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PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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Multi-Vehicle Simulation with Gazebo using SDF, can only control first drone. #14436

Closed bavokn closed 4 years ago

bavokn commented 4 years ago

Hi, i'm trying to spawn multiple PX4's with a depth camera and a lidar but i can only control the first drone spawned. I use some custom scripts to setup and start gazebo in a docker container and generate a .launch file.

first I start the simulation in a container using a script 

#!/bin/bash

# xhost +local:docker

# --device=/dev/video0:/dev/video0
# For non root usage:
# RUN sudo usermod -a -G video developer

TITLE='echo -ne "\033]0;Simulation\007"'
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
vendor=$(glxinfo | grep vendor | grep OpenGL | awk '{ print $4 }')
$AMOUNT_UAVS

if [ $# -eq 0 ]; then
    echo "Didn't define amount of uavs: default 1"
    AMOUNT_UAVS="1"
else
    AMOUNT_UAVS=$1
fi

if [ "$vendor" == "NVIDIA" ]; then
    nvidia-docker run --privileged -it --rm \
        -e "DISPLAY" \
        -e "XAUTHORITY=$XAUTH" \
        -e "QT_X11_NO_MITSHM=1" \
        -e "TERM=xterm-256color" \
        -e "PROMPT_COMMAND=$TITLE" \
        -e "AMOUNT_UAVS=$AMOUNT_UAVS" \
        -e XDG_RUNTIME_DIR=/tmp/myxdg \
        -e "CONTAINER_NAME=simulation" \
        -e PULSE_SERVER=unix:"${XDG_RUNTIME_DIR}"/pulse/native \
        -v "$XAUTH:$XAUTH" \
        -v "/tmp/.X11-unix:/tmp/.X11-unix:rw" \
        -v "${XDG_RUNTIME_DIR}"/pulse/native:"${XDG_RUNTIME_DIR}"/pulse/native \
        -v "${DIR}"/models:/home/user/.gazebo/models/ \
        -v "${DIR}"/src/simulation:/home/user/catkin_ws/src/smartuav/ \
        --network=host \
        --runtime=nvidia \
        --device=/dev/snd \
        --device=/dev/fuse \
        --cap-add SYS_ADMIN \
        --name smartuav_simulation \
        --group-add "$(getent group audio | cut -d: -f3)" \
        smartuav_px4:latest \
        bash
else
    docker run --privileged -it --rm \
        -e "DISPLAY=$DISPLAY" \
        -e "TERM=xterm-256color" \
        -e "PROMPT_COMMAND=$TITLE" \
        -e "AMOUNT_UAVS=$AMOUNT_UAVS" \
        -e "CONTAINER_NAME=Simulation" \
        -v /tmp/.X11-unix:/tmp/.X11-unix \
        -v "${DIR}"/models:/home/user/.gazebo/models/ \
        -v "${DIR}"/src/simulation:/home/user/catkin_ws/src/smartuav/ \
        --network=host \
        --device /dev/fuse \
        --cap-add SYS_ADMIN \
        --device=/dev/dri:/dev/dri \
        --name smartuav_px4 \
        smartuav_px4:latest \
        bash
fi

source ~/.bashrc

then in the container I generate the launch file for n drones 

#!/bin/bash

X=0  # x-coordinate of the first UAV
Y=0  # y-coordinate of the first UAV
deltaX=1  # change of x-coordinate for next UAVs
deltaY=0  # change of y-coordinate for next UAVs
UAV_model='iris_depth_camera_lidar' # model type of UAV
GAZEBO_GUI='false'

# this script needs an argument to choose the amount of drones.

if [[ $# -eq 0 ]]; then
    echo 'Error: You need to define the amount of UAVs to start.'
    exit 0
fi

case "$1" in
    ("" | *[!0-9]*)
        echo 'error (not a positive decimal integer number)' >&2
        exit 1
esac

if [ $2 == 'true' ]; then
    GAZEBO_GUI='true'
fi

AMOUNT_UAVS=$(expr $1 - 1)

OUTPUT="<?xml version=\"1.0\"?>\n\
<launch>\n\
\t<!-- MAVROS posix SITL environment launch script -->\n\
\t<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->\n\
\t<!-- vehicle model and world -->\n\
\t<arg name=\"est\" default=\"ekf2\" />\n\
\t<arg name=\"vehicle\" default=\"iris\" />\n\
\t<arg name=\"model\" default=\"iris_depth_camera_lidar\" />\n\
\t<arg name=\"world\" default=\"\$(find smartuav)/worlds/world.world\" />\n\
\t<!-- gazebo configs -->\n\
\t<arg name=\"gui\" default=\"$GAZEBO_GUI\" />\n\
\t<arg name=\"debug\" default=\"false\" />\n\
\t<arg name=\"verbose\" default=\"true\" />\n\
\t<arg name=\"paused\" default=\"false\" />\n\
\t<!-- Gazebo sim -->\n\
\t<include file=\"\$(find smartuav)/launch/showcase_world.launch\">\n\
\t\t<arg name=\"gui\" value=\"\$(arg gui)\" />\n\
\t\t<arg name=\"world_name\" value=\"\$(arg world)\" />\n\
\t\t<arg name=\"debug\" value=\"\$(arg debug)\" />\n\
\t\t<arg name=\"verbose\" value=\"\$(arg verbose)\" />\n\
\t\t<arg name=\"paused\" value=\"\$(arg paused)\" />\n\
\t</include>\n\
\t<!-- start rviz -->\n\
\t<arg name=\"rviz\" default=\"true\"/>\n\
\t<node if=\"\$(arg rviz)\" pkg=\"rviz\" type=\"rviz\" name=\"\$(anon rviz)\" respawn=\"false\" output=\"screen\" args=\"-d \$(find smartuav)/rviz/settings.rviz\" />\n"

for i in $(eval echo {0..$AMOUNT_UAVS}); do
    echo "Generating drone $i"
    OUTPUT+="\t<!-- UAV0 -->\n\
\t<group ns=\"iris_$i\">\n\
\t\t<arg name=\"ID\" value=\"$i\"/>\n\
\t\t<arg name=\"fcu_url\" default=\"udp://:$(expr 14540 + $i)@localhost:$(expr 14580 + $i)\" />\n\
\t\t<include file=\"\$(find px4)/launch/single_vehicle_spawn_sdf.launch\">\n\
\t\t\t<arg name=\"x\" value=\"$(expr $X + $i \* $deltaX)\" />\n\
\t\t\t<arg name=\"y\" value=\"$(expr $Y + $i \* $deltaY)\" />\n\
\t\t\t<arg name=\"z\" value=\"1\" />\n\
\t\t\t<arg name=\"R\" value=\"0\" />\n\
\t\t\t<arg name=\"P\" value=\"0\" />\n\
\t\t\t<arg name=\"Y\" value=\"0\" />\n\
\t\t\t<arg name=\"vehicle\" value=\"\$(arg vehicle)\" />\n\
\t\t\t<arg name=\"mavlink_udp_port\" value=\"$(expr 14560 + $i)\" />\n\
\t\t\t<arg name=\"mavlink_tcp_port\" value=\"$(expr 4560 + $i)\" />\n\
\t\t\t<arg name=\"ID\" value=\"\$(arg ID)\" />\n\
\t\t\t<arg name=\"cmd\" value=\"xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/$(expr 14560 + $i)' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n $(expr 14560 + $i) -v $(expr 14560 + $i) \$(find smartuav)/models/$UAV_model/$UAV_model.sdf\" />\n
\t\t</include>\n\
\t\t<include file=\"\$(find mavros)/launch/px4.launch\">\n\
\t\t\t<arg name=\"fcu_url\" value=\"\$(arg fcu_url)\" />\n\
\t\t\t<arg name=\"gcs_url\" value=\"\" />\n\
\t\t\t<arg name=\"tgt_system\" value=\"\$(eval 1 + arg('ID'))\" />\n\
\t\t\t<arg name=\"tgt_component\" value=\"1\" />\n\
\t\t</include>\n\
\t</group>\n\
\t<!-- start node for fixed frames -->\n\
\t<node pkg=\"tf\" type=\"static_transform_publisher\" name=\"iris_$(echo $i)_lidar\" args=\"$(expr $X + $i \* $deltaX) $(expr $Y + $i \* $deltaY) 0 0 0 0 base_link rplidar_link 100\" /> \n\
\t<node pkg=\"tf\" type=\"static_transform_publisher\" name=\"iris_$(echo $i)_camera\" args=\"$(expr $X + $i \* $deltaX) $(expr $Y + $i \* $deltaY) 0 1.57079633 3.14159265 1.57079633 base_link iris_$i/camera_link 100\" />\n"
done

OUTPUT+="</launch>\n"

echo -e $OUTPUT > launch/tab_smartuavs.launch

sed 's/\t/    /g' launch/tab_smartuavs.launch > launch/smartuavs.launch

for example 3 drones generates this launchfile : 

