ROS筆記[3]-安裝mavros

qsBye發表於2024-05-03
ROS筆記VR

摘要

在ROS1 Noetic中安裝mavros並透過mavros與apm飛控通訊(usb介面).

關鍵資訊

  • ROS1 Noetic
  • 飛控韌體:ArduCopter 4.2.0
  • 板卡:Orangepi5pro
  • 系統:ubuntu20.04
  • CPU架構:arm64

實現

  1. 下載資源包GeographicLib.zip
    連結：[https://pan.quark.cn/s/279e5eee5b1f]
    提取碼：[yDBL]

  2. 配置安裝

cd /home/orangepi
unzip GeographicLib.zip
sudo cp -r /home/orangepi/GeographicLib /usr/share
ls /usr/share/GeographicLib/
# 魚香ROS可一鍵配置apt國內源
# wget http://fishros.com/install -O fishros && bash fishros
sudo apt install -y ros-noetic-mavros ros-noetic-mavros-extras
# 檢視安裝
roscd mavros
ls launch
  1. 測試
# roscore
roslaunch mavros apm2.launch fcu_url:=/dev/ttyACM1:57600
  1. 檢視資料
rostopic list | grep /mavros
rostopic echo /mavros/battery
rostopic echo /mavros/state
rostopic echo /mavros/imu/data
rostopic echo /mavros/rc/in
rostopic echo /mavros/rc/out
rostopic echo /mavros/mount_control/command
rostopic echo /mavros/sys_status
  1. 解鎖電機
# 修改廣播頻率(否則某些資料/指令無法正確獲取/執行)
rosservice call /mavros/set_stream_rate 0 50 1
# 解鎖(解鎖前記得按安全開關,插上電池)
rosrun mavros mavsafety arm
# 上鎖
rosrun mavros mavsafety disarm

安全開關指示燈含義

  • 持續閃爍 - 系統正在初始化。
  • 間歇性閃爍 - 系統準備就緒，但處於"安全"狀態。如果已經解鎖，按下安全開關，使輸出到電機和控制面，或取消阻止解鎖的預解鎖錯誤條件。
  • 常亮 - 安全開關已被按下，一旦飛行器被解鎖起來，電機和舵機就能移動。

效果

  1. 日誌輸出
... logging to /home/orangepi/.ros/log/9d210134-0872-11ef-8b65-c0f53541dcb8/roslaunch-orangepi5pro-309068.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://orangepi5pro:42063/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_mav_type: ONBOARD_CONTROLLER
 * /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/rangefinder_pub/field_of_view: 0.0
 * /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
 * /mavros/distance_sensor/rangefinder_pub/id: 0
 * /mavros/distance_sensor/rangefinder_pub/send_tf: False
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/rangefinder_sub/id: 1
 * /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
 * /mavros/distance_sensor/rangefinder_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_id: 4
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/horiz_accuracy: 0.5
 * /mavros/fake_gps/mocap_transform: False
 * /mavros/fake_gps/mocap_withcovariance: False
 * /mavros/fake_gps/satellites_visible: 6
 * /mavros/fake_gps/speed_accuracy: 0.0
 * /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_hil_gps: True
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fake_gps/vert_accuracy: 0.5
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: /dev/ttyACM1:57600
 * /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/guided_target/tf/child_frame_id: target_position
 * /mavros/guided_target/tf/frame_id: map
 * /mavros/guided_target/tf/listen: False
 * /mavros/guided_target/tf/rate_limit: 50.0
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/landing_target/camera/fov_x: 2.0071286398
 * /mavros/landing_target/camera/fov_y: 2.0071286398
 * /mavros/landing_target/image/height: 480
 * /mavros/landing_target/image/width: 640
 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /mavros/landing_target/listen_lt: False
 * /mavros/landing_target/mav_frame: LOCAL_NED
 * /mavros/landing_target/target_size/x: 0.3
 * /mavros/landing_target/target_size/y: 0.3
 * /mavros/landing_target/tf/child_frame_id: camera_center
 * /mavros/landing_target/tf/frame_id: landing_target
 * /mavros/landing_target/tf/listen: False
 * /mavros/landing_target/tf/rate_limit: 10.0
 * /mavros/landing_target/tf/send: True
 * /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/mission/use_mission_item_int: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/mount/debounce_s: 4.0
 * /mavros/mount/err_threshold_deg: 10.0
 * /mavros/mount/negate_measured_pitch: False
 * /mavros/mount/negate_measured_roll: False
 * /mavros/mount/negate_measured_yaw: False
 * /mavros/odometry/estimator_type: 3
 * /mavros/odometry/frame_tf/desired_frame: ned
 * /mavros/plugin_blacklist: ['actuator_contro...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682
 * /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: False
 * /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: noetic
 * /rosversion: 1.16.0

