Issue with Rover Movement in SITL Gazebo Environment Using MAVROS

ArduRover Rover 4.4
1

Hello ArduPilot Community,

I’m currently facing a challenge with controlling a simulated Husky rover in a Gazebo environment, integrated with ArduPilot through MAVROS. My setup involves using the /mavros/setpoint_velocity/cmd_vel_unstamped topic to send velocity commands. Here’s a detailed breakdown of the issue and what I’ve tried so far:

Environment Setup:

  • Simulation: SITL (Software In The Loop) with Gazebo.
  • Rover: Husky rover model with an ArduPilot plugin and LiDAR sensor.
  • Control Interface: MAVROS, with commands sent through the /mavros/setpoint_velocity/cmd_vel_unstamped topic.

Issue Description:

  • When I send a positive velocity command, the rover moves straight as expected.
  • Sending a negative velocity also results in the rover moving straight instead of reversing.
  • Attempting to initiate a yaw rotation by providing a z angular speed doesn’t yield the expected yaw movement. Instead, the rover either moves straight, straight and to the right, or sometimes straight without turning.
  • I experimented with changing the MAVFrame from local NED to body NED, which didn’t significantly improve the situation.

Attempts to Resolve:

  • Tweaking MAVFrame settings.
  • Running the Gazebo world, SITL, and APM (for MAVROS) in separate terminals.
  • Using rqt to adjust and monitor the velocity topic commands.

I am seeking guidance on how to diagnose and resolve this issue. Could you advise on what specific logs might be helpful for troubleshooting? Here are the components of my setup:

  1. Gazebo World: Running in terminal 1.
    roslaunch ardupilot_ros gzbo_rover.launch ─╯
    … logging to /home/abujarad/.ros/log/a287e89a-eab3-11ee-bb97-a7d1ba949993/roslaunch-abujarad-GF63-Thin-9RCX-1919002.log
    Checking log directory for disk usage. This may take a while.
    Press Ctrl-C to interrupt
    WARNING: disk usage in log directory [/home/abujarad/.ros/log] is over 1GB.
    It’s recommended that you use the ‘rosclean’ command.

started roslaunch server http://192.168.0.104:37809/

SUMMARY

PARAMETERS

  • /gazebo/enable_ros_network: True
  • /rosdistro: noetic
  • /rosversion: 1.16.0
  • /use_sim_time: True

NODES
/
base_to_laser_broadcaster (tf/static_transform_publisher)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)

auto-starting new master
process[master]: started with pid [1919329]
ROS_MASTER_URI=http://192.168.0.104:11311

setting /run_id to a287e89a-eab3-11ee-bb97-a7d1ba949993
process[rosout-1]: started with pid [1919363]
started core service [/rosout]
process[gazebo-2]: started with pid [1919366]
process[gazebo_gui-3]: started with pid [1919373]
process[base_to_laser_broadcaster-4]: started with pid [1919380]
[ INFO] [1711376775.618947868]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1711376775.619846082]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting…
[ INFO] [1711376775.669613950]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1711376775.670442342]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting…
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[ INFO] [1711376776.278279962]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1711376776.294912950]: Physics dynamic reconfigure ready.
[ INFO] [1711376777.971496295]: Laser Plugin: The ‘robotNamespace’ param was empty
[ INFO] [1711376777.971553994]: Starting Laser Plugin (ns = rover_ardupilot)
[ INFO] [1711376777.972332972]: Laser Plugin (ns = rover_ardupilot) <tf_prefix_>, set to “”

