运行mavros没有报错，但是无法与飞控通信

tangchunhua

nvidia@tegra-ubuntu:~$ roslaunch mavros px4.launch fcu_url:="/dev/ttyTHS2:921600"
... logging to /home/nvidia/.ros/log/d4d7290a-bb69-11ea-b801-00044bf8aec0/roslaunch-tegra-ubuntu-16126.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tegra-ubuntu:45691/

SUMMARY
========

CLEAR PARAMETERS
* /mavros/

PARAMETERS
* /mavros/cmd/use_comp_id_system_control: False
* /mavros/conn/heartbeat_rate: 1.0
* /mavros/conn/system_time_rate: 1.0
* /mavros/conn/timeout: 10.0
* /mavros/conn/timesync_rate: 10.0
* /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/laser_1_sub/id: 3
* /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /mavros/distance_sensor/laser_1_sub/subscriber: True
* /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /mavros/distance_sensor/lidarlite_pub/id: 1
* /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /mavros/distance_sensor/lidarlite_pub/send_tf: True
* /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/sonar_1_sub/id: 2
* /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /mavros/distance_sensor/sonar_1_sub/subscriber: True
* /mavros/fake_gps/eph: 2.0
* /mavros/fake_gps/epv: 2.0
* /mavros/fake_gps/fix_type: 3
* /mavros/fake_gps/geo_origin/alt: 408.0
* /mavros/fake_gps/geo_origin/lat: 47.3667
* /mavros/fake_gps/geo_origin/lon: 8.55
* /mavros/fake_gps/gps_rate: 5.0
* /mavros/fake_gps/mocap_transform: True
* /mavros/fake_gps/satellites_visible: 5
* /mavros/fake_gps/tf/child_frame_id: fix
* /mavros/fake_gps/tf/frame_id: map
* /mavros/fake_gps/tf/listen: False
* /mavros/fake_gps/tf/rate_limit: 10.0
* /mavros/fake_gps/tf/send: False
* /mavros/fake_gps/use_mocap: True
* /mavros/fake_gps/use_vision: False
* /mavros/fcu_protocol: v2.0
* /mavros/fcu_url: /dev/ttyTHS2:921600
* /mavros/gcs_url:
* /mavros/global_position/child_frame_id: base_link
* /mavros/global_position/frame_id: map
* /mavros/global_position/gps_uere: 1.0
* /mavros/global_position/rot_covariance: 99999.0
* /mavros/global_position/tf/child_frame_id: base_link
* /mavros/global_position/tf/frame_id: map
* /mavros/global_position/tf/global_frame_id: earth
* /mavros/global_position/tf/send: False
* /mavros/global_position/use_relative_alt: True
* /mavros/image/frame_id: px4flow
* /mavros/imu/angular_velocity_stdev: 0.000349065850399
* /mavros/imu/frame_id: imu_link
* /mavros/imu/linear_acceleration_stdev: 0.0003
* /mavros/imu/magnetic_stdev: 0.0
* /mavros/imu/orientation_stdev: 1.0
* /mavros/local_position/frame_id: map
* /mavros/local_position/tf/child_frame_id: base_link
* /mavros/local_position/tf/frame_id: map
* /mavros/local_position/tf/send: False
* /mavros/local_position/tf/send_fcu: False
* /mavros/mission/pull_after_gcs: True
* /mavros/mocap/use_pose: True
