No mapping for distance sensor

[RR2-IP2]

Hi,

I am trying to access data from a distance sensor (Leddar One Range Finder) measuring height using MAVROS. I am able to view the data using QGroundControl (as my flight controller is PX4).

On the drone (with MAVROS installed), I tried the following commands:
$ roscore
$ rosrun mavros mavros_node _fcu_url:=tcp://127.0.0.1:5760 _system_id:=2

After this, I get the same error repeated:
DS: no mapping for sensor id: 0, type: 1, orientation: 25

I am able to check the ID, type and orientation in QGC which makes me sure that this is the Leddar One sensor.
I removed distance_sensor and rangefinder from the blacklist in px4_pluginlists.yaml.
I have also tried changing the distance_sensor information in px4_config.yaml file but have had no luck (tried various orientations: PITCH_270, NONE and 25).

I have found that the error is generated from line 205 in this code: distance_sensor.cpp but I can't figure out what is causing it.

I am only new to ROS so any help would be greatly appreciated.

[TSC21]

Have you checked the configuration for it on the px4_config.yaml? If you don't config the respective parameters to access the data, you won't be able to get the data properly. So you need to add a propper map for it on the yaml file (you already have examples there). Also, any reason for changing the sys_id to 2? You also don't need to remove rangfinder from blacklist because that's APM compatible only.

[RR2-IP2]

Thanks for the quick response and for adding relevant labels!

Are you able to be a little bit more specific or point me towards the area of px4_config.yaml that needs to be changed? The only part I have change is under distance sensor: (line 133 in the source code)
leddar1_pub:
id: 0
frame_id: "leddar1_laser"
orientation: PITCH_270 # RPY:{0.0, 270.0, 0.0} - downward-facing
field_of_view: 0.0 # XXX TODO
send_tf: true
sensor_position: {x: 0.0, y: 0.0, z: -0.1}
And I removed the other sensors from id: 1 onwards

I followed the instructions on this page since we are using an Intel Aero RTF drone, which included changing sys_id to 2.
No problem, I will add rangefinder back to the blacklist.

I understand I may be asking too much. If there are any resources you know of that would help me with correcting px4_config.yaml rather than you needing to explain it, that may suffice.
Thanks

[RR2-IP2]

I have resolved my issue. I created a launch file that specifically passed in "px4_config.yaml" as the config_yaml argument. This initialized distance sensor correctly and published the data to a ROS topic as desired.

This thread may be closed.

[ashwinvk94]

Just to clarify, I had to comment "- distance_sensor" from the "px4_pluginlists.yaml" for the lidar data to be published.