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HKPolyU-UAV / E2ES

A complete MAV simulation on Gazebo
GNU General Public License v3.0
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Keyboard controls don't work ("PositionTargetGlobal failed because no origin" warning) #12

Closed Isdriai closed 10 months ago

Isdriai commented 10 months ago

Hi,

I have some issue with simulation, indeed keyboard controls don't work (I have an US keyboard).

This is what I did:

I built and did run airo_noetic_hehe:e2es-nogpu image then roscd e2es and ./sim.sh in a first terminal (so in the container)

I connected an other terminal thanks to sudo docker exec -it {the-container-ID} bash and did roslaunch e2es keyboard_ctr.launch. I noticed rotors are not up on the UAV til I run the last command (roslaunch e2es keyboard_ctr.launch)

This it what I have in terminals, in the first one where I run ./sim.sh BEFORE I run roslaunch e2es keyboard_ctr.launch in the second terminal (I didn't paste all, don't hesitate if you need more):

RealSensePlugin: The realsense_camera plugin is attach to model iris
INFO  [commander] LED: open /dev/led0 failed (22)
[vehicle_spawn_svetlana_ROG_Strix_G533QS_G533QS_12247_8779554792871254762-5] process has finished cleanly
log file: /root/.ros/log/a6e740cc-87ec-11ee-a53b-f02f744812da/vehicle_spawn_svetlana_ROG_Strix_G533QS_G533QS_12247_8779554792871254762-5*.log
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2023-11-20/21_35_00.ulg
INFO  [logger] Opened full log file: ./log/2023-11-20/21_35_00.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh> [ INFO] [1700516100.878596390, 595.564000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1700516100.878739350, 595.564000000]: IMU: High resolution IMU detected!
INFO  [mavlink] partner IP: 127.0.0.1
[ INFO] [1700516101.966423669, 596.536000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1700516101.968542653, 596.538000000]: IMU: High resolution IMU detected!
INFO  [ecl/EKF] 989000: GPS checks passed
[ INFO] [1700516102.974294903, 597.396000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1700516102.974358387, 597.396000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1700516102.974389814, 597.396000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1700516102.974436606, 597.396000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1700516102.974463355, 597.396000000]: VER: 1.1: Flight software:     010b00ff (71db0903a9000000)
[ INFO] [1700516102.974479138, 597.396000000]: VER: 1.1: Middleware software: 010b00ff (71db0903a9000000)
[ INFO] [1700516102.974496668, 597.396000000]: VER: 1.1: OS software:         060200ff (ec20f2e6c5cc35b2)
[ INFO] [1700516102.974510636, 597.396000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1700516102.974528165, 597.396000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1700516102.974552539, 597.396000000]: VER: 1.1: UID:                 4954414c44494e4f
[ WARN] [1700516102.978180254, 597.400000000]: CMD: Unexpected command 520, result 0
INFO  [ecl/EKF] 2873000: EKF aligned, (baro hgt, IMU buf: 18, OBS buf: 14)
INFO  [ecl/EKF] 2873000: reset position to last known position
INFO  [ecl/EKF] 2873000: reset velocity to zero
[ INFO] [1700516104.009500249, 598.424000000]: IMU: Attitude quaternion IMU detected!
INFO  [ecl/EKF] 5485000: reset position to GPS
INFO  [ecl/EKF] 5485000: reset velocity to GPS
INFO  [ecl/EKF] 5485000: starting GPS fusion
[ INFO] [1700516117.164259970, 611.537000000]: GF: mission received
[ INFO] [1700516117.165327319, 611.538000000]: RP: mission received
[ INFO] [1700516117.165375508, 611.538000000]: WP: mission received

Then after roslaunch e2es keyboard_ctr.launch:

(the first terminal, I didn't paste all, don't hesitate if you need more)