* /mavros/mocap/use_tf: False
* /mavros/odometry/in/child_frame_id: base_link
* /mavros/odometry/in/frame_id: odom
* /mavros/odometry/in/frame_tf/body_frame_orientation: flu
* /mavros/odometry/in/frame_tf/local_frame: local_origin_ned
* /mavros/odometry/out/frame_tf/body_frame_orientation: frd
* /mavros/odometry/out/frame_tf/local_frame: vision_ned
* /mavros/plugin_blacklist: ['safety_area', '...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.118682389136
* /mavros/px4flow/ranger_max_range: 5.0
* /mavros/px4flow/ranger_min_range: 0.3
* /mavros/safety_area/p1/x: 1.0
* /mavros/safety_area/p1/y: 1.0
* /mavros/safety_area/p1/z: 1.0
* /mavros/safety_area/p2/x: -1.0
* /mavros/safety_area/p2/y: -1.0
* /mavros/safety_area/p2/z: -1.0
* /mavros/setpoint_accel/send_force: False
* /mavros/setpoint_attitude/reverse_thrust: False
* /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /mavros/setpoint_attitude/tf/frame_id: map
* /mavros/setpoint_attitude/tf/listen: False
* /mavros/setpoint_attitude/tf/rate_limit: 50.0
* /mavros/setpoint_attitude/use_quaternion: False
* /mavros/setpoint_position/mav_frame: LOCAL_NED
* /mavros/setpoint_position/tf/child_frame_id: target_position
* /mavros/setpoint_position/tf/frame_id: map
* /mavros/setpoint_position/tf/listen: False
* /mavros/setpoint_position/tf/rate_limit: 50.0
* /mavros/setpoint_raw/thrust_scaling: 1.0
* /mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /mavros/startup_px4_usb_quirk: True
* /mavros/sys/disable_diag: False
* /mavros/sys/min_voltage: 10.0
* /mavros/target_component_id: 1
* /mavros/target_system_id: 1
* /mavros/tdr_radio/low_rssi: 40
* /mavros/time/time_ref_source: fcu
* /mavros/time/timesync_avg_alpha: 0.6
* /mavros/time/timesync_mode: MAVLINK
* /mavros/vibration/frame_id: base_link
* /mavros/vision_pose/tf/child_frame_id: vision_estimate
* /mavros/vision_pose/tf/frame_id: map
* /mavros/vision_pose/tf/listen: False
* /mavros/vision_pose/tf/rate_limit: 10.0
* /mavros/vision_speed/listen_twist: True
* /mavros/vision_speed/twist_cov: True
* /mavros/wheel_odometry/child_frame_id: base_link
* /mavros/wheel_odometry/count: 2
* /mavros/wheel_odometry/frame_id: map
* /mavros/wheel_odometry/send_raw: True
* /mavros/wheel_odometry/send_twist: False
* /mavros/wheel_odometry/tf/child_frame_id: base_link
* /mavros/wheel_odometry/tf/frame_id: map
* /mavros/wheel_odometry/tf/send: True
* /mavros/wheel_odometry/use_rpm: False
* /mavros/wheel_odometry/vel_error: 0.1
* /mavros/wheel_odometry/wheel0/radius: 0.05
* /mavros/wheel_odometry/wheel0/x: 0.0
* /mavros/wheel_odometry/wheel0/y: -0.15
* /mavros/wheel_odometry/wheel1/radius: 0.05
* /mavros/wheel_odometry/wheel1/x: 0.0
* /mavros/wheel_odometry/wheel1/y: 0.15
* /rosdistro: kinetic
* /rosversion: 1.12.14

