mission_node.cpp initWaypointMission接口，调用任务更新服务，接口阻塞43秒后，返...

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mission_node.cpp initWaypointMission接口，调用任务更新服务，接口阻塞43秒后，返回错误 set=255;id=255;data=65535，是何原因？
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  • 虞青 
    ServiceAck initWaypointMission(dji_osdk_ros::MissionWaypointTask& waypointTask)
    {
    dji_osdk_ros::MissionWpUpload missionWpUpload;
    missionWpUpload.request.waypoint_task = waypointTask;
    waypoint_upload_client.call(missionWpUpload);
    if (!missionWpUpload.response.result)
    {
    ROS_WARN("ack.info: set = %i id = %i", missionWpUpload.response.cmd_set,
    missionWpUpload.response.cmd_id);
    ROS_WARN("ack.data: %i", missionWpUpload.response.ack_data);
    }
    return ServiceAck(
    missionWpUpload.response.result, missionWpUpload.response.cmd_set,
    missionWpUpload.response.cmd_id, missionWpUpload.response.ack_data);
    }
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  • 虞青

    [ INFO] [1634557386.154374720]: received msg of topic CLD/UAV/Cmd/MissionLoad/1ZNDH3L0011055/
    awlink_pb.uav_cld.MissionLoadCmd
    {
    "head": {
    "dev_id": 0,
    "time_stamp": "0",
    "sn": "1ZNDH3L0011055"
    },
    "mission_id": "0",
    "mission_waypoint_task": {
    "action_on_finish": "ACTION_FINISH_RETURN_TO_HOME",
    "yaw_mode": "YAW_MODE_AUTO",
    "trace_mode": "TRACE_MODE_POINT",
    "action_on_rc_lost": "ACTION_ON_RC_LOST_AUTO",
    "gimbal_pitch_mode": "GIMBAL_PITCH_AUTO",
    "cruising_speed_max": 10,
    "cruising_speed": 6,
    "exec_times": 1,
    "waypoint_list": [
    {
    "lat": 30.2115,
    "lon": 120.1883,
    "alt": 40,
    "damp_dis": 0,
    "target_yaw": 0,
    "target_gimbal_pitch": 0,
    "turn_mode": "TURN_MODE_INVALID",
    "action_time_limit": 0,
    "waypoint_action": [
    {
    "repeate_times": 1,
    "action_type": 0,
    "action_param": 0
    },
    {
    "repeate_times": 1,
    "action_type": 0,
    "action_param": 0
    }
    ]
    },
    {
    "lat": 30.2115,
    "lon": 120.1883,
    "alt": 40,
    "damp_dis": 0,
    "target_yaw": 0,
    "target_gimbal_pitch": 0,
    "turn_mode": "TURN_MODE_INVALID",
    "action_time_limit": 0,
    "waypoint_action": [
    {
    "repeate_times": 1,
    "action_type": 0,
    "action_param": 0
    },
    {
    "repeate_times": 1,
    "action_type": 0,
    "action_param": 0
    }
    ]
    }
    ]
    }
    }

    [ INFO] [1634557386.172825088]: loadMission mission id: 0
    [ERROR] [1634557429.225401600]: mission load failed. ack.info: set = 255 id = 255
    [ERROR] [1634557429.226005952]: mission load failed. ack.data: 65535
    [ INFO] [1634557429.226955808]: send MissionLoadAck msg, ACK_RESULT_FAILED

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  • 虞青

    // 手动补的启动日志 begin
    ... logging to /root/.ros/log/db461498-3009-11ec-9fe8-34d262ece1be/roslaunch-manifold2-3801.log
    Checking log directory for disk usage. This may take awhile.
    Press Ctrl-C to interrupt
    Done checking log file disk usage. Usage is <1GB.

    started roslaunch server http://manifold2:38088/

    SUMMARY
    ========

    PARAMETERS
    * /rosdistro: kinetic
    * /rosversion: 1.12.17
    * /vehicle_node/acm_name: /dev/ttyACM0
    * /vehicle_node/align_time: False
    * /vehicle_node/app_id: 1107254
    * /vehicle_node/app_version: 1
    * /vehicle_node/baud_rate: 921600
    * /vehicle_node/enc_key: 9c95c8abc50149b34...
    * /vehicle_node/serial_name: /dev/ttyTHS2
    * /vehicle_node/use_broadcast: False

    NODES
    /
    vehicle_node (dji_osdk_ros/dji_vehicle_node)

    auto-starting new master
    process[master]: started with pid [3811]
    ROS_MASTER_URI=http://localhost:11311

    setting /run_id to db461498-3009-11ec-9fe8-34d262ece1be
    process[rosout-1]: started with pid [3824]
    started core service [/rosout]
    process[vehicle_node-2]: started with pid [3831]


