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PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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[Bug] Multiple drones MAVROS topic /drone_1/mavros/local_position/odom all equal to (0,0,0) in the beginning #23493

Open hcws opened 1 month ago

hcws commented 1 month ago

Describe the bug

Multiple drones are being simulated using Gazebo. After starting the simulation environment, the coordinates of each drone are all set to 0. However, when I move each drone, their coordinates change. In Gazebo, the coordinates of each drone are different.

To Reproduce

1. Drone switched on : in the begining
Uploaded mission : QGC4.2.8
Took off  : No
See error ： No

Expected behavior

/drone_0/mavros/local_position/odom
/drone_1/mavros/local_position/odom
/drone_2/mavros/local_position/odom

should diffent. image

Screenshot / Media

Selection_402 Selection_403

Flight Log

 [ INFO] [1722869475.724269800]: Plugin hil initialized
[ INFO] [1722869475.724361343]: Plugin home_position loaded
[ INFO] [1722869475.727141823]: Plugin home_position initialized
[ INFO] [1722869475.727230050]: Plugin imu loaded
[ INFO] [1722869475.730212494]: FCU URL: udp://:14542@localhost:14582
[ INFO] [1722869475.732204695]: udp0: Bind address: 0.0.0.0:14542
[ INFO] [1722869475.732263324]: udp0: Remote address: 127.0.0.1:14582
[ INFO] [1722869475.732295631]: GCS bridge disabled
[ INFO] [1722869475.737673960]: Plugin setpoint_position initialized
[ INFO] [1722869475.737812448]: Plugin setpoint_raw loaded
[ INFO] [1722869475.738241055]: Plugin 3dr_radio loaded
[ INFO] [1722869475.746235224]: Plugin 3dr_radio initialized
[ INFO] [1722869475.746324686]: Plugin actuator_control loaded
[ INFO] [1722869475.751467767]: Plugin actuator_control initialized
[ INFO] [1722869475.752017032]: Plugin imu initialized
[ INFO] [1722869475.752096765]: Plugin landing_target loaded
[ INFO] [1722869475.754096671]: Plugin adsb loaded
[ INFO] [1722869475.758508787]: Plugin adsb initialized
[ INFO] [1722869475.758599494]: Plugin altitude loaded
[ INFO] [1722869475.760336182]: Plugin altitude initialized
[ INFO] [1722869475.760403420]: Plugin cam_imu_sync loaded
[ INFO] [1722869475.761186163]: Plugin cam_imu_sync initialized
[ INFO] [1722869475.761330140]: Plugin camera loaded
[ INFO] [1722869475.763151808]: Plugin camera initialized
[ INFO] [1722869475.763336496]: Plugin cellular_status loaded
[ INFO] [1722869475.765040971]: Plugin setpoint_raw initialized
[ INFO] [1722869475.765176998]: Plugin setpoint_trajectory loaded
[INFO] [1722869475.766340, 0.000000]: Loading model XML from ros parameter model_description
[ INFO] [1722869475.767032424]: Plugin cellular_status initialized
[ INFO] [1722869475.767153522]: Plugin command loaded
[ INFO] [1722869475.768538046]: Plugin landing_target initialized
[ INFO] [1722869475.768636756]: Plugin local_position loaded
[INFO] [1722869475.780229, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1722869475.781503332]: Plugin setpoint_trajectory initialized
[ INFO] [1722869475.781651856]: Plugin setpoint_velocity loaded
[ INFO] [1722869475.785055308]: Plugin local_position initialized
[ INFO] [1722869475.785169021]: Plugin log_transfer loaded
[ INFO] [1722869475.785701409]: Plugin command initialized
[ INFO] [1722869475.785799156]: Plugin companion_process_status loaded
[ INFO] [1722869475.786105872]: Plugin setpoint_velocity initialized
[ INFO] [1722869475.786241587]: Plugin sys_status loaded
[ INFO] [1722869475.788020399]: Plugin companion_process_status initialized
[ INFO] [1722869475.788091906]: Plugin debug_value loaded
[ INFO] [1722869475.788864342]: Plugin log_transfer initialized
[ INFO] [1722869475.788957116]: Plugin mag_calibration_status loaded
[ INFO] [1722869475.790418527]: Plugin mag_calibration_status initialized
[ INFO] [1722869475.790512122]: Plugin manual_control loaded
[ INFO] [1722869475.793305157]: Plugin manual_control initialized
INFO  [dataman] data manager file './dataman' size is 7866640 bytes
[ INFO] [1722869475.793388319]: Plugin mocap_pose_estimate loaded
[ INFO] [1722869475.794260108]: Plugin debug_value initialized
[ INFO] [1722869475.794292313]: Plugin distance_sensor blacklisted
