Can not start ROS2 Offboard example with PX4 v1.14.0

[Cristian-wp]

Hello, I am trying to run this example https://docs.px4.io/v1.14/en/ros/ros2_offboard_control.html after being able to run the sensor_combined example.
This is my current situation for the example:

• TERMINAL 1 running the DDS Agent with
  MicroXRCEAgent udp4 -p 8888
  Output:

[1698770906.331528] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8888
[1698770906.331864] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1698770961.385489] info     | Root.cpp           | create_client            | create                 | client_key: 0x00000001, session_id: 0x81
[1698770961.385539] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x00000001, address: 127.0.0.1:45751
[1698770961.389370] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x00000001, participant_id: 0x001(1)
[1698770961.389559] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x3E8(2), participant_id: 0x001(1)
[1698770961.389607] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x3E8(4), participant_id: 0x001(1)
[1698770961.390793] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x3E8(6), subscriber_id: 0x3E8(4)
[1698770961.390913] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x3E9(2), participant_id: 0x001(1)
[1698770961.390938] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x3E9(4), participant_id: 0x001(1)
[1698770961.391160] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x3E9(6), subscriber_id: 0x3E9(4)
[1698770961.391312] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x3EA(2), participant_id: 0x001(1)
[1698770961.391369] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x3EA(4), participant_id: 0x001(1)
[1698770961.391575] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x3EA(6), subscriber_id: 0x3EA(4)
[1698770961.391677] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x3EB(2), participant_id: 0x001(1)
[1698770961.391722] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x3EB(4), participant_id: 0x001(1)
[1698770961.391954] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x3EB(6), subscriber_id: 0x3EB(4)
[1698770961.392115] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x3EC(2), participant_id: 0x001(1)
[1698770961.392165] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x3EC(4), participant_id: 0x001(1)
[1698770961.392447] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x3EC(6), subscriber_id: 0x3EC(4)
[1698770961.392558] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x3ED(2), participant_id: 0x001(1)
[1698770961.392596] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x3ED(4), participant_id: 0x001(1)
[1698770961.392845] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x3ED(6), subscriber_id: 0x3ED(4)
[1698770961.392959] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x3EE(2), participant_id: 0x001(1)
[1698770961.392991] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x3EE(4), participant_id: 0x001(1)
[1698770961.393272] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x3EE(6), subscriber_id: 0x3EE(4)
[1698770961.393387] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x3EF(2), participant_id: 0x001(1)
[1698770961.393422] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x3EF(4), participant_id: 0x001(1)
[1698770961.393666] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x3EF(6), subscriber_id: 0x3EF(4)
[1698770961.393789] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x3F0(2), participant_id: 0x001(1)
[1698770961.393827] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x3F0(4), participant_id: 0x001(1)
[1698770961.394057] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x3F0(6), subscriber_id: 0x3F0(4)
[1698770961.394158] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x3F1(2), participant_id: 0x001(1)
[1698770961.394189] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x3F1(4), participant_id: 0x001(1)
[1698770961.394417] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x3F1(6), subscriber_id: 0x3F1(4)
[1698770961.394520] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x3F2(2), participant_id: 0x001(1)
[1698770961.394551] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x3F2(4), participant_id: 0x001(1)
[1698770961.394763] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x3F2(6), subscriber_id: 0x3F2(4)
[1698770961.394857] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x3F3(2), participant_id: 0x001(1)
[1698770961.394884] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x3F3(4), participant_id: 0x001(1)
[1698770961.395093] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x3F3(6), subscriber_id: 0x3F3(4)
[1698770961.395203] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x3F4(2), participant_id: 0x001(1)
[1698770961.395233] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x3F4(4), participant_id: 0x001(1)
[1698770961.395466] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x3F4(6), subscriber_id: 0x3F4(4)
[1698770961.395642] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x050(2), participant_id: 0x001(1)
[1698770961.395702] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x00000001, publisher_id: 0x050(3), participant_id: 0x001(1)
[1698770961.395937] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x00000001, datawriter_id: 0x050(5), publisher_id: 0x050(3)
[1698770961.396052] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x095(2), participant_id: 0x001(1)
[1698770961.396098] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x00000001, publisher_id: 0x095(3), participant_id: 0x001(1)
[1698770961.396217] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x00000001, datawriter_id: 0x095(5), publisher_id: 0x095(3)
[1698770961.396344] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x0A8(2), participant_id: 0x001(1)
[1698770961.396406] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x00000001, publisher_id: 0x0A8(3), participant_id: 0x001(1)
[1698770961.396567] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x00000001, datawriter_id: 0x0A8(5), publisher_id: 0x0A8(3)
[1698770961.396695] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x0BF(2), participant_id: 0x001(1)
[1698770961.396730] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x00000001, publisher_id: 0x0BF(3), participant_id: 0x001(1)
[1698770961.396840] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x00000001, datawriter_id: 0x0BF(5), publisher_id: 0x0BF(3)
[1698770961.396931] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x0D4(2), participant_id: 0x001(1)
[1698770961.396962] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x00000001, publisher_id: 0x0D4(3), participant_id: 0x001(1)
[1698770961.397070] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x00000001, datawriter_id: 0x0D4(5), publisher_id: 0x0D4(3)
[1698770961.397161] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x0D7(2), participant_id: 0x001(1)
[1698770961.397192] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x00000001, publisher_id: 0x0D7(3), participant_id: 0x001(1)
[1698770961.397294] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x00000001, datawriter_id: 0x0D7(5), publisher_id: 0x0D7(3)
[1698770961.397382] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x0E5(2), participant_id: 0x001(1)
[1698770961.397421] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x00000001, publisher_id: 0x0E5(3), participant_id: 0x001(1)
[1698770961.397521] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x00000001, datawriter_id: 0x0E5(5), publisher_id: 0x0E5(3)

