Need help getting set up

[ssicari]

Hello,
When I run ros2 launch blue_bringup bluerov2_heavy.launch.py I get

ER: broadcast request timeout, retries left 4
[mavros_node-1] [WARN] [1688668288.372672914] [mavros.sys]: VER: broadcast request timeout, retries left 3
[mavros_node-1] [WARN] [1688668289.373849672] [mavros.sys]: VER: unicast request timeout, retries left 2
[mavros_node-1] [WARN] [1688668290.372700514] [mavros.sys]: VER: unicast request timeout, retries left 1
[mavros_node-1] [WARN] [1688668291.373079567] [mavros.sys]: VER: unicast request timeout, retries left 0
[mavros_node-1] [WARN] [1688668292.373835544] [mavros.sys]: VER: your FCU don't support AUTOPILOT_VERSION, switched to default capabilities

I am also getting a lot of plugins ignored so maybe that is related to this but, I am unsure why this is and I am looking into it, just curious if you might know what is going on. Thank you!

[evan-palmer]

Thanks for checking the project out @ssicari! I apologize for the lack of documentation. I haven't created an official release yet, so things are a bit unstable at the moment. With regard to the installation documentation, that is not in a completed state (see #34) and I anticipate that the issues that you are experiencing are related to that. What development environment are you using? Also what GPU drivers are you using? You may have more success with the docker environment which is set up to support usage as a dev container. That is the main environment that I have used for testing and development.

[ssicari]

I just sent the changes please let me know if anything needs more revisions. I believe from Clyde's comment he wanted to keep the same file names, and just change the world names. If I misunderstood that just let me know and I can revert the world names back to having the underwater suffix. I am going to start working on the Dockerfiles to see if I can get that running. Thank you!

[ssicari]

I realized that the graphic drivers I have are mesa and not Nvidia so I do not believe modifying the dockerfile to handle Nvidia drivers will work. I am working on installing the xorg drivers natively and believe I have them installed but when I run the command "glxinfo | grep "OpenGL renderer" it still says the mesa drivers are in use. I am struggling to find a solution right now. Do you happen to know anything about the xorg drivers? I am going to attach the failed docker log file from before as well, thank you for all the help!
remoteContainers-2023-07-13T20-12-01.114Z.log

[evan-palmer]

When you open the "Additional Drivers" application in Ubuntu, do you have the "X.Org X server" driver selected? This should look something similar to the following:

Also, could you share the output of the following command (this will display the driver loaded):

sudo lshw -c video | grep driver

In my case, the output of the above is as follows:

configuration: depth=32 driver=nouveau latency=0 resolution=1920,1080

[ssicari]

Hello,
This is my output to the command:
configuration: depth=32 driver=i915 latency=0 mode=1920x1200 resolution=1920,1200 visual=truecolor xres=1920 yres=1200
As for the additional driver section, mine looks like this

When I run the command:
dpkg -l xserver-xorg-video-intel
I get this, which I believe the "ii" means it is installed

[evan-palmer]

Oh interesting. That's the same driver that I am using on my laptop (I do most of my development on my desktop which is where the Xorg driver is installed). I'll do some debugging on there. In the meantime, would you be willing to share the VSCode log when dev container launch fails? After it fails, it will give you the option to open the devcontainer.json file locally. Select that option, then the log file of interest should open automatically

Update: I tested out the project on my laptop which has the same drivers that your system has and was able to start the development container and project. I will be curious to see what the dev container log says

[ssicari]

The additional drivers section is completely empty for me. I installed xserver-xorg-intel earlier and it says on the terminal it was installed. I can get you the output of that command either later tonight or early tomorrow morning. Thank you!On Jul 13, 2023, at 15:49, Evan Palmer ***@***.***> wrote: When you open the "Additional Drivers" application in Ubuntu, do you have the "X.Org X server" driver selected? This should look something similar to the following: Also, could you share the output of the following command (this will display the driver loaded): sudo lshw -c video | grep driver In my case, the output of the above is as follows: configuration: depth=32 driver=nouveau latency=0 resolution=1920,1080 —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you were mentioned.Message ID: ***@***.***>

[ssicari]

Hello,I’m going to be unavailable til Wednesday so unfortunately I can’t share the log file until I get back. I will share it as soon as I get back and go from there. I apologize for the inconvenience and appreciate the help!Thank youOn Jul 16, 2023, at 20:35, Evan Palmer ***@***.***> wrote: Oh interesting. That's the same driver that I am using on my laptop. I'll do some debugging on there. In the meantime, would you be willing to share the VSCode log when dev container launch fails? After it fails, it will give you the option to open the devcontainer.json file locally. Select that option, then the log file of interest should open automatically —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you were mentioned.Message ID: ***@***.***>

[evan-palmer]

That's no problem at all! I appreciate your patience. I am sorry that this has been painful!