[ INFO] [1722869475.794367288]: Plugin esc_status loaded
PX4 SIM HOST: localhost
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4562
[ INFO] [1722869475.796584884]: Plugin esc_status initialized
[ INFO] [1722869475.796683834]: Plugin esc_telemetry loaded
[ INFO] [1722869475.797717011]: Plugin mocap_pose_estimate initialized
[ INFO] [1722869475.797814685]: Plugin mount_control loaded
[ INFO] [1722869475.800467489]: Plugin esc_telemetry initialized
[ INFO] [1722869475.800594443]: Plugin fake_gps loaded
[ WARN] [1722869475.801092985]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1722869475.802198393]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1722869475.807391670]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1722869475.809013061]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1722869475.809659306]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1722869475.809694173]: Plugin mount_control initialized
[ INFO] [1722869475.809765108]: Plugin nav_controller_output loaded
[ INFO] [1722869475.811061813]: Plugin nav_controller_output initialized
[ INFO] [1722869475.811138752]: Plugin obstacle_distance loaded
[ INFO] [1722869475.812934526]: Plugin sys_status initialized
[ INFO] [1722869475.813021657]: Plugin sys_time loaded
[ INFO] [1722869475.814924110]: Plugin obstacle_distance initialized
[ INFO] [1722869475.814999221]: Plugin odom loaded
[ INFO] [1722869475.821590172]: Plugin odom initialized
[ INFO] [1722869475.821667434]: Plugin onboard_computer_status loaded
[ INFO] [1722869475.822348405]: TM: Timesync mode: MAVLINK
[ INFO] [1722869475.822957076]: TM: Not publishing sim time
[ INFO] [1722869475.824785519]: Plugin sys_time initialized
[ INFO] [1722869475.824983763]: Plugin terrain loaded
[ INFO] [1722869475.825815293]: Plugin terrain initialized
[ INFO] [1722869475.825952062]: Plugin trajectory loaded
[ INFO] [1722869475.826442983]: Plugin onboard_computer_status initialized
[ INFO] [1722869475.826592023]: Plugin param loaded
[ INFO] [1722869475.831123300]: Plugin param initialized
[ INFO] [1722869475.831353339]: Plugin play_tune loaded
[ INFO] [1722869475.833649975]: Plugin fake_gps initialized
[ INFO] [1722869475.833746861]: Plugin ftp loaded
[ INFO] [1722869475.835492626]: Plugin play_tune initialized
[ INFO] [1722869475.835585382]: Plugin px4flow loaded
[ INFO] [1722869475.836346611]: Plugin trajectory initialized
[ INFO] [1722869475.836463165]: Plugin tunnel loaded
[ INFO] [1722869475.841627575]: Plugin tunnel initialized
[ INFO] [1722869475.841729668]: Plugin vfr_hud loaded
[ INFO] [1722869475.842769253]: Plugin vfr_hud initialized
[ INFO] [1722869475.842822996]: Plugin vibration blacklisted
[ INFO] [1722869475.842900257]: Plugin vision_pose_estimate loaded
[ INFO] [1722869475.846589531]: Plugin ftp initialized
[ INFO] [1722869475.846690759]: Plugin geofence loaded
[ INFO] [1722869475.850157039]: Plugin px4flow initialized
[ INFO] [1722869475.850263109]: Plugin rallypoint loaded
[ INFO] [1722869475.852421585]: Plugin geofence initialized
[ INFO] [1722869475.852521522]: Plugin global_position loaded
[ INFO] [1722869475.855249251]: Plugin rallypoint initialized
[ INFO] [1722869475.855287181]: Plugin rangefinder blacklisted
[ INFO] [1722869475.855375768]: Plugin rc_io loaded
[ INFO] [1722869475.857937483]: Plugin vision_pose_estimate initialized
[ INFO] [1722869475.858047544]: Plugin vision_speed_estimate loaded
[ INFO] [1722869475.861928708]: Plugin rc_io initialized
[ INFO] [1722869475.862059177]: Plugin safety_area blacklisted
[ INFO] [1722869475.862177935]: Plugin setpoint_accel loaded
[ INFO] [1722869475.867944964]: Plugin vision_speed_estimate initialized
[ INFO] [1722869475.868175698]: Plugin waypoint loaded
[ INFO] [1722869475.871891238]: Plugin setpoint_accel initialized
[ INFO] [1722869475.872015146]: Plugin setpoint_attitude loaded
[ INFO] [1722869475.880173152]: Plugin waypoint initialized
[ INFO] [1722869475.880215677]: Plugin wheel_odometry blacklisted
[ INFO] [1722869475.880288962]: Plugin wind_estimation loaded
[ INFO] [1722869475.881334068]: Plugin wind_estimation initialized
[ INFO] [1722869475.881463969]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1722869475.881568722]: Built-in MAVLink package version: 2024.3.3