• TERMINAL 2 running PX4 and Gazebo Harmonic
  make px4_sitl gz_x500
  Output:

make px4_sitl gz_x500
[0/1] cd /home/ctrazzi/px4_v14_simulation_ws/src/PX4-Autopilot/build/px4_sitl_default/src/modules/simula...4_SIM_MODEL=gz_x500 /home/ctrazzi/px4_v14_simulation_ws/src/PX4-Autopilot/build/px4_sitl_default/bin/px4

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [init] found model autostart file as SYS_AUTOSTART=4001
INFO  [param] selected parameter default file parameters.bson
INFO  [param] importing from 'parameters.bson'
INFO  [parameters] BSON document size 251 bytes, decoded 251 bytes (INT32:11, FLOAT:2)
INFO  [param] selected parameter backup file parameters_backup.bson
INFO  [dataman] data manager file './dataman' size is 7866640 bytes
INFO  [init] starting gazebo with world: /home/ctrazzi/px4_v14_simulation_ws/src/PX4-Autopilot/Tools/simulation/gz/worlds/default.sdf
WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL.
INFO  [gz_bridge] world: default, model name: x500_0, simulation model: x500
Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
Unknown message type [8].
Unknown message type [8].
Unknown message type [9].
Unknown message type [9].
Unknown message type [9].
Unknown message type [9].
Unknown message type [9].
INFO  [lockstep_scheduler] setting initial absolute time to 8000 us
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [tone_alarm] home set
INFO  [uxrce_dds_client] synchronized with time offset 1698770961179514us
INFO  [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 80
INFO  [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 149
INFO  [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 168
INFO  [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 191
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 212
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 215
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 229
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO  [tone_alarm] notify negative
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2023-10-31/16_49_21.ulg	
INFO  [logger] Opened full log file: ./log/2023-10-31/16_49_21.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh> INFO  [mavlink] partner IP: 127.0.0.1
WARN  [health_and_arming_checks] Preflight Fail: ekf2 missing data
WARN  [health_and_arming_checks] Preflight Fail: ekf2 missing data
INFO  [tone_alarm] notify negative

• TERMINAL 3 running tis example
  ros2 run px4_ros_com offboard_control
  Output:

ros2 run px4_ros_com offboard_control
Starting offboard control node...
[INFO] [1698770981.591611499] [offboard_control]: Arm command send

I am running the v4.2.9 of QGC, I see that my drone goes in Offboard mode but does not takeoff...

Since is simulated I do not think that the problem is related to EKF2 sources, and I do not have any clue about what can it be...

[Sukruthi-C]

I have a similar issue. Were you able to find a way around this?

[sahiedu]

I have the same problem.