<?xml version="1.0"?>
<launch>
    <!-- MAVROS posix SITL environment launch script -->
    <!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
    <!-- vehicle model and world -->
    <arg name="est" default="ekf2" />
    <arg name="vehicle" default="iris" />
    <arg name="model" default="iris_depth_camera_lidar" />
    <arg name="world" default="$(find smartuav)/worlds/world.world" />
    <!-- gazebo configs -->
    <arg name="gui" default="false" />
    <arg name="debug" default="false" />
    <arg name="verbose" default="true" />
    <arg name="paused" default="false" />
    <!-- Gazebo sim -->
    <include file="$(find smartuav)/launch/showcase_world.launch">
        <arg name="gui" value="$(arg gui)" />
        <arg name="world_name" value="$(arg world)" />
        <arg name="debug" value="$(arg debug)" />
        <arg name="verbose" value="$(arg verbose)" />
        <arg name="paused" value="$(arg paused)" />
    </include>
    <!-- start rviz -->
    <arg name="rviz" default="true"/>
    <node if="$(arg rviz)" pkg="rviz" type="rviz" name="$(anon rviz)" respawn="false" output="screen" args="-d $(find smartuav)/rviz/settings.rviz" />
    <!-- UAV0 -->
    <group ns="iris_0">
        <arg name="ID" value="0"/>
        <arg name="fcu_url" default="udp://:14540@localhost:14580" />
        <include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
            <arg name="x" value="0" />
            <arg name="y" value="0" />
            <arg name="z" value="1" />
            <arg name="R" value="0" />
            <arg name="P" value="0" />
            <arg name="Y" value="0" />
            <arg name="vehicle" value="$(arg vehicle)" />
            <arg name="mavlink_udp_port" value="14560" />
            <arg name="mavlink_tcp_port" value="4560" />
            <arg name="ID" value="$(arg ID)" />
            <arg name="cmd" value="xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/14560' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n 14560 -v 14560 $(find smartuav)/models/iris_depth_camera_lidar/iris_depth_camera_lidar.sdf" />
         </include>
        <include file="$(find mavros)/launch/px4.launch">
            <arg name="fcu_url" value="$(arg fcu_url)" />
            <arg name="gcs_url" value="" />
            <arg name="tgt_system" value="$(eval 1 + arg('ID'))" />
            <arg name="tgt_component" value="1" />
        </include>
    </group>
    <!-- start node for fixed frames -->
    <node pkg="tf" type="static_transform_publisher" name="iris_0_lidar" args="0 0 0 0 0 0 base_link rplidar_link 100" /> 
    <node pkg="tf" type="static_transform_publisher" name="iris_0_camera" args="0 0 0 1.57079633 3.14159265 1.57079633 base_link iris_0/camera_link 100" />
    <!-- UAV0 -->
    <group ns="iris_1">
        <arg name="ID" value="1"/>
        <arg name="fcu_url" default="udp://:14541@localhost:14581" />
        <include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
            <arg name="x" value="1" />
            <arg name="y" value="0" />
            <arg name="z" value="1" />
            <arg name="R" value="0" />
            <arg name="P" value="0" />
            <arg name="Y" value="0" />
            <arg name="vehicle" value="$(arg vehicle)" />
            <arg name="mavlink_udp_port" value="14561" />
            <arg name="mavlink_tcp_port" value="4561" />
            <arg name="ID" value="$(arg ID)" />
            <arg name="cmd" value="xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/14561' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n 14561 -v 14561 $(find smartuav)/models/iris_depth_camera_lidar/iris_depth_camera_lidar.sdf" />
         </include>
        <include file="$(find mavros)/launch/px4.launch">
            <arg name="fcu_url" value="$(arg fcu_url)" />
            <arg name="gcs_url" value="" />
            <arg name="tgt_system" value="$(eval 1 + arg('ID'))" />
            <arg name="tgt_component" value="1" />
        </include>
    </group>
    <!-- start node for fixed frames -->
    <node pkg="tf" type="static_transform_publisher" name="iris_1_lidar" args="1 0 0 0 0 0 base_link rplidar_link 100" /> 
    <node pkg="tf" type="static_transform_publisher" name="iris_1_camera" args="1 0 0 1.57079633 3.14159265 1.57079633 base_link iris_1/camera_link 100" />
    <!-- UAV0 -->
    <group ns="iris_2">
        <arg name="ID" value="2"/>
        <arg name="fcu_url" default="udp://:14542@localhost:14582" />
        <include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
            <arg name="x" value="2" />
            <arg name="y" value="0" />
            <arg name="z" value="1" />
            <arg name="R" value="0" />
            <arg name="P" value="0" />
            <arg name="Y" value="0" />
            <arg name="vehicle" value="$(arg vehicle)" />
            <arg name="mavlink_udp_port" value="14562" />
            <arg name="mavlink_tcp_port" value="4562" />
            <arg name="ID" value="$(arg ID)" />
            <arg name="cmd" value="xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/14562' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n 14562 -v 14562 $(find smartuav)/models/iris_depth_camera_lidar/iris_depth_camera_lidar.sdf" />
         </include>
        <include file="$(find mavros)/launch/px4.launch">
            <arg name="fcu_url" value="$(arg fcu_url)" />
            <arg name="gcs_url" value="" />
            <arg name="tgt_system" value="$(eval 1 + arg('ID'))" />
            <arg name="tgt_component" value="1" />
        </include>
    </group>
    <!-- start node for fixed frames -->
    <node pkg="tf" type="static_transform_publisher" name="iris_2_lidar" args="2 0 0 0 0 0 base_link rplidar_link 100" /> 
    <node pkg="tf" type="static_transform_publisher" name="iris_2_camera" args="2 0 0 1.57079633 3.14159265 1.57079633 base_link iris_2/camera_link 100" />
</launch>

xmlstarlet can find the .sdf file so the path is correct.

the .sdf file i use 

    <?xml version="1.0" ?>
<sdf version="1.4">
  <model name='iris_depth_camera_lidar'>
    <include>
      <uri>model://iris</uri>
    </include>

    <model name="depth_camera">
      <pose>0.1 0 0 0 1.57079632679 0</pose>
      <link name="link">
        <inertial>
          <pose>0.01 0.025 0.025 0 0 0</pose>
          <mass>0.01</mass>
          <inertia>
            <ixx>4.15e-6</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>2.407e-6</iyy>
            <iyz>0</iyz>
            <izz>2.407e-6</izz>
          </inertia>
        </inertial>
        <visual name="visual">
          <pose>0 0 0 0  0</pose>
          <geometry>
            <mesh>
              <uri>model://realsense_camera/meshes/realsense.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <sensor name="depth_camera" type="depth">
          <update_rate>20</update_rate>
          <camera>
            <horizontal_fov>1.02974</horizontal_fov>
            <image>
              <format>R8G8B8</format>
              <width>640</width>
              <height>480</height>
            </image>
            <clip>
              <near>0.5</near>
              <far>18</far>
            </clip>
          </camera>
          <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_controller">
            <cameraName>camera</cameraName>
            <alwaysOn>true</alwaysOn>
            <updateRate>20</updateRate>
            <pointCloudCutoff>0.2</pointCloudCutoff>
            <pointCloudCutoffMax>15</pointCloudCutoffMax>
            <imageTopicName>rgb/image_raw</imageTopicName>
            <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
            <depthImageTopicName>depth/image_raw</depthImageTopicName>
            <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
            <pointCloudTopicName>depth/points</pointCloudTopicName>
            <frameName>camera_link</frameName>
            <distortion_k1>0.0</distortion_k1>
            <distortion_k2>0.0</distortion_k2>
            <distortion_k3>0.0</distortion_k3>
            <distortion_t1>0.0</distortion_t1>
            <distortion_t2>0.0</distortion_t2>
          </plugin>
        </sensor>
      </link>
    </model>
    <joint name="depth_camera_joint" type="revolute">
      <child>depth_camera::link</child>
      <parent>iris::base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
    </joint>

    <include>
      <uri>model://lidar</uri>
      <pose>0 0 0.05 0 0 0</pose>
    </include>
    <joint name="rplidar_joint" type="revolute">
      <child>lidar::link</child>
      <parent>iris::base_link</parent>
      <axis>
        <xyz>1 1 1</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
    </joint>

  </model>
</sdf>

Expected behavior I see all the topics using rostopic list and I can see the video feed/pointclouds in rviz but it fails when i try and control the drone after spawning them in the world.

gazebo startup log for example 3 drones

Generating drone 0
Generating drone 1
Generating drone 2
... logging to /home/user/.ros/log/b35c2186-6a88-11ea-8093-b06ebf5f23c9/roslaunch-HungarianHorntails-1577.log                                                                                                  
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Invalid expression: //plugin[@name="mavlink_interface"]/14560
Invalid expression: //plugin[@name="mavlink_interface"]/14560
Invalid expression: //plugin[@name="mavlink_interface"]/14561
Invalid expression: //plugin[@name="mavlink_interface"]/14561
Invalid expression: //plugin[@name="mavlink_interface"]/14562
Invalid expression: //plugin[@name="mavlink_interface"]/14562
started roslaunch server http://HungarianHorntails:42615/