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [16136]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d4d7290a-bb69-11ea-b801-00044bf8aec0
process[rosout-1]: started with pid [16149]
started core service [/rosout]
process[mavros-2]: started with pid [16167]
[ INFO] [1593587383.159652587]: FCU URL: /dev/ttyTHS2:921600
[ INFO] [1593587383.163309000]: serial0: device: /dev/ttyTHS2 @ 921600 bps
[ INFO] [1593587383.173368461]: GCS bridge disabled
[ INFO] [1593587383.207066751]: Plugin 3dr_radio loaded
[ INFO] [1593587383.212087035]: Plugin 3dr_radio initialized
[ INFO] [1593587383.212285725]: Plugin actuator_control loaded
[ INFO] [1593587383.221809090]: Plugin actuator_control initialized
[ INFO] [1593587383.230357960]: Plugin adsb loaded
[ INFO] [1593587383.240085939]: Plugin adsb initialized
[ INFO] [1593587383.240419566]: Plugin altitude loaded
[ INFO] [1593587383.243792498]: Plugin altitude initialized
[ INFO] [1593587383.244051452]: Plugin cam_imu_sync loaded
[ INFO] [1593587383.245884846]: Plugin cam_imu_sync initialized
[ INFO] [1593587383.246148891]: Plugin command loaded
[ INFO] [1593587383.264253563]: Plugin command initialized
[ INFO] [1593587383.264913772]: Plugin companion_process_status loaded
[ INFO] [1593587383.275538564]: Plugin companion_process_status initialized
[ INFO] [1593587383.275898672]: Plugin debug_value loaded
[ INFO] [1593587383.291441024]: Plugin debug_value initialized
[ INFO] [1593587383.291541762]: Plugin distance_sensor blacklisted
[ INFO] [1593587383.291877214]: Plugin fake_gps loaded
[ INFO] [1593587383.370952172]: Plugin fake_gps initialized
[ INFO] [1593587383.371849208]: Plugin ftp loaded
[ INFO] [1593587383.417342208]: Plugin ftp initialized
[ INFO] [1593587383.417730591]: Plugin global_position loaded
[ INFO] [1593587383.507402834]: Plugin global_position initialized
[ INFO] [1593587383.508301984]: Plugin gps_rtk loaded
[ INFO] [1593587383.527570716]: Plugin gps_rtk initialized
[ INFO] [1593587383.527983594]: Plugin hil loaded
[ INFO] [1593587383.608155880]: Plugin hil initialized
[ INFO] [1593587383.608514515]: Plugin home_position loaded
[ INFO] [1593587383.634673205]: Plugin home_position initialized
[ INFO] [1593587383.635151630]: Plugin imu loaded
[ INFO] [1593587383.671414098]: Plugin imu initialized
[ INFO] [1593587383.671867227]: Plugin local_position loaded
[ INFO] [1593587383.708290568]: Plugin local_position initialized
[ INFO] [1593587383.708691727]: Plugin log_transfer loaded
[ INFO] [1593587383.728976453]: Plugin log_transfer initialized
[ INFO] [1593587383.729369062]: Plugin manual_control loaded
[ INFO] [1593587383.741568294]: Plugin manual_control initialized
[ INFO] [1593587383.742007014]: Plugin mocap_pose_estimate loaded
[ INFO] [1593587383.766875834]: Plugin mocap_pose_estimate initialized
[ INFO] [1593587383.767515037]: Plugin obstacle_distance loaded
[ INFO] [1593587383.781748915]: Plugin obstacle_distance initialized
[ INFO] [1593587383.782241430]: Plugin odom loaded
[ INFO] [1593587383.823575991]: Plugin odom initialized
[ INFO] [1593587383.824298609]: Plugin param loaded
[ INFO] [1593587383.843160386]: Plugin param initialized
[ INFO] [1593587383.843507974]: Plugin px4flow loaded
[ INFO] [1593587383.884033653]: Plugin px4flow initialized
[ INFO] [1593587383.884216300]: Plugin rangefinder blacklisted
[ INFO] [1593587383.884660496]: Plugin rc_io loaded
[ INFO] [1593587383.901763743]: Plugin rc_io initialized
[ INFO] [1593587383.901944534]: Plugin safety_area blacklisted
[ INFO] [1593587383.902366539]: Plugin setpoint_accel loaded
[ INFO] [1593587383.922326187]: Plugin setpoint_accel initialized
[ INFO] [1593587383.923015471]: Plugin setpoint_attitude loaded
[ INFO] [1593587383.984435268]: Plugin setpoint_attitude initialized
[ INFO] [1593587383.985212802]: Plugin setpoint_position loaded
[ INFO] [1593587384.071946310]: Plugin setpoint_position initialized
[ INFO] [1593587384.072692961]: Plugin setpoint_raw loaded
[ INFO] [1593587384.125526866]: Plugin setpoint_raw initialized
[ INFO] [1593587384.125951328]: Plugin setpoint_velocity loaded
[ INFO] [1593587384.161786832]: Plugin setpoint_velocity initialized
[ INFO] [1593587384.162207292]: Plugin sys_status loaded
[ INFO] [1593587384.224156627]: Plugin sys_status initialized
[ INFO] [1593587384.224749901]: Plugin sys_time loaded
[ INFO] [1593587384.265768960]: TM: Timesync mode: MAVLINK
[ INFO] [1593587384.271678256]: Plugin sys_time initialized
[ INFO] [1593587384.272117031]: Plugin trajectory loaded
[ INFO] [1593587384.309214618]: Plugin trajectory initialized
[ INFO] [1593587384.309943850]: Plugin vfr_hud loaded
[ INFO] [1593587384.314949051]: Plugin vfr_hud initialized
[ INFO] [1593587384.315174154]: Plugin vibration blacklisted
[ INFO] [1593587384.315619718]: Plugin vision_pose_estimate loaded
[ INFO] [1593587384.365969833]: Plugin vision_pose_estimate initialized
[ INFO] [1593587384.366564131]: Plugin vision_speed_estimate loaded
[ INFO] [1593587384.395027073]: Plugin vision_speed_estimate initialized
[ INFO] [1593587384.395669050]: Plugin waypoint loaded
[ INFO] [1593587384.419510299]: Plugin waypoint initialized
[ INFO] [1593587384.419858456]: Plugin wheel_odometry blacklisted
[ INFO] [1593587384.421154929]: Plugin wind_estimation loaded
[ INFO] [1593587384.426592437]: Plugin wind_estimation initialized
[ INFO] [1593587384.426801754]: Autostarting mavlink via USB on PX4
[ INFO] [1593587384.426970598]: Built-in SIMD instructions: ARM NEON
[ INFO] [1593587384.427110366]: Built-in MAVLink package version: 2019.3.3
[ INFO] [1593587384.427247702]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1593587384.427367298]: MAVROS started. MY ID 1.240, TARGET ID 1.1



