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I want to use rtk for positioning to connect six drones and ground stations through mavros
Issue details
When I used mavros2 to connect multiple drones to QGC, I found that when a certain drone started mavros_node, the other drones would automatically exit. I don't know if this is a bug or a problem.
Here is the way I start mavros: ros2 run mavros mavros_node --ros-args --params-file ./mavros_param.yaml
and the mavros_param.yaml is
Bumping this up. This is indeed a problem when trying to connect multiple vehicles/instances. Essentially what seems to be happening is that there is a ton of multicast collisions when a bunch of nodes boot up, and this can cause several packets/topic updates to be missed. We have tested this repeatably on Humble/Jazzy, but interestingly, cannot replicate on Foxy so far.
@XXLiu-HNU One way to "fix" the problem is to use ROS_DOMAIN_ID and containerize ROS nodes. Can also use permissions and discovery to limit chatter across nodes. This works perfectly (tested), but will cut all topic-based communication between nodes.
Background
I want to use rtk for positioning to connect six drones and ground stations through mavros
Issue details
When I used mavros2 to connect multiple drones to QGC, I found that when a certain drone started mavros_node, the other drones would automatically exit. I don't know if this is a bug or a problem.
Here is the way I start mavros:
ros2 run mavros mavros_node --ros-args --params-file ./mavros_param.yaml
and the
mavros_param.yaml
isand I change the tgt_system for different drones
MAVROS version and platform
Mavros: mavros2
ROS: galactic
Ubuntu: 20.04
MAVLink package version: 2022.8.8
Autopilot type and version
PX4
Version: 1.15.0rc
Node logs
uav1 and uav3 errors when uav5 is start, and the error is fellow:
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