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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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[Bug] WARN [health_and_arming_checks] Preflight Fail #23114

Closed kashifzr closed 5 months ago

kashifzr commented 5 months ago

Describe the bug

WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: height estimate error WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error

To Reproduce

roslaunch px4 posix_sitl.launch vehicle:=iris_rplidar

Expected behavior

Able to Run Rplidar with Iris without core fault or segmentation falt

Screenshot / Media

roslaunch px4 posix_sitl.launch vehicle:=iris_rplidar ... logging to /home/kkg/.ros/log/18de0df0-0dd0-11ef-b0ee-99ee7f070c17/roslaunch-kkg-W530-58961.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://kkg-W530:44733/

SUMMARY

PARAMETERS

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) sitl (px4/px4) vehicle_spawn_kkg_W530_58961_3758604652260686476 (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [58976] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 18de0df0-0dd0-11ef-b0ee-99ee7f070c17 process[rosout-1]: started with pid [58993] started core service [/rosout] process[sitl-2]: started with pid [59000]

| \ \ \ / / / | | |/ / \ V / / /| | | / / \ / /_| | | | / /^\ \ __ | _| \/ \/ |/

px4 starting.

INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0 process[gazebo-3]: started with pid [59012] INFO [init] found model autostart file as SYS_AUTOSTART=1012 INFO [param] selected parameter default file parameters.bson INFO [param] importing from 'parameters.bson' INFO [parameters] BSON document size 274 bytes, decoded 274 bytes (INT32:11, FLOAT:3) process[gazebo_gui-4]: started with pid [59021] INFO [param] selected parameter backup file parameters_backup.bson process[vehicle_spawn_kkg_W530_58961_3758604652260686476-5]: started with pid [59029] INFO [dataman] data manager file './dataman' size is 7866640 bytes etc/init.d-posix/rcS: 39: [: Illegal number: INFO [init] PX4_SIM_HOSTNAME: localhost INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560 [INFO] [1715237290.664198, 0.000000]: Loading model XML from file /home/kkg/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris_rplidar/iris_rplidar.sdf [INFO] [1715237290.666219, 0.000000]: Waiting for service /gazebo/spawn_sdf_model [ INFO] [1715237291.002260003]: Finished loading Gazebo ROS API Plugin. [ INFO] [1715237291.003297535]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1715237291.192314571]: Finished loading Gazebo ROS API Plugin. [ INFO] [1715237291.193527064]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1715237291.478627078]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1715237291.500344808, 0.020000000]: Physics dynamic reconfigure ready. [INFO] [1715237291.571868, 0.088000]: Calling service /gazebo/spawn_sdf_model Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring. Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring. Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring. Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring. Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: rplidar. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring. [INFO] [1715237293.583409, 0.156000]: Spawn status: SpawnModel: Successfully spawned entity INFO [simulator_mavlink] Simulator connected on TCP port 4560. INFO [lockstep_scheduler] setting initial absolute time to 168000 us INFO [commander] LED: open /dev/led0 failed (22) 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 [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280 INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] [logger] ./log/2024-05-09/06_48_14.ulg
INFO [logger] Opened full log file: ./log/2024-05-09/06_4814.ulg INFO [mavlink] MAVLink only on localhost (set param MAV{i}BROADCAST = 1 to enable network) INFO [mavlink] MAVLink only on localhost (set param MAV{i}_BROADCAST = 1 to enable network) INFO [px4] Startup script returned successfully pxh> [vehicle_spawn_kkg_W530_58961_3758604652260686476-5] process has finished cleanly log file: /home/kkg/.ros/log/18de0df0-0dd0-11ef-b0ee-99ee7f070c17/vehicle_spawn_kkg_W530_58961_3758604652260686476-5*.log INFO [tone_alarm] home set INFO [mavlink] partner IP: 127.0.0.1 INFO [tone_alarm] notify negative WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable WARN [health_and_arming_checks] Preflight Fail: height estimate error WARN [health_and_arming_checks] Preflight Fail: velocity estimate error

Flight Log

https://review.px4.io/plot_app?log=b022b0a0-74e2-4568-8210-450e7363b861

Software Version

px4 : v1.14 OS : Ubuntu Noetic

Flight controller

None

Vehicle type

Fixed Wing

How are the different components wired up (including port information)

No response

Additional context

No response

mrpollo commented 5 months ago

Hi @kashifzr I don't see a segmentation fault here, are you referring to the WARNINGS?

kashifzr commented 5 months ago

@mrpollo when the estimation of vertical velocity , heading estimates are unstable then my drone without any command become unstable and start bouncing and run of space configuration. I try to overcome this issue by trying to look at so many options. But in the end when i remove models specific flow-cam and simple lidar in iris_rplidar sdf file then my drone become stable,

mrpollo commented 5 months ago

It looks like you found the problem!

kashifzr commented 5 months ago

@mrpollo I did find the solution. when i used command make px4_sitl gazebo-classic_iris_rplidar without changes it run with out making issues, When i used command roslaunch px4 mavros_posix_sitl.launch vehicle:=iris_rplidar with out changes then same issues happened.

PHChenGit commented 5 months ago

I also face the issue too. Any solutions?

Some infomation about my environment. OS version: Ubuntu 20.04 ROS version: noetic PX4 version: The latest for now.

How to reproduce? I followed the instructions from https://docs.px4.io/main/en/ros/mavros_offboard_python.html#code

kashifzr commented 5 months ago

@PHChenGit can show where you find issue. its not related to rplidar or sdf file.