Difference between revisions of "Day 2"
From Bambi
(→Daily Log) |
|||
| (2 intermediate revisions by the same user not shown) | |||
| Line 7: | Line 7: | ||
* [https://github.com/mavlink/mavros/issues/682 custom message from stream (may be useful)] | * [https://github.com/mavlink/mavros/issues/682 custom message from stream (may be useful)] | ||
* [http://api.ning.com/files/i*tFWQTF2R*7Mmw7hksAU-u9IABKNDO9apguOiSOCfvi2znk1tXhur0Bt00jTOldFvob-Sczg3*lDcgChG26QaHZpzEcISM5/MAVLINK_FOR_DUMMIESPart1_v.1.1.pdf MAVlink tutorial for absolute dummies] | * [http://api.ning.com/files/i*tFWQTF2R*7Mmw7hksAU-u9IABKNDO9apguOiSOCfvi2znk1tXhur0Bt00jTOldFvob-Sczg3*lDcgChG26QaHZpzEcISM5/MAVLINK_FOR_DUMMIESPart1_v.1.1.pdf MAVlink tutorial for absolute dummies] | ||
| + | |||
| + | = Daily Log = | ||
| + | |||
| + | # Wrote two python scripts for MAVlink UDP debugging, i.e. send(Custom)Message and listenForMessages | ||
| + | #* Python interface turned out to be not very much customizable with outgoing / ingoing port (at least not as MAVros does) | ||
| + | # Tried routing by exploiting <code>system_id</code> and <code>target_id</code> | ||
| + | # Using python script setup, we debugged the mavlink module running in PX4 SITL | ||
| + | #* Figured out that the forwarding option <code>-f</code> does not work as expected | ||
| + | #* The code base is somehow messed up (over 2500 loc in mavlink_main.cpp) and we could not find the routing fault | ||
| + | #* Seems that only some messages carry the component id and system_id properly | ||
| + | # By using <code>-f</code> on both instances of mavlink the routing is possible in both directions --> decided to take the easy way | ||
| + | # Commented out the sending of an unsuccessful <code>ACK</code> when the target system and component is not matched --> leaving to mavros to respond | ||
| + | # Installation of QtCreator with ROS plugin | ||
| + | #* Make build from QtCreator in order to get the proper project setup | ||
| + | # Fighting with catkin_ws build setup and QtCreator using BambiSaver Report (<code>wstool</code>) | ||
| + | # Reached goal of the day: successfully published on topic after custom message has been received | ||
= Results = | = Results = | ||
* [https://dev.qgroundcontrol.com/en/tools/custom_command_widget.html QGroundControl Custom Widget to send command] | * [https://dev.qgroundcontrol.com/en/tools/custom_command_widget.html QGroundControl Custom Widget to send command] | ||
Latest revision as of 21:32, 5 August 2018
Focus: Route Custom Messages from ground station through Pixhawk (SITL) to MavROS Node
Useful links to start from
- Create new message XML and source code
- Google groups discussion on passing through MAVlink packages
- custom message from stream (may be useful)
- MAVlink tutorial for absolute dummies
Daily Log
- Wrote two python scripts for MAVlink UDP debugging, i.e. send(Custom)Message and listenForMessages
- Python interface turned out to be not very much customizable with outgoing / ingoing port (at least not as MAVros does)
- Tried routing by exploiting
system_idandtarget_id - Using python script setup, we debugged the mavlink module running in PX4 SITL
- Figured out that the forwarding option
-fdoes not work as expected - The code base is somehow messed up (over 2500 loc in mavlink_main.cpp) and we could not find the routing fault
- Seems that only some messages carry the component id and system_id properly
- Figured out that the forwarding option
- By using
-fon both instances of mavlink the routing is possible in both directions --> decided to take the easy way - Commented out the sending of an unsuccessful
ACKwhen the target system and component is not matched --> leaving to mavros to respond - Installation of QtCreator with ROS plugin
- Make build from QtCreator in order to get the proper project setup
- Fighting with catkin_ws build setup and QtCreator using BambiSaver Report (
wstool) - Reached goal of the day: successfully published on topic after custom message has been received
