Common Issues¶
Solutions to frequently encountered problems.
SLAM Issues¶
Tracking Lost¶
Symptom: "SLAM tracking lost" error
Causes: - Moving too fast - Insufficient lighting - Featureless environment
Solutions: - Reduce speed - Add artificial lighting - Add visual markers to environment
Initialization Failed¶
Symptom: SLAM never initializes
Solutions:
- Ensure camera is working: rostopic echo /camera/image_raw
- Check for sufficient features: aqua-slam feature-viewer
- Move camera slowly with good parallax
Navigation Issues¶
Waypoint Not Reached¶
Symptom: Vehicle stops before waypoint
Causes: - Obstacle detected - Strong current - Geofence limit
Solutions:
- Check obstacle map: aqua-obstacles view
- Increase waypoint tolerance
- Review geofence settings
Hardware Issues¶
Camera Not Detected¶
# Check USB connection
lsusb | grep RealSense
# Check permissions
ls -l /dev/video*
# Restart camera node
rosnode kill /camera
roslaunch realsense2_camera rs_camera.launch
ArduSub Not Responding¶
# Check connection
ls -l /dev/ttyACM*
# Test MAVLink
mavproxy.py --master=/dev/ttyACM0
# Check AQUA Stack connection
aqua-mavlink test