Rosanswers logo

Hi, I am having problem getting the message published in global_position.

I am using Ubuntu 14.04 Ros Indigo and recently just updated the firmware. I use a pixhawk and 3DR Iris in Hexacopter .

The code I type is

roslaunch mavros px4.launch '

The code displayed is

NODES / mavros (mavros/mavros_node)

auto-starting new master

process[master]: started with pid [3595]


setting /run_id to ed737cc2-9f24-11e5-83d8-605718672f0f

process[rosout-1]: started with pid [3608]

started core service [/rosout]

process[mavros-2]: started with pid [3626]

[1449741666.104377421]: FCU URL: /dev/ttyUSB0:57600

[1449741666.104555512]: serial0: device: /dev/ttyUSB0 @ 57600 bps

[1449741666.105267158]: GCS bridge disabled

[1449741666.154539806]: Plugin 3dr_radio loaded and initialized

[1449741666.157176084]: Plugin actuator_control loaded and initialized

[1449741666.217227733]: Plugin cam_imu_sync loaded and initialized

[1449741666.222946947]: Plugin command loaded and initialized

[1449741666.222998441]: Plugin distance_sensor blacklisted

[1449741666.231158700]: Plugin ftp loaded and initialized

[1449741666.239332817]: Plugin global_position loaded and initialized

[1449741666.239387002]: Plugin image_pub blacklisted

[1449741666.247220114]: Plugin imu_pub loaded and initialized

[1449741666.252494646]: Plugin local_position loaded and initialized

[1449741666.253141818]: Plugin manual_control loaded and initialized

[1449741666.257820893]: Plugin mocap_pose_estimate loaded and initialized

[1449741666.260583402]: Plugin param loaded and initialized

[1449741666.265841892]: Plugin px4flow loaded and initialized

[1449741666.269734947]: Plugin rc_io loaded and initialized

[1449741666.269771846]: Plugin safety_area blacklisted

[1449741666.273443314]: Plugin setpoint_accel loaded and initialized

[1449741666.287483356]: Plugin setpoint_attitude loaded and initialized

[1449741666.294109082]: Plugin setpoint_position loaded and initialized

[1449741666.296996159]: Plugin setpoint_velocity loaded and initialized

[1449741666.303087932]: Plugin sys_status loaded and initialized

[1449741666.306440053]: Plugin sys_time loaded and initialized

[1449741666.308519130]: Plugin vfr_hud loaded and initialized

[1449741666.308563956]: Plugin vibration blacklisted

[1449741666.316395234]: Plugin vision_pose_estimate loaded and initialized

[1449741666.319969704]: Plugin vision_speed_estimate loaded and initialized

[1449741666.324673530]: Plugin waypoint loaded and initialized

[1449741666.324723511]: Autostarting mavlink via USB on PX4

[1449741666.324750426]: Built-in SIMD instructions: SSE, SSE2

[1449741666.324762062]: Built-in MAVLink dialect: ardupilotmega

[1449741666.324772216]: MAVROS started. MY ID [1, 240], TARGET ID [1, 1]

[1449741666.351006806]: IMU: High resolution IMU detected!

[ WARN] [1449741666.639253535]: GP: No GPS fix

[1449741666.856344156]: CON: Got HEARTBEAT, connected.

[ WARN] [1449741666.884248232]: TM: Clock skew detected (-1449739987.504302740 s). Hard syncing clocks.

[1449741667.079375489]: IMU: High resolution IMU detected! [ WARN] [1449741668.860667646]: VER: broadcast request timeout, retries left 4

[ WARN] [1449741669.860660935]: VER: broadcast request timeout, retries left 3

[ WARN] [1449741670.858431782]: VER: unicast request timeout, retries left 2

[1449741671.533192816]: VER: 1.1: Capabilities 0x00000000000004eb

[1449741671.533260446]: VER: 1.1: Flight software: 00000000 (424f4a9066e2b15b)

[1449741671.533303952]: VER: 1.1: Middleware software: 00000000 (424f4a9066e2b15b)

[1449741671.533338025]: VER: 1.1: OS software: 00000000 (0000000000000000)

[1449741671.533371047]: VER: 1.1: Board hardware: 00000000

[1449741671.533403720]: VER: 1.1: VID/PID: 26ac:0011

[1449741671.533436068]: VER: 1.1: UID: 3432470a38383538

[ WARN] [1449741676.886523092]: TM: Clock skew detected (-0.026125061 s). Hard syncing clocks.

[1449741682.105836631]: WP: mission received

[1449741682.647143358]: FCU: WPM: mission is empty

[ERROR] [1449741682.797194698]: FCU: REJ. WP CMD: partner id mismatch

[ WARN] [1449741686.925906789]: TM: Clock skew detected (0.121658476 s). Hard syncing clocks.

After that I type in

rostopic list

The info displayed are













































But when I type in rostopic echo /mavros/global_position/local there is nothing displaying out same go to other topic in global_position except for global_position/raw/fix and global_position/raw/gps_vel

which the code is shown below


seq: 594


secs: 1449742645

nsecs: 599718628

frame_id: fcu


status: -1

service: 1

latitude: 0.0

longitude: 0.0

altitude: -17.0

position_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

position_covariance_type: 0

May I know why is there still missing messages publishing in global_position where the Plugin global_position loaded and initialized has been successful?

Originally posted by newtoros on ROS Answers with karma: 3 on 2015-12-10

Post score: 0


1 Answer 1


Rosanswers logo

You do not have GPS Fix.

Tip: see diagnostics first before asking questions!

Originally posted by vooon with karma: 404 on 2015-12-12

This answer was ACCEPTED on the original site

Post score: 0

Original comments

Comment by newtoros on 2015-12-28:
Even with GPS fix, I am only able to get message published to global_position/raw/gps_vel and global_position/raw/fix but other global_position topics such as global_position/compass_hdg,global_position/rel_alt,global_position/global and global_position/local have no messages published out.

Comment by newtoros on 2015-12-28:
The following is the roslaunch full output


Comment by vooon on 2015-12-28:\

  1. Pixhawk USB only for ground maintenance and tests. Read about SYS_COMPANION parameter and TELEM2.
  2. Anyway problem on FCU side. Check streams configuration (extras.txt & rc)
  3. FCU: WPM is usual on PX4 with empty mission list.
  4. rostopic echo -n1 /diagnostics

Comment by newtoros on 2016-01-05:
Sorry you are right, I need to have a GPS fix in order to get all messages published out in global message but the weird thing is through direct usb connection with the use of (roslaunch mavros px4.launch) I cannot get all the messages published in global_position even with GPS fix.

Comment by newtoros on 2016-01-05:
But through indirect connection with the use of 3DR antenna(roslaunch mavros px4.launch fcu_url:='/dev/ttyUSB0:57600'), I am able to get all the messages published in global_position, thanks a lot.

Comment by soloros on 2017-02-16:
@newtoros I have been working with the 3dr solo as well and I have the same problem. When connected directly with a usb, some of the data is not published. Can you give some more detail on how you did it through the "indirect connection with 3dr antenna"? Thanks!


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.