How to call ros service

[abdo-ameen]

Question

How to call ros services the right way?

Include context on what you are trying to achieve

I'm just trying to call ros services like /airsim_node/gps_goal or /airsim_node/local_position_goal but they return errors.

1- First I run my Unreal Blocks environment, press play button
2- launch /airsim_node after setting up the terminal
source devel/setup.bash
export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
export WSL_HOST_IP=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}')
roslaunch airsim_ros_pkgs airsim_node.launch output:=screen host:=$WSL_HOST_IP

3- launch /pid_position_node
roslaunch airsim_ros_pkgs position_controller_simple.launch

4- calling the service with its arguments rosservice call /airsim_node/gps_goal 5 10 15 1 drone_1 returns success: False message: ''

5- calling service rosservice call /airsim_node/local_position_goal 10 15 20 2 drone_1 returns ERROR: service [/airsim_node/gps_goal] responded with an error: and the /pid_position_node will loop forever printing out [PIDPositionController] Moving to goal. but never moving the drone

6- calling /airsim_node/takeoff 1 does move the drone but also return success: Flase

I'm I doing something wrong here? I'm I missing something? The documentations provide no more explanations on ros services.

Context details

OS: Windows10 with WSL2 running Ubuntu 18.04 and ROS Melodic
AirSim: 1.5
Python: 3.6
Unreal: 4.26

settings.json:
{
"SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md",
"SettingsVersion": 1.2,
"SimMode": "Multirotor",
"ViewMode": "Fpv",
"ClockSpeed": 1.0,
"Vehicles": {
"drone_1": {
"VehicleType": "SimpleFlight",
"DefaultVehicleState": "Armed",
"EnableCollisionPassthrogh": false,
"EnableCollisions": true,
"AllowAPIAlways": true,
"RC": {
"RemoteControlID": 0,
"AllowAPIWhenDisconnected": false
},
"Sensors": {
"Imu" : {
"SensorType": 2,
"Enabled": true
},
"Barometer":{
"SensorType": 1,
"Enabled": true,
"PressureFactorSigma": 0.0001825
},
"Gps": {
"SensorType": 3,
"Enabled" : true,
"EphTimeConstant": 0.9,
"EpvTimeConstant": 0.9,
"EphInitial": 25,
"EpvInitial": 25,
"EphFinal": 0.1,
"EpvFinal": 0.1,
"EphMin3d": 3,
"EphMin2d": 4,
"UpdateLatency": 0.2,
"UpdateFrequency": 50,
"StartupDelay": 1
},
"Magnetometer": {
"SensorType": 4,
"Enabled" : true,
"NoiseSigma": 0.005,
"ScaleFactor": 1,
"NoiseBias": 0,
"UpdateLatency": 0,
"UpdateFrequency": 50,
"StartupDelay": 0
},
"LidarCustom": {
"SensorType": 6,
"Enabled": true,
"NumberOfChannels": 16,
"PointsPerSecond": 10000,
"X": 0,
"Y": 0,
"Z": -1,
"DrawDebugPoints": true
}
},
"Cameras": {
"front_center_custom": {
"CaptureSettings": [
{
"PublishToRos": 1,
"ImageType": 0,
"Width": 640,
"Height": 480,
"FOV_Degrees": 27,
"DepthOfFieldFstop": 2.8,
"DepthOfFieldFocalDistance": 200.0,
"DepthOfFieldFocalRegion": 200.0,
"TargetGamma": 1.5
}
],
"X": 0.50, "Y": 0, "Z": 0.10,
"Pitch": 0, "Roll": 0, "Yaw": 0
},
"front_left_custom": {
"CaptureSettings": [
{
"PublishToRos": 1,
"ImageType": 0,
"Width": 672,
"Height": 376,
"FOV_Degrees": 90,
"TargetGamma": 1.5
},
{
"PublishToRos": 1,
"ImageType": 1,
"Width": 672,
"Height": 376,
"FOV_Degrees": 90,
"TargetGamma": 1.5
}
],
"X": 0.50, "Y": -0.06, "Z": 0.10,
"Pitch": 0.0, "Roll": 0.0, "Yaw": 0.0
},
"front_right_custom": {
"CaptureSettings": [
{
"PublishToRos": 1,
"ImageType": 0,
"Width": 672,
"Height": 376,
"FOV_Degrees": 90,
"TargetGamma": 1.5
}
],
"X": 0.50, "Y": 0.06, "Z": 0.10,
"Pitch": 0.0, "Roll": 0.0, "Yaw": 0.0
}
},
"X": 2, "Y": 0, "Z": 0,
"Pitch": 0, "Roll": 0, "Yaw": 0
}
},
"SubWindows": [
{"WindowID": 0, "ImageType": 0, "CameraName": "front_left_custom", "Visible": false},
{"WindowID": 1, "ImageType": 0, "CameraName": "front_center_custom", "Visible": false},
{"WindowID": 2, "ImageType": 0, "CameraName": "front_right_custom", "Visible": false}
]
}

Include details of what you already did to find answers

I tried with different ROS versions, Kinetic, Melodic and Noetic.
I tried with different arguments.

[Yousri96]

hi, have you found any solutions yet?
i have the same problem

[abdo-ameen]

Nope, no response from the maintainers yet.

[zimmy87]

Hi @abdo-ameen, thank you for filing this issue and welcome! There are some things of note concerning this scenario:

1. Currently some of the topic names in PIDPositionController and AirsimROSWrapper are wrong and need updating. I've published a PR for fixing the topic names relevant to this scenario: fix ROS topic names #3880. Please apply my fix and test your repro steps again.
2. While debugging this scenario, I also ran into ROS node "pid_position_controller_simple_node" and launch file "airsim_with_simple_PD_position_controller.launch"  #2789. My fix in fix ROS topic names #3880 depends upon and includes the fix for that issue as well.
3. Since AirSim uses a NED coordinate system, the call to the /airsim_node/local_position_goal service in step 5 references a target position that is underground. You will most likely want to specify a negative z coordinate, for example, rosservice call /airsim_node/local_position_goal -- 10 15 -20 2 drone_1