Thank @amilcarlucas .
I just found mavros2 for ros2 foxy. Now I am trying to enable communication between mavros2 and ArduCopter 4.3.
But it is very strange to me that mavros2 cannot find my ArduCopter. Could you please help me find the reason?
Here is what I did:
- start ArduCopter and get
SIM_VEHICLE: Start
SIM_VEHICLE: Killing tasks
SIM_VEHICLE: Starting up at SITL location
SIM_VEHICLE: WAF build
SIM_VEHICLE: Configure waf
SIM_VEHICLE: "/home/robot/RobotFirmware/ardupilot/modules/waf/waf-light" "configure" "--board" "sitl"
Setting top to : /home/robot/RobotFirmware/ardupilot
Setting out to : /home/robot/RobotFirmware/ardupilot/build
Autoconfiguration : enabled
Setting board to : sitl
Using toolchain : native
Checking for 'g++' (C++ compiler) : /usr/lib/ccache/g++
Checking for 'gcc' (C compiler) : /usr/lib/ccache/gcc
Checking for c flags '-MMD' : yes
Checking for cxx flags '-MMD' : yes
CXX Compiler : g++ 9.4.0
Checking for need to link with librt : not necessary
Checking for feenableexcept : yes
Enabled OpenDroneID : no
Enabled firmware ID checking : no
GPS Debug Logging : no
Enabled custom controller : yes
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 : yes
Checking for NEED_CMATH_ISNAN_STD_NAMESPACE : yes
Checking for header endian.h : yes
Checking for header byteswap.h : yes
Checking for HAVE_MEMRCHR : yes
Configured VSCode Intellisense: : no
Checking for program 'python' : /usr/bin/python
Checking for python version >= 2.7.0 : 3.8.10
Checking for program 'python' : /usr/bin/python
Checking for python version >= 2.7.0 : 3.8.10
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
Scripting : enabled
Scripting runtime checks : enabled
Debug build : disabled
Coverage build : disabled
SITL 32-bit build : disabled
Checking for program 'rsync' : /usr/bin/rsync
'configure' finished successfully (0.612s)
{'waf_target': 'bin/arducopter', 'default_params_filename': ['default_params/copter.parm', 'default_params/gazebo-iris.parm'], 'external': True, 'model': 'JSON', 'sitl-port': True}
SIM_VEHICLE: Building
SIM_VEHICLE: "/home/robot/RobotFirmware/ardupilot/modules/waf/waf-light" "build" "--target" "bin/arducopter"
Waf: Entering directory `/home/robot/RobotFirmware/ardupilot/build/sitl'
Embedding file locations.txt:Tools/autotest/locations.txt
Embedding file models/Callisto.json:Tools/autotest/models/Callisto.json
Waf: Leaving directory `/home/robot/RobotFirmware/ardupilot/build/sitl'
BUILD SUMMARY
Build directory: /home/robot/RobotFirmware/ardupilot/build/sitl
Target Text (B) Data (B) BSS (B) Total Flash Used (B) Free Flash (B)
---------------------------------------------------------------------------------
bin/arducopter 3853743 180909 203976 4034652 Not Applicable
Build commands will be stored in build/sitl/compile_commands.json
'build' finished successfully (1.721s)
SIM_VEHICLE: Using defaults from (../Tools/autotest/default_params/copter.parm,../Tools/autotest/default_params/gazebo-iris.parm)
SIM_VEHICLE: Run ArduCopter
SIM_VEHICLE: "/home/robot/RobotFirmware/ardupilot/Tools/autotest/run_in_terminal_window.sh" "ArduCopter" "/home/robot/RobotFirmware/ardupilot/build/sitl/bin/arducopter" "-S" "--model" "JSON" "--speedup" "1" "--slave" "0" "--defaults" "../Tools/autotest/default_params/copter.parm,../Tools/autotest/default_params/gazebo-iris.parm" "-I0"
SIM_VEHICLE: Run MavProxy
SIM_VEHICLE: "mavproxy.py" "--out" "127.0.0.1:14550" "--out" "127.0.0.1:14551" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501" "--map" "--console"
RiTW: Starting ArduCopter : /home/robot/RobotFirmware/ardupilot/build/sitl/bin/arducopter -S --model JSON --speedup 1 --slave 0 --defaults ../Tools/autotest/default_params/copter.parm,../Tools/autotest/default_params/gazebo-iris.parm -I0
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
- run mavros2 by
ros2 run mavros mavros_node --ros-args --param fcu_url:=udp://@127.0.0.1:14550and get the error
[INFO] [1699719183.551447817] [mavros_node]: Starting mavros_node container
[INFO] [1699719183.551523312] [mavros_node]: FCU URL: udp://@127.0.0.1:14550
[INFO] [1699719183.551532483] [mavros_node]: GCS URL:
[INFO] [1699719183.551538291] [mavros_node]: UAS Prefix: /uas1
[INFO] [1699719183.551543470] [mavros_node]: Starting mavros router node
[INFO] [1699719183.553953585] [mavros_router]: Built-in SIMD instructions: SSE, SSE2
[INFO] [1699719183.553974381] [mavros_router]: Built-in MAVLink package version: 2022.12.30
[INFO] [1699719183.553984487] [mavros_router]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[INFO] [1699719183.553994535] [mavros_router]: MAVROS Router started
[INFO] [1699719183.554020950] [mavros_router]: Requested to add endpoint: type: 0, url: udp://@127.0.0.1:14550
[INFO] [1699719183.554063142] [mavros_router]: Endpoint link[1000] created
