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ROS1 Mavros global_position plugin not publishing fused global position topics unless number of satellites >= 15
In my ros1 & px4 project I've experienced that mavros only publishes the fused global position topics ~/global, ~/local, ~/rel_alt & ~/compass_hdg if the number of satellites visible is greater or equal to 15, despite correctly interpreting the mavlink data which is also getting published on the raw/fix topic.
Despite being in a relatively large field near a lake, during my flight tests if the weather is clear and I'm lucky I can sometimes get 15-20 visible satellites, however on cloudy days or just 'bad' days in general, I usually hover around 10 satellites with a 1 - 1.5 hdop/vdop. I'm wondering if this is desired behaviour or if I'm missing something, as I've read through the documentation and the global_position.cpp file, none of which state a required number of satellites beyond that of px4's internal required default 6 satellites in order to take off. Not only does my code expect msgs over the ~/global topic but also it expects a transform being published between the map and base_link frames which again is only published to /tf when the number of visible satellites >=15. For the time being I'm going to create a new node that reads the incoming msgs from the ~/raw/fix topic and forward it to the ~/global topic and /tf if the number of visible satellites is under 15 satellites, if that's not a good solution then I am all ears for a better stopgap or permanent fix.
Below is my config file that and pluginlists files I'm passing to mavros. Any guidance or help would be great. If i learn any more in the following days/weeks I'll publish here for posterity.
plugin_blacklist: # https://github.com/mavlink/mavros/tree/master/mavros_extras
- 3dr_radio
- actuator_control
- adsb
- cam_imu_sync
- cellular_status
- distance_sensor
- esc_status
- esc_telemtery
- esc_telemetry
- ftp
- geofence
- gps_rtk
- guided_target
- image_pub
- log_transfer
- mag_calibration_status
- manual_control
- mocap_pose_estimate
- mount_control
- nav_controller_output
- obstacle_distance
- play_tune
- px4flow
- rallypoint
- rangefinder
- rc_io
- safety_area
- terrain
- tunnel
- vibration
- vision_pose_estimate
- vision_speed_estimate
- wheel_odometry
- wind_estimation
- fake_gps
plugin_whitelist:
- 'sys_*' # this needs to be enabled for mavros to work
- 'setpoint_*' # loads all the setpoint plugins to allow for setting desitinations
- altitude
- camera
- command
- companion_process_status
- debug_value
- gps_input
- gps_status
#- guided_target # removed to solve the `PositionTargetGlobal failed because no origin` error,
- hil
- home_position
- imu
- local_position
- odom # from mavros_extras https://github.com/mavlink/mavros/blob/master/mavros_extras/src/plugins/odom.cpp
- onboard_computer_status
- param
- trajectory
- waypoint
- heartbeat_status
# Common configuration for PX4 autopilot
#
# node:
startup_px4_usb_quirk: false
# --- system plugins ---
# sys_status & sys_time connection options
conn:
heartbeat_rate: 1.0 # send heartbeat rate in Hertz
timeout: 10.0 # heartbeat timeout in seconds
timesync_rate: 0.0 #10.0 # TIMESYNC rate in Hertz (feature disabled if 0.0)
system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0)
# sys_status
sys:
min_voltage: 10.0 # diagnostics min voltage, use a vector i.e. [16.2, 16.0] for multiple batteries, up-to 10 are supported
# to achieve the same on a ROS launch file do: <rosparam param="sys/min_voltage">[16.2, 16.0]</rosparam>
disable_diag: false # disable all sys_status diagnostics, except heartbeat
# sys_time
time:
time_ref_source: "fcu" # time_reference source
timesync_mode: MAVLINK
timesync_avg_alpha: 0.6 # timesync averaging factor
# --- mavros plugins (alphabetical order) ---
# 3dr_radio
tdr_radio:
low_rssi: 40 # raw rssi lower level for diagnostics
# actuator_control
# None
# command
cmd:
use_comp_id_system_control: false # quirk for some old FCUs
# dummy
# None
# ftp
# None
# global_position
global_position:
frame_id: "map" # origin frame
child_frame_id: "base_link" # body-fixed frame
rot_covariance: 99999.0 # covariance for attitude?
gps_uere: 1.0 # User Equivalent Range Error (UERE) of GPS sensor (m)
use_relative_alt: true # use relative altitude for local coordinates
tf:
send: true # send TF?
frame_id: "map" # TF frame_id
global_frame_id: "earth" # TF earth frame_id
child_frame_id: "base_link" # TF child_frame_id
# imu_pub
imu:
frame_id: "odom"
# need find actual values
linear_acceleration_stdev: 0.0003
angular_velocity_stdev: 0.0003490659 // 0.02 degrees
orientation_stdev: 1.0
magnetic_stdev: 0.0
# local_position
local_position:
frame_id: "map"
tf:
send: true
frame_id: "map"
child_frame_id: "odom"
send_fcu: false
# param
# None, used for FCU params
# rc_io
# None
# safety_area
safety_area:
p1: {x: 1.0, y: 1.0, z: 1.0}
p2: {x: -1.0, y: -1.0, z: -1.0}
# setpoint_accel
setpoint_accel:
send_force: false
# setpoint_attitude
setpoint_attitude:
reverse_thrust: false # allow reversed thrust
use_quaternion: false # enable PoseStamped topic subscriber
tf:
listen: false # enable tf listener (disable topic subscribers)
frame_id: "map"
child_frame_id: "target_attitude"
rate_limit: 50.0
setpoint_raw:
thrust_scaling: 1.0 # used in setpoint_raw attitude callback.