    // 手动补的日志 end

    EnableAd: 1
    [2470522.514]STATUS/1 @ getDroneVersion, L1702: ret = 0
    [2470522.515]STATUS/1 @ parseDroneVersionInfo, L1122: Device Serial No. = 1ZNDH3L0011055
    [2470522.515]STATUS/1 @ parseDroneVersionInfo, L1124: Firmware = 3.4.8.74
    [2470522.515]STATUS/1 @ functionalSetUp, L279: Shake hand with drone successfully by getting drone version.
    [2470522.516]STATUS/1 @ legacyX5SEnableTask, L56: Legacy X5S Enable task created.
    [2470523.516]STATUS/1 @ sendHeartbeatToFCTask, L1576: OSDK send heart beat to fc task created.
    [2470523.717]STATUS/1 @ Control, L40: The control class is going to be deprecated.It will be better to use the FlightController class instead!
    [2470523.718]STATUS/1 @ FileMgrImpl, L253: register download file callback handler successfully.
    [2470523.735]STATUS/1 @ Firewall, L45: Firewall is initializing ...
    [2470523.736]STATUS/1 @ Firewall, L65: osdk policy file updating(1) ......
    [2470524.738]STATUS/1 @ Firewall, L73: osdk policy file updating(2) ......
    [2470524.747]STATUS/1 @ RequestUploadPolicyFileHandle, L217: request upload policy file type:0
    [2470524.748]STATUS/1 @ RequestUploadPolicyFileHandle, L234: Upload policy file info md5 checksum and version
    [2470524.750]STATUS/1 @ RequestUploadPolicyFileHandle, L217: request upload policy file type:1
    [2470524.750]STATUS/1 @ RequestUploadPolicyFileHandle, L254: request upload policy file data: 0 0 200
    [2470524.752]STATUS/1 @ RequestUploadPolicyFileHandle, L217: request upload policy file type:1
    [2470524.752]STATUS/1 @ RequestUploadPolicyFileHandle, L254: request upload policy file data: 1 200 175
    [2470524.753]STATUS/1 @ RequestUploadPolicyFileHandle, L217: request upload policy file type:2
    [2470524.754]STATUS/1 @ RequestUploadPolicyFileHandle, L282: request upload policy file success
    [2470525.740]STATUS/1 @ firewallTask, L112: firewall task created ...
    [2470525.753]STATUS/1 @ getDroneVersion, L1702: ret = 0
    [2470525.754]STATUS/1 @ parseDroneVersionInfo, L1122: Device Serial No. = 1ZNDH3L0011055
    [2470525.754]STATUS/1 @ parseDroneVersionInfo, L1124: Firmware = 3.4.8.74
    [2470525.790]STATUS/1 @ AdvancedSensing, L110: Start bulk channel for M300's liveview!
    [2470525.790]STATUS/1 @ AdvancedSensing, L117: Create task for M300's liveview!
    [2470525.792]STATUS/1 @ AdvancedSensing, L125: Start bulk channel for M300's perception
    [2470525.792]STATUS/1 @ AdvancedSensing, L132: Create task for M300's advanced sensing!
    [2470525.792]STATUS/1 @ AdvancedSensing, L135: Advanced Sensing init for the M300 drone
    [2470525.792]STATUS/1 @ LiveViewImpl, L89: Finding if liveview stream is available now.
    [2470526.593]STATUS/1 @ init, L254: Start advanced sensing initalization
    [2470526.593]STATUS/1 @ activate, L1329: version 0x304084A

    [2470526.613]STATUS/1 @ activate, L1367: Activation successful

    [0m[ INFO] [1634558100.094183584]: VehicleNode Start[0m
    [0m[ INFO] [1634558100.094401792]: Topic startup![0m
    [0m[ INFO] [1634558100.312494880]: Services startup![0m
    [0m[ INFO] [1634558100.512633280]: Use data subscription to get telemetry data![0m
    [0m[ INFO] [1634558100.512891680]: align_time_with_FC set to false. We will use ros time to time stamp messages![0m
    [2470528.074]STATUS/1 @ verify, L244: Verify subscription successful.
    [2470528.093]STATUS/1 @ startPackage, L345: Start package 3 result: 0.
    [2470528.093]STATUS/1 @ startPackage, L347: Package 3 info: freq=100, nTopics=3.

    [2470528.135]STATUS/1 @ startPackage, L345: Start package 2 result: 0.
    [2470528.136]STATUS/1 @ startPackage, L347: Package 2 info: freq=50, nTopics=14.

    [2470528.162]STATUS/1 @ startPackage, L345: Start package 1 result: 0.
    [2470528.162]STATUS/1 @ startPackage, L347: Package 1 info: freq=5, nTopics=1.

    [2470528.178]STATUS/1 @ removePackage, L457: Remove package 1 successful.
    [2470528.278]STATUS/1 @ startPackage, L345: Start package 1 result: 0.
    [2470528.278]STATUS/1 @ startPackage, L347: Package 1 info: freq=5, nTopics=12.

    [2470528.300]STATUS/1 @ startPackage, L345: Start package 4 result: 0.
    [2470528.301]STATUS/1 @ startPackage, L347: Package 4 info: freq=400, nTopics=1.

    [2470563.356]STATUS/1 @ getErrorCodeMessage, L744: missionWpUploadCallback
    [2470563.360]ERRORLOG/1 @ getCommonErrorCodeMessage, L811: NO_RESPONSE_ERROR

    [0m[ INFO] [1634558135.842144064]: initialized waypoint mission[0m
    [2470576.884]STATUS/1 @ getErrorCodeMessage, L744: missionWpUploadCallback
    [2470576.886]ERRORLOG/1 @ getCommonErrorCodeMessage, L811: NO_RESPONSE_ERROR

    [0m[ INFO] [1634558149.367281952]: uploaded the 1th waypoint
    [0m
    [2470590.403]STATUS/1 @ getErrorCodeMessage, L744: missionWpUploadCallback
    [2470590.404]ERRORLOG/1 @ getCommonErrorCodeMessage, L811: NO_RESPONSE_ERROR

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  • DJI Developer Support
    M300不支持waypoint mission，可使用waypoint v2。 https://github.com/dji-sdk/Onboard-SDK-ROS/blob/master/src/dji_osdk_ros/samples/mission_node.cpp ![](https://djisdksupport.zendesk.com/attachments/token/oh7JEn00xgzZnpYXCBv76tmbL/?name=inline609189197.png)​
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