  1. SITL: Running in terminal 2.
    sim_vehicle.py -v APMrover2 -f gazebo-rover -I1 --add-param-file=/home/abujarad/ardupilot/myparam.param --console --map
    SIM_VEHICLE: Start
    SIM_VEHICLE: Starting up at SITL location
    SIM_VEHICLE: WAF build
    SIM_VEHICLE: Configure waf
    SIM_VEHICLE: “/home/abujarad/ardupilot/modules/waf/waf-light” “configure” “–board” “sitl”
    Setting top to : /home/abujarad/ardupilot
    Setting out to : /home/abujarad/ardupilot/build
    Autoconfiguration : enabled
    Checking for program ‘python’ : /usr/bin/python
    Checking for python version >= 3.6.9 : 3.8.10
    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
    Enabling -Werror : no
    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
    DC_DSDL compiler : /home/abujarad/ardupilot/modules/DroneCAN/dronecan_dsdlc/dronecan_dsdlc.py
    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 : maybe
    Scripting runtime checks : enabled
    Debug build : disabled
    Coverage build : disabled
    Force 32-bit build : disabled
    Checking for program ‘rsync’ : /usr/bin/rsync
    ‘configure’ finished successfully (0.786s)
    {‘waf_target’: ‘bin/ardurover’, ‘default_params_filename’: [‘default_params/rover.parm’, ‘default_params/rover-skid.parm’], ‘model’: ‘gazebo-rover’, ‘sitl-port’: True}
    SIM_VEHICLE: Building
    SIM_VEHICLE: “/home/abujarad/ardupilot/modules/waf/waf-light” “build” “–target” “bin/ardurover”
    Waf: Entering directory /home/abujarad/ardupilot/build/sitl' Embedding file locations.txt:Tools/autotest/locations.txt Embedding file models/Callisto.json:Tools/autotest/models/Callisto.json Embedding file models/plane-3d.parm:Tools/autotest/models/plane-3d.parm Embedding file models/plane.parm:Tools/autotest/models/plane.parm Embedding file models/xplane_heli.json:Tools/autotest/models/xplane_heli.json Embedding file models/xplane_plane.json:Tools/autotest/models/xplane_plane.json Waf: Leaving directory /home/abujarad/ardupilot/build/sitl’

BUILD SUMMARY
Build directory: /home/abujarad/ardupilot/build/sitl
Target Text (B) Data (B) BSS (B) Total Flash Used (B) Free Flash (B) External Flash Used (B)

bin/ardurover 3651699 165405 219424 3817104 Not Applicable Not Applicable

Build commands will be stored in build/sitl/compile_commands.json
‘build’ finished successfully (1.580s)
SIM_VEHICLE: Using defaults from (…/…/…/…/…/ardupilot/Tools/autotest/default_params/rover.parm,…/…/…/…/…/ardupilot/Tools/autotest/default_params/rover-skid.parm)
SIM_VEHICLE: Adding parameters from (/home/abujarad/ardupilot/myparam.param)
SIM_VEHICLE: Run Rover
SIM_VEHICLE: “/home/abujarad/ardupilot/Tools/autotest/run_in_terminal_window.sh” “Rover” “/home/abujarad/ardupilot/build/sitl/bin/ardurover” “-S” “–model” “gazebo-rover” “–speedup” “1” “–slave” “0” “–defaults” “…/…/…/…/…/ardupilot/Tools/autotest/default_params/rover.parm,…/…/…/…/…/ardupilot/Tools/autotest/default_params/rover-skid.parm,/home/abujarad/ardupilot/myparam.param” “–sim-address=127.0.0.1” “-I1”
RiTW: Starting Rover : /home/abujarad/ardupilot/build/sitl/bin/ardurover -S --model gazebo-rover --speedup 1 --slave 0 --defaults …/…/…/…/…/ardupilot/Tools/autotest/default_params/rover.parm,…/…/…/…/…/ardupilot/Tools/autotest/default_params/rover-skid.parm,/home/abujarad/ardupilot/myparam.param --sim-address=127.0.0.1 -I1
SIM_VEHICLE: Run MavProxy
SIM_VEHICLE: “mavproxy.py” “–out” “127.0.0.1:14560” “–master” “tcp:127.0.0.1:5770” “–sitl” “127.0.0.1:5511” “–map” “–console”
Connect tcp:127.0.0.1:5770 source_system=255
Loaded module console
Loaded module map
Log Directory:
Telemetry log: mav.tlog
Waiting for heartbeat from tcp:127.0.0.1:5770
MAV> Detected vehicle 1:1 on link 0