[ INFO] [1722869475.881651817]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1722869475.881731601]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1722869475.883885, 0.000000]: Loading model XML from ros parameter model_description
[ INFO] [1722869475.887747225]: Plugin global_position initialized
[ INFO] [1722869475.887832815]: Plugin gps_input loaded
[ INFO] [1722869475.889232739]: Plugin setpoint_attitude initialized
[ INFO] [1722869475.889329858]: Plugin setpoint_position loaded
[INFO] [1722869475.890149, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1722869475.892311186]: Plugin gps_input initialized
[ INFO] [1722869475.892391575]: Plugin gps_rtk loaded
[ INFO] [1722869475.895086800]: Plugin gps_rtk initialized
[ INFO] [1722869475.895240812]: Plugin gps_status loaded
[ INFO] [1722869475.897037799]: Plugin gps_status initialized
[ INFO] [1722869475.897172886]: Plugin guided_target loaded
[ INFO] [1722869475.900842076]: Plugin guided_target initialized
[ INFO] [1722869475.901009055]: Plugin hil loaded
[ INFO] [1722869475.904923310]: Plugin setpoint_position initialized
[ INFO] [1722869475.906133121]: Plugin setpoint_raw loaded
[ INFO] [1722869475.908320889]: Plugin hil initialized
[ INFO] [1722869475.908419433]: Plugin home_position loaded
[ INFO] [1722869475.914280309]: Plugin setpoint_raw initialized
[ INFO] [1722869475.914372158]: Plugin setpoint_trajectory loaded
[ INFO] [1722869475.916386660]: Plugin home_position initialized
[ INFO] [1722869475.916480840]: Plugin imu loaded
[ INFO] [1722869475.923096651]: Plugin setpoint_trajectory initialized
[ INFO] [1722869475.923192244]: Plugin setpoint_velocity loaded
[INFO] [1722869475.924015, 0.000000]: Loading model XML from ros parameter model_description
[ INFO] [1722869475.930257252]: Plugin imu initialized
[ INFO] [1722869475.930332649]: Plugin landing_target loaded
[ INFO] [1722869475.931613059]: Plugin setpoint_velocity initialized
[ INFO] [1722869475.931723606]: Plugin sys_status loaded
[INFO] [1722869475.933388, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1722869475.939587971]: Plugin landing_target initialized
[ INFO] [1722869475.939706625]: Plugin local_position loaded
[ INFO] [1722869475.939806704]: Plugin sys_status initialized
[ INFO] [1722869475.939882074]: Plugin sys_time loaded
[ INFO] [1722869475.942775805]: TM: Timesync mode: MAVLINK
[ INFO] [1722869475.943085907]: TM: Not publishing sim time
[ INFO] [1722869475.943974135]: Plugin sys_time initialized
[ INFO] [1722869475.944028372]: Plugin terrain loaded
[ INFO] [1722869475.944325454]: Plugin terrain initialized
[ INFO] [1722869475.944368911]: Plugin trajectory loaded
[ INFO] [1722869475.944469940]: Plugin local_position initialized
[ INFO] [1722869475.944558719]: Plugin log_transfer loaded
[ INFO] [1722869475.947112055]: Plugin log_transfer initialized
[ INFO] [1722869475.947187016]: Plugin trajectory initialized
[ INFO] [1722869475.947201082]: Plugin mag_calibration_status loaded
[ INFO] [1722869475.947247674]: Plugin tunnel loaded
[ INFO] [1722869475.948207688]: Plugin mag_calibration_status initialized
[ INFO] [1722869475.948273533]: Plugin manual_control loaded
[ INFO] [1722869475.949543247]: Plugin tunnel initialized
[ INFO] [1722869475.949613046]: Plugin vfr_hud loaded
[ INFO] [1722869475.949991418]: Plugin vfr_hud initialized
[ INFO] [1722869475.950006928]: Plugin vibration blacklisted
[ INFO] [1722869475.950060386]: Plugin vision_pose_estimate loaded
[ INFO] [1722869475.950352724]: Plugin manual_control initialized
[ INFO] [1722869475.950404977]: Plugin mocap_pose_estimate loaded
[ INFO] [1722869475.953725211]: Plugin mocap_pose_estimate initialized
[ INFO] [1722869475.953784197]: Plugin mount_control loaded
[ INFO] [1722869475.956430160]: Plugin vision_pose_estimate initialized
[ INFO] [1722869475.956483624]: Plugin vision_speed_estimate loaded
[ INFO] [1722869475.961171113]: Plugin vision_speed_estimate initialized
[ INFO] [1722869475.961293629]: Plugin waypoint loaded
[ WARN] [1722869475.961741808]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1722869475.961964540]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1722869475.962190939]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1722869475.963074479]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1722869475.963321373]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1722869475.963364989]: Plugin mount_control initialized
