[as2_pkg] Tello plataform error

[Adrimapo]

ROS2 Version

humble

Version

main

What happened?

Error

Hi, I'm trying to port a code that I developed in simulation to the Tello drone. However, the actuators don't respond when sending commands. I tried with other libraries, and the motors did start. Additionally, when launching the launcher, both the image and the sensor data are read correctly. What could be causing the error?

Annotation

In the platform, I'm getting the following errors, but from what I've researched, they're related to some camera frame, and at the moment, I'm not having any errors related to it, but just in case, it might be helpful.

Relevant log output

## Plataform log
[as2_platform_tello_node-1] [h264 @ 0x7407c8013d40] non-existing PPS 0 referenced
[as2_platform_tello_node-1] [h264 @ 0x7407c8013d40] non-existing PPS 0 referenced
[as2_platform_tello_node-1] [h264 @ 0x7407c8013d40] decode_slice_header error
[as2_platform_tello_node-1] [h264 @ 0x7407c8013d40] no frame!
[as2_platform_tello_node-1] [INFO] [1712505080.144725977] [drone0.platform]: Transition [ARM] : New State [LANDED]
[as2_platform_tello_node-1] [INFO] [1712505081.035385653] [drone0.platform]: Transition [TAKE_OFF] : New State [TAKING_OFF]

## Controller log
ros2 launch as2_motion_controller controller_launch.py namespace:=drone0 use_sim_time:=false plugin_name:=pid_speed_controller motion_controller_config_file:=/home/adrian/workspace/install/tello_driver/share/tello_driver/config/motion_controller.yaml plugin_config_file:=/home/adrian/workspace/install/tello_driver/share/tello_driver/config/pid_speed_controller.yaml
...
...
[as2_motion_controller_node-1] [INFO] [1712505080.173511050] [drone0.controller_manager]: Control mode not established
[as2_motion_controller_node-1] [INFO] [1712505081.175359574] [drone0.controller_manager]: input_mode:[POSITION YAW_ANGLE LOCAL_ENU_FRAME ]
[as2_motion_controller_node-1] [INFO] [1712505081.175465704] [drone0.controller_manager]: output_mode:[SPEED YAW_SPEED BODY_FLU_FRAME ]
[as2_motion_controller_node-1] [INFO] [1712505081.175506487] [drone0.controller_manager]: input_pose_frame_id:[drone0/odom]
[as2_motion_controller_node-1] [INFO] [1712505081.175542611] [drone0.controller_manager]: input_twist_frame_id:[drone0/odom]
[as2_motion_controller_node-1] [INFO] [1712505081.175575169] [drone0.controller_manager]: output_pose_frame_id:[drone0/base_link]
[as2_motion_controller_node-1] [INFO] [1712505081.175606015] [drone0.controller_manager]: output_twist_frame_id:[drone0/base_link]
[as2_motion_controller_node-1] [INFO] [1712505081.183450727] [drone0.controller_manager]: Waiting for odometry 
[as2_motion_controller_node-1] [WARN] [1712505081.193416661] [drone0.controller_manager]: State changed, but ref not recived yet


## Behaviors log
[takeoff_behavior_node-4] [INFO] [1712505081.034907699] [drone0.TakeoffBehavior]: START
[takeoff_behavior_node-4] [INFO] [1712505081.035609724] [drone0.TakeoffBehavior]: Takeoff accepted
[takeoff_behavior_node-4] [INFO] [1712505081.035667848] [drone0.TakeoffBehavior]: Takeoff to position: 0.000000, 0.000000, 2.000000
[takeoff_behavior_node-4] [INFO] [1712505081.035682364] [drone0.TakeoffBehavior]: Takeoff with angle: 0.000000
[takeoff_behavior_node-4] [INFO] [1712505081.035693183] [drone0.TakeoffBehavior]: Takeoff with speed: 1.000000
[takeoff_behavior_node-4] [INFO] [1712505081.168200046] [drone0.TakeoffBehavior]: Setting control mode to [POSITION YAW_ANGLE UNDEFINED_FRAME ]
[takeoff_behavior_node-4] [INFO] [1712505081.277071793] [drone0.TakeoffBehavior]: RUNNING
[takeoff_behavior_node-4] [INFO] [1712505086.344193080] [drone0.TakeoffBehavior]: RUNNING
[takeoff_behavior_node-4] [INFO] [1712505091.344768939] [drone0.TakeoffBehavior]: RUNNING

[mhl787156]

Hi @Adrimapo I'm also trying to fly the Tello with as2, but I seem to be getting a different issue to you, just to check - does your Tello takeoff/spin up/move at all?

When we tested, the Tello connected to aerostack2 and successfully performed takeoff with no issues. However when we tried to get it to go to a way-point, it just drifts off into oblivion. I unfortunately also don't see any issues in the aerostack logs either. We'll be trying to debug it soon so lets see.

[Adrimapo]

Hi @mhl787156 no, I archived to read from the sensors and the camera, but it doesn't takeoff/spin.

[RPS98]

Hi @mhl787156 and @Adrimapo,

Which version of the Tello SDK are you using, the v1.3.0.0 or the v2.0?

We are currently working on an update to the platform and the project

[mhl787156]

Hi guys, pretty sure our tellos are on 2.0, been having some issues where the tello just flies in the same direction regardless of teleop input on Vel mode. On holiday rn will give more info when back!

[Adrimapo]

Hi guys, now I'm currently using the 1.04 version, I could update it and try again. Thanks