Mavros /mavros/setpoint_position/global' not working

ArduCopter
1

Hello everyone,

I’m trying to use mavros with rospy in order to make my drone takeoff and go to some waypoints. Right now I’m running my experiments in STIL, not a real drone.

However, I can’t manage to make the drone move to the desired waypoint. I’m trying to use the topic ‘/mavros/setpoint_position/global’ to publish the coordinates, like this:

setpoint_global_pub = rospy.Publisher(
            '/mavros/setpoint_position/global',
            mavros_msgs.msg.GlobalPositionTarget,
            queue_size=1,
            latch=True)

setpoint_global_pub.publish(latitude= -27.603683, longitude= -48.518052, altitude=40)

I get this message in mavros:

 [WARN] [1553207581.536736778]: SPG: sp not sent.

Any suggestions?

Btw I’m setting the mode to GUIDED and taking off first

2

did you end up solving this? i m having similar issues…

3

Yes, there is a long time so I’m not sure if it was exactly this.
You have to set up the Header time stamp and pass header as a parameter:

header = std_msgs.msg.Header()
header.stamp = rospy.Time.now()
4

would this be the equivalent in c++?

mavros_msgs::Header header;
header.stamp = time.now();

5

std_msgs::Header header1;
header1.stamp = ros::Time::now();
global_position.header = header1;
goal_position.latitude = global_position.latitude;
goal_position.longitude = global_position.longitude;
goal_position.altitude = global_position.altitude;
goal_position.coordinate_frame = 0;

goal_position.header.stamp = ros::Time::now();
global_pos_pub.publish(goal_position);

this is what i have now and it still doesn’t work…

6

header:
seq: 452
stamp:
secs: 1565509997
nsecs: 756655396
frame_id: ‘’
coordinate_frame: 0
type_mask: 0
latitude: 0.0
longitude: 0.0
altitude: 0.0
velocity:
x: 0.0
y: 0.0
z: 0.0
acceleration_or_force:
x: 0.0
y: 0.0
z: 0.0
yaw: 0.0
yaw_rate: 0.0

im getting no waypoints published to the global setpoint… is there somthing i need to configure??

7

I think may be the problem of typemask and coordinate_frame?
I used try to do “forward” behavior ,use (’'mavros/setpoint_raw/local")
(Right-Forward-Up: How mavros understands raw (velocity) setpoints,so y – forward)
from https://github.com/mavlink/mavros/issues/792#issuecomment-414213693
vel = PositionTarget()
vel.header.stamp = rospy.Time.now()
vel.coordinate_frame = PositionTarget.FRAME_BODY_NED
vel.type_mask = PositionTarget.IGNORE_PX + PositionTarget.IGNORE_PY + PositionTarget.IGNORE_PZ + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ + PositionTarget.FORCE + PositionTarget.IGNORE_YAW +PositionTarget.IGNORE_YAW_RATE
vel.velocity.x = 0.0
vel.velocity.y = 1.0
vel.velocity.z = 0.0
set_v_pub.publish(vel)
rate.sleep()

8

Check this issue.

This code will work (drone already in the air and in GUIDED):

import rospy
from mavros_msgs.msg import GlobalPositionTarget
from time import sleep

rospy.init_node('my_cool_node')

guided_waypoint_pub = rospy.Publisher('/mavros/setpoint_raw/global', GlobalPositionTarget, queue_size=1)
while guided_waypoint_pub.get_num_connections() == 0:
    sleep(.1)

g = GlobalPositionTarget()
g.altitude = ...
g.latitude = ...
g.longitude = ...
g.type_mask=4088
g.coordinate_frame=6

guided_waypoint_pub.publish(g)
1 Like
9

Hey @ Clancy_Mccoll !

Were you able to make it work using C++ ? or if Anybody can share the working C++ code, I will be grateful?

10

Hi, did you have any luck concerning this?