SUMMARY
========

CLEAR PARAMETERS
 * /iris_0/mavros/
 * /iris_1/mavros/
 * /iris_2/mavros/

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /iris_0/mavros/cmd/use_comp_id_system_control: False
 * /iris_0/mavros/conn/heartbeat_rate: 1.0
 * /iris_0/mavros/conn/system_time_rate: 1.0
 * /iris_0/mavros/conn/timeout: 10.0
 * /iris_0/mavros/conn/timesync_rate: 10.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /iris_0/mavros/distance_sensor/laser_1_sub/id: 3
 * /iris_0/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/laser_1_sub/subscriber: True
 * /iris_0/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /iris_0/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /iris_0/mavros/distance_sensor/lidarlite_pub/id: 1
 * /iris_0/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /iris_0/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /iris_0/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /iris_0/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /iris_0/mavros/distance_sensor/sonar_1_sub/id: 2
 * /iris_0/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /iris_0/mavros/fake_gps/eph: 2.0
 * /iris_0/mavros/fake_gps/epv: 2.0
 * /iris_0/mavros/fake_gps/fix_type: 3
 * /iris_0/mavros/fake_gps/geo_origin/alt: 408.0
 * /iris_0/mavros/fake_gps/geo_origin/lat: 47.3667
 * /iris_0/mavros/fake_gps/geo_origin/lon: 8.55
 * /iris_0/mavros/fake_gps/gps_rate: 5.0
 * /iris_0/mavros/fake_gps/mocap_transform: True
 * /iris_0/mavros/fake_gps/satellites_visible: 5
 * /iris_0/mavros/fake_gps/tf/child_frame_id: fix
 * /iris_0/mavros/fake_gps/tf/frame_id: map
 * /iris_0/mavros/fake_gps/tf/listen: False
 * /iris_0/mavros/fake_gps/tf/rate_limit: 10.0
 * /iris_0/mavros/fake_gps/tf/send: False
 * /iris_0/mavros/fake_gps/use_mocap: True
 * /iris_0/mavros/fake_gps/use_vision: False
 * /iris_0/mavros/fcu_protocol: v2.0
 * /iris_0/mavros/fcu_url: udp://:14540@loca...
 * /iris_0/mavros/gcs_url: 
 * /iris_0/mavros/global_position/child_frame_id: base_link
 * /iris_0/mavros/global_position/frame_id: map
 * /iris_0/mavros/global_position/gps_uere: 1.0
 * /iris_0/mavros/global_position/rot_covariance: 99999.0
 * /iris_0/mavros/global_position/tf/child_frame_id: base_link
 * /iris_0/mavros/global_position/tf/frame_id: map
 * /iris_0/mavros/global_position/tf/global_frame_id: earth
 * /iris_0/mavros/global_position/tf/send: False
 * /iris_0/mavros/global_position/use_relative_alt: True
 * /iris_0/mavros/image/frame_id: px4flow
 * /iris_0/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /iris_0/mavros/imu/frame_id: base_link
 * /iris_0/mavros/imu/linear_acceleration_stdev: 0.0003
 * /iris_0/mavros/imu/magnetic_stdev: 0.0
 * /iris_0/mavros/imu/orientation_stdev: 1.0
 * /iris_0/mavros/landing_target/camera/fov_x: 2.0071286398
 * /iris_0/mavros/landing_target/camera/fov_y: 2.0071286398
 * /iris_0/mavros/landing_target/image/height: 480
 * /iris_0/mavros/landing_target/image/width: 640
 * /iris_0/mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /iris_0/mavros/landing_target/listen_lt: False
 * /iris_0/mavros/landing_target/mav_frame: LOCAL_NED
 * /iris_0/mavros/landing_target/target_size/x: 0.3
 * /iris_0/mavros/landing_target/target_size/y: 0.3
 * /iris_0/mavros/landing_target/tf/child_frame_id: camera_center
 * /iris_0/mavros/landing_target/tf/frame_id: landing_target
 * /iris_0/mavros/landing_target/tf/listen: False
 * /iris_0/mavros/landing_target/tf/rate_limit: 10.0
 * /iris_0/mavros/landing_target/tf/send: True
 * /iris_0/mavros/local_position/frame_id: map
 * /iris_0/mavros/local_position/tf/child_frame_id: base_link
 * /iris_0/mavros/local_position/tf/frame_id: map
 * /iris_0/mavros/local_position/tf/send: False
 * /iris_0/mavros/local_position/tf/send_fcu: False
 * /iris_0/mavros/mission/pull_after_gcs: True
 * /iris_0/mavros/mocap/use_pose: True
 * /iris_0/mavros/mocap/use_tf: False
 * /iris_0/mavros/odometry/fcu/odom_child_id_des: base_link
 * /iris_0/mavros/odometry/fcu/odom_parent_id_des: map
 * /iris_0/mavros/plugin_blacklist: ['safety_area', '...
 * /iris_0/mavros/plugin_whitelist: []
 * /iris_0/mavros/px4flow/frame_id: px4flow
 * /iris_0/mavros/px4flow/ranger_fov: 0.118682
 * /iris_0/mavros/px4flow/ranger_max_range: 5.0
 * /iris_0/mavros/px4flow/ranger_min_range: 0.3
 * /iris_0/mavros/safety_area/p1/x: 1.0
 * /iris_0/mavros/safety_area/p1/y: 1.0
 * /iris_0/mavros/safety_area/p1/z: 1.0
 * /iris_0/mavros/safety_area/p2/x: -1.0
 * /iris_0/mavros/safety_area/p2/y: -1.0
 * /iris_0/mavros/safety_area/p2/z: -1.0
 * /iris_0/mavros/setpoint_accel/send_force: False
 * /iris_0/mavros/setpoint_attitude/reverse_thrust: False
 * /iris_0/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /iris_0/mavros/setpoint_attitude/tf/frame_id: map
 * /iris_0/mavros/setpoint_attitude/tf/listen: False
 * /iris_0/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /iris_0/mavros/setpoint_attitude/use_quaternion: False
 * /iris_0/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /iris_0/mavros/setpoint_position/tf/child_frame_id: target_position
 * /iris_0/mavros/setpoint_position/tf/frame_id: map
 * /iris_0/mavros/setpoint_position/tf/listen: False
 * /iris_0/mavros/setpoint_position/tf/rate_limit: 50.0
 * /iris_0/mavros/setpoint_raw/thrust_scaling: 1.0
 * /iris_0/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /iris_0/mavros/startup_px4_usb_quirk: True
 * /iris_0/mavros/sys/disable_diag: False
 * /iris_0/mavros/sys/min_voltage: 10.0
 * /iris_0/mavros/target_component_id: 1
 * /iris_0/mavros/target_system_id: 1
 * /iris_0/mavros/tdr_radio/low_rssi: 40
 * /iris_0/mavros/time/time_ref_source: fcu
 * /iris_0/mavros/time/timesync_avg_alpha: 0.6
 * /iris_0/mavros/time/timesync_mode: MAVLINK
 * /iris_0/mavros/vibration/frame_id: base_link
 * /iris_0/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /iris_0/mavros/vision_pose/tf/frame_id: odom
 * /iris_0/mavros/vision_pose/tf/listen: False
 * /iris_0/mavros/vision_pose/tf/rate_limit: 10.0
 * /iris_0/mavros/vision_speed/listen_twist: True
 * /iris_0/mavros/vision_speed/twist_cov: True
 * /iris_0/mavros/wheel_odometry/child_frame_id: base_link
 * /iris_0/mavros/wheel_odometry/count: 2
 * /iris_0/mavros/wheel_odometry/frame_id: odom
 * /iris_0/mavros/wheel_odometry/send_raw: True
 * /iris_0/mavros/wheel_odometry/send_twist: False
 * /iris_0/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /iris_0/mavros/wheel_odometry/tf/frame_id: odom
 * /iris_0/mavros/wheel_odometry/tf/send: False
 * /iris_0/mavros/wheel_odometry/use_rpm: False
 * /iris_0/mavros/wheel_odometry/vel_error: 0.1
 * /iris_0/mavros/wheel_odometry/wheel0/radius: 0.05
 * /iris_0/mavros/wheel_odometry/wheel0/x: 0.0
 * /iris_0/mavros/wheel_odometry/wheel0/y: -0.15
 * /iris_0/mavros/wheel_odometry/wheel1/radius: 0.05
 * /iris_0/mavros/wheel_odometry/wheel1/x: 0.0
 * /iris_0/mavros/wheel_odometry/wheel1/y: 0.15
 * /iris_0/model_description: <?xml version="1....
 * /iris_1/mavros/cmd/use_comp_id_system_control: False
 * /iris_1/mavros/conn/heartbeat_rate: 1.0
 * /iris_1/mavros/conn/system_time_rate: 1.0
 * /iris_1/mavros/conn/timeout: 10.0
 * /iris_1/mavros/conn/timesync_rate: 10.0
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /iris_1/mavros/distance_sensor/laser_1_sub/id: 3
 * /iris_1/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /iris_1/mavros/distance_sensor/laser_1_sub/subscriber: True
 * /iris_1/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /iris_1/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /iris_1/mavros/distance_sensor/lidarlite_pub/id: 1
 * /iris_1/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /iris_1/mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /iris_1/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /iris_1/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /iris_1/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /iris_1/mavros/distance_sensor/sonar_1_sub/id: 2
 * /iris_1/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /iris_1/mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /iris_1/mavros/fake_gps/eph: 2.0
 * /iris_1/mavros/fake_gps/epv: 2.0
 * /iris_1/mavros/fake_gps/fix_type: 3
 * /iris_1/mavros/fake_gps/geo_origin/alt: 408.0
 * /iris_1/mavros/fake_gps/geo_origin/lat: 47.3667
 * /iris_1/mavros/fake_gps/geo_origin/lon: 8.55
 * /iris_1/mavros/fake_gps/gps_rate: 5.0
 * /iris_1/mavros/fake_gps/mocap_transform: True
 * /iris_1/mavros/fake_gps/satellites_visible: 5
 * /iris_1/mavros/fake_gps/tf/child_frame_id: fix
 * /iris_1/mavros/fake_gps/tf/frame_id: map
 * /iris_1/mavros/fake_gps/tf/listen: False
 * /iris_1/mavros/fake_gps/tf/rate_limit: 10.0
 * /iris_1/mavros/fake_gps/tf/send: False
 * /iris_1/mavros/fake_gps/use_mocap: True
 * /iris_1/mavros/fake_gps/use_vision: False
 * /iris_1/mavros/fcu_protocol: v2.0
 * /iris_1/mavros/fcu_url: udp://:14541@loca...
 * /iris_1/mavros/gcs_url: 
 * /iris_1/mavros/global_position/child_frame_id: base_link
 * /iris_1/mavros/global_position/frame_id: map
 * /iris_1/mavros/global_position/gps_uere: 1.0
 * /iris_1/mavros/global_position/rot_covariance: 99999.0
 * /iris_1/mavros/global_position/tf/child_frame_id: base_link
 * /iris_1/mavros/global_position/tf/frame_id: map
 * /iris_1/mavros/global_position/tf/global_frame_id: earth
 * /iris_1/mavros/global_position/tf/send: False
 * /iris_1/mavros/global_position/use_relative_alt: True
 * /iris_1/mavros/image/frame_id: px4flow
 * /iris_1/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /iris_1/mavros/imu/frame_id: base_link
 * /iris_1/mavros/imu/linear_acceleration_stdev: 0.0003
 * /iris_1/mavros/imu/magnetic_stdev: 0.0
 * /iris_1/mavros/imu/orientation_stdev: 1.0
 * /iris_1/mavros/landing_target/camera/fov_x: 2.0071286398
 * /iris_1/mavros/landing_target/camera/fov_y: 2.0071286398
 * /iris_1/mavros/landing_target/image/height: 480
 * /iris_1/mavros/landing_target/image/width: 640
 * /iris_1/mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /iris_1/mavros/landing_target/listen_lt: False
 * /iris_1/mavros/landing_target/mav_frame: LOCAL_NED
 * /iris_1/mavros/landing_target/target_size/x: 0.3
 * /iris_1/mavros/landing_target/target_size/y: 0.3
 * /iris_1/mavros/landing_target/tf/child_frame_id: camera_center
 * /iris_1/mavros/landing_target/tf/frame_id: landing_target
 * /iris_1/mavros/landing_target/tf/listen: False
 * /iris_1/mavros/landing_target/tf/rate_limit: 10.0
 * /iris_1/mavros/landing_target/tf/send: True
 * /iris_1/mavros/local_position/frame_id: map
 * /iris_1/mavros/local_position/tf/child_frame_id: base_link
 * /iris_1/mavros/local_position/tf/frame_id: map
 * /iris_1/mavros/local_position/tf/send: False
 * /iris_1/mavros/local_position/tf/send_fcu: False
 * /iris_1/mavros/mission/pull_after_gcs: True
 * /iris_1/mavros/mocap/use_pose: True
 * /iris_1/mavros/mocap/use_tf: False
 * /iris_1/mavros/odometry/fcu/odom_child_id_des: base_link
 * /iris_1/mavros/odometry/fcu/odom_parent_id_des: map
 * /iris_1/mavros/plugin_blacklist: ['safety_area', '...
 * /iris_1/mavros/plugin_whitelist: []
 * /iris_1/mavros/px4flow/frame_id: px4flow
 * /iris_1/mavros/px4flow/ranger_fov: 0.118682
 * /iris_1/mavros/px4flow/ranger_max_range: 5.0
 * /iris_1/mavros/px4flow/ranger_min_range: 0.3
 * /iris_1/mavros/safety_area/p1/x: 1.0
 * /iris_1/mavros/safety_area/p1/y: 1.0
 * /iris_1/mavros/safety_area/p1/z: 1.0
 * /iris_1/mavros/safety_area/p2/x: -1.0
 * /iris_1/mavros/safety_area/p2/y: -1.0
 * /iris_1/mavros/safety_area/p2/z: -1.0
 * /iris_1/mavros/setpoint_accel/send_force: False
 * /iris_1/mavros/setpoint_attitude/reverse_thrust: False
 * /iris_1/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /iris_1/mavros/setpoint_attitude/tf/frame_id: map
 * /iris_1/mavros/setpoint_attitude/tf/listen: False
 * /iris_1/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /iris_1/mavros/setpoint_attitude/use_quaternion: False
 * /iris_1/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /iris_1/mavros/setpoint_position/tf/child_frame_id: target_position
 * /iris_1/mavros/setpoint_position/tf/frame_id: map
 * /iris_1/mavros/setpoint_position/tf/listen: False
 * /iris_1/mavros/setpoint_position/tf/rate_limit: 50.0
 * /iris_1/mavros/setpoint_raw/thrust_scaling: 1.0
 * /iris_1/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /iris_1/mavros/startup_px4_usb_quirk: True
 * /iris_1/mavros/sys/disable_diag: False
 * /iris_1/mavros/sys/min_voltage: 10.0
 * /iris_1/mavros/target_component_id: 1
 * /iris_1/mavros/target_system_id: 2
 * /iris_1/mavros/tdr_radio/low_rssi: 40
 * /iris_1/mavros/time/time_ref_source: fcu
 * /iris_1/mavros/time/timesync_avg_alpha: 0.6
 * /iris_1/mavros/time/timesync_mode: MAVLINK
 * /iris_1/mavros/vibration/frame_id: base_link
 * /iris_1/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /iris_1/mavros/vision_pose/tf/frame_id: odom
 * /iris_1/mavros/vision_pose/tf/listen: False
 * /iris_1/mavros/vision_pose/tf/rate_limit: 10.0
 * /iris_1/mavros/vision_speed/listen_twist: True
 * /iris_1/mavros/vision_speed/twist_cov: True
 * /iris_1/mavros/wheel_odometry/child_frame_id: base_link
 * /iris_1/mavros/wheel_odometry/count: 2
 * /iris_1/mavros/wheel_odometry/frame_id: odom
 * /iris_1/mavros/wheel_odometry/send_raw: True
 * /iris_1/mavros/wheel_odometry/send_twist: False
 * /iris_1/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /iris_1/mavros/wheel_odometry/tf/frame_id: odom
 * /iris_1/mavros/wheel_odometry/tf/send: False
 * /iris_1/mavros/wheel_odometry/use_rpm: False
 * /iris_1/mavros/wheel_odometry/vel_error: 0.1
 * /iris_1/mavros/wheel_odometry/wheel0/radius: 0.05
 * /iris_1/mavros/wheel_odometry/wheel0/x: 0.0
 * /iris_1/mavros/wheel_odometry/wheel0/y: -0.15
 * /iris_1/mavros/wheel_odometry/wheel1/radius: 0.05
 * /iris_1/mavros/wheel_odometry/wheel1/x: 0.0
 * /iris_1/mavros/wheel_odometry/wheel1/y: 0.15
 * /iris_1/model_description: <?xml version="1....
 * /iris_2/mavros/cmd/use_comp_id_system_control: False
 * /iris_2/mavros/conn/heartbeat_rate: 1.0
 * /iris_2/mavros/conn/system_time_rate: 1.0
 * /iris_2/mavros/conn/timeout: 10.0
 * /iris_2/mavros/conn/timesync_rate: 10.0
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /iris_2/mavros/distance_sensor/laser_1_sub/id: 3
 * /iris_2/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /iris_2/mavros/distance_sensor/laser_1_sub/subscriber: True
 * /iris_2/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /iris_2/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /iris_2/mavros/distance_sensor/lidarlite_pub/id: 1
 * /iris_2/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /iris_2/mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /iris_2/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /iris_2/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /iris_2/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /iris_2/mavros/distance_sensor/sonar_1_sub/id: 2
 * /iris_2/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /iris_2/mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /iris_2/mavros/fake_gps/eph: 2.0
 * /iris_2/mavros/fake_gps/epv: 2.0
 * /iris_2/mavros/fake_gps/fix_type: 3
 * /iris_2/mavros/fake_gps/geo_origin/alt: 408.0
 * /iris_2/mavros/fake_gps/geo_origin/lat: 47.3667
 * /iris_2/mavros/fake_gps/geo_origin/lon: 8.55
 * /iris_2/mavros/fake_gps/gps_rate: 5.0
 * /iris_2/mavros/fake_gps/mocap_transform: True
 * /iris_2/mavros/fake_gps/satellites_visible: 5
 * /iris_2/mavros/fake_gps/tf/child_frame_id: fix
 * /iris_2/mavros/fake_gps/tf/frame_id: map
 * /iris_2/mavros/fake_gps/tf/listen: False
 * /iris_2/mavros/fake_gps/tf/rate_limit: 10.0
 * /iris_2/mavros/fake_gps/tf/send: False
 * /iris_2/mavros/fake_gps/use_mocap: True
 * /iris_2/mavros/fake_gps/use_vision: False
 * /iris_2/mavros/fcu_protocol: v2.0
 * /iris_2/mavros/fcu_url: udp://:14542@loca...
 * /iris_2/mavros/gcs_url: 
 * /iris_2/mavros/global_position/child_frame_id: base_link
 * /iris_2/mavros/global_position/frame_id: map
 * /iris_2/mavros/global_position/gps_uere: 1.0
 * /iris_2/mavros/global_position/rot_covariance: 99999.0
 * /iris_2/mavros/global_position/tf/child_frame_id: base_link
 * /iris_2/mavros/global_position/tf/frame_id: map
 * /iris_2/mavros/global_position/tf/global_frame_id: earth
 * /iris_2/mavros/global_position/tf/send: False
 * /iris_2/mavros/global_position/use_relative_alt: True
 * /iris_2/mavros/image/frame_id: px4flow
 * /iris_2/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /iris_2/mavros/imu/frame_id: base_link
 * /iris_2/mavros/imu/linear_acceleration_stdev: 0.0003
 * /iris_2/mavros/imu/magnetic_stdev: 0.0
 * /iris_2/mavros/imu/orientation_stdev: 1.0
 * /iris_2/mavros/landing_target/camera/fov_x: 2.0071286398
 * /iris_2/mavros/landing_target/camera/fov_y: 2.0071286398
 * /iris_2/mavros/landing_target/image/height: 480
 * /iris_2/mavros/landing_target/image/width: 640
 * /iris_2/mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /iris_2/mavros/landing_target/listen_lt: False
 * /iris_2/mavros/landing_target/mav_frame: LOCAL_NED
 * /iris_2/mavros/landing_target/target_size/x: 0.3
 * /iris_2/mavros/landing_target/target_size/y: 0.3
 * /iris_2/mavros/landing_target/tf/child_frame_id: camera_center
 * /iris_2/mavros/landing_target/tf/frame_id: landing_target
 * /iris_2/mavros/landing_target/tf/listen: False
 * /iris_2/mavros/landing_target/tf/rate_limit: 10.0
 * /iris_2/mavros/landing_target/tf/send: True
 * /iris_2/mavros/local_position/frame_id: map
 * /iris_2/mavros/local_position/tf/child_frame_id: base_link
 * /iris_2/mavros/local_position/tf/frame_id: map
 * /iris_2/mavros/local_position/tf/send: False
 * /iris_2/mavros/local_position/tf/send_fcu: False
 * /iris_2/mavros/mission/pull_after_gcs: True
 * /iris_2/mavros/mocap/use_pose: True
 * /iris_2/mavros/mocap/use_tf: False
 * /iris_2/mavros/odometry/fcu/odom_child_id_des: base_link
 * /iris_2/mavros/odometry/fcu/odom_parent_id_des: map
 * /iris_2/mavros/plugin_blacklist: ['safety_area', '...
 * /iris_2/mavros/plugin_whitelist: []
 * /iris_2/mavros/px4flow/frame_id: px4flow
 * /iris_2/mavros/px4flow/ranger_fov: 0.118682
 * /iris_2/mavros/px4flow/ranger_max_range: 5.0
 * /iris_2/mavros/px4flow/ranger_min_range: 0.3
 * /iris_2/mavros/safety_area/p1/x: 1.0
 * /iris_2/mavros/safety_area/p1/y: 1.0
 * /iris_2/mavros/safety_area/p1/z: 1.0
 * /iris_2/mavros/safety_area/p2/x: -1.0
 * /iris_2/mavros/safety_area/p2/y: -1.0
 * /iris_2/mavros/safety_area/p2/z: -1.0
 * /iris_2/mavros/setpoint_accel/send_force: False
 * /iris_2/mavros/setpoint_attitude/reverse_thrust: False
 * /iris_2/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /iris_2/mavros/setpoint_attitude/tf/frame_id: map
 * /iris_2/mavros/setpoint_attitude/tf/listen: False
 * /iris_2/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /iris_2/mavros/setpoint_attitude/use_quaternion: False
 * /iris_2/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /iris_2/mavros/setpoint_position/tf/child_frame_id: target_position
 * /iris_2/mavros/setpoint_position/tf/frame_id: map
 * /iris_2/mavros/setpoint_position/tf/listen: False
 * /iris_2/mavros/setpoint_position/tf/rate_limit: 50.0
 * /iris_2/mavros/setpoint_raw/thrust_scaling: 1.0
 * /iris_2/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /iris_2/mavros/startup_px4_usb_quirk: True
 * /iris_2/mavros/sys/disable_diag: False
 * /iris_2/mavros/sys/min_voltage: 10.0
 * /iris_2/mavros/target_component_id: 1
 * /iris_2/mavros/target_system_id: 3
 * /iris_2/mavros/tdr_radio/low_rssi: 40
 * /iris_2/mavros/time/time_ref_source: fcu
 * /iris_2/mavros/time/timesync_avg_alpha: 0.6
 * /iris_2/mavros/time/timesync_mode: MAVLINK
 * /iris_2/mavros/vibration/frame_id: base_link
 * /iris_2/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /iris_2/mavros/vision_pose/tf/frame_id: odom
 * /iris_2/mavros/vision_pose/tf/listen: False
 * /iris_2/mavros/vision_pose/tf/rate_limit: 10.0
 * /iris_2/mavros/vision_speed/listen_twist: True
 * /iris_2/mavros/vision_speed/twist_cov: True
 * /iris_2/mavros/wheel_odometry/child_frame_id: base_link
 * /iris_2/mavros/wheel_odometry/count: 2
 * /iris_2/mavros/wheel_odometry/frame_id: odom
 * /iris_2/mavros/wheel_odometry/send_raw: True
 * /iris_2/mavros/wheel_odometry/send_twist: False
 * /iris_2/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /iris_2/mavros/wheel_odometry/tf/frame_id: odom
 * /iris_2/mavros/wheel_odometry/tf/send: False
 * /iris_2/mavros/wheel_odometry/use_rpm: False
 * /iris_2/mavros/wheel_odometry/vel_error: 0.1
 * /iris_2/mavros/wheel_odometry/wheel0/radius: 0.05
 * /iris_2/mavros/wheel_odometry/wheel0/x: 0.0
 * /iris_2/mavros/wheel_odometry/wheel0/y: -0.15
 * /iris_2/mavros/wheel_odometry/wheel1/radius: 0.05
 * /iris_2/mavros/wheel_odometry/wheel1/x: 0.0
 * /iris_2/mavros/wheel_odometry/wheel1/y: 0.15
 * /iris_2/model_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /use_sim_time: True