[ INFO] [1722869475.963464661]: Plugin nav_controller_output loaded
[ INFO] [1722869475.963896510]: Plugin nav_controller_output initialized
[ INFO] [1722869475.963952872]: Plugin obstacle_distance loaded
[ INFO] [1722869475.964909368]: Plugin waypoint initialized
[ INFO] [1722869475.964931671]: Plugin wheel_odometry blacklisted
[ INFO] [1722869475.964988144]: Plugin wind_estimation loaded
[ INFO] [1722869475.965005292]: Plugin obstacle_distance initialized
[ INFO] [1722869475.965085814]: Plugin odom loaded
[ INFO] [1722869475.965374909]: Plugin wind_estimation initialized
[ INFO] [1722869475.965438131]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1722869475.965450016]: Built-in MAVLink package version: 2024.3.3
[ INFO] [1722869475.965468268]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1722869475.965480516]: MAVROS started. MY ID 1.240, TARGET ID 2.1
[ INFO] [1722869475.966736289]: Plugin odom initialized
[ INFO] [1722869475.966817218]: Plugin onboard_computer_status loaded
[ INFO] [1722869475.967510840]: Plugin onboard_computer_status initialized
[ INFO] [1722869475.967570199]: Plugin param loaded
[ INFO] [1722869475.968499165]: Plugin param initialized
[ INFO] [1722869475.968538223]: Plugin play_tune loaded
[ INFO] [1722869475.969313250]: Plugin play_tune initialized
[ INFO] [1722869475.969347238]: Plugin px4flow loaded
[ INFO] [1722869475.971591041]: Plugin px4flow initialized
[ INFO] [1722869475.971686381]: Plugin rallypoint loaded
[ INFO] [1722869475.972770767]: Plugin rallypoint initialized
[ INFO] [1722869475.972798133]: Plugin rangefinder blacklisted
[ INFO] [1722869475.972873108]: Plugin rc_io loaded
[ INFO] [1722869475.975205368]: Plugin rc_io initialized
[ INFO] [1722869475.975231284]: Plugin safety_area blacklisted
[ INFO] [1722869475.975306128]: Plugin setpoint_accel loaded
[ INFO] [1722869475.977286503]: Plugin setpoint_accel initialized
[ INFO] [1722869475.977401256]: Plugin setpoint_attitude loaded
[ INFO] [1722869475.981145330]: Plugin setpoint_attitude initialized
[ INFO] [1722869475.981248023]: Plugin setpoint_position loaded
[ INFO] [1722869475.991017194]: Plugin setpoint_position initialized
[ INFO] [1722869475.991121792]: Plugin setpoint_raw loaded
[ INFO] [1722869475.994771921]: Plugin setpoint_raw initialized
[ INFO] [1722869475.994948264]: Plugin setpoint_trajectory loaded
[ INFO] [1722869475.997812909]: Plugin setpoint_trajectory initialized
[ INFO] [1722869475.997922621]: Plugin setpoint_velocity loaded
[ INFO] [1722869476.001330478]: Plugin setpoint_velocity initialized
[ INFO] [1722869476.001425240]: Plugin sys_status loaded
[ INFO] [1722869476.007485448]: Plugin sys_status initialized
[ INFO] [1722869476.007548380]: Plugin sys_time loaded
[ INFO] [1722869476.010703115]: TM: Timesync mode: MAVLINK
[ INFO] [1722869476.010927909]: TM: Not publishing sim time
[ INFO] [1722869476.011656522]: Plugin sys_time initialized
[ INFO] [1722869476.011748571]: Plugin terrain loaded
[ INFO] [1722869476.012119067]: Plugin terrain initialized
[ INFO] [1722869476.012200757]: Plugin trajectory loaded
[ INFO] [1722869476.015604694]: Plugin trajectory initialized
[ INFO] [1722869476.015681799]: Plugin tunnel loaded
[ INFO] [1722869476.017468775]: Plugin tunnel initialized
[ INFO] [1722869476.017551774]: Plugin vfr_hud loaded
[ INFO] [1722869476.017908272]: Plugin vfr_hud initialized
[ INFO] [1722869476.017924595]: Plugin vibration blacklisted
[ INFO] [1722869476.017980718]: Plugin vision_pose_estimate loaded
[ INFO] [1722869476.020211954]: Plugin vision_pose_estimate initialized
[ INFO] [1722869476.020267064]: Plugin vision_speed_estimate loaded
[ INFO] [1722869476.021349858]: Plugin vision_speed_estimate initialized
[ INFO] [1722869476.021410948]: Plugin waypoint loaded
[ INFO] [1722869476.023646540]: Plugin waypoint initialized
[ INFO] [1722869476.023688469]: Plugin wheel_odometry blacklisted
[ INFO] [1722869476.023762003]: Plugin wind_estimation loaded
[ INFO] [1722869476.024093450]: Plugin wind_estimation initialized
