Hi, I am having trouble sending waypoint commands to Arducopter using ROS messages?
I have installed, compiled and launched ardupilot using
sim_vehicle.py -v ArduCopter --console --map
Then I launch apm to connect to ROS
roslaunch apm.launch
In the guided mode, I open a new terminal and send waypoint commands but the following message shows up
turtlebot@turtlebot:~$ rosservice call /mavros/mission/push "waypoints:
- {frame: 0, command: 0, is_current: false, autocontinue: false, param1: 0.0, param2: 0.0,
param3: 0.0, param4: 0.0, x_lat: 0.0, y_long: 0.0, z_alt: 0.0}"
success: False
wp_transfered: 1
The arduplane is not moving at all even after I gave the waypoint.
Following is the message that I got from the terminalfrom terminal
turtlebot@turtlebot:~/ardupilot/ArduPlane$ sim_vehicle.py -v ArduCopter --console --map
SIM_VEHICLE: Start
SIM_VEHICLE: Killing tasks
SIM_VEHICLE: Starting up at -35.363261,149.165230,584,353 (CMAC)
SIM_VEHICLE: WAF build
SIM_VEHICLE: Configure waf
SIM_VEHICLE: “/home/turtlebot/ardupilot/modules/waf/waf-light” “configure” “–board” "sitl"
Setting top to : /home/turtlebot/ardupilot
Setting out to : /home/turtlebot/ardupilot/build
Autoconfiguration : enabled
Setting board to : sitl
Checking for ‘g++’ (C++ compiler) : /usr/lib/ccache/g++
Checking for ‘gcc’ (C compiler) : /usr/lib/ccache/gcc
Checking for need to link with librt : not necessary
Checking for HAVE_CMATH_ISFINITE : yes
Checking for HAVE_CMATH_ISINF : yes
Checking for HAVE_CMATH_ISNAN : yes
Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : yes
Checking for NEED_CMATH_ISINF_STD_NAMESPACE : no
Checking for NEED_CMATH_ISNAN_STD_NAMESPACE : no
Checking for header endian.h : yes
Checking for header byteswap.h : yes
Checking for program ‘python’ : /usr/bin/python
Checking for python version >= 2.7.0 : 2.7.6
Checking for program ‘python’ : /usr/bin/python
Checking for python version >= 2.7.0 : 2.7.6
Source is git repository : yes
Update submodules : yes
Checking for program ‘git’ : /usr/bin/git
Checking for program ‘size’ : /usr/bin/size
Benchmarks : disabled
Unit tests : enabled
Checking for program ‘rsync’ : /usr/bin/rsync
’configure’ finished successfully (5.130s)
SIM_VEHICLE: Building
SIM_VEHICLE: “/home/turtlebot/ardupilot/modules/waf/waf-light” “build” “–target” "bin/arducopter"
Waf: Entering directory /home/turtlebot/ardupilot/build/sitl' Waf: Leaving directory/home/turtlebot/ardupilot/build/sitl’
BUILD SUMMARY
Build directory: /home/turtlebot/ardupilot/build/sitl
Target Text Data BSS Total
bin/arducopter 1456831 2034 38112 1496977
Build commands will be stored in build/sitl/compile_commands.json
’build’ finished successfully (13.040s)
SIM_VEHICLE: Using defaults from (/home/turtlebot/ardupilot/Tools/autotest/default_params/copter.parm)
SIM_VEHICLE: Run ArduCopter
SIM_VEHICLE: “/home/turtlebot/ardupilot/Tools/autotest/run_in_terminal_window.sh” “ArduCopter” “/home/turtlebot/ardupilot/build/sitl/bin/arducopter” “-S” “-I0” “–home” “-35.363261,149.165230,584,353” “–model” “+” “–speedup” “1” “–defaults” "/home/turtlebot/ardupilot/Tools/autotest/default_params/copter.parm"
SIM_VEHICLE: Run MavProxy
SIM_VEHICLE: “mavproxy.py” “–master” “tcp:127.0.0.1:5760” “–sitl” “127.0.0.1:5501” “–out” “127.0.0.1:14550” “–out” “127.0.0.1:14551” “–map” "–console"
RiTW: Starting ArduCopter : /home/turtlebot/ardupilot/build/sitl/bin/arducopter -S -I0 --home -35.363261,149.165230,584,353 --model + --speedup 1 --defaults /home/turtlebot/ardupilot/Tools/autotest/default_params/copter.parm
Using MAVLink 1.0
Using MAVLink 2.0
Connect tcp:127.0.0.1:5760 source_system=255
Loaded module console
Loaded module map
Log Directory:
Telemetry log: mav.tlog
Waiting for heartbeat from tcp:127.0.0.1:5760
MAV> STABILIZE> Received 858 parameters
Saved 858 parameters to mav.parm
STABILIZE> arm throttle
STABILIZE> mode guided
STABILIZE> GUIDED> arm throttle
Can anyone tell me where the problem could be? I would appreciate it!