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There was a problem when using mavros2 to connect multiple drones with QGC . #1993

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XXLiu-HNU opened this issue Sep 19, 2024 · 0 comments
Open

There was a problem when using mavros2 to connect multiple drones with QGC . #1993

XXLiu-HNU opened this issue Sep 19, 2024 · 0 comments

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@XXLiu-HNU
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XXLiu-HNU commented Sep 19, 2024 •
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Background

I want to use rtk for positioning to connect six drones and ground stations through mavros

Issue details

2246584440

When I used mavros2 to connect multiple drones to QGC, I found that when a certain drone started mavros_node, the other drones would automatically exit. I don't know if this is a bug or a problem.

Here is the way I start mavros:
ros2 run mavros mavros_node --ros-args --params-file ./mavros_param.yaml
and the mavros_param.yaml is

# mavros_param.yaml
mavros:
  ros__parameters: {}

mavros_router:
  ros__parameters: {}

mavros_node:
  ros__parameters:
    fcu_url: /dev/ttyACM0:57600
    gcs_url: udp-b://@
    tgt_system: 2

/**:
  ros__parameters:
    plugin_denylist: [odometry]
    # plugin_allowlist: []

and I change the tgt_system for different drones

MAVROS version and platform

Mavros: mavros2
ROS: galactic
Ubuntu: 20.04
MAVLink package version: 2022.8.8

Autopilot type and version

PX4

Version: 1.15.0rc

Node logs

uav1 and uav3 errors when uav5 is start, and the error is fellow:

