obstacle_distance plugin [ERROR]DS: no mapping for sensor id: 13

[siddharthcb]

Hi, I have added an obstacle_distance plugin in mavros and have written an extra script to accommodate 72 laser points.
when i run roslaunch mavros($ roslaunch mavros apm.launch fcu_url:=/dev/ttyUSB1:921600) without running this extra script everything works fine but when i run this extra script for laser.
i get this error on the terminal

[ERROR] [1613710136.068156132]: DS: no mapping for sensor id: 15, type: 0, orientation: 5
[ERROR] [1613710136.069381900]: DS: no mapping for sensor id: 16, type: 0, orientation: 6
[ERROR] [1613710136.069772193]: DS: no mapping for sensor id: 17, type: 0, orientation: 7
[ERROR] [1613710136.168928011]: DS: no mapping for sensor id: 10, type: 0, orientation: 0
[ERROR] [1613710136.170112119]: DS: no mapping for sensor id: 11, type: 0, orientation: 1
[ERROR] [1613710136.170890259]: DS: no mapping for sensor id: 12, type: 0, orientation: 2
[ERROR] [1613710136.171694176]: DS: no mapping for sensor id: 13, type: 0, orientation: 3
[ERROR] [1613710136.172040311]: DS: no mapping for sensor id: 14, type: 0, orientation: 4
[ERROR] [1613710136.172359888]: DS: no mapping for sensor id: 15, type: 0, orientation: 5
[ERROR] [1613710136.172740809]: DS: no mapping for sensor id: 16, type: 0, orientation: 6

ROS: melodic
Ubuntu: 18.04
APM software

as @TSC21 mentioned in this thread, i am supposed to change the config in apm_config.yaml, though i have added config for obstacle_distance in this file i am still finding the same error.
my apm_config.yaml looks like this:

# Common configuration for APM2 autopilot
#
# node:
startup_px4_usb_quirk: false

# --- system plugins ---

# sys_status & sys_time connection options
conn:
  heartbeat_rate: 1.0    # send hertbeat rate in Hertz
  heartbeat_mav_type: "ONBOARD_CONTROLLER"
  timeout: 10.0          # hertbeat timeout in seconds
  timesync_rate: 10.0    # TIMESYNC rate in Hertz (feature disabled if 0.0)
  system_time_rate: 1.0  # send system time to FCU rate in Hertz (disabled if 0.0)

# sys_status
sys:
  min_voltage: 10.0   # diagnostics min voltage
  disable_diag: false # disable all sys_status diagnostics, except heartbeat

# sys_time
time:
  time_ref_source: "fcu"  # time_reference source
  timesync_mode: MAVLINK
  timesync_avg_alpha: 0.6 # timesync averaging factor

# --- mavros plugins (alphabetical order) ---

# 3dr_radio
tdr_radio:
  low_rssi: 40  # raw rssi lower level for diagnostics

# actuator_control
# None

# command
cmd:
  use_comp_id_system_control: false # quirk for some old FCUs

# dummy
# None

# ftp
# None

# global_position
global_position:
  frame_id: "map"             # origin frame
  child_frame_id: "base_link" # body-fixed frame
  rot_covariance: 99999.0   # covariance for attitude?
  gps_uere: 1.0             # User Equivalent Range Error (UERE) of GPS sensor (m)
  use_relative_alt: true    # use relative altitude for local coordinates
  tf:
    send: false               # send TF?
    frame_id: "map"  # TF frame_id
    global_frame_id: "earth"  # TF earth frame_id
    child_frame_id: "base_link" # TF child_frame_id

# imu_pub
imu:
  frame_id: "base_link"
  # need find actual values
  linear_acceleration_stdev: 0.0003
  angular_velocity_stdev: 0.0003490659 // 0.02 degrees
  orientation_stdev: 1.0
  magnetic_stdev: 0.0

# local_position
local_position:
  frame_id: "map"
  tf:
    send: false
    frame_id: "map"
    child_frame_id: "base_link"
    send_fcu: false

