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Dual Gimbal : identify gimbal in attitude_status topic #2004

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depauwjimmy opened this issue Oct 17, 2024 · 1 comment
Open

Dual Gimbal : identify gimbal in attitude_status topic #2004

depauwjimmy opened this issue Oct 17, 2024 · 1 comment

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@depauwjimmy
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Issue details

I am using a dual gimbal setup on one drone with Gazebo and i need to get the attitude of each of them.
Using the topic /mavros/gimbal_control/device/attitude_status, i can see both of them but i have no way of knowing which gimbal send which message.

The q here is correct and reports the 2 different gimbals but there's no gimbal ID and the frame_id is both base_link_frd.
I actually don't understand why it's created and why gimbal attitude message reports it in it's header.
I can verify the gimbals are working properly using QGroundControl.

Also when i check the TF tree, i have a 'map' and 'map_ned' created not connected to anything that rviz2 complains about.
Again no idea what these are and why they are created.

header:
  stamp:
    sec: 1729177817
    nanosec: 384608253
  frame_id: base_link_frd
target_system: 0
target_component: 0
flags: 44
q:
  x: -0.0003480074228718877
  y: -0.3829192817211151
  z: -0.0001442534994566813
  w: 0.9237817525863647
...
---
header:
  stamp:
    sec: 1729177817
    nanosec: 692360408
  frame_id: base_link_frd
target_system: 0
target_component: 0
flags: 44
q:
  x: 0.5967311263084412
  y: -0.6707085967063904
  z: 0.11499343812465668
  w: 0.4252510070800781
...

MAVROS version and platform

Mavros: 2.9.0
ROS: humble
Ubuntu: 22

Autopilot type and version

[ X ] ArduPilot
[ ] PX4

Version: 4.6.0-dev

Node logs

I removed the lines with the plugins i ignored.