# Note: PX4 expects normalized thrust values between 0 and 1, which means that
# the scaling needs to be unitary and the inputs should be 0..1 as well.
# setpoint_position
setpoint_position:
tf:
listen: false # enable tf listener (disable topic subscribers)
frame_id: "map"
child_frame_id: "target_position"
rate_limit: 50.0
mav_frame: LOCAL_NED
# setpoint_velocity
setpoint_velocity:
mav_frame: LOCAL_NED
# vfr_hud
# None
# waypoint
mission:
pull_after_gcs: true # update mission if gcs updates
use_mission_item_int: true # use the MISSION_ITEM_INT message instead of MISSION_ITEM
# for uploading waypoints to FCU
# --- mavros extras plugins (same order) ---
# adsb
# None
# debug_value
# None
# distance_sensor
## Currently available orientations:
# Check http://wiki.ros.org/mavros/Enumerations
##
distance_sensor:
hrlv_ez4_pub:
id: 0
frame_id: "hrlv_ez4_sonar"
orientation: PITCH_270 # RPY:{0.0, 270.0, 0.0} - downward-facing
field_of_view: 0.0 # XXX TODO
send_tf: true
sensor_position: {x: 0.0, y: 0.0, z: -0.1}
lidarlite_pub:
id: 1
frame_id: "lidarlite_laser"
orientation: PITCH_270
field_of_view: 0.0 # XXX TODO
send_tf: true
sensor_position: {x: 0.0, y: 0.0, z: -0.1}
sonar_1_sub:
subscriber: true
id: 2
orientation: PITCH_270
horizontal_fov_ratio: 1.0 # horizontal_fov = horizontal_fov_ratio * msg.field_of_view
vertical_fov_ratio: 1.0 # vertical_fov = vertical_fov_ratio * msg.field_of_view
# custom_orientation: # Used for orientation == CUSTOM
# roll: 0
# pitch: 270
# yaw: 0
laser_1_sub:
subscriber: true
id: 3
orientation: PITCH_270
# image_pub
image:
frame_id: "px4flow"
# fake_gps
fake_gps:
# select data source
use_mocap: true # ~mocap/pose
mocap_transform: true # ~mocap/tf instead of pose
use_vision: false # ~vision (pose)
# origin (default: Zürich)
geo_origin:
lat: 47.3667 # latitude [degrees]
lon: 8.5500 # longitude [degrees]
alt: 408.0 # altitude (height over the WGS-84 ellipsoid) [meters]
eph: 2.0
epv: 2.0
satellites_visible: 5 # virtual number of visible satellites
fix_type: 3 # type of GPS fix (default: 3D)
tf:
listen: false
send: true # send TF?
frame_id: "map" # TF frame_id
child_frame_id: "fix" # TF child_frame_id
rate_limit: 10.0 # TF rate
gps_rate: 5.0 # GPS data publishing rate
# landing_target
landing_target:
listen_lt: false
mav_frame: "LOCAL_NED"
land_target_type: "VISION_FIDUCIAL"
image:
width: 640 # [pixels]
height: 480
camera:
fov_x: 2.0071286398 # default: 115 [degrees]
fov_y: 2.0071286398
tf:
send: true
listen: false
frame_id: "landing_target"
child_frame_id: "camera_center"
rate_limit: 10.0
target_size: {x: 0.3, y: 0.3}
# mocap_pose_estimate
mocap:
# select mocap source
use_tf: false # ~mocap/tf
use_pose: true # ~mocap/pose
# mount_control
mount:
debounce_s: 4.0
err_threshold_deg: 10.0
negate_measured_roll: false
negate_measured_pitch: false
negate_measured_yaw: false
# odom
odometry:
fcu:
odom_parent_id_des: "odom" # desired parent frame rotation of the FCU's odometry
odom_child_id_des: "base_link" # desired child frame rotation of the FCU's odometry
# px4flow
px4flow:
frame_id: "px4flow"
ranger_fov: 0.118682 # 6.8 degrees at 5 meters, 31 degrees at 1 meter
ranger_min_range: 0.3 # meters
ranger_max_range: 5.0 # meters
# vision_pose_estimate
vision_pose:
tf:
listen: false # enable tf listener (disable topic subscribers)
frame_id: "odom"
child_frame_id: "vision_estimate"
rate_limit: 10.0
# vision_speed_estimate
vision_speed:
listen_twist: true # enable listen to twist topic, else listen to vec3d topic
twist_cov: true # enable listen to twist with covariance topic
# vibration
vibration:
frame_id: "base_link"
# wheel_odometry
wheel_odometry:
count: 2 # number of wheels to compute odometry
use_rpm: false # use wheel's RPM instead of cumulative distance to compute odometry
wheel0: {x: 0.0, y: -0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m)
wheel1: {x: 0.0, y: 0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m)
send_raw: true # send wheel's RPM and cumulative distance (~/wheel_odometry/rpm, ~/wheel_odometry/distance)
send_twist: false # send geometry_msgs/TwistWithCovarianceStamped instead of nav_msgs/Odometry
frame_id: "odom" # origin frame
child_frame_id: "base_link" # body-fixed frame
vel_error: 0.1 # wheel velocity measurement error 1-std (m/s)
tf:
send: false
frame_id: "odom"
child_frame_id: "base_link"
# camera
camera:
frame_id: "base_link"
Check your FC config. If the autopilot not sending global position - how can mavros do?
I believe my FC is sending global position data, but I'll check again to see if I see anything.