# param
# None, used for FCU params

# rc_io
# None

# safety_area
safety_area:
  p1: {x:  1.0, y:  1.0, z:  1.0}
  p2: {x: -1.0, y: -1.0, z: -1.0}

# setpoint_accel
setpoint_accel:
  send_force: false

# setpoint_attitude
setpoint_attitude:
  reverse_thrust: false     # allow reversed thrust
  use_quaternion: false     # enable PoseStamped topic subscriber
  tf:
    listen: false           # enable tf listener (disable topic subscribers)
    frame_id: "map"
    child_frame_id: "target_attitude"
    rate_limit: 50.0

# setpoint_raw
setpoint_raw:
  thrust_scaling: 1.0       # specify thrust scaling (normalized, 0 to 1) for thrust (like PX4)

# setpoint_position
setpoint_position:
  tf:
    listen: false           # enable tf listener (disable topic subscribers)
    frame_id: "map"
    child_frame_id: "target_position"
    rate_limit: 50.0
  mav_frame: LOCAL_NED

# setpoint_velocity
setpoint_velocity:
  mav_frame: LOCAL_NED

# vfr_hud
# None

# waypoint
mission:
  pull_after_gcs: true  # update mission if gcs updates
  use_mission_item_int: true # use the MISSION_ITEM_INT message instead of MISSION_ITEM
                             # for uploading waypoints to FCU
                             
# --- mavros extras plugins (same order) ---

# adsb
# None

# debug_value
# None

# distance_sensor
## Currently available orientations:
#    Check http://wiki.ros.org/mavros/Enumerations
##

obstacle_distance:
  revised_scan:
    subscriber: true
    id: 1
    orientation: PITCH_270  # only that orientation are supported by APM 3.4+
    
distance_sensor:
  rangefinder_pub:
    id: 0
    frame_id: "lidar"
    #orientation: PITCH_270 # sended by FCU
    field_of_view: 0.0  # XXX TODO
    send_tf: false
    sensor_position: {x:  0.0, y:  0.0, z:  -0.1}
  rangefinder_sub:
    subscriber: true
    id: 1
    orientation: PITCH_270  # only that orientation are supported by APM 3.4+

# image_pub
image:
  frame_id: "px4flow"

# fake_gps
fake_gps:
  # select data source
  use_mocap: true         # ~mocap/pose
  mocap_transform: false  # ~mocap/tf instead of pose
  mocap_withcovariance: false  # ~mocap/pose uses PoseWithCovarianceStamped Message
  use_vision: false       # ~vision (pose)
  use_hil_gps: true
  gps_id: 4
  # origin (default: Zürich)
  geo_origin:
    lat: 47.3667          # latitude [degrees]
    lon: 8.5500           # longitude [degrees]
    alt: 408.0            # altitude (height over the WGS-84 ellipsoid) [meters]
  eph: 2.0
  epv: 2.0
  horiz_accuracy: 0.5
  vert_accuracy: 0.5
  speed_accuracy: 0.0
  satellites_visible: 6   # virtual number of visible satellites
  fix_type: 3             # type of GPS fix (default: 3D)
  tf:
    listen: false
    send: false           # send TF?
    frame_id: "map"       # TF frame_id
    child_frame_id: "fix" # TF child_frame_id
    rate_limit: 10.0      # TF rate
  gps_rate: 5.0           # GPS data publishing rate

# landing_target
landing_target:
  listen_lt: false
  mav_frame: "LOCAL_NED"
  land_target_type: "VISION_FIDUCIAL"
  image:
    width: 640            # [pixels]
    height: 480
  camera:
    fov_x: 2.0071286398   # default: 115 [degrees]
    fov_y: 2.0071286398
  tf:
    send: true
    listen: false
    frame_id: "landing_target"
    child_frame_id: "camera_center"
    rate_limit: 10.0
  target_size: {x:  0.3, y:  0.3}

# mocap_pose_estimate
mocap:
  # select mocap source
  use_tf: false   # ~mocap/tf
  use_pose: true  # ~mocap/pose

# odom
odometry:
  frame_tf:
    desired_frame: "ned"
  estimator_type: 3 # check enum MAV_ESTIMATOR_TYPE in <https://mavlink.io/en/messages/common.html>

# px4flow
px4flow:
  frame_id: "px4flow"
  ranger_fov: 0.118682      # 6.8 degrees at 5 meters, 31 degrees at 1 meter
  ranger_min_range: 0.3     # meters
  ranger_max_range: 5.0     # meters