WARN  [mc_pos_control] Offboard activation failed with error: Activation Failed
WARN  [mc_pos_control] Position-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Altitude-Ctrl activation failed with error: Activation Failed
[ WARN] [1700516453.200191548, 622.431000000]: CMD: Unexpected command 176, result 0
[ WARN] [1700516453.241132858, 622.471000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516453.343069991, 622.571000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516453.445063066, 622.671000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516453.546848646, 622.771000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516453.647740486, 622.871000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516453.748215382, 622.971000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516453.849225252, 623.071000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516453.950653602, 623.171000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516454.052749063, 623.271000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516454.155257698, 623.371000000]: PositionTargetGlobal failed because no origin
INFO  [commander] Armed by external command
[ WARN] [1700516454.256234047, 623.471000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516454.357146562, 623.571000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516454.459035788, 623.671000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516454.560460438, 623.771000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516454.663180130, 623.871000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516454.766149917, 623.971000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516454.868141668, 624.071000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516454.969387599, 624.171000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516455.070894243, 624.271000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516455.171986249, 624.371000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516455.272499074, 624.471000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516455.374711311, 624.571000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516455.475933289, 624.671000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516455.576917044, 624.771000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516455.677613267, 624.871000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516455.778617135, 624.971000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516455.879067104, 625.071000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516455.981211736, 625.171000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516456.083024701, 625.271000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516456.183937222, 625.371000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516456.285177431, 625.471000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516456.385907320, 625.571000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516456.486590765, 625.671000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516456.587782016, 625.771000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516456.688491722, 625.871000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516456.790023303, 625.971000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516456.890956984, 626.071000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516456.991918812, 626.171000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516457.092628589, 626.271000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516457.193533430, 626.371000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516457.294178745, 626.471000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516457.396440784, 626.571000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516457.497186459, 626.671000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516457.598100239, 626.771000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516457.699206148, 626.871000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516457.800196752, 626.971000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516457.901165217, 627.071000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516458.002201566, 627.171000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516458.102985376, 627.271000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516458.203588232, 627.371000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516458.304809100, 627.471000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516458.406142481, 627.571000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516458.507210888, 627.671000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516458.608235297, 627.771000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516458.710217839, 627.871000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516458.811568680, 627.971000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516458.913206422, 628.071000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516459.014898570, 628.171000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516459.115915230, 628.271000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516459.216869801, 628.371000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516459.318589119, 628.471000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516459.419644400, 628.571000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516459.520349783, 628.671000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516459.621175570, 628.771000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516459.722357749, 628.871000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516459.824226525, 628.971000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516459.926040057, 629.071000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516460.027079414, 629.171000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516460.129383784, 629.271000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516460.230781142, 629.371000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516460.332776959, 629.471000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516460.434145265, 629.571000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516460.534511927, 629.671000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516460.635801732, 629.771000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516460.737133442, 629.871000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516460.839288633, 629.971000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516460.943748609, 630.071000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516461.048369149, 630.171000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516461.153735790, 630.271000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516461.255038658, 630.371000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516461.355689012, 630.471000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516461.456205762, 630.571000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516461.556923093, 630.671000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516461.658573694, 630.771000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516461.759326992, 630.871000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516461.859731929, 630.971000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516461.960464903, 631.071000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516462.061696257, 631.171000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516462.162203931, 631.271000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516462.263486897, 631.371000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516462.364258286, 631.471000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516462.466186293, 631.571000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516462.568006957, 631.671000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516462.669080403, 631.771000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516462.770088690, 631.871000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516462.872193322, 631.971000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516462.973146155, 632.071000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516463.075196454, 632.171000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516463.175763354, 632.271000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516463.278027294, 632.371000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516463.379637532, 632.471000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516463.481005217, 632.570000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516463.582172601, 632.670000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516463.683012435, 632.771000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516463.784015905, 632.871000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516463.884691616, 632.971000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516463.985764018, 633.071000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516464.086191310, 633.171000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516464.187186053, 633.271000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516464.287693522, 633.371000000]: PositionTargetGlobal failed because no origin
[ WARN] [1700516464.389212343, 633.471000000]: PositionTargetGlobal failed because no origin
INFO  [commander] Disarmed by auto preflight disarming
[ WARN] [1700516464.489798102, 633.571000000]: PositionTargetGlobal failed because no origin
INFO  [commander] Armed by external command
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2023-11-20/21_50_57.ulg
INFO  [logger] closed logfile, bytes written: 1933442
INFO  [logger] Opened full log file: ./log/2023-11-20/21_50_57.ulg
[ WARN] [1700516464.590966606, 633.671000000]: PositionTargetGlobal failed because no origin

(the second one where I did run roslaunch e2es keyboard_ctr.launch, I did past all for this one)

roslaunch e2es keyboard_ctr.launch
... logging to /root/.ros/log/68b3a36c-87ed-11ee-9714-f02f744812da/roslaunch-{my-machine}.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://{my-machine}/

SUMMARY
========

PARAMETERS
 * /keyboard_ctl/angular_velocity_turn: 0.3
 * /keyboard_ctl/max_x: 20.0
 * /keyboard_ctl/max_y: 20.0
 * /keyboard_ctl/max_z: 2.5
 * /keyboard_ctl/min_x: -20.0
 * /keyboard_ctl/min_y: -20.0
 * /keyboard_ctl/min_z: -0.1
 * /keyboard_ctl/velocity_horizon: 1.0
 * /keyboard_ctl/velocity_vertical: 0.5
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    keyboard_ctl (e2es/keyboard_ctl)

ROS_MASTER_URI=http://localhost:11311

process[keyboard_ctl-1]: started with pid [14428]
horizon speed: 1
vertical speed: 0.5
turning speed: 0.3
Waiting for FCU connection 
Waiting for FCU connection 
Waiting for FCU connection 
change last_request Arm
[ INFO] [1700516453.189737221, 622.420000000]: Offboard enabled
[ INFO] [1700516454.260238594, 623.475000000]: Vehicle armed
[ INFO] [1700516464.546630299, 633.627000000]: Vehicle armed
[ INFO] [1700516475.887463630, 644.631000000]: Vehicle armed
Isdriai commented 10 months ago

Don't forget to keep your mouse focus on the second terminal when you use keyboard to control drone ........