{"action":"closed","issue":{"url":"https://api.github.com/repos/mavlink/mavros/issues/297","labels_url":"https://api.github.com/repos/mavlink/mavros/issues/297/labels{/name}","comments_url":"https://api.github.com/repos/mavlink/mavros/issues/297/comments","events_url":"https://api.github.com/repos/mavlink/mavros/issues/297/events","html_url":"https://github.com/mavlink/mavros/issues/297","id":77802949,"number":297,"title":"Connection problem between Ground Control Station APM Planner and mavros using UDP link.","user":{"login":"MauroPagliarella","id":3397130,"avatar_url":"https://avatars.githubusercontent.com/u/3397130?v=3","gravatar_id":"","url":"https://api.github.com/users/MauroPagliarella","html_url":"https://github.com/MauroPagliarella","followers_url":"https://api.github.com/users/MauroPagliarella/followers","following_url":"https://api.github.com/users/MauroPagliarella/following{/other_user}","gists_url":"https://api.github.com/users/MauroPagliarella/gists{/gist_id}","starred_url":"https://api.github.com/users/MauroPagliarella/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MauroPagliarella/subscriptions","organizations_url":"https://api.github.com/users/MauroPagliarella/orgs","repos_url":"https://api.github.com/users/MauroPagliarella/repos","events_url":"https://api.github.com/users/MauroPagliarella/events{/privacy}","received_events_url":"https://api.github.com/users/MauroPagliarella/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/mavlink/mavros/labels/question","name":"question","color":"cc317c"}],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":6,"created_at":"2015-05-18T20:56:10Z","updated_at":"2015-06-28T23:10:46Z","closed_at":"2015-06-28T23:10:46Z","body":"Hi all\r\nI'm building a robot running ROS on board, and I would like to receive robot telemetries and send telecommands to the robot using the \r\nAPM ground control station v2.0.17 using the mavros UDP link. I performed the test described here below but it didn't work.\r\nAny help is appreciated. Thank you very much.\r\nMauro\r\n\r\n\r\n\r\nSYSTEM CONFIGURATION:\r\n1: Laptop running Ubuntu 14.04 & ROS Indigo with the following packages installed: \r\n\t1262779 drwxr-xr-x   3 root  4096 mag 12 23:19 mavlink\t\t\r\n\t1270356 drwxr-xr-x   6 root  4096 mag 12 23:19 mavros\t\t\r\n\t1270615 drwxr-xr-x   5 root  4096 mag 12 23:19 mavros_extras\t\r\n\r\n2: The APM Planner v2.0.17 is installed and runs on the same laptop.\r\n\r\n3: Arduino 1R3 with dummy firmware connectd to one of the laptop usb port.(Dummy only to have a connection on the serial port to allow ROS node to start). \r\n\r\n4: ROS Launch file (prova.launch) reported here below:\r\n\r\n\t<launch>\r\n\t\t<!-- vim: set ft=xml noet : -->\r\n\t\t<!-- example launch script for PX4 based FCU's -->\r\n\r\n\t\t<arg name=\"fcu_url\" default=\"/dev/ttyACM0:57600\" />\r\n\t\t<arg name=\"gcs_url\" default=\"udp://@localhost:14550\" />\r\n\t\t<arg name=\"tgt_system\" default=\"1\" />\r\n\t\t<arg name=\"tgt_component\" default=\"50\" />\r\n\r\n\t\t<include file=\"$(find mavros)/launch/node.launch\">\r\n\t\t\t<arg name=\"pluginlists_yaml\" value=\"$(find mavros)/launch/px4_pluginlists.yaml\" />\r\n\t\t\t<arg name=\"config_yaml\" value=\"$(find mavros)/launch/px4_config.yaml\" />\r\n\r\n\t\t\t<arg name=\"fcu_url\" value=\"$(arg fcu_url)\" />\r\n\t\t\t<arg name=\"gcs_url\" value=\"$(arg gcs_url)\" />\r\n\t\t\t<arg name=\"tgt_system\" value=\"$(arg tgt_system)\" />\r\n\t\t\t<arg name=\"tgt_component\" value=\"$(arg tgt_component)\" />\r\n\t\t</include>\r\n\t</launch>\r\n\r\n\r\n\r\nOBJECTIVE:\r\nConnect the APM ground Control Station v2.0.17 to mavros UDP port 14550 to send commands to ROS and receive messages from ROS\r\n\r\nPERFORMED OPERATIONS:\r\n1: Open terminal session and start mavros on port 14550 using shell command: roslaunch mavros prova.launch \r\n2: start QGC: APM Planner v2.0.17 using shell command: ./release/apmplanner2\r\n\r\nOPERATION 1 RESULTS:\r\nmauro@mauro-HP-Pavilion-dv7-Notebook-PC:\r\nmauro@mauro-HP-Pavilion-dv7-Notebook-PC:~$ roslaunch mavros prova.launch \r\n... logging to /home/mauro/.ros/log/8b90949a-fce5-11e4-80e1-6159cf7aef84/roslaunch-mauro-HP-Pavilion-dv7-Notebook-PC-4287.log\r\nChecking log directory for disk usage. This may take awhile.\r\nPress Ctrl-C to interrupt\r\nDone checking log file disk usage. Usage is <1GB.\r\n\r\nstarted roslaunch server http://mauro-HP-Pavilion-dv7-Notebook-PC:42874/\r\n\r\nSUMMARY\r\n========\r\n\r\nCLEAR PARAMETERS\r\n * /mavros/\r\n\r\nPARAMETERS\r\n * /mavros/cmd/use_comp_id_system_control: False\r\n * /mavros/conn/heartbeat: 5.0\r\n * /mavros/conn/system_time: 1.0\r\n * /mavros/conn/timeout: 10.0\r\n * /mavros/conn/timesync: 0.1\r\n * /mavros/fcu_url: /dev/ttyACM0:57600\r\n * /mavros/gcs_url: udp://@localhost:...\r\n * /mavros/global_position/child_frame_id: fcu\r\n * /mavros/global_position/frame_id: local_origin\r\n * /mavros/global_position/rot_covariance: 99999.0\r\n * /mavros/global_position/send_tf: False\r\n * /mavros/gps/frame_id: gps\r\n * /mavros/image/frame_id: px4flow\r\n * /mavros/imu/angular_velocity_stdev: 0.000349065850399\r\n * /mavros/imu/frame_id: fcu\r\n * /mavros/imu/linear_acceleration_stdev: 0.0003\r\n * /mavros/imu/magnetic_stdev: 0.0\r\n * /mavros/imu/orientation_stdev: 1.0\r\n * /mavros/local_position/child_frame_id: fcu\r\n * /mavros/local_position/frame_id: local_origin\r\n * /mavros/local_position/send_tf: False\r\n * /mavros/mission/pull_after_gcs: True\r\n * /mavros/mocap/use_pose: True\r\n * /mavros/mocap/use_tf: False\r\n * /mavros/plugin_blacklist: ['image_pub']\r\n * /mavros/plugin_whitelist: []\r\n * /mavros/px4flow/frame_id: px4flow\r\n * /mavros/px4flow/ranger_fov: 0.0\r\n * /mavros/px4flow/ranger_max_range: 5.0\r\n * /mavros/px4flow/ranger_min_range: 0.3\r\n * /mavros/safety_area/p1/x: 1.0\r\n * /mavros/safety_area/p1/y: 1.0\r\n * /mavros/safety_area/p1/z: 1.0\r\n * /mavros/safety_area/p2/x: -1.0\r\n * /mavros/safety_area/p2/y: -1.0\r\n * /mavros/safety_area/p2/z: -1.0\r\n * /mavros/setpoint_accel/send_force: False\r\n * /mavros/setpoint_attitude/child_frame_id: attitude\r\n * /mavros/setpoint_attitude/frame_id: local_origin\r\n * /mavros/setpoint_attitude/listen_tf: False\r\n * /mavros/setpoint_attitude/listen_twist: False\r\n * /mavros/setpoint_attitude/pose_with_covariance: False\r\n * /mavros/setpoint_attitude/reverse_throttle: False\r\n * /mavros/setpoint_attitude/tf_rate_limit: 10.0\r\n * /mavros/setpoint_position/child_frame_id: setpoint\r\n * /mavros/setpoint_position/frame_id: local_origin\r\n * /mavros/setpoint_position/listen_tf: False\r\n * /mavros/setpoint_position/tf_rate_limit: 50.0\r\n * /mavros/startup_px4_usb_quirk: True\r\n * /mavros/sys/disable_diag: False\r\n * /mavros/sys/min_voltage: 10.0\r\n * /mavros/target_component_id: 50\r\n * /mavros/target_system_id: 1\r\n * /mavros/tdr_radio/low_rssi: 40\r\n * /mavros/time/time_ref_source: fcu\r\n * /mavros/time/timesync_avg_alpha: 0.6\r\n * /mavros/vision_pose/child_frame_id: vision\r\n * /mavros/vision_pose/frame_id: local_origin\r\n * /mavros/vision_pose/listen_tf: False\r\n * /mavros/vision_pose/pose_with_covariance: False\r\n * /mavros/vision_pose/tf_rate_limit: 10.0\r\n * /mavros/vision_speed/listen_twist: False\r\n * /mavros/visualization/child_frame_id: fcu\r\n * /mavros/visualization/fixed_frame_id: local_origin\r\n * /mavros/visualization/marker_scale: 2.0\r\n * /rosdistro: indigo\r\n * /rosversion: 1.11.10\r\n\r\nNODES\r\n  /\r\n    mavros (mavros/mavros_node)\r\n\r\nauto-starting new master\r\nprocess[master]: started with pid [4299]\r\nROS_MASTER_URI=http://localhost:11311\r\n\r\nsetting /run_id to 8b90949a-fce5-11e4-80e1-6159cf7aef84\r\nprocess[rosout-1]: started with pid [4312]\r\nstarted core service [/rosout]\r\nprocess[mavros-2]: started with pid [4330]\r\n[ INFO] [1431902355.660706005]: FCU URL: /dev/ttyACM0:57600\r\n[ INFO] [1431902355.661050812]: serial0: device: /dev/ttyACM0 @ 57600 bps\r\n[ INFO] [1431902355.661529224]: GCS URL: udp://@localhost:14550\r\n[ INFO] [1431902355.661758932]: udp1: Bind address: 0.0.0.0:14555\r\n[ INFO] [1431902355.661958818]: udp1: Remote address: 127.0.0.1:14550\r\n[ INFO] [1431902355.769189353]: Plugin 3dr_radio loaded and initialized\r\n[ INFO] [1431902355.774063227]: Plugin actuator_control loaded and initialized\r\n[ INFO] [1431902355.786747382]: Plugin command loaded and initialized\r\n[ INFO] [1431902355.807565812]: Plugin ftp loaded and initialized\r\n[ INFO] [1431902355.842113711]: Plugin global_position loaded and initialized\r\n[ INFO] [1431902355.846146556]: Plugin gps loaded and initialized\r\n[ INFO] [1431902355.846213324]: Plugin image_pub blacklisted\r\n[ INFO] [1431902355.860693098]: Plugin imu_pub loaded and initialized\r\n[ INFO] [1431902355.876255971]: Plugin local_position loaded and initialized\r\n[ INFO] [1431902356.011910862]: Plugin mocap_pose_estimate loaded and initialized\r\n[ INFO] [1431902356.016325739]: Plugin param loaded and initialized\r\n[ INFO] [1431902356.030626021]: Plugin px4flow loaded and initialized\r\n[ INFO] [1431902356.037952371]: Plugin rc_io loaded and initialized\r\n[ INFO] [1431902356.053401682]: SA: Set safty area: P1(1.000000 1.000000 1.000000) P2(-1.000000 -1.000000 -1.000000)\r\n[ INFO] [1431902356.059832458]: Plugin safety_area loaded and initialized\r\n[ INFO] [1431902356.068275082]: Plugin setpoint_accel loaded and initialized\r\n[ INFO] [1431902356.099076555]: Plugin setpoint_attitude loaded and initialized\r\n[ INFO] [1431902356.120106604]: Plugin setpoint_position loaded and initialized\r\n[ INFO] [1431902356.126373602]: Plugin setpoint_velocity loaded and initialized\r\n[ INFO] [1431902356.149579486]: Plugin sys_status loaded and initialized\r\n[ INFO] [1431902356.158961894]: Plugin sys_time loaded and initialized\r\n[ INFO] [1431902356.161856955]: Plugin vfr_hud loaded and initialized\r\n[ INFO] [1431902356.188444553]: Plugin vision_pose_estimate loaded and initialized\r\n[ INFO] [1431902356.195364987]: Plugin vision_speed_estimate loaded and initialized\r\n[ INFO] [1431902356.209803205]: Plugin visualization loaded and initialized\r\n[ INFO] [1431902356.219869709]: Plugin waypoint loaded and initialized\r\n[ INFO] [1431902356.220119741]: Autostarting mavlink via USB on PX4\r\n[ INFO] [1431902356.220270458]: Built-in mavlink dialect: ardupilotmega\r\n[ INFO] [1431902356.220402668]: MAVROS started. MY ID [1, 240], TARGET ID [1, 50]\r\n\r\n\r\n\r\nOPERATION 2 RESULTS:\r\nmauro@mauro-HP-Pavilion-dv7-Notebook-PC:~/Qt/MyProjects/apm_planner$\r\nmauro@mauro-HP-Pavilion-dv7-Notebook-PC:~/Qt/MyProjects/apm_planner$ ./release/apmplanner2\r\n INFO 2015-05-18T00:41:46.335 QGCCore::initialize() \r\n INFO 2015-05-18T00:41:46.335 Current Build Info \r\n INFO 2015-05-18T00:41:46.335 Git Hash: c454c66aa2dc40e2f58cbfa0709748955cb9030d \r\n INFO 2015-05-18T00:41:46.335 Git Commit: 2.0.17-43-gc454c66 \r\n INFO 2015-05-18T00:41:46.335 APPLICATION_NAME: \"APM Planner\" \r\n INFO 2015-05-18T00:41:46.335 APPLICATION_VERSION: \"v2.0.17\" \r\n INFO 2015-05-18T00:41:46.335 APP_PLATFORM: ubuntu64 \r\n INFO 2015-05-18T00:41:46.335 APP_TYPE: stable \r\n INFO 2015-05-18T00:41:46.461 Start Link Manager \r\nDEBUG 2015-05-18T00:41:46.461 Create MAVLinkDecoder:  MAVLinkDecoder(0x1c5f340) \r\n INFO 2015-05-18T00:41:46.464 Start UAS Manager \r\nDEBUG 2015-05-18T00:41:46.518 Creating MainWindow \r\n INFO 2015-05-18T00:41:46.697 Creating SubMainWindow:  SubMainWindow(0x1cf9190) \r\n INFO 2015-05-18T00:41:46.698 setting objectName:  \"VIEW_MISSION\" \r\n INFO 2015-05-18T00:41:46.752 Creating SubMainWindow:  SubMainWindow(0x1db0140) \r\n INFO 2015-05-18T00:41:46.752 setting objectName:  \"VIEW_FLIGHT\" \r\n INFO 2015-05-18T00:41:46.793 Creating SubMainWindow:  SubMainWindow(0x1de9430) \r\n INFO 2015-05-18T00:41:46.793 setting objectName:  \"VIEW_HARDWARE_CONFIG\" \r\nDEBUG 2015-05-18T00:41:46.949 fillPortsInfo  \r\n INFO 2015-05-18T00:41:46.956 Inserting  \"ttyACM0\" \r\n INFO 2015-05-18T00:41:46.956 Inserting  \"ttyUSB0\" \r\n INFO 2015-05-18T00:41:46.957 Inserting  \"ttyUSB1\" \r\n INFO 2015-05-18T00:41:46.957 Inserting  \"ttyUSB2\" \r\n INFO 2015-05-18T00:41:46.957 Inserting  \"ttyUSB3\" \r\n INFO 2015-05-18T00:41:46.957 Changed Link to: \"ttyACM0\" \r\n INFO 2015-05-18T00:41:47.341 Creating SubMainWindow:  SubMainWindow(0x1ea1dc0) \r\n INFO 2015-05-18T00:41:47.341 setting objectName:  \"VIEW_SOFTWARE_CONFIG\" \r\nDEBUG 2015-05-18T00:41:47.369 Disable Controls \r\n INFO 2015-05-18T00:41:47.631 Creating SubMainWindow:  SubMainWindow(0x2caa010) \r\n INFO 2015-05-18T00:41:47.631 setting objectName:  \"VIEW_ENGINEER\" \r\nQObject::connect: No such signal QTableView::currentCellChanged(int,int,int,int)\r\nQObject::connect:  (sender name:   'tableWidget')\r\nQObject::connect:  (receiver name: 'AP2DataPlot2D')\r\n INFO 2015-05-18T00:41:47.669 Creating SubMainWindow:  SubMainWindow(0x2d89c80) \r\n INFO 2015-05-18T00:41:47.669 setting objectName:  \"VIEW_SIMULATOR\" \r\nDEBUG 2015-05-18T00:41:47.732 MODE: 0 \r\nDEBUG 2015-05-18T00:41:47.733 \"D|PREFLIGHT\" \r\nDEBUG 2015-05-18T00:41:47.733 MODE: 80 \r\nDEBUG 2015-05-18T00:41:47.733 \"D|STABILIZED\" \r\nDEBUG 2015-05-18T00:41:47.734 MODE: 64 \r\nDEBUG 2015-05-18T00:41:47.734 \"D|MANUAL\" \r\nDEBUG 2015-05-18T00:41:47.735 MODE: 88 \r\nDEBUG 2015-05-18T00:41:47.735 \"D|VECTOR|STABILIZED\" \r\nDEBUG 2015-05-18T00:41:47.735 MODE: 92 \r\nDEBUG 2015-05-18T00:41:47.736 \"D|AUTO|STABILIZED\" \r\nDEBUG 2015-05-18T00:41:47.736 MODE: 66 \r\nDEBUG 2015-05-18T00:41:47.736 \"D|TEST\" \r\nDEBUG 2015-05-18T00:41:47.844  QUrl( \"file:///home/mauro/Qt/MyProjects/apm_planner/qml/PrimaryFlightDisplayQML.qml\" )  \r\nDEBUG 2015-05-18T00:41:47.938 QML Status: 1 \r\nDEBUG 2015-05-18T00:41:47.941  QUrl( \"file:///home/mauro/Qt/MyProjects/apm_planner/qml/PrimaryFlightDisplayQML.qml\" )  \r\nDEBUG 2015-05-18T00:41:48.000 QML Status: 1 \r\n INFO 2015-05-18T00:41:48.008 UASActionsWidget creating  UASActionsWidget(0x33268b0) \r\nDEBUG 2015-05-18T00:41:48.012 QuickView: load settings \r\nDEBUG 2015-05-18T00:41:48.013 QuickView: loading key:  \"GCS Status.Altitude (GPS) (m)\"  type: \"text\" \r\nDEBUG 2015-05-18T00:41:48.018 QuickView: loading key:  \"GCS Status.Altitude (REL) (m)\"  type: \"text\" \r\nDEBUG 2015-05-18T00:41:48.021 QuickView: loading key:  \"GCS Status.Battery (%)\"  type: \"text\" \r\nDEBUG 2015-05-18T00:41:48.024 QuickView: loading key:  \"GCS Status.Climb (m/s)\"  type: \"text\" \r\nDEBUG 2015-05-18T00:41:48.028 QuickView: loading key:  \"GCS Status.Current (A)\"  type: \"text\" \r\nDEBUG 2015-05-18T00:41:48.032 QuickView: loading key:  \"GCS Status.GPS Fix ()\"  type: \"text\" \r\nDEBUG 2015-05-18T00:41:48.036 QuickView: loading key:  \"GCS Status.GPS HDOP (m)\"  type: \"text\" \r\nDEBUG 2015-05-18T00:41:48.041 QuickView: loading key:  \"GCS Status.GPS Sats ()\"  type: \"text\" \r\nDEBUG 2015-05-18T00:41:48.046 QuickView: loading key:  \"GCS Status.Pitch (deg)\"  type: \"text\" \r\nDEBUG 2015-05-18T00:41:48.051 QuickView: loading key:  \"GCS Status.Roll (deg)\"  type: \"text\" \r\nDEBUG 2015-05-18T00:41:48.057 QuickView: loading key:  \"GCS Status.Voltage (V)\"  type: \"text\" \r\nDEBUG 2015-05-18T00:41:48.063 QuickView: loading key:  \"GCS Status.Yaw (deg)\"  type: \"text\" \r\nDEBUG 2015-05-18T00:41:48.074 QuickView: load settings END \r\n INFO 2015-05-18T00:41:48.159 Using Alsa Audio driver \r\n WARN 2015-05-18T00:41:48.159 Dir directory tmp_audio exists \r\nDEBUG 2015-05-18T00:41:48.170 qmlBaseDir \"/home/mauro/Qt/MyProjects/apm_planner\" \r\nDEBUG 2015-05-18T00:41:48.170  QUrl( \"file:///home/mauro/Qt/MyProjects/apm_planner/qml/ApmToolBar.qml\" )  \r\nAPMToolBar:  SELECTED\r\nDEBUG 2015-05-18T00:41:48.210 QML Status: 1 \r\nDEBUG 2015-05-18T00:41:48.219 Loading widget: \"PRIMARY_FLIGHT_DISPLAY_QML_DOCKWIDGET\" \r\nDEBUG 2015-05-18T00:41:48.220 Loading widget: \"UAS_INFO_INFOVIEW_DOCKWIDGET\" \r\n INFO 2015-05-18T00:41:48.492 UDP Created  \"UDP Link (port:14550)\" \r\n INFO 2015-05-18T00:41:48.494 UDP disconnect \r\n INFO 2015-05-18T00:41:48.496 UDPLink::UDP connect   QHostAddress( \"0.0.0.0\" )  : 14550 \r\nERROR 2015-05-18T00:41:48.496 bind failed!   QHostAddress( \"0.0.0.0\" )  : 14550 \r\nDEBUG 2015-05-18T00:41:48.498 Create Serial Connection: SerialConnection(0x32971c0) \r\n INFO 2015-05-18T00:41:48.499 \"ttyACM0\" 115200 \r\nDEBUG 2015-05-18T00:41:48.502 APMToolBar: new Serial Link Created 2 \r\nDEBUG 2015-05-18T00:41:48.502 APMToolBar setConnection: false \r\nDEBUG 2015-05-18T00:41:48.503 APMToolBar: updateLinkDisplay \"ttyACM0\" : \"115200\"  connected: false \r\nDEBUG 2015-05-18T00:41:48.565 SCW: Link is disconnected \r\nDEBUG 2015-05-18T00:41:48.573 Baud rate: 115200 Expected: 4 \r\nDEBUG 2015-05-18T00:41:53.168 \"retrieve versionobject from server: http://firmware.diydrones.com/Tools/APMPlanner/apm_planner_version.json\" \r\nDEBUG 2015-05-18T00:41:53.580 Downloading: 2780 / 2780 \r\nDEBUG 2015-05-18T00:41:53.580 Downloading: 2780 / 2780 \r\nDEBUG 2015-05-18T00:41:53.581 AutoUpdateCheck::httpFinished() \r\nDEBUG 2015-05-18T00:42:01.045 Dronshare: remind later \r\n\r\n"}}