none of local_position pluging message are published #2074
Description
Hi, I'm working on arducopter 4.6.1 connected to raspi4 by serial cable, running ubuntu 24.04 and ros2 jazzy. Installed mavros from binary.
I don't have any of local_position messages. I do have global_position messages. How can I debug the problem? how can I check where the problem is?
ros2 launch mavros apm.launch fcu_url:=/dev/ttyAMA0:921600 tgt_system:=1
[INFO] [launch]: All log files can be found below /home/elgarbe/.ros/log/2025-06-28-04-53-09-800744-hexa-2986
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [mavros_node-1]: process started with pid [2989]
[mavros_node-1] [INFO] [1751086390.901669345] [mavros.mavros_node]: Starting mavros_node container
[mavros_node-1] [INFO] [1751086390.901920345] [mavros.mavros_node]: FCU URL: /dev/ttyAMA0:921600
[mavros_node-1] [INFO] [1751086390.901963956] [mavros.mavros_node]: GCS URL:
[mavros_node-1] [INFO] [1751086390.902021252] [mavros.mavros_node]: UAS Prefix: /uas1
[mavros_node-1] [INFO] [1751086390.902048567] [mavros.mavros_node]: Starting mavros router node
[mavros_node-1] [INFO] [1751086390.952692456] [mavros.mavros_router]: Built-in SIMD instructions: ARM NEON
[mavros_node-1] [INFO] [1751086390.952793808] [mavros.mavros_router]: Built-in MAVLink package version: 2025.5.5
[mavros_node-1] [INFO] [1751086390.952851622] [mavros.mavros_router]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous loweheiser matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros_node-1] [INFO] [1751086390.952887048] [mavros.mavros_router]: MAVROS Router started
[mavros_node-1] [INFO] [1751086390.953162511] [mavros.mavros_router]: Requested to add endpoint: type: 0, url: /dev/ttyAMA0:921600
[mavros_node-1] [INFO] [1751086390.953291345] [mavros.mavros_router]: Endpoint link[1000] created
[mavros_node-1] [INFO] [1751086390.955211474] [mavros.mavros_router]: link[1000] opened successfully
[mavros_node-1] [INFO] [1751086390.955544585] [mavros.mavros_router]: Requested to add endpoint: type: 2, url: /uas1
[mavros_node-1] [INFO] [1751086390.955671456] [mavros.mavros_router]: Endpoint link[1001] created
[mavros_node-1] [INFO] [1751086390.978065697] [mavros.mavros_router]: link[1001] opened successfully
[mavros_node-1] [INFO] [1751086390.978300715] [mavros.mavros_node]: Starting mavros uas node
[mavros_node-1] [INFO] [1751086390.986374122] [mavros.mavros_router]: link[1000] detected remote address 1.1
[mavros_node-1] [INFO] [1751086391.143277474] [mavros.mavros]: UAS Executor started, threads: 4
[mavros_node-1] [INFO] [1751086391.143320993] [mavros.mavros]: Plugin actuator_control ignored
[mavros_node-1] [INFO] [1751086391.144237308] [mavros.mavros]: Plugin altitude ignored
[mavros_node-1] [INFO] [1751086391.256345789] [mavros.mavros]: Plugin command created
[mavros_node-1] [INFO] [1751086391.256506400] [mavros.mavros]: Plugin command initialized
[mavros_node-1] [INFO] [1751086391.256551400] [mavros.mavros]: Plugin ftp ignored
[mavros_node-1] [INFO] [1751086391.311761011] [mavros.mavros]: Plugin geofence created
[mavros_node-1] [INFO] [1751086391.311942344] [mavros.mavros]: Plugin geofence initialized
[mavros_node-1] [INFO] [1751086391.389180622] [mavros.mavros]: Plugin global_position created
[mavros_node-1] [INFO] [1751086391.389348659] [mavros.mavros]: Plugin global_position initialized
[mavros_node-1] [INFO] [1751086391.442204604] [mavros.mavros]: Plugin home_position created
[mavros_node-1] [INFO] [1751086391.442373159] [mavros.mavros]: Plugin home_position initialized
[mavros_node-1] [INFO] [1751086391.521075418] [mavros.mavros]: Plugin imu created
[mavros_node-1] [INFO] [1751086391.521305400] [mavros.mavros]: Plugin imu initialized
[mavros_node-1] [INFO] [1751086391.623813974] [mavros.mavros]: Plugin local_position created
[mavros_node-1] [INFO] [1751086391.625443511] [mavros.mavros]: Plugin local_position initialized