NODES
  /
    mavros (mavros/mavros_node)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [309103]
[ INFO] [1714669143.409109997]: FCU URL: /dev/ttyACM1:57600
[ INFO] [1714669143.411891288]: serial0: device: /dev/ttyACM1 @ 57600 bps
[ INFO] [1714669143.412705901]: GCS bridge disabled
[ INFO] [1714669143.428903362]: Plugin 3dr_radio loaded
[ INFO] [1714669143.431101037]: Plugin 3dr_radio initialized
[ INFO] [1714669143.431154119]: Plugin actuator_control blacklisted
[ INFO] [1714669143.436814116]: Plugin adsb loaded
[ INFO] [1714669143.440256314]: Plugin adsb initialized
[ INFO] [1714669143.440304146]: Plugin altitude blacklisted
[ INFO] [1714669143.440438019]: Plugin cam_imu_sync loaded
[ INFO] [1714669143.441005011]: Plugin cam_imu_sync initialized
[ INFO] [1714669143.441131300]: Plugin camera loaded
[ INFO] [1714669143.441682542]: Plugin camera initialized
[ INFO] [1714669143.441808248]: Plugin cellular_status loaded
[ INFO] [1714669143.443687720]: Plugin cellular_status initialized
[ INFO] [1714669143.443848426]: Plugin command loaded
[ INFO] [1714669143.450556657]: Plugin command initialized
[ INFO] [1714669143.450810111]: Plugin companion_process_status loaded
[ INFO] [1714669143.453026744]: Plugin companion_process_status initialized
[ INFO] [1714669143.453084201]: Plugin debug_value blacklisted
[ INFO] [1714669143.453332406]: Plugin distance_sensor loaded
[ INFO] [1714669143.465105935]: Plugin distance_sensor initialized
[ INFO] [1714669143.465258474]: Plugin esc_status loaded
[ INFO] [1714669143.466240209]: Plugin esc_status initialized
[ INFO] [1714669143.466363290]: Plugin esc_telemetry loaded
[ INFO] [1714669143.466848616]: Plugin esc_telemetry initialized
[ INFO] [1714669143.466961490]: Plugin fake_gps loaded
[ INFO] [1714669143.478653936]: Plugin fake_gps initialized
[ INFO] [1714669143.478701769]: Plugin ftp blacklisted
[ INFO] [1714669143.478843225]: Plugin geofence loaded
[ INFO] [1714669143.483765316]: Plugin geofence initialized
[ INFO] [1714669143.483918439]: Plugin global_position loaded
[ INFO] [1714669143.495304640]: Plugin global_position initialized
[ INFO] [1714669143.495446388]: Plugin gps_input loaded
[ INFO] [1714669143.497831310]: Plugin gps_input initialized
[ INFO] [1714669143.497953517]: Plugin gps_rtk loaded
[ INFO] [1714669143.500731308]: Plugin gps_rtk initialized
[ INFO] [1714669143.500851181]: Plugin gps_status loaded
[ INFO] [1714669143.502928107]: Plugin gps_status initialized
[ INFO] [1714669143.503058772]: Plugin guided_target loaded
[ INFO] [1714669143.507946156]: Plugin guided_target initialized
[ INFO] [1714669143.507991655]: Plugin hil blacklisted
[ INFO] [1714669143.508111528]: Plugin home_position loaded
[ INFO] [1714669143.511301730]: Plugin home_position initialized
[ INFO] [1714669143.511444644]: Plugin imu loaded
[ INFO] [1714669143.517553801]: Plugin imu initialized
[ INFO] [1714669143.517689424]: Plugin landing_target loaded
[ INFO] [1714669143.527333527]: Plugin landing_target initialized
[ INFO] [1714669143.527483733]: Plugin local_position loaded
[ INFO] [1714669143.532627779]: Plugin local_position initialized
[ INFO] [1714669143.532771860]: Plugin log_transfer loaded
[ INFO] [1714669143.535219198]: Plugin log_transfer initialized
[ INFO] [1714669143.535348113]: Plugin mag_calibration_status loaded
[ INFO] [1714669143.536254307]: Plugin mag_calibration_status initialized
[ INFO] [1714669143.536379722]: Plugin manual_control loaded
[ INFO] [1714669143.538830268]: Plugin manual_control initialized
[ INFO] [1714669143.538959182]: Plugin mocap_pose_estimate loaded
[ INFO] [1714669143.542492670]: Plugin mocap_pose_estimate initialized
