Undefined behaviour with Mavros v1.15.0

[shubham-shahh]

Issue details

I have noticed that if I run the following command rosservice call /mavros/set_stream_rate 0 10 1 suddenly it triggers the /move_base_simple/goal topic. this is not happening if I use mavros version 1.13.0. now I am unable to install through apt, is there a way to install 1.13.0 through apt? from my end, I have not attached any remapping nor was I able to see it in rqt topic graph

MAVROS version and platform

Mavros: 1.15.0 ROS: Melodic Ubuntu: 18.04

Autopilot type and version

[X] ArduPilot [ ] PX4

Version: 4.1.5

[vooon]

That sounds like something really nasty happening. I'm unsure if you can find old debs, so suppose to build from source.

[shubham-shahh]

That sounds like something really nasty happening. I'm unsure if you can find old debs, so suppose to build from source.

Oh okay, do you know of any possible cause for this or any debug steps I could use to find out how this is happening? And what's the latest and stable release for ros melodic?

Thanks

[ZeeshanshariffNS]

Hi @vooon @shubham-shahh I'm facing the same issue as well with mavros 1.15 I would like to add that i found that mavros publishes to /move_base_simple/goal once the EK3 IMU0 and IMU1 origin is set and it publishes huge value of -3269205.28506, -3189791.07343 along x and y

[vooon]

Some signs that we have out-of-buffer kind of errors. Need to try run under vagrant.

[Marabir]

I also encountered this issue during trying to control robot by setting goal in rviz and try to control the robot. I don't know why but mavros is a publisher and subscriber of the /move_base_simple/goal topic and starts to publish poses on this topic. Robots starts to move uncontrollably .

What is interesting, I am able to succesfully perform navigation with move_base, getting my position from slam algorithm, move_base publishes messages to the setpoint_velocity/cmd_vel_unstamped topic and everything is fine, but controlling the robot with only mavros and pixhawk gives this bizzare rezult. I am not able to define why mavros is publishing to this topic (in ardupilot tutorial about sending commands through rviz there is no such information that mavros should do it).

There is any idea what can be wrong and how to fix this? I can record some bags with this problem happening if it could help :/

EDIT: also, to control robot with setpoint_velocity/cmd_vel_unstamped and move_base I change the mav_frame to mav_frame:8 via rosservice call /mavros/setpoint_velocity/mav_frame "mav_frame: 8" and I don't know if it can affect the attempt of controlling robot via rviz :/

FINAL_EDIT : I disabled wheel_odometry plugin which I did not blacklisted and in my case everything works fine now