[ INFO] [1722869476.024187697]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1722869476.024208361]: Built-in MAVLink package version: 2024.3.3
[ INFO] [1722869476.024226607]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1722869476.024243315]: MAVROS started. MY ID 1.240, TARGET ID 3.1
[ INFO] [1722869476.047748182]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1722869476.048430684]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1722869476.122656088]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1722869476.123596502]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1722869476.458071358, 633.195000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1722869476.472292339, 633.209000000]: Physics dynamic reconfigure ready.
[INFO] [1722869476.493940, 0.000000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1722869476.538271, 633.273000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1722869476.687103, 633.341000]: Calling service /gazebo/spawn_sdf_model
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[ INFO] [1722869479.457852358, 633.341000000]: Velodyne laser plugin missing <organize_cloud>, defaults to false
[ INFO] [1722869479.457894669, 633.341000000]: Velodyne laser plugin missing <min_range>, defaults to 0
[ INFO] [1722869479.457905309, 633.341000000]: Velodyne laser plugin missing <max_range>, defaults to infinity
[ INFO] [1722869479.457914548, 633.341000000]: Velodyne laser plugin missing <min_intensity>, defaults to no clipping
[ INFO] [1722869479.459245647, 633.341000000]: Velodyne laser plugin ready, 32 lasers
[INFO] [1722869479.463492, 633.341000]: Spawn status: SpawnModel: Successfully spawned entity
INFO  [simulator] Simulator connected on TCP port 4561.
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] setting PWM_AUX_OUT none
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18571 remote port 14550
INFO  [mavlink] partner IP: 127.0.0.1
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[drone_1/iris_1_spawn-8] process has finished cleanly
log file: /home/ly/.ros/log/29e7616e-533a-11ef-98a5-e39add9e852e/drone_1-iris_1_spawn-8*.log
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
[ INFO] [1722869483.090219792, 633.530000000]: Velodyne laser plugin missing <organize_cloud>, defaults to false
[ INFO] [1722869483.090252500, 633.530000000]: Velodyne laser plugin missing <min_range>, defaults to 0
[ INFO] [1722869483.090262131, 633.530000000]: Velodyne laser plugin missing <max_range>, defaults to infinity
[ INFO] [1722869483.090270723, 633.530000000]: Velodyne laser plugin missing <min_intensity>, defaults to no clipping
[ INFO] [1722869483.091418190, 633.530000000]: Velodyne laser plugin ready, 32 lasers
[INFO] [1722869483.095015, 633.530000]: Spawn status: SpawnModel: Successfully spawned entity
INFO  [simulator] Simulator connected on TCP port 4562.
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14581 remote port 14541
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14281 remote port 14031
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13031 remote port 13281
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2024-08-05/14_51_23.ulg   
INFO  [logger] Opened full log file: ./log/2024-08-05/14_51_23.ulg
INFO  [mavlink] partner IP: 127.0.0.1
[ INFO] [1722869483.244153606, 633.582000000]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1722869483.244553490, 633.583000000]: IMU: High resolution IMU detected!
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
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] setting PWM_AUX_OUT none
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18572 remote port 14550
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[drone_2/iris_2_spawn-11] process has finished cleanly
log file: /home/ly/.ros/log/29e7616e-533a-11ef-98a5-e39add9e852e/drone_2-iris_2_spawn-11*.log
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
[ INFO] [1722869486.621328558, 633.726000000]: Velodyne laser plugin missing <organize_cloud>, defaults to false
[ INFO] [1722869486.621379535, 633.726000000]: Velodyne laser plugin missing <min_range>, defaults to 0
[ INFO] [1722869486.621397932, 633.726000000]: Velodyne laser plugin missing <max_range>, defaults to infinity