NODES
  /iris_1/
    iris_1_spawn (gazebo_ros/spawn_model)
    mavros (mavros/mavros_node)
    sitl_1 (px4/px4)
  /iris_2/
    iris_2_spawn (gazebo_ros/spawn_model)
    mavros (mavros/mavros_node)
    sitl_2 (px4/px4)
  /iris_0/
    iris_0_spawn (gazebo_ros/spawn_model)
    mavros (mavros/mavros_node)
    sitl_0 (px4/px4)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    iris_0_camera (tf/static_transform_publisher)
    iris_0_lidar (tf/static_transform_publisher)
    iris_1_camera (tf/static_transform_publisher)
    iris_1_lidar (tf/static_transform_publisher)
    iris_2_camera (tf/static_transform_publisher)
    iris_2_lidar (tf/static_transform_publisher)
    rviz_HungarianHorntails_1577_1240342759625688793 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [1589]
Gazebo multi-robot simulator, version 9.12.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[ INFO] [1584698858.227230612]: Finished loading Gazebo ROS API Plugin.
[Msg] Waiting for master.
[ INFO] [1584698858.229620729]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.0.188
process[gazebo_gui-2]: started with pid [1593]
Gazebo multi-robot simulator, version 9.12.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Wrn] [GuiIface.cc:199] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin 
process[rviz_HungarianHorntails_1577_1240342759625688793-3]: started with pid [1670]
[ INFO] [1584698858.632152125]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1584698858.634440692]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.0.188
[ INFO] [1584698858.674442008]: rviz version 1.13.7
[ INFO] [1584698858.674493156]: compiled against Qt version 5.9.5
[ INFO] [1584698858.674505451]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1584698858.689346912]: Forcing OpenGl version 0.
process[iris_0/sitl_0-4]: started with pid [1768]
INFO  [px4] Creating symlink /home/user/Firmware/ROMFS/px4fmu_common -> /home/user/.ros/sitl_iris_0/etc