uav1@uav3:~$ ros2 run mavros mavros_node --ros-args --params-file ./mavros_param.yaml
[INFO] [1726756281.922862848] [mavros_node]: Starting mavros_node container
[INFO] [1726756281.922909126] [mavros_node]: FCU URL: /dev/ttyACM0:57600
[INFO] [1726756281.922916008] [mavros_node]: GCS URL: udp-b://@
[INFO] [1726756281.922920488] [mavros_node]: UAS Prefix: /uas4
[INFO] [1726756281.922924413] [mavros_node]: Starting mavros router node
[INFO] [1726756281.925748876] [mavros_router]: Built-in SIMD instructions: SSE, SSE2
[INFO] [1726756281.925766617] [mavros_router]: Built-in MAVLink package version: 2022.8.8
[INFO] [1726756281.925771396] [mavros_router]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[INFO] [1726756281.925775217] [mavros_router]: MAVROS Router started
[INFO] [1726756281.925788927] [mavros_router]: Requested to add endpoint: type: 0, url: /dev/ttyACM0:57600
[INFO] [1726756281.925803037] [mavros_router]: Endpoint link[1000] created
[INFO] [1726756281.927090833] [mavros_router]: link[1000] opened successfully
[INFO] [1726756281.927112521] [mavros_router]: Requested to add endpoint: type: 1, url: udp-b://@
[INFO] [1726756281.927122361] [mavros_router]: Endpoint link[1001] created
[INFO] [1726756281.927202061] [mavros_router]: link[1001] opened successfully
[INFO] [1726756281.927218447] [mavros_router]: Requested to add endpoint: type: 2, url: /uas4
[INFO] [1726756281.927220520] [mavros_router]: link[1000] detected remote address 0.1
[INFO] [1726756281.927241251] [mavros_router]: Endpoint link[1002] created
[INFO] [1726756281.927441718] [mavros_router]: link[1002] opened successfully
[INFO] [1726756281.927454924] [mavros_node]: Starting mavros uas node
[INFO] [1726756281.927534791] [mavros_router]: link[1000] detected remote address 4.1
[INFO] [1726756281.957240586] [mavros]: UAS Executor started, threads: 16
[INFO] [1726756281.975721015] [mavros]: Plugin actuator_control created
[INFO] [1726756281.975757845] [mavros]: Plugin actuator_control initialized
[INFO] [1726756281.976581462] [mavros]: Plugin altitude created
[INFO] [1726756281.976603198] [mavros]: Plugin altitude initialized
[INFO] [1726756281.977995046] [mavros]: Plugin command created
[INFO] [1726756281.978017750] [mavros]: Plugin command initialized
[INFO] [1726756281.979978187] [mavros]: Plugin ftp created
[INFO] [1726756281.980002933] [mavros]: Plugin ftp initialized
[INFO] [1726756281.981305449] [mavros]: Plugin geofence created
[INFO] [1726756281.981355501] [mavros]: Plugin geofence initialized
[INFO] [1726756281.985906824] [mavros]: Plugin global_position created
[INFO] [1726756281.986009033] [mavros]: Plugin global_position initialized
[INFO] [1726756281.988579025] [mavros]: Plugin home_position created
[INFO] [1726756281.988613618] [mavros]: Plugin home_position initialized
[INFO] [1726756281.991209040] [mavros]: Plugin imu created
[INFO] [1726756281.991259109] [mavros]: Plugin imu initialized
[INFO] [1726756281.994265236] [mavros]: Plugin local_position created
[INFO] [1726756281.994308309] [mavros]: Plugin local_position initialized
[INFO] [1726756282.074782970] [mavros_router]: link[1001] detected remote address 255.190
[INFO] [1726756282.310627835] [mavros]: Plugin manual_control created
[INFO] [1726756282.310805111] [mavros]: Plugin manual_control initialized
[INFO] [1726756282.316189927] [mavros]: Plugin nav_controller_output created
[INFO] [1726756282.316266108] [mavros]: Plugin nav_controller_output initialized
[INFO] [1726756282.320137985] [mavros]: Plugin param created
[INFO] [1726756282.320189626] [mavros]: Plugin param initialized
[INFO] [1726756282.322850031] [mavros]: Plugin rallypoint created
[INFO] [1726756282.322895096] [mavros]: Plugin rallypoint initialized
[INFO] [1726756282.324689943] [mavros]: Plugin rc_io created
[INFO] [1726756282.324712623] [mavros]: Plugin rc_io initialized
[INFO] [1726756282.326007651] [mavros]: Plugin setpoint_accel created
[INFO] [1726756282.326029816] [mavros]: Plugin setpoint_accel initialized
[INFO] [1726756282.327890839] [mavros]: Plugin setpoint_attitude created
[INFO] [1726756282.327963454] [mavros]: Plugin setpoint_attitude initialized
[INFO] [1726756282.330185892] [mavros]: Plugin setpoint_position created
[INFO] [1726756282.330278112] [mavros]: Plugin setpoint_position initialized
[INFO] [1726756282.334626696] [mavros]: Plugin setpoint_raw created
[INFO] [1726756282.334659661] [mavros]: Plugin setpoint_raw initialized
[INFO] [1726756282.336718922] [mavros]: Plugin setpoint_trajectory created
[INFO] [1726756282.336743802] [mavros]: Plugin setpoint_trajectory initialized
[INFO] [1726756282.338202145] [mavros]: Plugin setpoint_velocity created
[INFO] [1726756282.338222068] [mavros]: Plugin setpoint_velocity initialized
[INFO] [1726756282.341886677] [mavros]: Plugin sys_status created