INITIALISING> INITIALISING> Received 1300 parameters (ftp)
Saved 1300 parameters to mav.parm

INITIALISING>
MANUAL> MANUAL>
MANUAL>
MANUAL>
MANUAL>
MANUAL>
MANUAL>
MANUAL> arm throttle
MANUAL> mode GUIDED
MANUAL> arm throttle
GUIDED> GUIDED>

  1. APM (MAVROS): Running in terminal 3, used for sending velocity commands and interfacing with ArduPilot.
    roslaunch mavros apm.launch
    … logging to /home/abujarad/.ros/log/a287e89a-eab3-11ee-bb97-a7d1ba949993/roslaunch-abujarad-GF63-Thin-9RCX-1922672.log
    Checking log directory for disk usage. This may take a while.
    Press Ctrl-C to interrupt
    WARNING: disk usage in log directory [/home/abujarad/.ros/log] is over 1GB.
    It’s recommended that you use the ‘rosclean’ command.

started roslaunch server http://192.168.0.104:33159/

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: udp://127.0.0.1:1…
  • /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)
mavros_scan_node (topic_tools/relay)

ROS_MASTER_URI=http://192.168.0.104:11311

process[mavros-1]: started with pid [1922703]
process[mavros_scan_node-2]: started with pid [1922711]
[ INFO] [1711376836.543612523]: FCU URL: udp://127.0.0.1:14560@14560
[ INFO] [1711376836.546511809]: udp0: Bind address: 127.0.0.1:14560
[ INFO] [1711376836.546568887]: udp0: Remote address: 0.0.56.224:14550
[ INFO] [1711376836.546735801]: GCS bridge disabled
[ INFO] [1711376836.555207293]: Plugin 3dr_radio loaded
[ INFO] [1711376836.556772494]: Plugin 3dr_radio initialized
[ INFO] [1711376836.556792321]: Plugin actuator_control blacklisted
[ INFO] [1711376836.560009546]: Plugin adsb loaded
[ INFO] [1711376836.561572443]: Plugin adsb initialized
[ INFO] [1711376836.561587581]: Plugin altitude blacklisted
[ INFO] [1711376836.561654357]: Plugin cam_imu_sync loaded
[ INFO] [1711376836.561977797]: Plugin cam_imu_sync initialized
[ INFO] [1711376836.562040916]: Plugin camera loaded
[ INFO] [1711376836.562354066]: Plugin camera initialized
[ INFO] [1711376836.562418758]: Plugin cellular_status loaded
[ INFO] [1711376836.563502221]: Plugin cellular_status initialized
[ INFO] [1711376836.563624812]: Plugin command loaded
[ INFO] [1711376836.569508454]: Plugin command initialized
[ INFO] [1711376836.569591331]: Plugin companion_process_status loaded
[ INFO] [1711376836.572578943]: Plugin companion_process_status initialized
[ INFO] [1711376836.572623567]: Plugin debug_value blacklisted
[ INFO] [1711376836.572674614]: Plugin distance_sensor blacklisted
[ INFO] [1711376836.572929394]: Plugin esc_status loaded
[ INFO] [1711376836.574739176]: Plugin esc_status initialized
[ INFO] [1711376836.574977355]: Plugin esc_telemetry loaded
[ INFO] [1711376836.576084472]: Plugin esc_telemetry initialized
[ INFO] [1711376836.576346857]: Plugin fake_gps loaded
[ INFO] [1711376836.587981582]: Plugin fake_gps initialized
[ INFO] [1711376836.588003504]: Plugin ftp blacklisted
[ INFO] [1711376836.588127688]: Plugin geofence loaded
[ INFO] [1711376836.590018743]: Plugin geofence initialized
[ INFO] [1711376836.590123851]: Plugin global_position loaded
[ INFO] [1711376836.596650596]: Plugin global_position initialized
[ INFO] [1711376836.596789147]: Plugin gps_input loaded
[ INFO] [1711376836.597910902]: Plugin gps_input initialized
[ INFO] [1711376836.598000351]: Plugin gps_rtk loaded
[ INFO] [1711376836.599236611]: Plugin gps_rtk initialized
[ INFO] [1711376836.599316121]: Plugin gps_status loaded
[ INFO] [1711376836.600351223]: Plugin gps_status initialized
[ INFO] [1711376836.600444298]: Plugin guided_target loaded
[ INFO] [1711376836.602937859]: Plugin guided_target initialized
[ INFO] [1711376836.602964069]: Plugin hil blacklisted
[ INFO] [1711376836.603103672]: Plugin home_position loaded
[ INFO] [1711376836.604731120]: Plugin home_position initialized
[ INFO] [1711376836.604898536]: Plugin imu loaded
