MAVROS timeout when using BlueROV2 Heavy model

[evan-palmer]

Originally posted here by @SusannaMunari

Hello,

I am encountering the same issue when running this:
ros2 launch blue_bringup bluerov2_heavy.launch.yaml use_sim:=true

I get this output, and I am not able to connect and simply echo the topics.

Curiously, the same process works smoothly when I try with the normal configuration:
ros2 launch blue_bringup bluerov2.launch.yaml use_sim:=true

With this I am connected, I can access the topics and change flight mode.

Is there any configuration that I am missing?

[evan-palmer]

It appears as though you found a bug in the launch file 😃 I'll make a new issue and get a fix pushed for that. Are you using Humble or Iron? I can prioritize the one that you are using

[SusannaMunari]

Thank you for the quick answer!
I am running Iron.

As a side node, I had the exact same issue when I created a simple workspace to access topics directly from the BlueROV2 Heavy that I am working on. I tried using Blue for this reason. It might be just a coincidence, but it is odd.

[evan-palmer]

When using MAVROS on hardware, I've found that it occasionally has issues connecting, which results in the issue that you shared. In some cases it can be a bad network configuration, other times it's because of high latency in the connection (if you are connecting via tether), and sometimes it just flat-out fails! If it's persistent, then I would be inclined to believe that it's a bad network configuration or latency over tether (if you are connecting via tether)

[evan-palmer]

This should be fixed now! Let me know if you run into any other issues!

[SusannaMunari]

Thank you!
Sorry for the late response, I could only get back to it now.
I am installing from source now with the Dockerfile, as suggested here, but I am getting some errors when building the container that are most likely due to some path error.

After cloning the repo, I just run this command from the .docker folder:
docker build -t my_blue_heavy .

For example, I had issues with this line of the Dockerfile:

# Install the Python requirements that aren't available as rosdeps
RUN python3 -m pip install -r $(pwd)/src/blue/requirements-build.txt

I changed it to:
RUN python3 -m pip install qtm
because I couldn't find the right path to the file.

Now I see the same issue:
2.732 /bin/sh: 1: cannot open src/blue/blue.repos: No such file

Am I missing something on the directory structure?

[evan-palmer]

When building the Docker image, you would run something like this from the blue/ directory:

docker build -f .docker/Dockerfile -t my_blue_heavy .

Though, if you want to use Docker, I would recommend using the provided devcontainer (easiest and recommended) or the docker compose script. If you would like to install from source (locally, then I recommend using the Dockerfile as a reference

[SusannaMunari]

Thank you again! And great work 👍