No respond after sending "ros2 launch /mmWave_ROS2_PX4_Gazebo/launch/simulate_pointcloud_control_launch.py"
Opened this issue · 1 comments
Hello! When I send the command "ros2 launch /mmWave_ROS2_PX4_Gazebo/launch/simulate_pointcloud_control_launch.py", there are no listener data. Is this kind of output normal?
Sincerely looking forward to your reply!
Hi!
I believe those values should be the current desired velocity inputs sent to the flight controller, so yours looks a bit off.
Are you running the Gazebo simulation too, i.e. make px4_sitl_rtps gazebo_iris__hca_full_pylon_setup? The current offboard flight logic is old and dumb and I don't think it handles a scenario without an object above the drone with which to align. With the Gazebo simulation and the lidar_to_mmwave node running, please check that pointcloud2s are actually published under the topic lidar_to_mmwave_pcl. Without that, the default value (NaN) of the "velocity vector" will definitely never get updated.
It looks like you are running everything inside a docker container. Does this affect the communication between the Gazebo simulation and the rest of the ROS2 system? Have you tried launching the Gazebo simulation to verify that data flows as expected, e.g. ros2 topic list and then ros2 topic echo a topic?