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] Loaded: eeprom/parameters_10016
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
process[iris_0/iris_0_spawn-5]: started with pid [1782]
process[iris_0/mavros-6]: started with pid [1815]
[ INFO] [1584698860.011312179]: FCU URL: udp://:14540@localhost:14580
[ INFO] [1584698860.014173437]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1584698860.014265347]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1584698860.014584469]: GCS bridge disabled
[ INFO] [1584698860.030268410]: Plugin 3dr_radio loaded
[ INFO] [1584698860.032793020]: Plugin 3dr_radio initialized
[ INFO] [1584698860.032986706]: Plugin actuator_control loaded
[ INFO] [1584698860.037197482]: Plugin actuator_control initialized
[ INFO] [1584698860.043037962]: Plugin adsb loaded
[ INFO] [1584698860.046212505]: Plugin adsb initialized
[ INFO] [1584698860.046386202]: Plugin altitude loaded
[ INFO] [1584698860.047490688]: Plugin altitude initialized
[ INFO] [1584698860.047646805]: Plugin cam_imu_sync loaded
[ INFO] [1584698860.048962124]: Plugin cam_imu_sync initialized
[ INFO] [1584698860.049157591]: Plugin command loaded
[ INFO] [1584698860.058740494]: Plugin command initialized
[ INFO] [1584698860.058871338]: Plugin companion_process_status loaded
[ INFO] [1584698860.061784361]: Plugin companion_process_status initialized
[ INFO] [1584698860.062106119]: Plugin debug_value loaded
[ INFO] [1584698860.069625464]: Plugin debug_value initialized
[ INFO] [1584698860.069684446]: Plugin distance_sensor blacklisted
[ INFO] [1584698860.069962074]: Plugin fake_gps loaded
[ INFO] [1584698860.103674320]: Plugin fake_gps initialized
[ INFO] [1584698860.104107745]: Plugin ftp loaded
[ INFO] [1584698860.121163556]: Plugin ftp initialized
[ INFO] [1584698860.121597919]: Plugin global_position loaded
[ INFO] [1584698860.148484294]: Plugin global_position initialized
[ INFO] [1584698860.148781810]: Plugin gps_rtk loaded
[ INFO] [1584698860.151506719]: Plugin gps_rtk initialized
[ INFO] [1584698860.151779959]: Plugin hil loaded
[ INFO] [1584698860.164950125]: Plugin hil initialized
[ INFO] [1584698860.165274546]: Plugin home_position loaded
[ INFO] [1584698860.169141328]: Plugin home_position initialized
[ INFO] [1584698860.169561561]: Plugin imu loaded
[ INFO] [1584698860.176625412]: Plugin imu initialized
[ INFO] [1584698860.176811030]: Plugin landing_target loaded
[ INFO] [1584698860.200632141]: Plugin landing_target initialized
[ INFO] [1584698860.200951835]: Plugin local_position loaded
[INFO] [1584698860.205681, 0.000000]: Loading model XML from ros parameter model_description
[ INFO] [1584698860.213400223]: Plugin local_position initialized
[ INFO] [1584698860.213573654]: Plugin log_transfer loaded
[INFO] [1584698860.214011, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[INFO] [1584698860.217817, 0.000000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1584698860.220761932, 115.754000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1584698860.221043840]: Plugin log_transfer initialized
[ INFO] [1584698860.221260277]: Plugin manual_control loaded
[ INFO] [1584698860.228218866]: Plugin manual_control initialized
[ INFO] [1584698860.228453989]: Plugin mocap_pose_estimate loaded
[ INFO] [1584698860.234904148]: Plugin mocap_pose_estimate initialized
[ INFO] [1584698860.235143969]: Plugin mount_control loaded
[ INFO] [1584698860.240186609]: Plugin mount_control initialized
[ INFO] [1584698860.240443201]: Plugin obstacle_distance loaded
[ INFO] [1584698860.244496753]: Plugin obstacle_distance initialized
[ INFO] [1584698860.244723599]: Plugin odom loaded
[ INFO] [1584698860.250989207]: Plugin odom initialized
[ INFO] [1584698860.251210330]: Plugin onboard_computer_status loaded
[ INFO] [1584698860.254514695]: Plugin onboard_computer_status initialized
[ INFO] [1584698860.254821728]: Plugin param loaded
[ INFO] [1584698860.262399698]: Plugin param initialized
[ INFO] [1584698860.262631338]: Plugin px4flow loaded
[ INFO] [1584698860.283689356, 115.815000000]: Plugin px4flow initialized
[ INFO] [1584698860.283781385, 115.815000000]: Plugin rangefinder blacklisted
[ INFO] [1584698860.284145619, 115.815000000]: Plugin rc_io loaded
process[iris_0_lidar-7]: started with pid [1842]
[ INFO] [1584698860.296088247, 115.827000000]: Plugin rc_io initialized
[ INFO] [1584698860.296199991, 115.827000000]: Plugin safety_area blacklisted
[ INFO] [1584698860.296548185, 115.827000000]: Plugin setpoint_accel loaded
[ INFO] [1584698860.306391904, 115.837000000]: Plugin setpoint_accel initialized
[ INFO] [1584698860.306846762, 115.837000000]: Plugin setpoint_attitude loaded
[ INFO] [1584698860.327048016, 115.857000000]: Plugin setpoint_attitude initialized
[ INFO] [1584698860.327407655, 115.857000000]: Plugin setpoint_position loaded
[ INFO] [1584698860.352182970, 115.882000000]: Plugin setpoint_position initialized
[ INFO] [1584698860.352499127, 115.882000000]: Plugin setpoint_raw loaded
[ INFO] [1584698860.366085984, 115.895000000]: Plugin setpoint_raw initialized
[ INFO] [1584698860.366414613, 115.896000000]: Plugin setpoint_trajectory loaded
[ INFO] [1584698860.372905671, 115.902000000]: Plugin setpoint_trajectory initialized
[ INFO] [1584698860.373241993, 115.902000000]: Plugin setpoint_velocity loaded
[ INFO] [1584698860.382113702, 115.911000000]: Plugin setpoint_velocity initialized
[ INFO] [1584698860.382686059, 115.912000000]: Plugin sys_status loaded
[ INFO] [1584698860.401349791, 115.930000000]: Plugin sys_status initialized
[ INFO] [1584698860.401689440, 115.931000000]: Plugin sys_time loaded
[ INFO] [1584698860.408889055, 115.938000000]: TM: Timesync mode: MAVLINK
[ INFO] [1584698860.410853599, 115.940000000]: Plugin sys_time initialized
[ INFO] [1584698860.411081906, 115.940000000]: Plugin trajectory loaded
[ INFO] [1584698860.419017573, 115.948000000]: Plugin trajectory initialized
[ INFO] [1584698860.419398778, 115.948000000]: Plugin vfr_hud loaded
[ INFO] [1584698860.420473962, 115.949000000]: Plugin vfr_hud initialized
[ INFO] [1584698860.420544805, 115.949000000]: Plugin vibration blacklisted
[ INFO] [1584698860.420777062, 115.949000000]: Plugin vision_pose_estimate loaded
[ INFO] [1584698860.431039576, 115.949000000]: Plugin vision_pose_estimate initialized
[ INFO] [1584698860.431266466, 115.949000000]: Plugin vision_speed_estimate loaded
[ INFO] [1584698860.436440959, 115.949000000]: Plugin vision_speed_estimate initialized
[ INFO] [1584698860.436741989, 115.949000000]: Plugin waypoint loaded
[ INFO] [1584698860.443251430, 115.949000000]: Plugin waypoint initialized
[ INFO] [1584698860.443315462, 115.949000000]: Plugin wheel_odometry blacklisted
[ INFO] [1584698860.443609691, 115.949000000]: Plugin wind_estimation loaded
[ INFO] [1584698860.444612188, 115.949000000]: Plugin wind_estimation initialized
[ INFO] [1584698860.444701109, 115.949000000]: Autostarting mavlink via USB on PX4
[ INFO] [1584698860.444946980, 115.949000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1584698860.444991414, 115.949000000]: Built-in MAVLink package version: 2020.2.2
[ INFO] [1584698860.445051177, 115.949000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1584698860.445143269, 115.949000000]: MAVROS started. MY ID 1.240, TARGET ID 1.1
process[iris_0_camera-8]: started with pid [1935]
[ INFO] [1584698860.799544447, 115.949000000]: Laser Plugin: The 'robotNamespace' param did not exit
[ INFO] [1584698860.799600108, 115.949000000]: Starting GazeboRosLaser Plugin (ns = )
[ INFO] [1584698860.801021480, 115.949000000]: GPU Laser Plugin (ns = ) <tf_prefix_>, set to ""
[Wrn] [msgs.cc:1852] Conversion of sensor type[gpu_ray] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[ INFO] [1584698860.802438092, 115.949000000]: LoadThread function completed
[INFO] [1584698860.803933, 115.949000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1584698860.817205474, 115.949000000]: Physics dynamic reconfigure ready.
[ INFO] [1584698860.822036940, 115.949000000]: Camera Plugin: Using the 'robotNamespace' param: '/iris_0/'
[ INFO] [1584698860.825807910, 115.949000000]: Camera Plugin (ns = /iris_0/)  <tf_prefix_>, set to "/iris_0"
[Wrn] [gazebo_barometer_plugin.cpp:66] [gazebo_barometer_plugin] Using default home altitude of 488 m
[iris_0/iris_0_spawn-5] process has finished cleanly
log file: /home/user/.ros/log/b35c2186-6a88-11ea-8093-b06ebf5f23c9/iris_0-iris_0_spawn-5*.log
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[0] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[1] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[2] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[3] no joint control will be performed for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::propeller_joint] not found for channel[4] no joint control for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::flap_left_joint] not found for channel[5] no joint control for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::flap_right_joint] not found for channel[6] no joint control for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[7] no joint control will be performed for this channel.
[Msg] Connecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
[Wrn] [gazebo_mavlink_interface.cpp:88] No identifier on link. Using 0 as default sensor ID
[Msg] Using MAVLink protocol v2.0
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] LED: open /dev/led0 failed (22)
[ INFO] [1584698861.059139918, 115.996000000]: Stereo is NOT SUPPORTED
[ INFO] [1584698861.059268447, 115.997000000]: OpenGl version: 4.6 (GLSL 4.6).
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
[Wrn] [msgs.cc:1852] Conversion of sensor type[gpu_ray] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_0/motors, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_0/motor_speed/0, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_0/motor_speed/1, deleting message. This warning is printed only once.
process[iris_1/sitl_1-9]: started with pid [1952]
INFO  [px4] Creating symlink /home/user/Firmware/ROMFS/px4fmu_common -> /home/user/.ros/sitl_iris_1/etc