[mavros_node-1] [INFO] [1729178017.993037771] [qmavl.mavros_node]: Starting mavros_node container
[mavros_node-1] [INFO] [1729178017.993239361] [qmavl.mavros_node]: FCU URL: udp://:14550@
[mavros_node-1] [INFO] [1729178017.993268472] [qmavl.mavros_node]: GCS URL: 
[mavros_node-1] [INFO] [1729178017.993288724] [qmavl.mavros_node]: UAS Prefix: /uas1
[mavros_node-1] [INFO] [1729178017.993320660] [qmavl.mavros_node]: Starting mavros router node
[mavros_node-1] [INFO] [1729178018.013644074] [qmavl.mavros_router]: Built-in SIMD instructions: SSE, SSE2
[mavros_node-1] [INFO] [1729178018.013729815] [qmavl.mavros_router]: Built-in MAVLink package version: 2024.10.10
[mavros_node-1] [INFO] [1729178018.013782312] [qmavl.mavros_router]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros_node-1] [INFO] [1729178018.013818463] [qmavl.mavros_router]: MAVROS Router started
[mavros_node-1] [INFO] [1729178018.013900191] [qmavl.mavros_router]: Requested to add endpoint: type: 0, url: udp://:14550@
[mavros_node-1] [INFO] [1729178018.013992491] [qmavl.mavros_router]: Endpoint link[1000] created
[mavros_node-1] [INFO] [1729178018.015027084] [qmavl.mavros_router]: link[1000] opened successfully
[mavros_node-1] [INFO] [1729178018.015294041] [qmavl.mavros_router]: Requested to add endpoint: type: 2, url: /uas1
[mavros_node-1] [INFO] [1729178018.015734139] [qmavl.mavros_router]: Endpoint link[1001] created
[mavros_node-1] [INFO] [1729178018.021012784] [qmavl.mavros_router]: link[1001] opened successfully
[mavros_node-1] [INFO] [1729178018.021215412] [qmavl.mavros_node]: Starting mavros uas node
[mavros_node-1] [INFO] [1729178018.078011235] [qmavl.mavros]: UAS Executor started, threads: 16
[mavros_node-1] [INFO] [1729178018.095302849] [qmavl.mavros]: Plugin camera created
[mavros_node-1] [INFO] [1729178018.095367607] [qmavl.mavros]: Plugin camera initialized
[mavros_node-1] [INFO] [1729178018.114695091] [qmavl.mavros]: Plugin command created
[mavros_node-1] [INFO] [1729178018.114764545] [qmavl.mavros]: Plugin command initialized
[mavros_node-1] [INFO] [1729178018.124283181] [qmavl.mavros_router]: link[1000] detected remote address 1.1
[mavros_node-1] [INFO] [1729178018.131917789] [qmavl.mavros]: Plugin gimbal_control created
[mavros_node-1] [INFO] [1729178018.132008059] [qmavl.mavros]: Plugin gimbal_control initialized
[mavros_node-1] [INFO] [1729178018.146289316] [qmavl.mavros]: Plugin global_position created
[mavros_node-1] [INFO] [1729178018.146351290] [qmavl.mavros]: Plugin global_position initialized
[mavros_node-1] [INFO] [1729178018.152989983] [qmavl.mavros]: Plugin home_position created
[mavros_node-1] [INFO] [1729178018.153043425] [qmavl.mavros]: Plugin home_position initialized
[mavros_node-1] [INFO] [1729178018.161133829] [qmavl.mavros]: Plugin imu created
[mavros_node-1] [INFO] [1729178018.161187743] [qmavl.mavros]: Plugin imu initialized
[mavros_node-1] [INFO] [1729178018.168558521] [qmavl.mavros]: Plugin local_position created
[mavros_node-1] [INFO] [1729178018.168602481] [qmavl.mavros]: Plugin local_position initialized
[mavros_node-1] [INFO] [1729178018.176400324] [qmavl.mavros]: Plugin mount_control created
[mavros_node-1] [INFO] [1729178018.176448774] [qmavl.mavros]: Plugin mount_control initialized
[mavros_node-1] [INFO] [1729178018.184147781] [qmavl.mavros]: Plugin odometry created
[mavros_node-1] [INFO] [1729178018.184199234] [qmavl.mavros]: Plugin odometry initialized
[mavros_node-1] [INFO] [1729178018.191924020] [qmavl.mavros]: Plugin rc_io created
[mavros_node-1] [INFO] [1729178018.191981429] [qmavl.mavros]: Plugin rc_io initialized
[mavros_node-1] [INFO] [1729178018.200880034] [qmavl.mavros]: Plugin setpoint_raw created
[mavros_node-1] [INFO] [1729178018.200934025] [qmavl.mavros]: Plugin setpoint_raw initialized
[mavros_node-1] [INFO] [1729178018.215863153] [qmavl.mavros]: Plugin sys_status created
[mavros_node-1] [INFO] [1729178018.215957460] [qmavl.mavros]: Plugin sys_status initialized
[mavros_node-1] [INFO] [1729178018.227510189] [qmavl.time]: TM: Timesync mode: MAVLINK
[mavros_node-1] [INFO] [1729178018.230134795] [qmavl.mavros]: Plugin sys_time created
[mavros_node-1] [INFO] [1729178018.230193414] [qmavl.mavros]: Plugin sys_time initialized
[mavros_node-1] [INFO] [1729178018.231819293] [qmavl.mavros]: Built-in SIMD instructions: SSE, SSE2
[mavros_node-1] [INFO] [1729178018.231871780] [qmavl.mavros]: Built-in MAVLink package version: 2024.10.10
[mavros_node-1] [INFO] [1729178018.231886094] [qmavl.mavros]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros_node-1] [INFO] [1729178018.231898919] [qmavl.mavros]: MAVROS UAS via /uas1 started. MY ID 1.191, TARGET ID 1.1
[mavros_node-1] [INFO] [1729178018.416409696] [qmavl.rc]: RC_CHANNELS message detected!
[mavros_node-1] [INFO] [1729178018.417130448] [qmavl.imu]: IMU: Raw IMU message used.
[mavros_node-1] [WARN] [1729178018.417190742] [qmavl.imu]: IMU: linear acceleration on RAW_IMU known on APM only.
[mavros_node-1] [WARN] [1729178018.417199698] [qmavl.imu]: IMU: ~imu/data_raw stores unscaled raw acceleration report.
[mavros_node-1] [WARN] [1729178018.859070760] [qmavl.cmd]: CMD: Unexpected command 410, result 4
[mavros_node-1] [INFO] [1729178019.116589171] [qmavl.mavros]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[mavros_node-1] [INFO] [1729178019.207510167] [qmavl.mavros_router]: link[1001] detected remote address 1.191
[mavros_node-1] [INFO] [1729178019.358951383] [qmavl.rc]: RC_CHANNELS message detected!
[mavros_node-1] [INFO] [1729178019.360010540] [qmavl.imu]: IMU: Raw IMU message used.
[mavros_node-1] [INFO] [1729178020.124146883] [qmavl.sys]: VER: 1.1: Capabilities         0x000000000000fbef
[mavros_node-1] [INFO] [1729178020.124236522] [qmavl.sys]: VER: 1.1: Flight software:     04060000 (145cc4bb)
[mavros_node-1] [INFO] [1729178020.124267330] [qmavl.sys]: VER: 1.1: Middleware software: 00000000 (        )
[mavros_node-1] [INFO] [1729178020.124289511] [qmavl.sys]: VER: 1.1: OS software:         00000000 (        )
[mavros_node-1] [INFO] [1729178020.124316821] [qmavl.sys]: VER: 1.1: Board hardware:      00000000
[mavros_node-1] [INFO] [1729178020.124330877] [qmavl.sys]: VER: 1.1: VID/PID:             0000:0000
[mavros_node-1] [INFO] [1729178020.124343384] [qmavl.sys]: VER: 1.1: UID:                 0000000000000000
[mavros_node-1] [INFO] [1729178023.588023915] [qmavl.sys]: FCU: EKF3 IMU1 origin set
[mavros_node-1] [INFO] [1729178023.651962128] [qmavl.sys]: FCU: Field Elevation Set: 584m
[mavros_node-1] [INFO] [1729178023.815810162] [qmavl.sys]: FCU: EKF3 IMU0 origin set