[INFO] [1699719183.554383758] [mavros_router]: link[1000] opened successfully
[INFO] [1699719183.554413058] [mavros_router]: Requested to add endpoint: type: 2, url: /uas1
[INFO] [1699719183.554428194] [mavros_router]: Endpoint link[1001] created
[INFO] [1699719183.554732801] [mavros_router]: link[1001] opened successfully
[INFO] [1699719183.554753120] [mavros_node]: Starting mavros uas node
[INFO] [1699719183.582262291] [mavros]: UAS Executor started, threads: 12
[INFO] [1699719183.593292206] [mavros]: Plugin actuator_control created
[INFO] [1699719183.593354812] [mavros]: Plugin actuator_control initialized
[INFO] [1699719183.595266886] [mavros]: Plugin altitude created
[INFO] [1699719183.595295746] [mavros]: Plugin altitude initialized
[INFO] [1699719183.598761136] [mavros]: Plugin command created
[INFO] [1699719183.598795290] [mavros]: Plugin command initialized
[INFO] [1699719183.603091073] [mavros]: Plugin ftp created
[INFO] [1699719183.603118255] [mavros]: Plugin ftp initialized
[INFO] [1699719183.605986155] [mavros]: Plugin geofence created
[INFO] [1699719183.606033628] [mavros]: Plugin geofence initialized
[INFO] [1699719183.610299371] [mavros]: Plugin global_position created
[INFO] [1699719183.610350859] [mavros]: Plugin global_position initialized
[INFO] [1699719183.613457916] [mavros]: Plugin home_position created
[INFO] [1699719183.613502547] [mavros]: Plugin home_position initialized
[INFO] [1699719183.616805761] [mavros]: Plugin imu created
[INFO] [1699719183.616840690] [mavros]: Plugin imu initialized
[INFO] [1699719183.620645323] [mavros]: Plugin local_position created
[INFO] [1699719183.620678742] [mavros]: Plugin local_position initialized
[INFO] [1699719183.623489048] [mavros]: Plugin manual_control created
[INFO] [1699719183.623515516] [mavros]: Plugin manual_control initialized
[INFO] [1699719183.626270401] [mavros]: Plugin nav_controller_output created
[INFO] [1699719183.626300642] [mavros]: Plugin nav_controller_output initialized
[INFO] [1699719183.629775223] [mavros]: Plugin param created
[INFO] [1699719183.629804005] [mavros]: Plugin param initialized
[INFO] [1699719183.633347685] [mavros]: Plugin rallypoint created
[INFO] [1699719183.633390631] [mavros]: Plugin rallypoint initialized
[INFO] [1699719183.636741072] [mavros]: Plugin rc_io created
[INFO] [1699719183.636775631] [mavros]: Plugin rc_io initialized
[INFO] [1699719183.639955607] [mavros]: Plugin setpoint_accel created
[INFO] [1699719183.639981308] [mavros]: Plugin setpoint_accel initialized
[INFO] [1699719183.644067724] [mavros]: Plugin setpoint_attitude created
[INFO] [1699719183.644110525] [mavros]: Plugin setpoint_attitude initialized
[INFO] [1699719183.648467075] [mavros]: Plugin setpoint_position created
[INFO] [1699719183.648494958] [mavros]: Plugin setpoint_position initialized
[INFO] [1699719183.652805077] [mavros]: Plugin setpoint_raw created
[INFO] [1699719183.652842134] [mavros]: Plugin setpoint_raw initialized
[INFO] [1699719183.657018041] [mavros]: Plugin setpoint_trajectory created
[INFO] [1699719183.657046153] [mavros]: Plugin setpoint_trajectory initialized
[INFO] [1699719183.660817449] [mavros]: Plugin setpoint_velocity created
[INFO] [1699719183.660866353] [mavros]: Plugin setpoint_velocity initialized
[INFO] [1699719183.667261739] [mavros]: Plugin sys_status created
[INFO] [1699719183.667314227] [mavros]: Plugin sys_status initialized
[INFO] [1699719183.670955879] [mavros.time]: TM: Timesync mode: MAVLINK
[INFO] [1699719183.672291210] [mavros]: Plugin sys_time created
[INFO] [1699719183.672336457] [mavros]: Plugin sys_time initialized
[INFO] [1699719183.678952309] [mavros]: Plugin waypoint created
[INFO] [1699719183.679009525] [mavros]: Plugin waypoint initialized
[INFO] [1699719183.682895035] [mavros]: Plugin wind_estimation created
[INFO] [1699719183.682923160] [mavros]: Plugin wind_estimation initialized
[INFO] [1699719183.683462651] [mavros]: Built-in SIMD instructions: SSE, SSE2
[INFO] [1699719183.683476914] [mavros]: Built-in MAVLink package version: 2022.12.30
[INFO] [1699719183.683483627] [mavros]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[INFO] [1699719183.683490260] [mavros]: MAVROS UAS via /uas1 started. MY ID 1.191, TARGET ID 1.1
[INFO] [1699719184.665421488] [mavros_router]: link[1001] detected remote address 1.191
[WARN] [1699719185.669057549] [mavros.sys]: VER: broadcast request timeout, retries left 4
[WARN] [1699719186.668983733] [mavros.sys]: VER: broadcast request timeout, retries left 3
[WARN] [1699719187.668863295] [mavros.sys]: VER: unicast request timeout, retries left 2
^C[INFO] [1699719188.026245582] [rclcpp]: signal_handler(signal_value=2)
[WARN] [1699719188.028211844] [mavros]: UAS Executor terminated