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 1
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
  SYS_AUTOCONFIG: curr: 0 -> new: 1
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
  MAV_SYS_ID: curr: 1 -> new: 2
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
* SYS_AUTOSTART: curr: 0 -> new: 10016
  BAT_N_CELLS: curr: 0 -> new: 3
  CAL_ACC0_ID: curr: 0 -> new: 1311244
  CAL_ACC_PRIME: curr: 0 -> new: 1311244
  CAL_GYRO0_ID: curr: 0 -> new: 2294028
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] Opened full log file: ./log/2020-03-20/10_07_41.ulg
  CAL_GYRO_PRIME: curr: 0 -> new: 2294028
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
  CAL_MAG0_ID: curr: 0 -> new: 197388
[ INFO] [1584698861.326912751, 116.216000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1584698861.328254396, 116.217000000]: IMU: High resolution IMU detected!
  CAL_MAG_PRIME: curr: 0 -> new: 197388
INFO  [px4] Startup script returned successfully
[ INFO] [1584698861.334091071, 116.223000000]: FCU: [logger] file:./log/2020-03-20/10_07_41.ulg
  COM_DISARM_LAND: curr: 2.0000 -> new: 0.5000
  COM_OBL_ACT: curr: 0 -> new: 2
  COM_RC_IN_MODE: curr: 0 -> new: 1
  EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
  EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
  COM_ARM_EKF_AB: curr: 0.0017 -> new: 0.0050
  EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
INFO  [mavlink] partner IP: 127.0.0.1
  MC_PITCH_P: curr: 6.5000 -> new: 6.0000
  MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
  MC_ROLL_P: curr: 6.5000 -> new: 6.0000
  MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
  MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
  MPC_Z_VEL_I: curr: 0.1000 -> new: 0.1500
  MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
  MPC_XY_P: curr: 0.9500 -> new: 0.8000
  MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
  MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
  MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
  MPC_ACC_HOR_MAX: curr: 5.0000 -> new: 3.0000
  MPC_SPOOLUP_TIME: curr: 1.0000 -> new: 0.5000
  MPC_TKO_RAMP_T: curr: 3.0000 -> new: 1.0000
  NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
  NAV_DLL_ACT: curr: 0 -> new: 2
  RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
  RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
  RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
  SDLOG_MODE: curr: 0 -> new: 1
  SDLOG_PROFILE: curr: 3 -> new: 131
  SDLOG_DIRS_MAX: curr: 0 -> new: 7
  SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
  SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
  TRIG_INTERFACE: curr: 4 -> new: 3
* RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
* RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
  PWM_MAX: curr: 2000 -> new: 1950
  PWM_MIN: curr: 1000 -> new: 1075
* SYS_AUTOCONFIG: curr: 1 -> new: 0
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4561
[Wrn] [msgs.cc:1852] Conversion of sensor type[gpu_ray] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
process[iris_1/iris_1_spawn-10]: started with pid [2095]
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_0/motor_speed/2, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_0/motor_speed/3, deleting message. This warning is printed only once.
[Wrn] [msgs.cc:1852] Conversion of sensor type[gpu_ray] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
INFO  [ecl/EKF] 637000: GPS checks passed (WGS-84 origin set)
process[iris_1/mavros-11]: started with pid [2305]
[ INFO] [1584698862.078012637]: FCU URL: udp://:14541@localhost:14581
[ INFO] [1584698862.080101764]: udp0: Bind address: 0.0.0.0:14541
[ INFO] [1584698862.080202744]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1584698862.080514570]: GCS bridge disabled
[ INFO] [1584698862.098127092]: Plugin 3dr_radio loaded
[ INFO] [1584698862.100346227]: Plugin 3dr_radio initialized
[ INFO] [1584698862.100513331]: Plugin actuator_control loaded
[ INFO] [1584698862.104858804]: Plugin actuator_control initialized
[ INFO] [1584698862.110078572]: Plugin adsb loaded
[ INFO] [1584698862.114277792]: Plugin adsb initialized
[ INFO] [1584698862.114499138]: Plugin altitude loaded
[ INFO] [1584698862.116642825]: Plugin altitude initialized
[ INFO] [1584698862.116800986]: Plugin cam_imu_sync loaded
[ INFO] [1584698862.117828183]: Plugin cam_imu_sync initialized
[ INFO] [1584698862.118038040]: Plugin command loaded
[ INFO] [1584698862.128728335]: Plugin command initialized
[ INFO] [1584698862.129038927]: Plugin companion_process_status loaded
[ INFO] [1584698862.132615465]: Plugin companion_process_status initialized
[ INFO] [1584698862.132935471]: Plugin debug_value loaded
[ INFO] [1584698862.141519464]: Plugin debug_value initialized
[ INFO] [1584698862.141601364]: Plugin distance_sensor blacklisted
[ INFO] [1584698862.141982698]: Plugin fake_gps loaded
[ INFO] [1584698862.164783693]: Plugin fake_gps initialized
[ INFO] [1584698862.165266683]: Plugin ftp loaded
[ INFO] [1584698862.177556309]: Plugin ftp initialized
[ INFO] [1584698862.177952676]: Plugin global_position loaded
[ INFO] [1584698862.203652661]: Plugin global_position initialized
[ INFO] [1584698862.203917973]: Plugin gps_rtk loaded
[ INFO] [1584698862.206791437]: Plugin gps_rtk initialized
[ INFO] [1584698862.206959552]: Plugin hil loaded
[ INFO] [1584698862.227071067]: Plugin hil initialized
[ INFO] [1584698862.227293070]: Plugin home_position loaded
[ INFO] [1584698862.231095925]: Plugin home_position initialized
[ INFO] [1584698862.231518920]: Plugin imu loaded
[ INFO] [1584698862.244852595]: Plugin imu initialized
[ INFO] [1584698862.245096757]: Plugin landing_target loaded
[ INFO] [1584698862.264152745, 117.118000000]: Plugin landing_target initialized
[ INFO] [1584698862.264435469, 117.118000000]: Plugin local_position loaded
[ INFO] [1584698862.272811349, 117.126000000]: Plugin local_position initialized
[ INFO] [1584698862.273153562, 117.126000000]: Plugin log_transfer loaded
[ INFO] [1584698862.276575114, 117.130000000]: Plugin log_transfer initialized
[ INFO] [1584698862.276880568, 117.130000000]: Plugin manual_control loaded
[ INFO] [1584698862.279733051, 117.133000000]: Plugin manual_control initialized
[ INFO] [1584698862.279997611, 117.133000000]: Plugin mocap_pose_estimate loaded
[ INFO] [1584698862.283238935, 117.136000000]: Plugin mocap_pose_estimate initialized
[ INFO] [1584698862.283503521, 117.137000000]: Plugin mount_control loaded
[ INFO] [1584698862.288327483, 117.142000000]: Plugin mount_control initialized
[ INFO] [1584698862.288463405, 117.142000000]: Plugin obstacle_distance loaded
[ INFO] [1584698862.292049958, 117.145000000]: Plugin obstacle_distance initialized
[ INFO] [1584698862.292193225, 117.145000000]: Plugin odom loaded
[ INFO] [1584698862.298346615, 117.151000000]: Plugin odom initialized
[ INFO] [1584698862.298685057, 117.152000000]: Plugin onboard_computer_status loaded
[ INFO] [1584698862.302343508, 117.155000000]: Plugin onboard_computer_status initialized
[ INFO] [1584698862.302547563, 117.156000000]: Plugin param loaded
[ INFO] [1584698862.311725071, 117.165000000]: Plugin param initialized
[ INFO] [1584698862.312032333, 117.165000000]: Plugin px4flow loaded
[ INFO] [1584698862.319541029, 117.168000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1584698862.323322047, 117.175000000]: IMU: High resolution IMU detected!
[INFO] [1584698862.328760, 0.000000]: Loading model XML from ros parameter model_description
[ INFO] [1584698862.331320291, 117.183000000]: Plugin px4flow initialized
[ INFO] [1584698862.331400457, 117.183000000]: Plugin rangefinder blacklisted
[ INFO] [1584698862.331795433, 117.183000000]: Plugin rc_io loaded
[ INFO] [1584698862.337170826, 117.188000000]: Plugin rc_io initialized
[ INFO] [1584698862.337233577, 117.188000000]: Plugin safety_area blacklisted
[ INFO] [1584698862.337455973, 117.189000000]: Plugin setpoint_accel loaded
[INFO] [1584698862.337508, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[INFO] [1584698862.341856, 0.000000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1584698862.344682215, 117.196000000]: Plugin setpoint_accel initialized
[ INFO] [1584698862.345097943, 117.196000000]: Plugin setpoint_attitude loaded
[ INFO] [1584698862.364101266, 117.215000000]: Plugin setpoint_attitude initialized
[ INFO] [1584698862.364464982, 117.215000000]: Plugin setpoint_position loaded
process[iris_1_lidar-12]: started with pid [2309]
[ INFO] [1584698862.383652185, 117.234000000]: Plugin setpoint_position initialized
[ INFO] [1584698862.383837380, 117.234000000]: Plugin setpoint_raw loaded
[ INFO] [1584698862.406924912, 117.256000000]: Plugin setpoint_raw initialized
[ INFO] [1584698862.407316305, 117.257000000]: Plugin setpoint_trajectory loaded
[ INFO] [1584698862.415237617, 117.265000000]: Plugin setpoint_trajectory initialized
[ INFO] [1584698862.415571918, 117.265000000]: Plugin setpoint_velocity loaded
[ INFO] [1584698862.427076259, 117.268000000]: Plugin setpoint_velocity initialized
[ INFO] [1584698862.427716043, 117.268000000]: Plugin sys_status loaded
[ INFO] [1584698862.446132432, 117.268000000]: Plugin sys_status initialized
[ INFO] [1584698862.446546987, 117.268000000]: Plugin sys_time loaded
[ INFO] [1584698862.452582663, 117.268000000]: TM: Timesync mode: MAVLINK
[ INFO] [1584698862.454292859, 117.268000000]: Plugin sys_time initialized
[ INFO] [1584698862.454566069, 117.268000000]: Plugin trajectory loaded
[ INFO] [1584698862.460783010, 117.268000000]: Plugin trajectory initialized
[ INFO] [1584698862.461076059, 117.268000000]: Plugin vfr_hud loaded
[ INFO] [1584698862.462057849, 117.268000000]: Plugin vfr_hud initialized
[ INFO] [1584698862.462116255, 117.268000000]: Plugin vibration blacklisted
[ INFO] [1584698862.462366092, 117.268000000]: Plugin vision_pose_estimate loaded
[ INFO] [1584698862.471851149, 117.268000000]: Plugin vision_pose_estimate initialized
[ INFO] [1584698862.472122275, 117.268000000]: Plugin vision_speed_estimate loaded
[ INFO] [1584698862.477490006, 117.268000000]: Plugin vision_speed_estimate initialized
[ INFO] [1584698862.477810903, 117.268000000]: Plugin waypoint loaded
[ INFO] [1584698862.484967845, 117.268000000]: Plugin waypoint initialized
[ INFO] [1584698862.485042205, 117.268000000]: Plugin wheel_odometry blacklisted
[ INFO] [1584698862.485342329, 117.268000000]: Plugin wind_estimation loaded
[ INFO] [1584698862.486380457, 117.268000000]: Plugin wind_estimation initialized
[ INFO] [1584698862.486475588, 117.268000000]: Autostarting mavlink via USB on PX4
[ INFO] [1584698862.486720412, 117.268000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1584698862.486764092, 117.268000000]: Built-in MAVLink package version: 2020.2.2
[ INFO] [1584698862.486827125, 117.268000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1584698862.486878344, 117.268000000]: MAVROS started. MY ID 1.240, TARGET ID 2.1
[Wrn] [msgs.cc:1852] Conversion of sensor type[gpu_ray] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[INFO] [1584698862.545371, 117.268000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1584698862.558415121, 117.268000000]: Laser Plugin: The 'robotNamespace' param did not exit
[ INFO] [1584698862.558450321, 117.268000000]: Starting GazeboRosLaser Plugin (ns = )
[ INFO] [1584698862.559504649, 117.268000000]: GPU Laser Plugin (ns = ) <tf_prefix_>, set to ""
[ INFO] [1584698862.559647874, 117.268000000]: LoadThread function completed
[ INFO] [1584698862.559916716, 117.268000000]: Camera Plugin: Using the 'robotNamespace' param: '/iris_1/'
[ INFO] [1584698862.563528755, 117.268000000]: Camera Plugin (ns = /iris_1/)  <tf_prefix_>, set to "/iris_1"
[Wrn] [gazebo_barometer_plugin.cpp:66] [gazebo_barometer_plugin] Using default home altitude of 488 m
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[0] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[1] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[2] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[3] no joint control will be performed for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::propeller_joint] not found for channel[4] no joint control for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::flap_left_joint] not found for channel[5] no joint control for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::flap_right_joint] not found for channel[6] no joint control for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[7] no joint control will be performed for this channel.
[Msg] Connecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
[Wrn] [gazebo_mavlink_interface.cpp:88] No identifier on link. Using 0 as default sensor ID
[Msg] Using MAVLink protocol v2.0
process[iris_1_camera-13]: started with pid [2348]
[iris_1/iris_1_spawn-10] process has finished cleanly
log file: /home/user/.ros/log/b35c2186-6a88-11ea-8093-b06ebf5f23c9/iris_1-iris_1_spawn-10*.log
process[iris_2/sitl_2-14]: started with pid [2367]
INFO  [px4] Creating symlink /home/user/Firmware/ROMFS/px4fmu_common -> /home/user/.ros/sitl_iris_2/etc

