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Troubleshooting

Error from sudo apt get update for ROS

This is generally due to the old key. Do the following:

Delete the keys:

sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116

Add the keys:

sudo -E apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Now do

$sudo apt clean && sudo apt update
$sudo apt install

Colcon build doesn’t show anything while building PX4-Autopilot

This is because git submodules need to be updated and it is waiting for your input. To fix this always try verbose while building so you can see the prompts:

colcon build --packages-select px4_msgs px4_ros_com px4 --event-handlers console_direct+

This will let you see the prompts and respond to it. Generally, I do “u + enter”, feel free to do whatever you think is suitable.

ROS1 – ROS2 Conflict

Source the ROS2 Workspace every time you open a terminal if you had not added the source to .bashrc file. Also, please note that either ROS1 or ROS2 can be used. So, source your ROS directory as required.

source /opt/ros/foxy/setup.bash

If PX4-Autopilot build fails or pops random Errors

make distclean
make clean 
make px4_fmu-v5_rtps
make px4_fmu-v5_rtps upload

SSH Server Setup

sudo apt install openssh-server
sudo systemctl status ssh
sudo ufw allow ssh

Raspberry Pi High CPU Usage

If you had installed the GUI for the Raspberry Pi, it would conusme a lot of CPU. So, it is recommended to use the headless mode.

In that case refer to this website to disable it : GDM

'Arm command sent' but the UAV doesn't switch to offboard mode.

During offboard mission planning sometimes the 'arm command sent' but the UAV doesn't switch to the offboard mode. Most likely reason is high TrajectorySetpoint publishing frequency of the order ~100x, for now reducing frequency from 200Hz to 100Hz makes the occurence of error less likely.

ROS2 bag doesn't record all the topics

Refer this link. If there exists an unknown msg type in ros2 communication network the ros2 bag record -a stops discovering for new topics.
Fix: Consider building all the msgs (which are part of the running nodes communication) in the ros2 msgs package(s) to avoid this issue.

UAV drifting in Position control mode

  1. Calibrate the Pixhawk sensors compass, gyro, accelerometer and level horizon.
  2. Re-calibrate mocap. (Note: make sure that the mocap arena is clear of any unnecessary stuff)

Data logging issue: Missing data in recorded ros bags

  1. still investigating. Most likely the problem is with ROS2 foxy's bag recording pipeline

Micrortps_agent: "unexpected topic id"

micrortps_agent not running properly

Please ensure: PX4-Autopilot (in ros_ws) is being used to build the px4 firmware for flight controller.