[INFO] [1726756282.341931856] [mavros]: Plugin sys_status initialized
[INFO] [1726756282.343267584] [mavros.time]: TM: Timesync mode: MAVLINK
[INFO] [1726756282.343709014] [mavros]: Plugin sys_time created
[INFO] [1726756282.343736637] [mavros]: Plugin sys_time initialized
[INFO] [1726756282.358709375] [mavros]: Plugin waypoint created
[INFO] [1726756282.358772551] [mavros]: Plugin waypoint initialized
[INFO] [1726756282.360270290] [mavros]: Plugin wind_estimation created
[INFO] [1726756282.360298178] [mavros]: Plugin wind_estimation initialized
[INFO] [1726756282.360532042] [mavros]: Built-in SIMD instructions: SSE, SSE2
[INFO] [1726756282.360541890] [mavros]: Built-in MAVLink package version: 2022.8.8
[INFO] [1726756282.360547198] [mavros]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[INFO] [1726756282.360552035] [mavros]: MAVROS UAS via /uas4 started. MY ID 4.191, TARGET ID 4.1
[INFO] [1726756282.373216550] [mavros.imu]: IMU: High resolution IMU detected!
[INFO] [1726756282.398556390] [mavros.imu]: IMU: Attitude quaternion IMU detected!
[WARN] [1726756282.411778863] [mavros.global_position]: GP: No GPS fix
[INFO] [1726756282.448558674] [mavros_router]: link[1002] detected remote address 4.191
[INFO] [1726756282.944918461] [mavros]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[INFO] [1726756282.945112595] [mavros.mission]: WP: detected enable_partial_push: 0
[INFO] [1726756282.984019731] [mavros.imu]: IMU: High resolution IMU detected!
[INFO] [1726756282.998194387] [mavros.imu]: IMU: Attitude quaternion IMU detected!
[INFO] [1726756283.953640891] [mavros.geofence]: GF: Using MISSION_ITEM_INT
[INFO] [1726756283.953733248] [mavros.rallypoint]: RP: Using MISSION_ITEM_INT
[INFO] [1726756283.953759662] [mavros.mission]: WP: Using MISSION_ITEM_INT
[INFO] [1726756283.953788627] [mavros.sys]: VER: 4.1: Capabilities         0x000000000000e8ff
[INFO] [1726756283.953823090] [mavros.sys]: VER: 4.1: Flight software:     010f00c0 (30e763b678000000)
[INFO] [1726756283.953839556] [mavros.sys]: VER: 4.1: Middleware software: 010f00c0 (30e763b678000000)
[INFO] [1726756283.953852338] [mavros.sys]: VER: 4.1: OS software:         0b0000ff (5d74bc138955e6f0)
[INFO] [1726756283.953866991] [mavros.sys]: VER: 4.1: Board hardware:      0000004c
[INFO] [1726756283.953884336] [mavros.sys]: VER: 4.1: VID/PID:             3163:004c
[INFO] [1726756283.953897633] [mavros.sys]: VER: 4.1: UID:                 3532510131373432
[WARN] [1726756283.954070517] [mavros.cmd]: CMD: Unexpected command 520, result 0
[INFO] [1726756285.555390144] [mavros.sys]: VER: 4.1: Capabilities         0x000000000000e8ff
[INFO] [1726756285.555483863] [mavros.sys]: VER: 4.1: Flight software:     010f00c0 (30e763b678000000)
[INFO] [1726756285.555514334] [mavros.sys]: VER: 4.1: Middleware software: 010f00c0 (30e763b678000000)
[INFO] [1726756285.555536545] [mavros.sys]: VER: 4.1: OS software:         0b0000ff (5d74bc138955e6f0)
[INFO] [1726756285.555558460] [mavros.sys]: VER: 4.1: Board hardware:      0000004c
[INFO] [1726756285.555580667] [mavros.sys]: VER: 4.1: VID/PID:             3163:004c
[INFO] [1726756285.555602129] [mavros.sys]: VER: 4.1: UID:                 3532510131373432
[INFO] [1726756292.944532846] [mavros.home_position]: HP: requesting home position
[INFO] [1726756297.945619652] [mavros.mission]: WP: mission received
[INFO] [1726756302.946006256] [mavros.rallypoint]: RP: mission received
[INFO] [1726756307.948471095] [mavros.geofence]: GF: mission received
[WARN] [1726756312.501674653] [mavros.global_position]: GP: No GPS fix
[WARN] [1726756342.598439215] [mavros.global_position]: GP: No GPS fix
[ERROR] [1726756347.992185007] [mavros.sys]: FCU: Preflight Fail: Accel 2 inconsistent - check cal
[WARN] [1726756372.696094726] [mavros.global_position]: GP: No GPS fix
[INFO] [1726756388.179963394] [mavros.sys]: VER: 4.1: Capabilities         0x000000000000e8ff
[INFO] [1726756388.180059470] [mavros.sys]: VER: 4.1: Flight software:     010f00c0 (30e763b678000000)
[INFO] [1726756388.180098820] [mavros.sys]: VER: 4.1: Middleware software: 010f00c0 (30e763b678000000)
[INFO] [1726756388.180133746] [mavros.sys]: VER: 4.1: OS software:         0b0000ff (5d74bc138955e6f0)
[INFO] [1726756388.180161537] [mavros.sys]: VER: 4.1: Board hardware:      0000004c
[INFO] [1726756388.180188447] [mavros.sys]: VER: 4.1: VID/PID:             3163:004c
[INFO] [1726756388.180213958] [mavros.sys]: VER: 4.1: UID:                 3532510131373432
[WARN] [1726756388.187023166] [mavros.cmd]: CMD: Unexpected command 520, result 0
terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
  what():  failed to send response: error not set, at /tmp/binarydeb/ros-galactic-rcl-3.1.4/src/rcl/service.c:287
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