[mavros_node-1] [INFO] [1751086391.728021863] [mavros.mavros]: Plugin manual_control created
[mavros_node-1] [INFO] [1751086391.728194159] [mavros.mavros]: Plugin manual_control initialized
[mavros_node-1] [INFO] [1751086391.804962103] [mavros.mavros]: Plugin nav_controller_output created
[mavros_node-1] [INFO] [1751086391.805457400] [mavros.mavros]: Plugin nav_controller_output initialized
[mavros_node-1] [INFO] [1751086391.945813714] [mavros.mavros]: Plugin param created
[mavros_node-1] [INFO] [1751086391.946001844] [mavros.mavros]: Plugin param initialized
[mavros_node-1] [INFO] [1751086392.022155066] [mavros.mavros]: Plugin rallypoint created
[mavros_node-1] [INFO] [1751086392.022365289] [mavros.mavros]: Plugin rallypoint initialized
[mavros_node-1] [INFO] [1751086392.093174400] [mavros.mavros]: Plugin rc_io created
[mavros_node-1] [INFO] [1751086392.093352214] [mavros.mavros]: Plugin rc_io initialized
[mavros_node-1] [INFO] [1751086392.159369863] [mavros.mavros]: Plugin setpoint_accel created
[mavros_node-1] [INFO] [1751086392.159513103] [mavros.mavros]: Plugin setpoint_accel initialized
[mavros_node-1] [INFO] [1751086392.244116622] [mavros.mavros]: Plugin setpoint_attitude created
[mavros_node-1] [INFO] [1751086392.244260529] [mavros.mavros]: Plugin setpoint_attitude initialized
[mavros_node-1] [INFO] [1751086392.330576529] [mavros.mavros]: Plugin setpoint_position created
[mavros_node-1] [INFO] [1751086392.330715418] [mavros.mavros]: Plugin setpoint_position initialized
[mavros_node-1] [INFO] [1751086392.429538214] [mavros.mavros]: Plugin setpoint_raw created
[mavros_node-1] [INFO] [1751086392.429878288] [mavros.mavros]: Plugin setpoint_raw initialized
[mavros_node-1] [INFO] [1751086392.544680066] [mavros.mavros]: Plugin setpoint_trajectory created
[mavros_node-1] [INFO] [1751086392.544884603] [mavros.mavros]: Plugin setpoint_trajectory initialized
[mavros_node-1] [INFO] [1751086392.645471584] [mavros.mavros]: Plugin setpoint_velocity created
[mavros_node-1] [INFO] [1751086392.645687584] [mavros.mavros]: Plugin setpoint_velocity initialized
[mavros_node-1] [INFO] [1751086392.794456825] [mavros.mavros]: Plugin sys_status created
[mavros_node-1] [INFO] [1751086392.794744677] [mavros.mavros]: Plugin sys_status initialized
[mavros_node-1] [INFO] [1751086392.981494714] [mavros.time]: TM: Timesync mode: MAVLINK
[mavros_node-1] [INFO] [1751086393.002256621] [mavros.mavros]: Plugin sys_time created
[mavros_node-1] [INFO] [1751086393.002452066] [mavros.mavros]: Plugin sys_time initialized
[mavros_node-1] [INFO] [1751086393.175319603] [mavros.mavros]: Plugin waypoint created
[mavros_node-1] [INFO] [1751086393.175550714] [mavros.mavros]: Plugin waypoint initialized
[mavros_node-1] [INFO] [1751086393.345552769] [mavros.mavros]: Plugin wind_estimation created
[mavros_node-1] [INFO] [1751086393.345762269] [mavros.mavros]: Plugin wind_estimation initialized
[mavros_node-1] [INFO] [1751086393.355905677] [mavros.mavros]: Built-in SIMD instructions: ARM NEON
[mavros_node-1] [INFO] [1751086393.356070640] [mavros.mavros]: Built-in MAVLink package version: 2025.5.5
[mavros_node-1] [INFO] [1751086393.356111917] [mavros.mavros]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous loweheiser matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros_node-1] [INFO] [1751086393.356215917] [mavros.mavros]: MAVROS UAS via /uas1 started. MY ID 1.191, TARGET ID 1.1
[mavros_node-1] [INFO] [1751086393.386382306] [mavros.mavros_router]: link[1001] detected remote address 1.191
[mavros_node-1] [INFO] [1751086393.401371547] [mavros.mavros]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[mavros_node-1] [INFO] [1751086393.401640714] [mavros.mission]: WP: detected enable_partial_push: 1
[mavros_node-1] [INFO] [1751086393.496790751] [mavros.rc]: RC_CHANNELS message detected!
[mavros_node-1] [INFO] [1751086393.500250695] [mavros.imu]: IMU: Raw IMU message used.
