some problems when using your px4_fast_planner and px4_VIO with d435i_t265

[codespring-lh]

Hi,in your other repository do not have issue button,so i have to propose issue here.
When i followed your step in this repository https://github.com/beomsu7/Fast-Planner and PX4_ VIO https://github.com/beomsu7/VIO,i met some problems.
The first step i launched bridge_mav.launch,then launched px4_kino_replan.launch.
The map is so weired,i did not remove the drone and the drone was not moving at all.

And i checked the topic /mavros/local_positon/odom or /mavros/local_positon/pose noticed that the position data of x y z is not zero.


Could u give me some suggestions of the problem i met?
Hope for your reply and appreciate for your help sincerely these days.

[codespring-lh]

I have solved the problem,thanks for your hlep.I modified the parameter of px4 EKF2_EV_POS_X, EKF2_EV_POS_Y, EKF2_EV_POS_Z EKF2_AID_MASK.

[beomsu7]

if you want visual drone in rivz then add

• <include file="$(find testbot_description)/launch/testbot.launch"/ >

in launch file

and those two topic is also same with me

and mayb the tf tree also same, I guess

And I guess, by seeing rgb camera working and colored voxel is in rviz
it seems bridge_mav and px4_kino_replan works correctly

aha 31seconds ago you replied...

[codespring-lh]

if you want visual drone in rivz then add

• <include file="$(find testbot_description)/launch/testbot.launch"/ >

in launch file

and those two topic is also same with me

and mayb the tf tree also same, I guess

And I guess, by seeing rgb camera working and colored voxel is in rviz
it seems bridge_mav and px4_kino_replan works correctly

aha 31seconds ago you replied...

ha ha By the way,you helped me a lot,bro.I really appreciate for your help.

[codespring-lh]

Hey,bro! I have another question.How to make drones take off autonomously ？In the repository https://github.com/mzahana/px4_fast_planner,it has geometric_controller_node,but in your repository,i found nothing about take_off-settings.

[beomsu7]

At first I also want auto takeoff part but, in some other project that auto take off is not recommended
It can make bad situation
That's the reason there are not auto take off function
but if you want add auto take off is simple

[codespring-lh]

At first I also want auto takeoff part but, in some other project that auto take off is not recommended
It can make bad situation
That's the reason there are not auto take off function
but if you want add auto take off is simple

I used mavros_controller as the auto-take-off part.
But when the drone reached the set height 0.5m,it can not hover.
Do you know what's going on

d5a5c5bcc692933c4c51a14ec068bfe4.mp4

[beomsu7]

at first it taske off correctly but soon it moves
you need to check the mavros/local_position value or local_position in qgc , the values' changing with hand helding test

In may case also try to use mavros_controllers, but after take off, drone vivrated seriously
so, I removed mavros_controllers and directly send traj message to mavros

Aha, and I was confused, my px4 fast planner also can take off autonomously
but you need to arm and switch offboard mode manually

[codespring-lh]

@beomsu7 Hi,bro! I was confused too,i see nothing about take-off-height settings in your px4_kino_replan.launch file.
When you arm and switch offboard mode,can drone hover steadily？

[beomsu7]

https://github.com/beomsu7/Fast-Planner/blob/px4-version(sitl-and-real)/fast_planner/plan_manage/script/trajectory_msg_converter_pos.py

in this .py
initially send fist position message
and if your drone's positioning mode works correctly then it would be work

[codespring-lh]

I replaced px4_kino_rplan.launch file line 78 with
node pkg="plan_manage" name="traj_msg_converter" type="trajectory_msg_converter_pos.py" output="screen"
Then i switch position mode,arm and switch offboard,but the drone still turn in place and do not take off.
I checked the topic using' ros topic echo mavros/setpoint_position/local' with no reaction.

[beomsu7]

if

1. the /mavros/setpoint_position/local is correctly pub
2. mavros node is sub that message
3. /mavros/local_position correctly work
   and drone is not working, then I have no idea. sorry

[beomsu7]

or did you make python file be excutable
I mean 'sudo chmod 777 ~~'

[codespring-lh]

I tried again,just a moment ago. The drone did take off and the /mavros/setpoint_position/local did was x 0 y 0 z 1.
But the drone flied randomly,at last crashed. And the drone's motor is very hot.
The drone knocked down a piece of the ceiling,it was so scared,my fault,bro.

[beomsu7]

I guess ekf2 setting is not perfect or something
actually everytime be careful, and be ready to switch back to attitude mode or positioning mode from offboard mode