Hello there!
I’m currently building an IRL drone using a OrangeCubePlus as a FCU (with ardupilot) and a RPI 4B as an onboard computer (using ROS2).
My current problem is that, i can establish a good connection between the two, i can send ros2 srv commands (arm, disarm, change mode), i can also read sensor data through topics, but i’m unable to control the drone’s movement in any way.
I tried using both /mavros/rc/override and /mavros/setpoint_velocity/cmd_vel topic with the correct msg types, but nothing works.
I’ve configured SERIAL0_PROTOCOL, SR0_xxx and RC_OPTIONS parameters in ardupilot to allow mavros communication. I don’t know if there’s any more parameters i missed or maybe I’m using the wrong topics.
Any help would be much appreciated.
For more info and logs I also created a github issue on the mavlink/mavros repo:
Thank you everyone!
Systems:
- Ubuntu 22.04.4
- ROS2 Humble
- Ardupilot 4.5.2
- mavros 2.8.0