# vision_pose_estimate
vision_pose:
  tf:
    listen: false           # enable tf listener (disable topic subscribers)
    frame_id: "map"
    child_frame_id: "vision_estimate"
    rate_limit: 10.0

# vision_speed_estimate
vision_speed:
  listen_twist: true    # enable listen to twist topic, else listen to vec3d topic
  twist_cov: true       # enable listen to twist with covariance topic

# vibration
vibration:
  frame_id: "base_link"

# wheel_odometry
wheel_odometry:
  count: 2           # number of wheels to compute odometry
  use_rpm: false     # use wheel's RPM instead of cumulative distance to compute odometry
  wheel0: {x: 0.0, y: -0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m)
  wheel1: {x: 0.0, y:  0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m)
  send_raw: true              # send wheel's RPM and cumulative distance (~/wheel_odometry/rpm, ~/wheel_odometry/distance)
  send_twist: false           # send geometry_msgs/TwistWithCovarianceStamped instead of nav_msgs/Odometry
  frame_id: "map"             # origin frame
  child_frame_id: "base_link" # body-fixed frame
  vel_error: 0.1              # wheel velocity measurement error 1-std (m/s)
  tf:
    send: true
    frame_id: "map"
    child_frame_id: "base_link"

# vim:set ts=2 sw=2 et:

[vooon]

Are you sure that you are publishing to /mavros/obstacle/send?

Because log message comes from distance_sensor, which requires to configure a mapping.

[siddharthcb]

@vooon I am publishing to /mavros/obstacle/send
I can even visualize it in proximity and I can see obstacle_distance in mavlink inspector.
Here is my node.launch file

<launch>
	<!-- vim: set ft=xml noet : -->
	<!-- base node launch file-->

	<arg name="fcu_url" />
	<arg name="gcs_url" />
	<arg name="tgt_system" />
	<arg name="tgt_component" />
	<arg name="pluginlists_yaml" />
	<arg name="config_yaml" />
	<arg name="log_output" default="screen" />
	<arg name="fcu_protocol" default="v2.0" />
	<arg name="respawn_mavros" default="false" />

	<node pkg="mavros" type="mavros_node" name="mavros" required="$(eval not respawn_mavros)" clear_params="true" output="$(arg log_output)" respawn="$(arg respawn_mavros)">
		<param name="fcu_url" value="$(arg fcu_url)" />
		<param name="gcs_url" value="$(arg gcs_url)" />
		<param name="target_system_id" value="$(arg tgt_system)" />
		<param name="target_component_id" value="$(arg tgt_component)" />
		<param name="fcu_protocol" value="$(arg fcu_protocol)" />

		<!-- load blacklist, config -->
		<rosparam command="load" file="$(arg pluginlists_yaml)" />
		<rosparam command="load" file="$(arg config_yaml)" />
                <!-- remap from="/mavros/setpoint_velocity/cmd_vel_unstamped" to="/cmd_vel" /-->
                <remap from="/mavros/vision_pose/pose" to="/robot_pose" />
                <remap from="/mavros/obstacle/send" to="/revised_scan" />
	</node>
</launch>

log messages comes from distance_sensor directly

so i do not have to configure obstacle_distance separately in the apm_config.yaml file?
and what are rangefinder_pub and rangefinder_sub topics? From where is it being published?

[siddharthcb]

@vooon is there a necessity to change apm_pluginlist.yaml?
my apm_pluginlist.yaml looks like this:

plugin_blacklist:
# common
- actuator_control
- ftp
- safety_area
- hil
# extras
- altitude
- debug_value
- image_pub
- px4flow
- vibration
- vision_speed_estimate
- wheel_odometry

plugin_whitelist: []
#- 'sys_*'

[siddharthcb]

UPDATE:
when i added "distance_sensor" to apm_pluginlist.yaml(under plugin_blacklist), the error disappeared and I can still see the laser data in APMs "proximity" and "obstacle_distance" plugin in mavlink inspector BUT IS THIS THE CORRECT WAY?

[vooon]

It seems that APM sends back DISTANCE_SENSOR messages when you're using OBSTACLE_DISTANCE.
Excluding plugin from loading should be fine.

[siddharthcb]

@voon Thank you