nvidia@tegra-ubuntu:~$ rostopic echo /mavros/state
header:
  seq: 0
  stamp:
    secs: 1593587384
    nsecs: 223989257
  frame_id: ''
connected: False
armed: False
guided: False
mode: ''
system_status: 0
---

amov_msq已获得悬赏 3 阿木币

最佳答案

三个问题：1飞控没有设置机载计算机的波特率和端口，2 ttl的rx和tx线序有问题，3 mavros的launch文件的设备名称和端口号有问题。只能是这三个问题

• amov_msq
• 发表于2020-07-01
• 详细答案 >

amov_msq

三个问题：1飞控没有设置机载计算机的波特率和端口，2 ttl的rx和tx线序有问题，3 mavros的launch文件的设备名称和端口号有问题。只能是这三个问题

tangchunhua

amov_msq 发表于 2020-7-1 17:32
三个问题：1飞控没有设置机载计算机的波特率和端口，2 ttl的rx和tx线序有问题，3 mavros的launch文件的设备 ...

请问怎么设置飞控与机载计算机的波特率和端口，查询相关资料没有找到答案

chasing

tangchunhua 发表于 2020-7-1 18:14
请问怎么设置飞控与机载计算机的波特率和端口，查询相关资料没有找到答案 ...

PX4官网上有说，ROS和mavros部分。amov_msq回答的很到位

tangchunhua

chasing 发表于 2020-7-1 18:54
PX4官网上有说，ROS和mavros部分。amov_msq回答的很到位

请问 ttl的rx和tx线序哪有参考

tangchunhua

amov_msq 发表于 2020-7-1 17:32
三个问题：1飞控没有设置机载计算机的波特率和端口，2 ttl的rx和tx线序有问题，3 mavros的launch文件的设备 ...

roslaunch mavros px4.launch fcu_url:="/dev/ttyTHS2:921600"中 fcu_url:="/dev/ttyTHS2:921600"是设备名和端口号吗

1234

运行roslaunch px4 mavros-posix-sitl.launch，时候，显示mavros链接失败，该如何解决呢？

风帆

tangchunhua 发表于 2020-7-1 21:15
请问 ttl的rx和tx线序哪有参考

可以网上搜索TTL RX线序吧。

maxiou

1234 发表于 2020-7-2 00:00
运行roslaunch px4 mavros-posix-sitl.launch，时候，显示mavros链接失败，该如何解决呢？ ...

请单独开贴提问哈

beiyue

tangchunhua 发表于 2020-7-1 21:48
roslaunch mavros px4.launch fcu_url:="/dev/ttyTHS2:921600"中 fcu_url:="/dev/ttyTHS2:921600"是设备 ...

对，是端口