Diagnostics

header:
  stamp:
    sec: 1729178444
    nanosec: 9798956
  frame_id: ''
status:
- level: "\0"
  name: 'mavros_router: MAVROS Router'
  message: ok
  hardware_id: none
  values:
  - key: Endpoints
    value: '2'
  - key: Messages routed
    value: '36933'
  - key: Messages sent
    value: '36933'
  - key: Messages dropped
    value: '0'
- level: "\0"
  name: 'mavros_router: endpoint 1000: udp://:14550@'
  message: ok
  hardware_id: none
  values:
  - key: Received packets
    value: '36049'
  - key: Dropped packets
    value: '0'
  - key: Buffer overruns
    value: '0'
  - key: Parse errors
    value: '0'
  - key: Rx sequence number
    value: '4'
  - key: Tx sequence number
    value: '0'
  - key: Rx total bytes
    value: '1289949'
  - key: Tx total bytes
    value: '17867'
  - key: Rx speed
    value: '2928.000000'
  - key: Tx speed
    value: '40.000000'
  - key: Remotes count
    value: '3'
  - key: Remote [0]
    value: '0.0'
  - key: Remote [1]
    value: '1.0'
  - key: Remote [2]
    value: '1.1'
- level: "\0"
  name: 'mavros_router: endpoint 1001: /uas1'
  message: ok
  hardware_id: none
  values:
  - key: Remotes count
    value: '3'
  - key: Remote [0]
    value: '0.0'
  - key: Remote [1]
    value: '1.0'
  - key: Remote [2]
    value: '1.191'
---
header:
  stamp:
    sec: 1729178444
    nanosec: 37763148
  frame_id: ''
status:
- level: "\0"
  name: 'mavros: MAVROS UAS'
  message: connected
  hardware_id: uas:///uas1
  values: []
- level: "\0"
  name: 'mavros: GPS'
  message: 3D fix
  hardware_id: uas:///uas1
  values:
  - key: Satellites visible
    value: '10'
  - key: Fix type
    value: '6'
  - key: EPH (m)
    value: '1.21'
  - key: EPV (m)
    value: '2.00'
- level: "\x01"
  name: 'mavros: Mount'
  message: Can not diagnose in this targeting mode
  hardware_id: uas:///uas1
  values:
  - key: Mode
    value: '255'
- level: "\0"
  name: 'mavros: System'
  message: Normal
  hardware_id: uas:///uas1
  values:
  - key: Sensor present
    value: '0x5371FC2F'
  - key: Sensor enabled
    value: '0x40619C2F'
  - key: Sensor health
    value: '0x47719C2F'
  - key: 3D gyro
    value: Ok
  - key: 3D accelerometer
    value: Ok
  - key: 3D magnetometer
    value: Ok
  - key: absolute pressure
    value: Ok
  - key: GPS
    value: Ok
  - key: 3D angular rate control
    value: Ok
  - key: attitude stabilization
    value: Ok
  - key: yaw position
    value: Ok
  - key: motor outputs / control
    value: Ok
  - key: rc receiver
    value: Ok
  - key: AHRS subsystem health
    value: Ok
  - key: Terrain subsystem health
    value: Ok
  - key: propulsion (actuator, esc, motor or propellor)
    value: Ok
  - key: CPU Load (%)
    value: '0.0'
  - key: Drop rate (%)
    value: '0.0'
  - key: Errors comm
    value: '0'
  - key: 'Errors count #1'
    value: '0'
  - key: 'Errors count #2'
    value: '0'
  - key: 'Errors count #3'
    value: '0'
  - key: 'Errors count #4'
    value: '0'
- level: "\x01"
  name: 'mavros: Battery'
  message: Low voltage
  hardware_id: uas:///uas1
  values:
  - key: Voltage
    value: '0.00'
  - key: Current
    value: '-0.0'
  - key: Remaining
    value: '-1.0'
- level: "\0"
  name: 'mavros: Heartbeat'
  message: Normal
  hardware_id: uas:///uas1
  values:
  - key: Heartbeats since startup
    value: '332'
  - key: Frequency (Hz)
    value: '0.800003'
  - key: Vehicle type
    value: Quadrotor
  - key: Autopilot type
    value: ArduPilot
  - key: Mode
    value: STABILIZE
  - key: System status
    value: STANDBY
---

Check ID

Not sure what to do using ros2 here
@depauwjimmy
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Asked the same question on ardu forum : https://discuss.ardupilot.org/t/sitl-gz-ros2-dual-gimbal-camera/125264

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