[ INFO] [1711376836.608042563]: Plugin imu initialized
[ INFO] [1711376836.608140197]: Plugin landing_target loaded
[ INFO] [1711376836.617182354]: Plugin landing_target initialized
[ INFO] [1711376836.617488832]: Plugin local_position loaded
[ INFO] [1711376836.620568819]: Plugin local_position initialized
[ INFO] [1711376836.620694035]: Plugin log_transfer loaded
[ INFO] [1711376836.622694135]: Plugin log_transfer initialized
[ INFO] [1711376836.622791549]: Plugin mag_calibration_status loaded
[ INFO] [1711376836.623339933]: Plugin mag_calibration_status initialized
[ INFO] [1711376836.623446524]: Plugin manual_control loaded
[ INFO] [1711376836.624941052]: Plugin manual_control initialized
[ INFO] [1711376836.625051730]: Plugin mocap_pose_estimate loaded
[ INFO] [1711376836.626717731]: Plugin mocap_pose_estimate initialized
[ INFO] [1711376836.626851593]: Plugin mount_control loaded
[ WARN] [1711376836.629474548]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1711376836.629642856]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1711376836.629818156]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1711376836.630355600]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1711376836.630517655]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1711376836.630577368]: Plugin mount_control initialized
[ INFO] [1711376836.630700790]: Plugin nav_controller_output loaded
[ INFO] [1711376836.631073433]: Plugin nav_controller_output initialized
[ INFO] [1711376836.631168863]: Plugin obstacle_distance loaded
[ INFO] [1711376836.632483060]: Plugin obstacle_distance initialized
[ INFO] [1711376836.632573691]: Plugin odom loaded
[ INFO] [1711376836.634201300]: Plugin odom initialized
[ INFO] [1711376836.634309564]: Plugin onboard_computer_status loaded
[ INFO] [1711376836.635373680]: Plugin onboard_computer_status initialized
[ INFO] [1711376836.635555273]: Plugin param loaded
[ INFO] [1711376836.637556967]: Plugin param initialized
[ INFO] [1711376836.637650874]: Plugin play_tune loaded
[ INFO] [1711376836.638704360]: Plugin play_tune initialized
[ INFO] [1711376836.638729808]: Plugin px4flow blacklisted
[ INFO] [1711376836.638840497]: Plugin rallypoint loaded
[ INFO] [1711376836.640295109]: Plugin rallypoint initialized
[ INFO] [1711376836.640398424]: Plugin rangefinder loaded
[ INFO] [1711376836.640764213]: Plugin rangefinder initialized
[ INFO] [1711376836.640952739]: Plugin rc_io loaded
[ INFO] [1711376836.642651011]: Plugin rc_io initialized
[ INFO] [1711376836.642681588]: Plugin safety_area blacklisted
[ INFO] [1711376836.642842612]: Plugin setpoint_accel loaded
[ INFO] [1711376836.644916983]: Plugin setpoint_accel initialized
[ INFO] [1711376836.645358916]: Plugin setpoint_attitude loaded
[ INFO] [1711376836.660308009]: Plugin setpoint_attitude initialized
[ INFO] [1711376836.660526681]: Plugin setpoint_position loaded
[ INFO] [1711376836.669593856]: Plugin setpoint_position initialized
[ INFO] [1711376836.670048964]: Plugin setpoint_raw loaded
[ INFO] [1711376836.675256932]: Plugin setpoint_raw initialized
[ INFO] [1711376836.675399862]: Plugin setpoint_trajectory loaded
[ INFO] [1711376836.677966010]: Plugin setpoint_trajectory initialized
[ INFO] [1711376836.678102597]: Plugin setpoint_velocity loaded
[ INFO] [1711376836.680870525]: Plugin setpoint_velocity initialized
[ INFO] [1711376836.681386047]: Plugin sys_status loaded
[ INFO] [1711376836.689669544]: Plugin sys_status initialized
[ INFO] [1711376836.689887164]: Plugin sys_time loaded
[ INFO] [1711376836.692262293]: TM: Timesync mode: MAVLINK
[ INFO] [1711376836.692439867]: TM: Not publishing sim time
[ INFO] [1711376836.693163422]: Plugin sys_time initialized
[ INFO] [1711376836.693303776]: Plugin terrain loaded
[ INFO] [1711376836.693738716]: Plugin terrain initialized
[ INFO] [1711376836.693841670]: Plugin trajectory loaded