[ INFO] [1714669143.542634126]: Plugin mount_control loaded
[ WARN] [1714669143.548015003]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1714669143.548523370]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1714669143.548961738]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1714669143.550396425]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1714669143.550839751]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1714669143.550888459]: Plugin mount_control initialized
[ INFO] [1714669143.551008040]: Plugin nav_controller_output loaded
[ INFO] [1714669143.551628989]: Plugin nav_controller_output initialized
[ INFO] [1714669143.551729321]: Plugin obstacle_distance loaded
[ INFO] [1714669143.554010411]: Plugin obstacle_distance initialized
[ INFO] [1714669143.554116284]: Plugin odom loaded
[ INFO] [1714669143.557213446]: Plugin odom initialized
[ INFO] [1714669143.557350818]: Plugin onboard_computer_status loaded
[ INFO] [1714669143.559390996]: Plugin onboard_computer_status initialized
[ INFO] [1714669143.559542077]: Plugin param loaded
[ INFO] [1714669143.562437699]: Plugin param initialized
[ INFO] [1714669143.562566614]: Plugin play_tune loaded
[ INFO] [1714669143.565559651]: Plugin play_tune initialized
[ INFO] [1714669143.565608359]: Plugin px4flow blacklisted
[ INFO] [1714669143.565730274]: Plugin rallypoint loaded
[ INFO] [1714669143.569219721]: Plugin rallypoint initialized
[ INFO] [1714669143.569800712]: Plugin rangefinder loaded
[ INFO] [1714669143.570674823]: Plugin rangefinder initialized
[ INFO] [1714669143.571074692]: Plugin rc_io loaded
[ INFO] [1714669143.575069881]: Plugin rc_io initialized
[ INFO] [1714669143.575214254]: Plugin safety_area blacklisted
[ INFO] [1714669143.575570082]: Plugin setpoint_accel loaded
[ INFO] [1714669143.578653827]: Plugin setpoint_accel initialized
[ INFO] [1714669143.579110861]: Plugin setpoint_attitude loaded
[ INFO] [1714669143.591102553]: Plugin setpoint_attitude initialized
[ INFO] [1714669143.591638629]: Plugin setpoint_position loaded
[ INFO] [1714669143.607225641]: Plugin setpoint_position initialized
[ INFO] [1714669143.607705717]: Plugin setpoint_raw loaded
[ INFO] [1714669143.617813271]: Plugin setpoint_raw initialized
[ INFO] [1714669143.618003726]: Plugin setpoint_trajectory loaded
[ INFO] [1714669143.623503601]: Plugin setpoint_trajectory initialized
[ INFO] [1714669143.623971135]: Plugin setpoint_velocity loaded
[ INFO] [1714669143.630182082]: Plugin setpoint_velocity initialized
[ INFO] [1714669143.630821406]: Plugin sys_status loaded
[ INFO] [1714669143.643930455]: Plugin sys_status initialized
[ INFO] [1714669143.644420448]: Plugin sys_time loaded
[ INFO] [1714669143.650496355]: TM: Timesync mode: MAVLINK
[ INFO] [1714669143.651043805]: TM: Not publishing sim time
[ INFO] [1714669143.652671864]: Plugin sys_time initialized
[ INFO] [1714669143.653076108]: Plugin terrain loaded
[ INFO] [1714669143.653983760]: Plugin terrain initialized
[ INFO] [1714669143.654292922]: Plugin trajectory loaded
[ INFO] [1714669143.660550244]: Plugin trajectory initialized
[ INFO] [1714669143.660952446]: Plugin tunnel loaded
[ INFO] [1714669143.666692650]: Plugin tunnel initialized
[ INFO] [1714669143.667102144]: Plugin vfr_hud loaded
[ INFO] [1714669143.668078045]: Plugin vfr_hud initialized
[ INFO] [1714669143.668178377]: Plugin vibration blacklisted
[ INFO] [1714669143.668449915]: Plugin vision_pose_estimate loaded
[ INFO] [1714669143.677685399]: Plugin vision_pose_estimate initialized
[ INFO] [1714669143.677870896]: Plugin vision_speed_estimate blacklisted
