{"action":"created","issue":{"url":"https://api.github.com/repos/mavlink/mavros/issues/782","repository_url":"https://api.github.com/repos/mavlink/mavros","labels_url":"https://api.github.com/repos/mavlink/mavros/issues/782/labels{/name}","comments_url":"https://api.github.com/repos/mavlink/mavros/issues/782/comments","events_url":"https://api.github.com/repos/mavlink/mavros/issues/782/events","html_url":"https://github.com/mavlink/mavros/issues/782","id":251677130,"number":782,"title":"EKF measurement timeout when publishing pose to /mavros/vision_pose/pose","user":{"login":"Roman-","id":10704716,"avatar_url":"https://avatars3.githubusercontent.com/u/10704716?v=4","gravatar_id":"","url":"https://api.github.com/users/Roman-","html_url":"https://github.com/Roman-","followers_url":"https://api.github.com/users/Roman-/followers","following_url":"https://api.github.com/users/Roman-/following{/other_user}","gists_url":"https://api.github.com/users/Roman-/gists{/gist_id}","starred_url":"https://api.github.com/users/Roman-/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Roman-/subscriptions","organizations_url":"https://api.github.com/users/Roman-/orgs","repos_url":"https://api.github.com/users/Roman-/repos","events_url":"https://api.github.com/users/Roman-/events{/privacy}","received_events_url":"https://api.github.com/users/Roman-/received_events","type":"User","site_admin":false},"labels":[{"id":119966900,"url":"https://api.github.com/repos/mavlink/mavros/labels/extras","name":"extras","color":"fbca04","default":false},{"id":88143704,"url":"https://api.github.com/repos/mavlink/mavros/labels/PX4","name":"PX4","color":"0052cc","default":false},{"id":70643010,"url":"https://api.github.com/repos/mavlink/mavros/labels/question","name":"question","color":"cc317c","default":true},{"id":665297708,"url":"https://api.github.com/repos/mavlink/mavros/labels/vision","name":"vision","color":"006b75","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2017-08-21T14:36:39Z","updated_at":"2017-08-23T13:36:55Z","closed_at":null,"body":"Hello,\r\nI am using a Pixhawk with PX4 firmware and gazebo simulator, ekf2 as the state/pose estimator.\r\nI want to use aruco fiducial markers for vision pose estimation. My ROS node publishes estimated coordinates to `/mavros/vision_pose/pose` topic. Here's an example of the message:\r\n```\r\nheader: \r\n  seq: 25595\r\n  stamp: \r\n    secs: 633445690\r\n    nsecs: 321158808\r\n  frame_id: fcu\r\npose: \r\n  position: \r\n    x: -5.8058299648\r\n    y: 0.165404601647\r\n    z: 4.50232891986\r\n  orientation: \r\n    x: 0.00249907606208\r\n    y: 0.000708453209019\r\n    z: 0.0138610026572\r\n    w: -0.999900600617\r\n```\r\n\r\nFor testing vision-based navigation in the gazebo simulator, I do the following:\r\n- on my laptop, launch px4, gazebo and mavros\r\n- set `EKF2_AID_MASK` to 1 to enable GPS pose estimation and disable vision\r\n- arm, enable POSCTL mode, takeoff and hover where the copter's front camera can see the markers in the simulated world\r\n- turn on ros node that starts publishing to /mavros/vision_pose/pose\r\n- echoing these topics to ensure they're posting approximately the same things:\r\n    `/mavros/local_position/pose`\r\n    `/mavros/vision_pose/pose`\r\n- set `EKF2_AID_MASK` to 8 to disable GPS pose estimation and enable vision\r\n\r\nHere is an example of two messages from these two topics obtained in about the same time:\r\n```\r\nheader:  \r\n  seq: 25595\r\n  stamp: \r\n    secs: 633445690\r\n    nsecs: 321158808\r\n  frame_id: fcu\r\npose: \r\n  position: \r\n    x: -5.8058299648\r\n    y: 0.165404601647\r\n    z: 4.50232891986\r\n  orientation: \r\n    x: 0.00249907606208\r\n    y: 0.000708453209019\r\n    z: 0.0138610026572\r\n    w: -0.999900600617\r\n```\r\n```\r\nheader: \r\n  seq: 252486\r\n  stamp: \r\n    secs: 633445690\r\n    nsecs: 419158808\r\n  frame_id: fcu\r\npose: \r\n  position: \r\n    x: -6.03800153732\r\n    y: 0.445443034172\r\n    z: 4.81723451614\r\n  orientation: \r\n    x: 0.00267396630329\r\n    y: 0.000531808934511\r\n    z: 0.0139412081099\r\n    w: -0.999899125477\r\n```\r\nI expect the copter to hold its position based on the pose estimated by vision. However, it stays still for about 3 seconds, then it shifts slightly, and then I see these messages:\r\n```\r\nWARN  [commander_tests] Failsafe enabled: no local position\r\nINFO  [tone_alarm] fast_bat\r\nWARN  [lib__ecl] EKF measurement timeout - stopping navigation\r\n```\r\nI have tried different publishing rates: 10hz, 20hz, and as the vision data come (~10-12 hz, the rate is not consistent but the estimated pose is always different). The result is always the same.\r\npx4 version: 1.6.5\r\nmavros version: 0.19.0\r\nRos Kinetic, Ubuntu 16.04 LTS\r\n\r\nAm I doing anything wrong?\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/mavlink/mavros/issues/comments/324333787","html_url":"https://github.com/mavlink/mavros/issues/782#issuecomment-324333787","issue_url":"https://api.github.com/repos/mavlink/mavros/issues/782","id":324333787,"user":{"login":"TSC21","id":5048656,"avatar_url":"https://avatars1.githubusercontent.com/u/5048656?v=4","gravatar_id":"","url":"https://api.github.com/users/TSC21","html_url":"https://github.com/TSC21","followers_url":"https://api.github.com/users/TSC21/followers","following_url":"https://api.github.com/users/TSC21/following{/other_user}","gists_url":"https://api.github.com/users/TSC21/gists{/gist_id}","starred_url":"https://api.github.com/users/TSC21/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TSC21/subscriptions","organizations_url":"https://api.github.com/users/TSC21/orgs","repos_url":"https://api.github.com/users/TSC21/repos","events_url":"https://api.github.com/users/TSC21/events{/privacy}","received_events_url":"https://api.github.com/users/TSC21/received_events","type":"User","site_admin":false},"created_at":"2017-08-23T13:36:55Z","updated_at":"2017-08-23T13:36:55Z","body":"you are having constant timeouts. Is your computer handling the simulation well? Can you show the output of `top` command on your linux terminal?"}}
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