[ INFO] [1711376836.696250101]: Plugin trajectory initialized
[ INFO] [1711376836.696356151]: Plugin tunnel loaded
[ INFO] [1711376836.697751201]: Plugin tunnel initialized
[ INFO] [1711376836.697868943]: Plugin vfr_hud loaded
[ INFO] [1711376836.698251454]: Plugin vfr_hud initialized
[ INFO] [1711376836.698282743]: Plugin vibration blacklisted
[ INFO] [1711376836.698392871]: Plugin vision_pose_estimate loaded
[ INFO] [1711376836.701946981]: Plugin vision_pose_estimate initialized
[ INFO] [1711376836.701985023]: Plugin vision_speed_estimate blacklisted
[ INFO] [1711376836.702142780]: Plugin waypoint loaded
[ INFO] [1711376836.704978697]: Plugin waypoint initialized
[ INFO] [1711376836.705050943]: Plugin wheel_odometry blacklisted
[ INFO] [1711376836.705297017]: Plugin wind_estimation loaded
[ INFO] [1711376836.705952553]: Plugin wind_estimation initialized
[ INFO] [1711376836.706465330]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1711376836.706498352]: Built-in MAVLink package version: 2023.9.9
[ INFO] [1711376836.706534019]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1711376836.706562723]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1711376836.706756609]: udp0: Remote address: 127.0.0.1:44842
[ INFO] [1711376836.710061940]: RC_CHANNELS message detected!
[ INFO] [1711376836.710284370]: IMU: Raw IMU message used.
[ WARN] [1711376836.933881978, 62.700000000]: IMU: linear acceleration on RAW_IMU known on APM only.
[ WARN] [1711376836.934052450, 62.700000000]: IMU: ~imu/data_raw stores unscaled raw acceleration report.
[ INFO] [1711376837.420723851, 63.187500000]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[ INFO] [1711376837.424684538, 63.187500000]: RC_CHANNELS message detected!
[ WARN] [1711376838.439438383, 64.205000000]: CMD: Unexpected command 520, result 0
[ INFO] [1711376838.439786128, 64.207500000]: GF: Using MISSION_ITEM_INT
[ INFO] [1711376838.439824571, 64.207500000]: RP: Using MISSION_ITEM_INT
[ INFO] [1711376838.439852283, 64.207500000]: WP: Using MISSION_ITEM_INT
[ INFO] [1711376838.439876759, 64.207500000]: VER: 1.1: Capabilities 0x000000000000f1ef
[ INFO] [1711376838.439892188, 64.207500000]: VER: 1.1: Flight software: 04060000 (e01e6973)
[ INFO] [1711376838.439911845, 64.207500000]: VER: 1.1: Middleware software: 00000000 ( )
[ INFO] [1711376838.439926784, 64.207500000]: VER: 1.1: OS software: 00000000 ( )
[ INFO] [1711376838.439942624, 64.207500000]: VER: 1.1: Board hardware: 00000000
[ INFO] [1711376838.439959335, 64.207500000]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1711376838.439973802, 64.207500000]: VER: 1.1: UID: 0000000000000000
[ WARN] [1711376846.607666216, 72.370000000]: TM : RTT too high for timesync: 12.50 ms.
[ INFO] [1711376847.425548218, 73.190000000]: HP: requesting home position
[ INFO] [1711376847.452468300, 73.215000000]: FCU: ArduRover V4.6.0-dev (e01e6973)
[ INFO] [1711376847.453270492, 73.215000000]: FCU: g0fd163fed30454a915bfdaefa29ddad
[ WARN] [1711376847.807743430, 73.570000000]: TM : RTT too high for timesync: 10.00 ms.
[ INFO] [1711376848.079102663, 73.845000000]: PR: parameters list received
[ WARN] [1711376848.407695769, 74.170000000]: TM : RTT too high for timesync: 10.00 ms.
[ WARN] [1711376849.007664128, 74.767500000]: TM : RTT too high for timesync: 10.00 ms.
[ WARN] [1711376849.907623780, 75.667500000]: TM : RTT too high for timesync: 10.00 ms.
[ WARN] [1711376850.507750298, 76.267500000]: TM : RTT too high for timesync: 10.00 ms.
[ WARN] [1711376851.107762650, 76.867500000]: TM : RTT too high for timesync: 10.00 ms.
[ WARN] [1711376851.707816701, 77.467500000]: TM : RTT too high for timesync: 10.00 ms.
[ INFO] [1711376852.428365861, 78.190000000]: RP: mission received
[ INFO] [1711376852.429511040, 78.195000000]: GF: mission received
[ INFO] [1711376852.429928878, 78.195000000]: WP: mission received