[evan-palmer]

I also forgot to ask this earlier, what command did you use to launch the system? That original error that you got with your native install can happen if ArduSub isn't available. ArduSub is only launched when the simulation is also launched:

ros2 launch blue_bringup bluerov2_heavy.launch.py use_sim:=true

[ssicari]

send_pwm.sh can be used to send a PWM command; if passthrough mode is enabled, this will control a single thruster, if
passthrough mode is disabled, but ArduPilot is armed, then this will enable sending commands similar to the MAVProxy CLI"

Hello, when you say this is passthrough mode also controled by a ROS CLI command? Also do you have to change the script to run it everytime for different thrusters? When you say it will enable sending commands similar to MAVProxy CLI does that mean by changing the script or by sending the command from the script on the CLI? Right now I have to stop running the script and then change the values and rerun the script for new movement, I was unsure if that was the only way other than sending the commands directly on the CLI, thank you

Also this is weird but I can find the mavros.yaml file on the github but not in my local repo

This is the screenshot. I am trying to figure out why that is or if I am missing something simple

[evan-palmer]

Hello, when you say this is passthrough mode also controled by a ROS CLI command?

Passthrough mode is managed by the blue_manager node which you can send commands to using the service interface. This mode isn't available through ArduSub.

Also do you have to change the script to run it everytime for different thrusters? When you say it will enable sending commands similar to MAVProxy CLI does that mean by changing the script or by sending the command from the script on the CLI? Right now I have to stop running the script and then change the values and rerun the script for new movement, I was unsure if that was the only way other than sending the commands directly on the CLI, thank you

Yeah, you will have to change the script to modify it each time. Those scripts are really just intended for debugging (similar to the ROS CLI). The system is designed to take inputs from a publisher more than from a command line interface. A few alternatives to the keyboard inputs, CLI, or publisher could be to make a simple QT GUI or to integrate one of the existing joystick ROS nodes to support sending commands from an XBox controller or something similar.

Also this is weird but I can find the mavros.yaml file on the github but not in my local repo

It looks like you have a version from a few commits ago (see #49). I moved some things around in the latest version to help support folks that want to create their own custom models. In the version that you have, the configuration should be in the blue_bringup/config directory.

[ssicari]

Ah I see I thought I checked earlier and had the most updated branch but I did not, I pulled the most recent version, thank you for the information on the controls as well!

[ssicari]

Hello, Sorry to bother you again. After further investigation qgroundcontrol recognizes the motors being armed and disarmed. It still misses the icon, and when I try to run a basic way point mission it failed because it can not enter guided mode. I have tried to manually test if I can put the vehicle into guided mode via the ROS CLI but can not get it to recognize the command. Following the mavros docs I can check the current mode it is in and see the possible modes it could change to but everytime I try to actually change the mode it says invalid passed service type. I was wondering if you have manually changed modes before and had a working command because the ones directly from the docs don't seem to work along with a few other variations I have tried. Thank you!

[evan-palmer]

I've split this discussion into a new discussion here, and I'm going to close this now to make it easier for folks go through in the future.

[evan-palmer]

I'm writing this as a separate comment for future readers, the error seen in this initial comment is caused when MAVROS is unable to establish a connection with ArduSub. This can happen for a number of reasons, but in this particular case, the command

ros2 launch blue_bringup bluerov2_heavy.launch.py

does not launch ArduSub. At the time of writing, ArduSub is launched only when the Gazebo SITL interface is started:

ros2 launch blue_bringup bluerov2_heavy.launch.py use_sim:=true

I have opened #51 to improve the documentation regarding this.

[SusannaMunari]

Hello,

I am encountering the same issue when running this:
ros2 launch blue_bringup bluerov2_heavy.launch.yaml use_sim:=true

I get this output, and I am not able to connect and simply echo the topics.

Curiously, the same process works smoothly when I try with the normal configuration:
ros2 launch blue_bringup bluerov2.launch.yaml use_sim:=true

With this I am connected, I can access the topics and change flight mode.

Is there any configuration that I am missing?

[evan-palmer]

Hi @SusannaMunari, I've made a new discussion here for your question