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发表于 2022-2-22 22:37:26
6805 浏览 8 回复
[新手上路]
Offboard失效
环境：ubuntu20.04 ROS noetic
运行官方的offboard例程,
1.显示invalid setpoint
2.一直显示offboard enabled
但是无人机不动怎么解决阿
Libre007已获得悬赏 3 阿木币最佳答案
我重装了ubuntu18.04就解决了，不知道是不是ubuntu20.04的问题
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扫一扫浏览分享
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发表于 2022-2-23 08:47:17
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楼主|
发表于 2022-2-23 09:51:37
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发表于 2022-3-3 14:22:02
触发了失控保护，你是跑的仿真还是真机，确认一下mavros这边有收到无人机控制数据没有 |
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发表于 2022-3-9 12:50:57
本帖最后由 青叶 于 2022-3-9 12:52 编辑
我和他是同个问题，mavros这边是
[ INFO] [1646800942.135888296]: VER: 1.1: UID: 4954414c44494e4f
[ WARN] [1646800942.138494589]: CMD: Unexpected command 520, result 0
[ INFO] [1646800943.617420654]: IMU: Attitude quaternion IMU detected!
[ INFO] [1646800956.128138612]: GF: mission received
[ INFO] [1646800956.129483770]: RP: mission received
[ INFO] [1646800956.129674259]: WP: mission received
[ WARN] [1646801041.097188214]: CMD: Unexpected command 176, result 0
[ WARN] [1646801051.183900328]: CMD: Unexpected command 176, result 0
[ WARN] [1646801061.292492674]: CMD: Unexpected command 176, result 0
[ WARN] [1646801071.385396009]: CMD: Unexpected command 176, result 0
[ WARN] [1646801081.491565351]: CMD: Unexpected command 176, result 0
[ WARN] [1646801091.583991543]: CMD: Unexpected command 176, result 0
[ WARN] [1646801101.684041139]: CMD: Unexpected command 176, result 0
[ WARN] [1646801111.783793813]: CMD: Unexpected command 176, result 0
[ WARN] [1646801121.891950516]: CMD: Unexpected command 176, result 0
[ WARN] [1646801131.989587102]: CMD: Unexpected command 176, result 0
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发表于 2022-3-9 20:42:38
莫名其妙解决了，可能是ROS未与MAVROS成功连接，运行rosrun后，回应应该是：
[ INFO] [1646829328.140406721]: Connected to master at [localhost:11311]
[ INFO] [1646829338.894103662]: Offboard enabled
[ INFO] [1646829343.951914796]: Vehicle armed
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楼主|
发表于 2022-3-9 21:44:11
我重装了ubuntu18.04就解决了，不知道是不是ubuntu20.04的问题 |
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楼主|
发表于 2022-3-9 21:45:55
ubuntu20.04的时候，网上都搜遍了，都不能解决问题，很玄学 |
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发表于 2022-3-10 09:34:04
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建议您使用Prometheus，Prometheus提供了更多，更丰富，更完善的例程demo,并且有相关问题还可以在阿木社区或者Prometheus微信群里面进行提问，能够更好地帮助您。 |
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