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 2
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
  SYS_AUTOCONFIG: curr: 0 -> new: 1
INFO  [ecl/EKF] 1701000: EKF aligned, (baro height, IMU buf: 22, OBS buf: 14)
INFO  [ecl/EKF] 1701000: reset position to last known position
INFO  [ecl/EKF] 1701000: reset velocity to zero
[ INFO] [1584698863.353593349, 117.823000000]: IMU: Attitude quaternion IMU detected!
  MAV_SYS_ID: curr: 1 -> new: 3
* SYS_AUTOSTART: curr: 0 -> new: 10016
  BAT_N_CELLS: curr: 0 -> new: 3
  CAL_ACC0_ID: curr: 0 -> new: 1311244
  CAL_ACC_PRIME: curr: 0 -> new: 1311244
  CAL_GYRO0_ID: curr: 0 -> new: 2294028
  CAL_GYRO_PRIME: curr: 0 -> new: 2294028
  CAL_MAG0_ID: curr: 0 -> new: 197388
  CAL_MAG_PRIME: curr: 0 -> new: 197388
  COM_DISARM_LAND: curr: 2.0000 -> new: 0.5000
  COM_OBL_ACT: curr: 0 -> new: 2
  COM_RC_IN_MODE: curr: 0 -> new: 1
  EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
  EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
  COM_ARM_EKF_AB: curr: 0.0017 -> new: 0.0050
  EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
  MC_PITCH_P: curr: 6.5000 -> new: 6.0000
  MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
  MC_ROLL_P: curr: 6.5000 -> new: 6.0000
  MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
  MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
  MPC_Z_VEL_I: curr: 0.1000 -> new: 0.1500
  MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
  MPC_XY_P: curr: 0.9500 -> new: 0.8000
  MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
  MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
  MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
  MPC_ACC_HOR_MAX: curr: 5.0000 -> new: 3.0000
  MPC_SPOOLUP_TIME: curr: 1.0000 -> new: 0.5000
  MPC_TKO_RAMP_T: curr: 3.0000 -> new: 1.0000
  NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
  NAV_DLL_ACT: curr: 0 -> new: 2
  RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
  RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
  RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
  SDLOG_MODE: curr: 0 -> new: 1
  SDLOG_PROFILE: curr: 3 -> new: 131
  SDLOG_DIRS_MAX: curr: 0 -> new: 7
  SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
  SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
  TRIG_INTERFACE: curr: 4 -> new: 3
* RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
* RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
  PWM_MAX: curr: 2000 -> new: 1950
  PWM_MIN: curr: 1000 -> new: 1075
* SYS_AUTOCONFIG: curr: 1 -> new: 0
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4562
process[iris_2/iris_2_spawn-15]: started with pid [2382]
[ INFO] [1584698863.740642522, 118.172000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1584698863.740749659, 118.172000000]: VER: 1.1: Flight software:     010b0080 (d6bb5b3b9e000000)
[ INFO] [1584698863.740799527, 118.172000000]: VER: 1.1: Middleware software: 010b0080 (d6bb5b3b9e000000)
[ INFO] [1584698863.740857265, 118.172000000]: VER: 1.1: OS software:         050300ff (befe53e7f1ed557b)
[ INFO] [1584698863.740903195, 118.172000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1584698863.740947875, 118.172000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1584698863.740984874, 118.172000000]: VER: 1.1: UID:                 4954414c44494e4f
[ WARN] [1584698863.743624059, 118.175000000]: CMD: Unexpected command 520, result 0
process[iris_2/mavros-16]: started with pid [2558]
[ INFO] [1584698864.199187759]: FCU URL: udp://:14542@localhost:14582
[ INFO] [1584698864.202493335]: udp0: Bind address: 0.0.0.0:14542
[ INFO] [1584698864.202610369]: udp0: Remote address: 127.0.0.1:14582
[ INFO] [1584698864.202919271]: GCS bridge disabled
[ INFO] [1584698864.225034736]: Plugin 3dr_radio loaded
[ INFO] [1584698864.227672702]: Plugin 3dr_radio initialized
[ INFO] [1584698864.227825315]: Plugin actuator_control loaded
[ INFO] [1584698864.232264936]: Plugin actuator_control initialized
[ INFO] [1584698864.237666020]: Plugin adsb loaded
[ INFO] [1584698864.242147512]: Plugin adsb initialized
[ INFO] [1584698864.242379999]: Plugin altitude loaded
[ INFO] [1584698864.244081849]: Plugin altitude initialized
[ INFO] [1584698864.244236962]: Plugin cam_imu_sync loaded
[ INFO] [1584698864.245300290]: Plugin cam_imu_sync initialized
[ INFO] [1584698864.245487309]: Plugin command loaded
[ INFO] [1584698864.259187940]: Plugin command initialized
[ INFO] [1584698864.259345891]: Plugin companion_process_status loaded
[ INFO] [1584698864.262674964]: Plugin companion_process_status initialized
[ INFO] [1584698864.262840164]: Plugin debug_value loaded
[ INFO] [1584698864.269703138]: Plugin debug_value initialized
[ INFO] [1584698864.269778680]: Plugin distance_sensor blacklisted
[ INFO] [1584698864.270090625]: Plugin fake_gps loaded
[ INFO] [1584698864.292542228]: Plugin fake_gps initialized
[ INFO] [1584698864.292970766]: Plugin ftp loaded
[ INFO] [1584698864.305570751]: Plugin ftp initialized
[ INFO] [1584698864.305958684]: Plugin global_position loaded
[ INFO] [1584698864.324777307]: Plugin global_position initialized
[ INFO] [1584698864.325042695]: Plugin gps_rtk loaded
[ INFO] [1584698864.326895399]: Plugin gps_rtk initialized
[ INFO] [1584698864.327159099]: Plugin hil loaded
[ INFO] [1584698864.346074396, 118.728000000]: Plugin hil initialized
[ INFO] [1584698864.346391510, 118.728000000]: Plugin home_position loaded
[ INFO] [1584698864.350813974, 118.732000000]: Plugin home_position initialized
[ INFO] [1584698864.351345116, 118.732000000]: Plugin imu loaded
[ INFO] [1584698864.368632548, 118.749000000]: Plugin imu initialized
[ INFO] [1584698864.368956375, 118.749000000]: Plugin landing_target loaded
[INFO] [1584698864.374136, 0.000000]: Loading model XML from ros parameter model_description
[INFO] [1584698864.382441, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[INFO] [1584698864.387251, 0.000000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1584698864.400201833, 118.776000000]: Plugin landing_target initialized
[ INFO] [1584698864.400588766, 118.777000000]: Plugin local_position loaded
[ INFO] [1584698864.407618778, 118.783000000]: Plugin local_position initialized
[ INFO] [1584698864.407903476, 118.784000000]: Plugin log_transfer loaded
[ INFO] [1584698864.413286185, 118.789000000]: Plugin log_transfer initialized
[ INFO] [1584698864.413631043, 118.789000000]: Plugin manual_control loaded
[ INFO] [1584698864.417190405, 118.792000000]: Plugin manual_control initialized
[ INFO] [1584698864.417380294, 118.792000000]: Plugin mocap_pose_estimate loaded
[ INFO] [1584698864.421839787, 118.796000000]: Plugin mocap_pose_estimate initialized
[ INFO] [1584698864.422149589, 118.796000000]: Plugin mount_control loaded
[ INFO] [1584698864.428192129, 118.802000000]: Plugin mount_control initialized
[ INFO] [1584698864.428378905, 118.802000000]: Plugin obstacle_distance loaded
[ INFO] [1584698864.432782053, 118.803000000]: Plugin obstacle_distance initialized
[ INFO] [1584698864.433110554, 118.803000000]: Plugin odom loaded
[ INFO] [1584698864.440468772, 118.814000000]: Plugin odom initialized
[ INFO] [1584698864.440729198, 118.814000000]: Plugin onboard_computer_status loaded
[ INFO] [1584698864.443633357, 118.816000000]: Plugin onboard_computer_status initialized
[ INFO] [1584698864.444112635, 118.816000000]: Plugin param loaded
[ INFO] [1584698864.447752677, 118.820000000]: Plugin param initialized
[ INFO] [1584698864.448045411, 118.820000000]: Plugin px4flow loaded
[ INFO] [1584698864.455194447, 118.827000000]: Plugin px4flow initialized
[ INFO] [1584698864.455271262, 118.827000000]: Plugin rangefinder blacklisted
[ INFO] [1584698864.455617634, 118.827000000]: Plugin rc_io loaded
[ INFO] [1584698864.459627805, 118.831000000]: Plugin rc_io initialized
[ INFO] [1584698864.459697122, 118.831000000]: Plugin safety_area blacklisted
[ INFO] [1584698864.459974877, 118.831000000]: Plugin setpoint_accel loaded
[ INFO] [1584698864.462901504, 118.833000000]: Plugin setpoint_accel initialized
[ INFO] [1584698864.463403425, 118.833000000]: Plugin setpoint_attitude loaded
process[iris_2_lidar-17]: started with pid [2562]
[ INFO] [1584698864.473894879, 118.842000000]: Plugin setpoint_attitude initialized
[ INFO] [1584698864.474285969, 118.843000000]: Plugin setpoint_position loaded
[ INFO] [1584698864.509443707, 118.874000000]: Plugin setpoint_position initialized
[ INFO] [1584698864.509776181, 118.874000000]: Plugin setpoint_raw loaded
[ INFO] [1584698864.526595568, 118.881000000]: Plugin setpoint_raw initialized
[ INFO] [1584698864.526928049, 118.881000000]: Plugin setpoint_trajectory loaded
[ INFO] [1584698864.530904853, 118.881000000]: Plugin setpoint_trajectory initialized
[ INFO] [1584698864.531196017, 118.881000000]: Plugin setpoint_velocity loaded
[ INFO] [1584698864.535105561, 118.881000000]: Plugin setpoint_velocity initialized
[ INFO] [1584698864.535805444, 118.881000000]: Plugin sys_status loaded
[ INFO] [1584698864.545385731, 118.881000000]: Plugin sys_status initialized
[ INFO] [1584698864.545734665, 118.881000000]: Plugin sys_time loaded
[ INFO] [1584698864.549533839, 118.881000000]: TM: Timesync mode: MAVLINK
[ INFO] [1584698864.550684598, 118.881000000]: Plugin sys_time initialized
[ INFO] [1584698864.550940149, 118.881000000]: Plugin trajectory loaded
[ INFO] [1584698864.555546980, 118.881000000]: Plugin trajectory initialized
[ INFO] [1584698864.555824288, 118.881000000]: Plugin vfr_hud loaded
[ INFO] [1584698864.556538451, 118.881000000]: Plugin vfr_hud initialized
[ INFO] [1584698864.556592976, 118.881000000]: Plugin vibration blacklisted
[ INFO] [1584698864.556886228, 118.881000000]: Plugin vision_pose_estimate loaded
[ INFO] [1584698864.566808835, 118.881000000]: Plugin vision_pose_estimate initialized
[ INFO] [1584698864.567083867, 118.881000000]: Plugin vision_speed_estimate loaded
[ INFO] [1584698864.572567982, 118.881000000]: Plugin vision_speed_estimate initialized
[ INFO] [1584698864.572884302, 118.881000000]: Plugin waypoint loaded
[ INFO] [1584698864.579692911, 118.881000000]: Plugin waypoint initialized
[ INFO] [1584698864.579776096, 118.881000000]: Plugin wheel_odometry blacklisted
[ INFO] [1584698864.580111206, 118.881000000]: Plugin wind_estimation loaded
[ INFO] [1584698864.581174761, 118.881000000]: Plugin wind_estimation initialized
[ INFO] [1584698864.581263035, 118.881000000]: Autostarting mavlink via USB on PX4
[ INFO] [1584698864.581499092, 118.881000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1584698864.581542928, 118.881000000]: Built-in MAVLink package version: 2020.2.2
[ INFO] [1584698864.581592070, 118.881000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1584698864.581631955, 118.881000000]: MAVROS started. MY ID 1.240, TARGET ID 3.1
[Wrn] [msgs.cc:1852] Conversion of sensor type[gpu_ray] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[INFO] [1584698864.641199, 118.881000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1584698864.652387634, 118.881000000]: Laser Plugin: The 'robotNamespace' param did not exit
[ INFO] [1584698864.652438599, 118.881000000]: Starting GazeboRosLaser Plugin (ns = )
[ INFO] [1584698864.653454769, 118.881000000]: GPU Laser Plugin (ns = ) <tf_prefix_>, set to ""
[ INFO] [1584698864.653575550, 118.881000000]: LoadThread function completed
[ INFO] [1584698864.654624409, 118.881000000]: Camera Plugin: Using the 'robotNamespace' param: '/iris_2/'
[ INFO] [1584698864.658039500, 118.881000000]: Camera Plugin (ns = /iris_2/)  <tf_prefix_>, set to "/iris_2"
[Wrn] [gazebo_barometer_plugin.cpp:66] [gazebo_barometer_plugin] Using default home altitude of 488 m
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[0] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[1] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[2] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[3] no joint control will be performed for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::propeller_joint] not found for channel[4] no joint control for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::flap_left_joint] not found for channel[5] no joint control for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::flap_right_joint] not found for channel[6] no joint control for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[7] no joint control will be performed for this channel.
[Msg] Connecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
[Wrn] [gazebo_mavlink_interface.cpp:88] No identifier on link. Using 0 as default sensor ID
[Msg] Using MAVLink protocol v2.0
process[iris_2_camera-18]: started with pid [2576]
[iris_2/iris_2_spawn-15] process has finished cleanly
log file: /home/user/.ros/log/b35c2186-6a88-11ea-8093-b06ebf5f23c9/iris_2-iris_2_spawn-15*.log
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_1/motor_speed/3, deleting message. This warning is printed only once.
INFO  [ecl/EKF] 5117000: reset position to GPS
INFO  [ecl/EKF] 5117000: reset velocity to GPS
INFO  [ecl/EKF] 5117000: commencing GPS fusion
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_1/motor_speed/0, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_1/motor_speed/1, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_2/motors, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_1/motors, deleting message. This warning is printed only once.
[ INFO] [1584698890.218655473, 132.168000000]: WP: mission received
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_1/motor_speed/2, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_2/motor_speed/2, deleting message. This warning is printed only once.

