empty world in Gazebo with no drone movement

[meowchine1]

The result of the ros2 launch px4_offboard offboard_position_control.launch.py command is an empty world in Gazebo with no drone movement.

[meowchine1]

Terminal output: ``` [INFO] [launch]: All log files can be found below /home/vor/.ros/log/2025-03-05-20-23-07-626906-DESKTOP-6F8AAJ8-129334
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [visualizer-1]: process started with pid [129341]
[INFO] [offboard_control-2]: process started with pid [129343]
[INFO] [rviz2-3]: process started with pid [129345]
[rviz2-3] [INFO] [1741191788.423005278] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1741191788.423299328] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[offboard_control-2] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: ReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT is deprecated. Use ReliabilityPolicy.BEST_EFFORT instead.
[offboard_control-2] warnings.warn(
[offboard_control-2] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[offboard_control-2] warnings.warn(
[offboard_control-2] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: HistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST is deprecated. Use HistoryPolicy.KEEP_LAST instead.
[offboard_control-2] warnings.warn(
[rviz2-3] [INFO] [1741191788.487705771] [rviz2]: Stereo is NOT SUPPORTED
[visualizer-1] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: ReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT is deprecated. Use ReliabilityPolicy.BEST_EFFORT instead.
[visualizer-1] warnings.warn(
[visualizer-1] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: HistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST is deprecated. Use HistoryPolicy.KEEP_LAST instead.
[visualizer-1] warnings.warn(

[Jaeyoung-Lim]

@meowchine1 That is expected. You need to switch the drone to offboard mode with QGC

[meowchine1]

Thank you! I only get the trajectory now

[Jaeyoung-Lim]

@meowchine1 Did you arm the drone?

[meowchine1]

Yes, I have the problem with sitl: pxh> commander check arm INFO [commander] Preflight check: FAILED pxh> WARN [health_and_arming_checks] Too many arming check events (1, 14 > 14). Not reporting all WARN [health_and_arming_checks] Preflight Fail: Accel Sensor 0 missing WARN [health_and_arming_checks] Preflight Fail: barometer 0 missing WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data WARN [health_and_arming_checks] Preflight Fail: Gyro Sensor 0 missing WARN [health_and_arming_checks] Preflight Fail: Found 0 compass (required: 1) WARN [health_and_arming_checks] Preflight Fail: system power unavailable WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station

[meowchine1]

Ok, I get: INFO [commander] Ready for takeoff! And now I see two window. I do next command set

~/PX4-Autopilot$ make px4_sitl gz_x500  
~$ ./QGroundControl.AppImage 
~/px4-offboard$ MicroXRCEAgent udp4 -p 8888
~/px4-offboard$ ros2 launch px4_offboard offboard_position_control.launch.py

after make px4_sitl zx_x500 I see :

[meowchine1]

And now I see two windows. I lost the drone in the target window

[meowchine1]

Ok, now I see the drone

[Jaeyoung-Lim]

@meowchine1 You need to "operate" the drone. The node implemented here does not include the arming, takeoff logic as it is supposed to be used with a real drone.

You can arm, takeoff and switch to offboard mode with QGC, while running the rosnode of this repo

[garrettseepersad]

Hello @Jaeyoung-Lim , I'm in a similar situation as well

If I understand correctly, at this stage it should begin to loiter.

I had the same end result here as well https://gist.github.com/julianoes/adbf76408663829cd9aed8d14c88fa29

I wonder if it's an issue of versioning. I am working on the main of px4-autopilot and the main of px4-msgs.

The following worked fine : https://github.com/PX4/px4_ros_com/blob/main/src/examples/offboard_py/offboard_control.py

Just sharing additional details in case someone travels the same path that I did :)

[bentwookie]

I'm seeing the same (or similar) issue. I don't know if it matters, but I'm used to running MicroXRCEAgent udp4 -p 8888 but the instructions here call for micro-ros-agent udp4 --port 8888

If I arm and "take off" the SITL drone in QGroundControl, it pops up in Gazebo/rviz and then switches to Hold. If I run the node, it switches to Onboard, doesn't really do much for a few seconds and then pops back to Position Mode with the error that there's no onboard signal.

[bentwookie]

Hmmm. Did the topic name change? My status topic isn't on /fmu/out/vehicle_status but rather /fmu/out/vehicle_status_v1

If I modify offboard_control.py to subscribe to that, (and kick the mode to Offboard in QGroundControl) I see loops!

E: It did change. Wouldn't be ROS2 without some opaque name shuffling. There's a translation_node you can run, but then you run into QoS problems.