Comments (5)
Ryanf55
commented on June 16, 2024
Can you supply which version or commit hash you were running of ArduPilot to reproduce this? "Rover" is not a version.
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jvzacchi
commented on June 16, 2024
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Ryanf55
commented on June 16, 2024
@arshPratap Do you have a chance to look at this bug?
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jvzacchi
commented on June 16, 2024
Just an update. I moved to HW and the error is not present when using serial there.
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Ryanf55
commented on June 16, 2024
Running the agent
ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019 -r dds_xrce_profile.xmlPlane
./Tools/autotest/sim_vehicle.py -v Plane --map --console --enable-ddsIf you call arming right away, before the vehicle is booted, it properly reports a failure.
ros2 service call /ap/arm_motors ardupilot_msgs/srv/ArmMotors "{arm: true}"If you call it later once it's properly initialized, it reports a success.
For plane, you can set the mode to 4, and it switches mode correctly.
ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 4}"I tested modes 1-9. All work. 9 gets rejected, with the current mode reported as 8, and the logs show "AP: No such mode 9"
Copter
./Tools/autotest/sim_vehicle.py -v Plane --map --console --enable-ddsRequesting all the mode changes works as expected.
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 0}"
waiting for service to become available...
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=0)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=True, curr_mode=0)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 1}"
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=1)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=True, curr_mode=1)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 2}"
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=2)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=True, curr_mode=2)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 3}"
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=3)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=True, curr_mode=3)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 4}"
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=4)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=True, curr_mode=4)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 5}"
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=5)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=True, curr_mode=5)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 6}"
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=6)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=True, curr_mode=6)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 7}"
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=7)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=True, curr_mode=7)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 8}"
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=8)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=False, curr_mode=7)
Rover logs
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/arm_motors ardupilot_msgs/srv/ArmMotors "{arm: true}"
requester: making request: ardupilot_msgs.srv.ArmMotors_Request(arm=True)
response:
ardupilot_msgs.srv.ArmMotors_Response(result=True)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 1}"
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=1)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=True, curr_mode=1)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 2}"
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=2)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=False, curr_mode=1)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 3}"
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=3)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=True, curr_mode=3)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 4}"
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=4)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=True, curr_mode=4)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 5}"
waiting for service to become available...
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=5)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=True, curr_mode=5)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 6}"
waiting for service to become available...
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=6)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=False, curr_mode=5)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 7}"
waiting for service to become available...
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=7)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=True, curr_mode=7)
ryan@B650-970:~/Dev/ardu_ws$ ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 8}"
requester: making request: ardupilot_msgs.srv.ModeSwitch_Request(mode=8)
response:
ardupilot_msgs.srv.ModeSwitch_Response(status=False, curr_mode=7)
Conclusion
I can't reproduce on SITL. Please re-open if you can provide some steps like this to reproduce, otherwise I suspect it's an issue in your code.
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