot that somehow digests the RC-channels to references in velocity, otherwise it's open loop. To know, one would need to dig through the Ardupilot code. Thanks @vooon :) |
Issue details
I would like to control the robot in MAVROS2 using geometry_msgs/msg/Twist, since it is the "standard" interface to control a robot in ROS2, see e.g.
Expected behavior:
After running the Mavros node (Details, see below) and then publishing Twist-Messages into different topics:
which answers with
which answers with
which answers with:
The robot should start moving. Question:
What mode should be Ardupilot be in? GUIDED? MANUAL? What about the
frame_id?MAVROS version and platform
Mavros: 2.5.0, installed from source
ROS2: Foxy
Ubuntu: 20.04. LTS
Autopilot type and version
[X] ArduPilot
[ ] PX4
Version: 4.2.3. Ardurover
Details
with
mavros_param.yaml:ros2 run mavros mav checkidreturnsRouter topic: /uas1/mavlink_source, target: 1.1Diagnostics
ros2 topic echo /diagnostics:and Sink
ros2 topic echo /uas1/mavlink_source:ROS2 Services and Topics
ros2 topic list:ros2 service list:The text was updated successfully, but these errors were encountered: