How to do the aero_fly_mission SITL simulation in gazebo and QGroundControl correctly?

[荣刘]

Hi, I tried to simulate the mission plan part of intel-aero/sample-apps but some errors occurred. My steps are as follows.

Step 1

```

cd ~/src/Firmware

make posix_sitl_default gazebo

```

Step 2

open QGroundControl

Step 3

```

roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"

```

Step 4

```

roslaunch aero_fly_mission aero_fly_mission.launch file:="home/kumaron/Plan"

```

And the errors are as follows.

```

kumaron@ubuntu:~$ roslaunch aero_fly_mission aero_fly_mission.launch file:="/home/kumaron/Plan"

... logging to /home/kumaron/.ros/log/05884c98-dda2-11e8-b9df-843a4b933d20/roslaunch-ubuntu-16916.log

Checking log directory for disk usage. This may take awhile.

Press Ctrl-C to interrupt

Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:37473/

SUMMARY

========

PARAMETERS

* /rosdistro: kinetic

* /rosversion: 1.12.14

NODES

/

aero_fly_mission (aero_fly_mission/node)

ROS_MASTER_URI= http://localhost:11311

process[aero_fly_mission-1]: started with pid [16941]

[ERROR] [1541055166.822923790]: : read error

[ERROR] [1541055166.823026524]: Fatal: error in loading waypoints from the file /home/kumaron/Plan!!

[aero_fly_mission-1] process has died [pid 16941, exit code -6, cmd /home/kumaron/catkin_ws/devel/lib/aero_fly_mission/node /home/kumaron/Plan __name:=aero_fly_mission __log:=/home/kumaron/.ros/log/05884c98-dda2-11e8-b9df-843a4b933d20/aero_fly_mission-1.log].

log file: /home/kumaron/.ros/log/05884c98-dda2-11e8-b9df-843a4b933d20/aero_fly_mission-1*.log

all processes on machine have died, roslaunch will exit

shutting down processing monitor...

... shutting down processing monitor complete

done

```

How could I do the aero_fly_mission SITL simulation in gazebo and QGroundControl correctly? Thanks in advance!

[idata]

Hi Kumaron,

Thank you for your interest in the Intel Aero Ready to Fly Drone.Did you follow these instructions? https://github.com/intel-aero/sample-apps/tree/master/rosRegards,Alexandra

[荣刘]

Hi Alexandra,

Thank you for your reply, I followed the instructions.

https://github.com/intel-aero/sample-apps/tree/master/ros https://github.com/intel-aero/sample-apps/tree/master/ros

Actually I found that I missed one important annotation in aero_fly_mission_node.cpp

try

{

getWaypointsFromQGCPlan(argv[1], &wp_list);

}

catch (std::exception const& e)

{

// NOTE: QGC waypointplan (JSON) may contain 'params' valueas 'null';

// in that case we may get execption. Make sure to keep 'params' values to be 0.

ROS_ERROR("Fatal: error in loading waypoints from the file %s!!", argv[1]);

abort();

}

I found that QGC waypoint plan file contained 'params' values 'null'. After changing 'null' to 0, I could launch the aero_fly_mission.launch and the simulation worked.

Now I'm wondering if the Intel Aero Ready to Fly Drone takes off in the offboard mode, how could I send waypoints to the Intel Aero Ready to Fly Drone and let it execute the fly mission?

Thanks in advance!

Regards,

Kumaron

[idata]

Hi Kumaron,

You can plan a mission in QGroundControl.You can find instructions here: https://docs.qgroundcontrol.com/en/PlanView/PlanView.htmlLet me know if this helps.Regards,Alexandra

[荣刘]

Hi Alexandra,

Thank you for your reply.

Actually, I know how to plan a mission in QGroundControl. In the aero_fly_mission, the mission is executed in the mission mode. I want to execute the waypoint mission in the offboard mode. Should I switch offboard mode to the mission mode to execute the mission? Or is there a method to execute the mission directly in the offboard mode?

Regards,

Kumaron

[idata]

Hi Kumaron,

Are you running the sample code or did you create your own code?Can you tell the output of get_aero_version.py?Regards,Alexandra

[荣刘]

Hi Alexandra,

I am just running sample code on laptop to do simulation.

I'll study the offboard mode and mission mode further myself.

Thank you for your patience and reply!

Regards,

Kumaron