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multiwii_ros2's Issues

Arming and RXLOSS

Hello again,

Two things:

  1. On line 14 of MultiWiiNode.cpp, the baud-rate should be 115200.
  2. I've been trying to figure out why my system won't arm, do you have any insight into how to prevent the RXLOSS flag from being evoked by the system? I noticed that in the ROS1 implementation, you used ros::Rate, was that to keep the flight computer from evoking the RXLOSS or similar dis-arming flags?

Thank you.

Runtime Error Question

Hello again,

I obtained the following when setting the "port" in Betaflight to Configuration/MSP:

dario@DESKTOP-S9T430H:~/ros2_example_ws$ ros2 run multiwii_node  multiwii_node 
open /dev/ttyUSB0@115200
Message marker 83 is not recognised!
Version marker 65 is not recognised!
terminate called after throwing an instance of 'std::runtime_error'
  what():  Cannot get BoxNames!

and obtain this when setting the port to "Serial RX":

dario@DESKTOP-S9T430H:~/ros2_example_ws$ ros2 run multiwii_node  multiwii_node 
open /dev/ttyUSB0@115200

When I run the examples from https://github.com/christianrauch/msp, I will sometimes obtain this message:

dario@DESKTOP-S9T430H:~/msp$ ./build/client_async_test 
... 
Print method for message ID 111 is not implemented
#Altitude:
 Altitude: 0 m, var: 0 m/s
 Barometer: <unset>
Print method for message ID 112 is not implemented
Message marker 83 is not recognised!
Version marker 65 is not recognised!
Message marker 30 is not recognised!
Version marker 31 is not recognised!
Message marker 0 is not recognised!
Version marker 0 is not recognised!
Message marker 0 is not recognised!
Version marker 229 is not recognised!
#Imu:
 Linear acceleration: 162, 29, 486
...

when I run the following, I get a similar error to the first one posted above:

dario@DESKTOP-S9T430H:~/msp$ ./build/client_read_test 
Message v1 with ID 100 is not recognised!
unsupported: 100
#Status:
 Cycle time: 312 us
 I2C errors: 0
 Sensors:
    Accelerometer: ON
    Barometer: OFF
    Magnetometer: OFF
    GPS: OFF
    Sonar: OFF
 Active Boxes (by ID):
#Imu:
 Linear acceleration: 165, 30, 484
 Angular velocity: 1, -5, 1
 Magnetometer: 0, 0, 0
#Imu:
 Linear acceleration: 3.16035, 0.574608, 9.27035 m/s²
 Angular velocity: 0.244141, -1.2207, 0.244141 deg/s
 Magnetometer: 0, 0, 0 uT
#Servo:
 1500 1500 1500 1500
 1500 1500 1500 1500
#Motor:
 1000 1000 1000 1000
 0 0 0 0
#Rc channels (18) :
1500 1500 1500 885 1425 1500 1500 1500 1500 1500 1500 1500 1500 1500 1500 1500 1500 1500  
#Attitude:
 Roll : 3.4 deg
 Pitch : -18.6 deg
 Heading: 0 deg
#Altitude:
 Altitude: 0 m, var: 0 m/s
 Barometer: <unset>
#Analog:
 Battery Voltage: 5.2 V
 Current: 0 A
 Power consumption: 0 Ah
 RSSI: 0
Print method for message ID 111 is not implemented
unsupported: 112
Message v1 with ID 113 is not recognised!
unsupported: 113
Message v1 with ID 114 is not recognised!
unsupported: 114
Message v1 with ID 115 is not recognised!
unsupported: 115
Message v1 with ID 116 has wrong CRC! (expected: 128, received: 73)
Message marker 83 is not recognised!
Version marker 65 is not recognised!
buffer returned EOF; reading char directly from port
unsupported: 116
buffer returned EOF; reading char directly from port
...

Is the expected behavior that upon successful connection to the fcu via fcu->connect(device_path, baud); that the node will start publishing the different topics? I ask because I've put std::cout << "fcu connected" << std::endl; after fcu->connect(device_path, baud); and I am not seeing that message.

Thank you.

Using MultiWiiNode.hpp

Hello Christian,

First, thank you for these repositories and nodes. I'm trying to include MultiWiiNode.hpp in an example ROS2 package but am not able to do so. When I try, I get the "MultiWiiNode.hpp" file not found build error. Can you provide some insight into how to include this header file or the library into another ROS2 package?

Thank you.

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