mavros mav param load failing due to wrong service path #2051
Description
When running ros2 run mavros mav param load -qgc <path-to-file>/px4_external_odometry_parameters.params on ROS 2 Humble I get mavros.base.ServiceWaitTimeout: mavros/get_parameters. I suspect this is due to Mavros now being split into multiple different nodes and no mavros/get_parameters existing anymore.
Full error log:
[ERROR] [1752684107.694969297] [mavpy_2esn]: wait for service time out: {topic}
Traceback (most recent call last):
File "/opt/ros/humble/local/lib/python3.10/dist-packages/mavros/cmd/__init__.py", line 35, in __getattr__
return object.__getattribute__(self, key)
AttributeError: 'CliClient' object has no attribute 'uas_settings'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/opt/ros/humble/lib/mavros/mav", line 14, in <module>
cli()
File "/home/gilbert/.local/lib/python3.10/site-packages/click/core.py", line 1157, in __call__
return self.main(*args, **kwargs)
File "/home/gilbert/.local/lib/python3.10/site-packages/click/core.py", line 1078, in main
rv = self.invoke(ctx)
File "/home/gilbert/.local/lib/python3.10/site-packages/click/core.py", line 1688, in invoke
return _process_result(sub_ctx.command.invoke(sub_ctx))
File "/home/gilbert/.local/lib/python3.10/site-packages/click/core.py", line 1688, in invoke
return _process_result(sub_ctx.command.invoke(sub_ctx))
File "/home/gilbert/.local/lib/python3.10/site-packages/click/core.py", line 1434, in invoke
return ctx.invoke(self.callback, **ctx.params)
File "/home/gilbert/.local/lib/python3.10/site-packages/click/core.py", line 783, in invoke
return __callback(*args, **kwargs)
File "/home/gilbert/.local/lib/python3.10/site-packages/click/decorators.py", line 92, in new_func
return ctx.invoke(f, obj, *args, **kwargs)
File "/home/gilbert/.local/lib/python3.10/site-packages/click/core.py", line 783, in invoke
return __callback(*args, **kwargs)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/mavros/cmd/param.py", line 88, in load
param_file = get_param_file_io(client, file_format, file_)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/mavros/cmd/param.py", line 76, in get_param_file_io
pf.tgt_system = client.uas_settings.target_system_id
File "/opt/ros/humble/local/lib/python3.10/dist-packages/mavros/cmd/__init__.py", line 37, in __getattr__
return getattr(self.cli, key)
File "/usr/lib/python3.10/functools.py", line 981, in __get__
val = self.func(instance)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/mavros/base.py", line 116, in uas_settings
pd = call_get_parameters(node=self, node_name=self.mavros_ns, names=names)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/mavros/utils.py", line 75, in call_get_parameters
wait_for_service(client, lg)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/mavros/base.py", line 55, in wait_for_service
raise ServiceWaitTimeout(topic)
mavros.base.ServiceWaitTimeout: mavros/get_parameters
[ros2run]: Process exited with failure 1Potential fix
I managed to fix this by adding /mavros_node to the clients in the utils.py file.
+ client = node.create_client(GetParameters, f"{node_name}/mavros_node/get_parameters")
- client = node.create_client(GetParameters, f"{node_name}/get_parameters")If was unsure of what service would be the correct one as /mavros_node, /mavros and /params all seem to fix the issue for the mav param load call. If the above described fix is the desired solution I can create a PR for it.