as you can see, a few problems. What am i doing wrong ? The issue is pure in this line (generating the launch file) : 

<arg name="cmd" value="xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/14562' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n 14562 -v 14562 $(find smartuav)/models/iris_depth_camera_lidar/iris_depth_camera_lidar.sdf" />

I have tried switching the port numbers from udp to tcp but to no avail. The biggest problem is i dont know exaclty what some arguments do in this command.

Drone :

julianoes commented 4 years ago

@Jaeyoung-Lim any idea?

Jaeyoung-Lim commented 4 years ago

@bavokn It seems like you are using the same sdf file for all vehicles. This will make the vehicles share the same tcp port for the HIL mavlink messages.

You need to copy the sdf file and modify the mavlink_tcp_port as in https://github.com/PX4/sitl_gazebo/blob/master/models/rotors_description/urdf/component_snippets.xacro#L302 for each iris.sdf

bavokn commented 4 years ago

If you look at the generation of the launch file you can see i set the mavlink_tcp_port for each drone diffrently :

<arg name=\"mavlink_tcp_port\" value=\"$(expr 4560 + $i)\" />\n\

which results in the launch file :

UAV iris_0

<arg name="mavlink_tcp_port" value="4560" />

UAV iris_1

<arg name="mavlink_tcp_port" value="4561" />

UAV iris_2

<arg name="mavlink_tcp_port" value="4562" />
dayjaby commented 4 years ago

This sets only the correct ports from the px4 side. Gazebo has to comply to those ports, but .sdf files cannot contain variables. So either you copy the .sdf file multiple times and change the port or you create a .xacro file which can contain variables.

@Jaeyoung-Lim did a PR recently for multi VTOL: https://github.com/PX4/sitl_gazebo/pull/398

bavokn commented 4 years ago

Using xarco files worked , thank you !

petertheprocess commented 4 years ago

@bacokn It seems that in your .sdf file, there is no tag( the tag is in the iris.sdf and you just include it, so xmlstarlet cannot find the tag): <plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'> So you cannot use <arg name="cmd" value="xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/14562' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n 14562 -v 14562 $(find smartuav)/models/iris_depth_camera_lidar/iris_depth_camera_lidar.sdf" /> to change the mavlink_tcp_port, though you set different <arg name="mavlink_tcp_port" value="4560" /> correctly

Besides -n 14562 -v 14562 should be -n mavlink_tcp_port -v 14562