[ INFO] [1714669143.678244515]: Plugin waypoint loaded
[ INFO] [1714669143.683621016]: Plugin waypoint initialized
[ INFO] [1714669143.683777931]: Plugin wheel_odometry blacklisted
[ INFO] [1714669143.684144550]: Plugin wind_estimation loaded
[ INFO] [1714669143.684888289]: Plugin wind_estimation initialized
[ INFO] [1714669143.685209117]: Built-in SIMD instructions: ARM NEON
[ INFO] [1714669143.685296324]: Built-in MAVLink package version: 2024.3.3
[ INFO] [1714669143.685389364]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1714669143.685472488]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1714669143.686087895]: RC_CHANNELS message detected!
[ INFO] [1714669143.686329392]: IMU: Raw IMU message used.
[ WARN] [1714669143.686470848]: IMU: linear acceleration on RAW_IMU known on APM only.
[ WARN] [1714669143.686569721]: IMU: ~imu/data_raw stores unscaled raw acceleration report.
[ WARN] [1714669143.686934008]: GP: No GPS fix
[ WARN] [1714669143.687479416]: TM: Wrong FCU time.
[ INFO] [1714669143.687800828]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[ INFO] [1714669143.690577160]: RC_CHANNELS message detected!
[ WARN] [1714669144.699707135]: CMD: Unexpected command 520, result 0
[ INFO] [1714669144.699957381]: GF: Using MISSION_ITEM_INT
[ INFO] [1714669144.700057421]: RP: Using MISSION_ITEM_INT
[ INFO] [1714669144.700148420]: WP: Using MISSION_ITEM_INT
[ INFO] [1714669144.700278501]: VER: 1.1: Capabilities         0x000000000000fbef
[ INFO] [1714669144.700365416]: VER: 1.1: Flight software:     040200ff (67892169)
[ INFO] [1714669144.700452623]: VER: 1.1: Middleware software: 00000000 (        )
[ INFO] [1714669144.700553539]: VER: 1.1: OS software:         00000000 (93e6e03d    AW)
[ INFO] [1714669144.700640454]: VER: 1.1: Board hardware:      00090000
[ INFO] [1714669144.700726786]: VER: 1.1: VID/PID:             1209:5741
[ INFO] [1714669144.700811368]: VER: 1.1: UID:                 0000000000000000
[ERROR] [1714669149.469704840]: FCU: PreArm: GPS: waiting for home
[ERROR] [1714669149.470003502]: FCU: PreArm: VisOdom: not healthy
[ INFO] [1714669153.689059031]: HP: requesting home position
[ INFO] [1714669153.694639404]: FCU: ArduCopter V4.2.0 (67892169)
[ INFO] [1714669153.694854359]: FCU: ChibiOS: 93e6e03d
[ INFO] [1714669153.695034607]: FCU: fmuv3 002B003F 34385104 38363538
[ INFO] [1714669153.695188896]: FCU: RCOut: PWM:1-14
[ INFO] [1714669153.695358352]: FCU: IMU0: fast sampling enabled 8.0kHz/1.0kHz
[ INFO] [1714669153.695533349]: FCU: Frame: QUAD/X
[ INFO] [1714669158.692545714]: GF: mission received
[ INFO] [1714669158.692857793]: RP: mission received
[ INFO] [1714669158.694413811]: WP: mission received
  1. 引數查詢
---
header: 
  seq: 6320
  stamp: 
    secs: 1714669724
    nsecs: 752245585
  frame_id: ''
voltage: 0.0
temperature: 0.0
current: 0.009999999776482582
charge: nan
capacity: nan
design_capacity: nan
percentage: -0.009999999776482582
power_supply_status: 2
power_supply_health: 0
power_supply_technology: 0
present: True
cell_voltage: []
cell_temperature: []
location: ''
serial_number: ''
---
header: 
  seq: 12929
  stamp: 
    secs: 1714669861
    nsecs: 708185206
  frame_id: ''
sensors_present: 1399913935
sensors_enabled: 1348500943
sensors_health: 1097923919
load: 633
voltage_battery: 0
current_battery: -1
battery_remaining: -1
drop_rate_comm: 0
errors_comm: 0
errors_count1: 0
errors_count2: 0
errors_count3: 0
errors_count4: 0
---
header: 
  seq: 756
  stamp: 
    secs: 1714669896
    nsecs: 413626239
  frame_id: ''
connected: True
armed: False
guided: True
manual_input: True
mode: "GUIDED"
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