  1. catogrophy ros
    roslaunch ardupilot_ros cartographer.launch
    … logging to /home/abujarad/.ros/log/a287e89a-eab3-11ee-bb97-a7d1ba949993/roslaunch-abujarad-GF63-Thin-9RCX-2443898.log
    Checking log directory for disk usage. This may take a while.
    Press Ctrl-C to interrupt
    WARNING: disk usage in log directory [/home/abujarad/.ros/log] is over 1GB.
    It’s recommended that you use the ‘rosclean’ command.

started roslaunch server http://192.168.0.104:35961/

SUMMARY

PARAMETERS

  • /robot_pose_publisher/is_stamped: True
  • /robot_pose_publisher/map_frame: map
  • /robot_pose_publisher/publish_frequency: 10.0
  • /rosdistro: noetic
  • /rosversion: 1.16.0
  • /use_sim_time: True

NODES
/
cartographer_node (cartographer_ros/cartographer_node)
cartographer_occupancy_grid_node (cartographer_ros/cartographer_occupancy_grid_node)
robot_pose_publisher (robot_pose_publisher/robot_pose_publisher)
rviz (rviz/rviz)

ROS_MASTER_URI=http://192.168.0.104:11311

process[cartographer_node-1]: started with pid [2443936]
process[cartographer_occupancy_grid_node-2]: started with pid [2443937]
process[robot_pose_publisher-3]: started with pid [2443938]
[ INFO] [1711388275.091313157]: I0325 21:37:55.000000 2443936 configuration_file_resolver.cc:41] Found ‘/home/abujarad/ardupilot_ws/src/ardupilot_ros/configuration_files/cartographer.lua’ for ‘cartographer.lua’.
[ INFO] [1711388275.093193954]: I0325 21:37:55.000000 2443936 configuration_file_resolver.cc:41] Found ‘/home/abujarad/ardupilot_ws/devel/share/cartographer/configuration_files/map_builder.lua’ for ‘map_builder.lua’.
[ INFO] [1711388275.093245741]: I0325 21:37:55.000000 2443936 configuration_file_resolver.cc:41] Found ‘/home/abujarad/ardupilot_ws/devel/share/cartographer/configuration_files/map_builder.lua’ for ‘map_builder.lua’.
[ INFO] [1711388275.093307347]: I0325 21:37:55.000000 2443936 configuration_file_resolver.cc:41] Found ‘/home/abujarad/ardupilot_ws/devel/share/cartographer/configuration_files/pose_graph.lua’ for ‘pose_graph.lua’.
[ INFO] [1711388275.093342283]: I0325 21:37:55.000000 2443936 configuration_file_resolver.cc:41] Found ‘/home/abujarad/ardupilot_ws/devel/share/cartographer/configuration_files/pose_graph.lua’ for ‘pose_graph.lua’.
[ INFO] [1711388275.093486285]: I0325 21:37:55.000000 2443936 configuration_file_resolver.cc:41] Found ‘/home/abujarad/ardupilot_ws/devel/share/cartographer/configuration_files/trajectory_builder.lua’ for ‘trajectory_builder.lua’.