[mavros_node-1] [INFO] [1751086394.103780121] [mavros.mavros_router]: link[1000] detected remote address 255.190
[mavros_node-1] [WARN] [1751086394.416652194] [mavros.cmd]: CMD: Unexpected command 520, result 0
[mavros_node-1] [INFO] [1751086394.419507102] [mavros.geofence]: GF: Using MISSION_ITEM_INT
[mavros_node-1] [INFO] [1751086394.419726361] [mavros.rallypoint]: RP: Using MISSION_ITEM_INT
[mavros_node-1] [INFO] [1751086394.419792620] [mavros.mission]: WP: Using MISSION_ITEM_INT
[mavros_node-1] [INFO] [1751086394.419843343] [mavros.sys]: VER: 1.1: Capabilities 0x000000000000fbef
[mavros_node-1] [INFO] [1751086394.419894139] [mavros.sys]: VER: 1.1: Flight software: 040601ff (57591cb8)
[mavros_node-1] [INFO] [1751086394.419931194] [mavros.sys]: VER: 1.1: Middleware software: 00000000 ( )
[mavros_node-1] [INFO] [1751086394.419964343] [mavros.sys]: VER: 1.1: OS software: 00000000 (88b84600 �AW)
[mavros_node-1] [INFO] [1751086394.420090898] [mavros.sys]: VER: 1.1: Board hardware: 00090000
[mavros_node-1] [INFO] [1751086394.420130935] [mavros.sys]: VER: 1.1: VID/PID: 1209:5741
[mavros_node-1] [INFO] [1751086394.420163713] [mavros.sys]: VER: 1.1: UID: 0000000000000000
[mavros_node-1] [INFO] [1751086403.402644708] [mavros.home_position]: HP: requesting home position
[mavros_node-1] [INFO] [1751086403.411867411] [mavros.sys]: FCU: ArduCopter V4.6.1 (57591cb8)
[mavros_node-1] [INFO] [1751086403.413868689] [mavros.sys]: FCU: ChibiOS: 88b84600
[mavros_node-1] [INFO] [1751086403.414108319] [mavros.sys]: FCU: Pixhawk1 00540035 3436510A 32393637
[mavros_node-1] [INFO] [1751086403.414837652] [mavros.sys]: FCU: IOMCU: 420 1001 411FC231
[mavros_node-1] [INFO] [1751086403.416208004] [mavros.sys]: FCU: RCOut: PWM:1-14
[mavros_node-1] [INFO] [1751086403.416543930] [mavros.sys]: FCU: IMU0: fast sampling enabled 8.0kHz/1.0kHz
[mavros_node-1] [INFO] [1751086403.418218282] [mavros.sys]: FCU: Frame: HEXA/X
[mavros_node-1] [ERROR] [1751086406.386272984] [mavros.sys]: FCU: PreArm: Hardware safety switch
[mavros_node-1] [INFO] [1751086408.408834334] [mavros.mission]: WP: item #0 F:0 C: 16 p: 0 0 0 0 x: 0 y: 0 z: 0
[mavros_node-1] [INFO] [1751086408.413808723] [mavros.mission]: WP: item #1 F:0 C:178 p: 0 1 0 0 x: 0 y: 0 z: 0
[mavros_node-1] [INFO] [1751086408.418812131] [mavros.mission]: WP: item #2 F:3 C: 18 p: 100 0 10 0 x: -33.50926 y: -60.06198 z: 15
[mavros_node-1] [INFO] [1751086408.427200760] [mavros.mission]: WP: item #3 F:0 C:177 p: 2 100 0 0 x: 0 y: 0 z: 0
[mavros_node-1] [INFO] [1751086408.427687001] [mavros.mission]: WP: mission received
[mavros_node-1] [INFO] [1751086413.405671035] [mavros.rallypoint]: RP: mission received
[mavros_node-1] [INFO] [1751086418.409467051] [mavros.geofence]: GF: mission received
[mavros_node-1] [WARN] [1751086428.137751508] [mavros.param]: PR: Param STAT_RUNTIME (65535/1020): 850697 different index: 984/1020
[mavros_node-1] [INFO] [1751086429.207695063] [mavros.param]: PR: parameters list received
[mavros_node-1] [ERROR] [1751086436.391593410] [mavros.sys]: FCU: PreArm: Hardware safety switch
[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[mavros_node-1] [INFO] [1751086444.497433535] [rclcpp]: signal_handler(signum=2)
[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[ERROR] [mavros_node-1]: process has died [pid 2989, exit code -2, cmd '/opt/ros/jazzy/lib/mavros/mavros_node --ros-args -r __ns:=/mavros --params-file /tmp/launch_params_ifqjlr_e --params-file /tmp/launch_params_pr1v4x2l --params-file /tmp/launch_params_5lt3l74i --params-file /tmp/launch_params_aoxm5ioa --params-file /tmp/launch_params_jxhg1og6 --params-file /opt/ros/jazzy/share/mavros/launch/apm_pluginlists.yaml --params-file /opt/ros/jazzy/share/mavros/launch/apm_config.yaml'].