Gimbal API unavailable

#1

Hi There,

I am currently trying to get the gimbal API up and running. However it seems like the API isn’t starting at all:

ubuntu@tegra-ubuntu:/tmp$ rosservice call /flytos/payload/gimbal_set "roll: 0.0 \ pitch:0.5 \ yaw:0.0" Traceback (most recent call last): File "/opt/ros/kinetic/bin/rosservice", line 35, in <module> rosservice.rosservicemain() File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosservice/__init__.py", line 746, in rosservicemain _rosservice_cmd_call(argv) File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosservice/__init__.py", line 623, in _rosservice_cmd_call _rosservice_call(service_name, service_args, verbose=options.verbose, service_class=service_class) File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosservice/__init__.py", line 455, in _rosservice_call request, response = call_service(service_name, service_args, service_class=service_class) File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosservice/__init__.py", line 434, in call_service " %s\n\nsrv file:\n%s"%(e, rosmsg.get_srv_text(service_class._type))) File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmsg/__init__.py", line 407, in get_srv_text raise ROSMsgException("Unknown srv type [%s]: %s"%(type_, e)) rosmsg.ROSMsgException: Unknown srv type [core_api/GimbalSet]: Cannot locate message [GimbalSet] in package [core_api] with paths [['/flyt/flytos/flytcore/share/core_api/srv']]

Am I missing something?

Greetings,
Matthias

#2

Hi,

Are you using Nvidia TX2/TX1?

It seems like it cannot find FlytOS!
Can you please share content of ~/.bashrc and /etc/bash/bashrc.

#3

Hi there,

Unfortunately I am out of the office again!
However sending velocity commands via flytos is working as is! (See below)

#!/bin/bash

echo "Velocity 1,0,0"
rosservice call /flytos/navigation/velocity_set "{vx: 1.0, vy: 0.0, vz: 0.0, yaw_rate: 0.0, tolerance: 0.0, async: false, relative: false, yaw_rate_valid: true, body_frame: false}"

echo "Flying for 5 seconds"
sleep 5

echo "Velocity 0,0,0"
rosservice call /flytos/navigation/velocity_set "{vx: 0.0, vy: 0.0, vz: 0.0, yaw_rate: 0.0, tolerance: 0.0, async: false, relative: false, yaw_rate_valid: true, body_frame: false}"


echo "Velocity 0,1,0"
rosservice call /flytos/navigation/velocity_set "{vx: 0.0, vy: 1.0, vz: 0.0, yaw_rate: 0.0, tolerance: 0.0, async: false, relative: false, yaw_rate_valid: true, body_frame: false}"

echo "Flying for 5 seconds"
sleep 5

echo "Velocity 0,0,0"
rosservice call /flytos/navigation/velocity_set "{vx: 0.0, vy: 0.0, vz: 0.0, yaw_rate: 0.0, tolerance: 0.0, async: false, relative: false, yaw_rate_valid: true, body_frame: false}"



echo "Velocity -1,0,0"
rosservice call /flytos/navigation/velocity_set "{vx: -1.0, vy: 0.0, vz: 0.0, yaw_rate: 0.0, tolerance: 0.0, async: false, relative: false, yaw_rate_valid: true, body_frame: false}"

echo "Flying for 5 seconds"
sleep 5

echo "Velocity 0,0,0"
rosservice call /flytos/navigation/velocity_set "{vx: 0.0, vy: 0.0, vz: 0.0, yaw_rate: 0.0, tolerance: 0.0, async: false, relative: false, yaw_rate_valid: true, body_frame: false}"


echo "Velocity 0,-1,0"
rosservice call /flytos/navigation/velocity_set "{vx: 0.0, vy: -1.0, vz: 0.0, yaw_rate: 0.0, tolerance: 0.0, async: false, relative: false, yaw_rate_valid: true, body_frame: false}"

echo "Flying for 5 seconds"
sleep 5

echo "Velocity 0,0,0"
rosservice call /flytos/navigation/velocity_set "{vx: 0.0, vy: 0.0, vz: 0.0, yaw_rate: 0.0, tolerance: 0.0, async: false, relative: false, yaw_rate_valid: true, body_frame: false}"

Greetings,
Matthias

#4

what is your FlytOS version?
Also please check if this file exists in your machine:

/flyt/flytos/flytcore/share/core_api/srv/payload/GimbalSet.srv

#5

Hi there,

The file exists and we just did another testflight on Sunday morning which worked just fine (Sending velocity commands via flytos) so I would assume the installation is working!

We just did a quick workaround and are not using ROS atm to control the gimbal as we could’nt get the API to work in a given timeframe.

Cheers,
Matthias