[ INFO] [1711388275.093512685]: I0325 21:37:55.000000 2443936 configuration_file_resolver.cc:41] Found ‘/home/abujarad/ardupilot_ws/devel/share/cartographer/configuration_files/trajectory_builder.lua’ for ‘trajectory_builder.lua’.
[ INFO] [1711388275.093560124]: I0325 21:37:55.000000 2443936 configuration_file_resolver.cc:41] Found ‘/home/abujarad/ardupilot_ws/devel/share/cartographer/configuration_files/trajectory_builder_2d.lua’ for ‘trajectory_builder_2d.lua’.
[ INFO] [1711388275.093584801]: I0325 21:37:55.000000 2443936 configuration_file_resolver.cc:41] Found ‘/home/abujarad/ardupilot_ws/devel/share/cartographer/configuration_files/trajectory_builder_2d.lua’ for ‘trajectory_builder_2d.lua’.
[ INFO] [1711388275.093764780]: I0325 21:37:55.000000 2443936 configuration_file_resolver.cc:41] Found ‘/home/abujarad/ardupilot_ws/devel/share/cartographer/configuration_files/trajectory_builder_3d.lua’ for ‘trajectory_builder_3d.lua’.
[ INFO] [1711388275.093794115]: I0325 21:37:55.000000 2443936 configuration_file_resolver.cc:41] Found ‘/home/abujarad/ardupilot_ws/devel/share/cartographer/configuration_files/trajectory_builder_3d.lua’ for ‘trajectory_builder_3d.lua’.
[ INFO] [1711388275.102527686]: I0325 21:37:55.000000 2443936 map_builder_bridge.cc:135] Added trajectory with ID ‘0’.
process[rviz-4]: started with pid [2443963]
[ WARN] [1711388275.452779162, 11500.542500000]: W0325 21:37:55.000000 2443936 tf_bridge.cc:52] Lookup would require extrapolation at time 11500.505000000, but only time 11500.655000000 is in the buffer, when looking up transform from frame [iris/laser] to frame [base_link]
[ WARN] [1711388275.514463120, 11500.602500000]: W0325 21:37:55.000000 2443936 tf_bridge.cc:52] Lookup would require extrapolation at time 11500.602500000, but only time 11500.655000000 is in the buffer, when looking up transform from frame [iris/laser] to frame [base_link]
[ INFO] [1711388275.617264910, 11500.707500000]: I0325 21:37:55.000000 2443936 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at ‘621356083007075000’.
[ WARN] [1711388275.617731269, 11500.707500000]: W0325 21:37:55.000000 2443936 pose_extrapolator.cc:168] Queue too short for velocity estimation. Queue duration: 0 s
[ INFO] [1711388275.621319907, 11500.707500000]: I0325 21:37:55.000000 2443936 pose_graph_2d.cc:148] Inserted submap (0, 0).

Any insights or suggestions would be greatly appreciated, especially if there are known issues with the command topic or if there are additional configurations I should consider.

Thank you in advance for your assistance!