Precision_land Mismatch for the following topics

[AlexanderSalge]

What issue are you running into?

~/tracktor-beam$ cd ~/tracktor-beam && source install/setup.bash && ros2 run precision_land precision_land
[INFO] [1730884591.175253510] [PrecisionLandCustom]: descent_vel: 1.000000
[INFO] [1730884591.175493038] [PrecisionLandCustom]: vel_i_gain: 0.000000
[DEBUG] [1730884591.175531263] [PrecisionLandCustom]: Waiting for FMU...
[DEBUG] [1730884594.945594329] [PrecisionLandCustom]: Checking message compatibility...
[DEBUG] [1730884594.948729642] [PrecisionLandCustom]: Subscriber found, continuing
[DEBUG] [1730884594.948822043] [PrecisionLandCustom]: Publisher found, continuing
[ERROR] [1730884596.973689162] [PrecisionLandCustom]: Mismatch for the following topics, update PX4 or the px4_ros2 library and px4_msgs:
  - fmu/in/aux_global_position
  - fmu/in/vehicle_attitude_setpoint
  - fmu/out/vehicle_global_position
terminate called after throwing an instance of 'std::runtime_error'
  what():  Registration failed
[ros2run]: Aborted

What environment are you experiencing this issue in?

wsl --version
WSL-Version: 2.3.24.0
Kernelversion: 5.15.153.1-2
WSLg-Version: 1.0.65
MSRDC-Version: 1.2.5620
Direct3D-Version: 1.611.1-81528511
DXCore-Version: 10.0.26100.1-240331-1435.ge-release
Windows-Version: 10.0.22631.4391

Development Environment

• PX4 Latest
• ROS2 Humble
• qgroundcontrol latest
• opencv 4.10.0 (using provided installer)
• tracktor-beam branch: aruco_tutorial

Hardware

• Intel 10th i9
• RTX 4080 Super
• latest drivers and windows 23h2

Steps to reproduce

I've curated the following steps to reproduce this issue.

Startup fresh WSL instance:

wsl --install -d Ubuntu-22.04

# ETA for this code block: 10min

### add ROS2 repos and install ROS2+Gazebo ###
sudo usermod -a -G dialout $USER
sudo apt update && sudo apt list -u && sudo apt -y upgrade && sudo apt -y autoremove && sudo update-ca-certificates && sudo add-apt-repository -y universe
sudo apt install -y locales software-properties-common curl python3-pip gnupg lsb-release btop build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libv4l-dev v4l-utils qv4l2 gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl libfuse2 libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor-dev # aptitude
# sudo aptitude install -y gazebo libgazebo11 libgazebo-dev
# sudo apt-get remove modemmanager -y
pip install -U colcon-common-extensions
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
wget -O ~/QGroundControl.AppImage https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl.AppImage
chmod +x ~/QGroundControl.AppImage
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt update && sudo apt upgrade -y && sudo apt install -y ros-humble-desktop ros-dev-tools ros-humble-ros-gzgarden ros-humble-rqt-image-view
source /opt/ros/humble/setup.bash && echo "source /opt/ros/humble/setup.bash" >> .bashrc
sudo apt update && sudo apt list -u && sudo apt -y upgrade

### setup PX4 ###
cd ~ && git clone https://github.com/PX4/PX4-Autopilot.git --recursive
bash ~/PX4-Autopilot/Tools/setup/ubuntu.sh
sudo apt update && sudo apt list -u && sudo apt -y upgrade

# ETA for this code block: 8min
# !!! Requires 1x interaction !!!
# restart Shell

cd ~/PX4-Autopilot && make px4_sitl

### setup tracktor-beam repo ###
cd ~ && git clone https://github.com/ARK-Electronics/tracktor-beam.git && cd ~/tracktor-beam && git checkout aruco_tutorial && git submodule update --init --recursive
./install_opencv.sh # enter "yes"
# wget -O install_opencv.sh https://raw.githubusercontent.com/AastaNV/JEP/refs/heads/master/script/install_opencv4.9.0_Jetpack6.sh
# ./install_opencv4.9.0_Jetpack6.sh # enter "yes"

# ETA for this code block: 14min
# will probably ask for sudo password at the end again
# restart shell

cd ~/tracktor-beam && colcon build
colcon build --packages-select aruco_tracker
source install/setup.bash

### MicroXRCEAgent ###
cd ~ && git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd ~/Micro-XRCE-DDS-Agent && mkdir build && cd build
cmake .. && make && sudo make install

Testing

Each in its own terminal

cd ~/PX4-Autopilot && make px4_sitl gz_x500_mono_cam_down_aruco
# cd ~/PX4-Autopilot && make px4_sitl gz_x500_mono_cam_down_aruco
~/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 -p 8888
ros2 run ros_gz_bridge parameter_bridge /camera@sensor_msgs/msg/[email protected]
ros2 run ros_gz_bridge parameter_bridge /camera_info@sensor_msgs/msg/[email protected]
~/QGroundControl.AppImage
cd ~/tracktor-beam && source install/setup.bash && ros2 run aruco_tracker aruco_tracker
cd ~/tracktor-beam && source install/setup.bash && ros2 run precision_land precision_land
ros2 run rqt_image_view rqt_image_view

Additional comments

Just starting out with PX4. Any help appreciated.

[dakejahl]

Mismatch for the following topics, update PX4 or the px4_ros2 library and px4_msgs

This occurs when the PX4 messages don't match the px4_msgs. It happens all the time and I think some people are working on a better solution for this PX4/PX4-Autopilot#23850.

A quick fix is to copy/paste the messages from PX4 --> px4_msgs or vice versa. They just need to match on both sides.

[AlexanderSalge]

Mismatch for the following topics, update PX4 or the px4_ros2 library and px4_msgs

This occurs when the PX4 messages don't match the px4_msgs. It happens all the time and I think some people are working on a better solution for this PX4/PX4-Autopilot#23850.

A quick fix is to copy/paste the messages from PX4 --> px4_msgs or vice versa. They just need to match on both sides.

On the same topic I think I should add, that the px4_msgs repo isn't the only submodule. I'm currently using:

cd ~/tracktor-beam/src/px4_msgs && git pull https://github.com/PX4/px4_msgs
cd ~/tracktor-beam/src/px4-ros2-interface-lib && git pull https://github.com/Auterion/px4-ros2-interface-lib
cd ~/tracktor-beam/src/vision_opencv && git pull https://github.com/ros-perception/vision_opencv

To update all tractor-beam modules before building anything