[ INFO] [1722869486.621410225, 633.726000000]: Velodyne laser plugin missing <min_intensity>, defaults to no clipping
[ INFO] [1722869486.622814094, 633.726000000]: Velodyne laser plugin ready, 32 lasers
[INFO] [1722869486.624569, 633.726000]: Spawn status: SpawnModel: Successfully spawned entity
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] setting PWM_AUX_OUT none
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14582 remote port 14542
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14282 remote port 14032
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13032 remote port 13282
[ INFO] [1722869486.890244918, 633.832000000]: udp0: Remote address: 127.0.0.1:14582
[ INFO] [1722869486.891107828, 633.832000000]: IMU: High resolution IMU detected!
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2024-08-05/14_51_26.ulg   
INFO  [logger] Opened full log file: ./log/2024-08-05/14_51_26.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
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [mavlink] partner IP: 127.0.0.1
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  [mavlink] partner IP: 127.0.0.1
[ INFO] [1722869487.025029908, 633.936000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1722869487.025248747, 633.936000000]: IMU: High resolution IMU detected!
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2024-08-05/14_51_27.ulg   
INFO  [logger] Opened full log file: ./log/2024-08-05/14_51_27.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
INFO  [mavlink] partner IP: 127.0.0.1
[drone_0/iris_0_spawn-5] process has finished cleanly
log file: /home/ly/.ros/log/29e7616e-533a-11ef-98a5-e39add9e852e/drone_0-iris_0_spawn-5*.log
INFO  [mavlink] partner IP: 127.0.0.1
INFO  [commander] Failsafe mode activated   
[ INFO] [1722869487.738095627, 634.563000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1722869487.739333954, 634.564000000]: IMU: High resolution IMU detected!
[ INFO] [1722869487.755980651, 634.583000000]: IMU: Attitude quaternion IMU detected!
[ WARN] [1722869487.965340760, 634.767000000]: CMD: Unexpected command 512, result 4
[ WARN] [1722869487.966189238, 634.768000000]: CMD: Unexpected command 512, result 4
[ WARN] [1722869487.969954876, 634.772000000]: CMD: Unexpected command 512, result 0
[ INFO] [1722869487.970070468, 634.772000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1722869488.010839723, 634.812000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1722869488.012129185, 634.813000000]: IMU: High resolution IMU detected!
[ INFO] [1722869488.012192349, 634.813000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1722869488.119170749, 634.916000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1722869488.119845278, 634.916000000]: IMU: High resolution IMU detected!
[ INFO] [1722869488.188458804, 634.968000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1722869488.755884958, 635.491000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1722869488.755921859, 635.491000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1722869488.755934012, 635.491000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1722869488.755959287, 635.491000000]: VER: 2.1: Capabilities         0x000000000000e4ff
[ INFO] [1722869488.755977481, 635.491000000]: VER: 2.1: Flight software:     010d0000 (8cc6d02af3000000)
[ INFO] [1722869488.755990555, 635.491000000]: VER: 2.1: Middleware software: 010d0000 (8cc6d02af3000000)
[ INFO] [1722869488.756006470, 635.491000000]: VER: 2.1: OS software:         050f00ff (91bece51afbe7da9)
[ INFO] [1722869488.756015108, 635.491000000]: VER: 2.1: Board hardware:      00000001
[ INFO] [1722869488.756030983, 635.491000000]: VER: 2.1: VID/PID:             0000:0000
[ INFO] [1722869488.756044497, 635.491000000]: VER: 2.1: UID:                 4954414c44494e50
[ INFO] [1722869489.021496618, 635.724000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1722869489.021744971, 635.724000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1722869489.021851978, 635.724000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1722869489.022089393, 635.724000000]: VER: 3.1: Capabilities         0x000000000000e4ff
[ INFO] [1722869489.022159770, 635.724000000]: VER: 3.1: Flight software:     010d0000 (8cc6d02af3000000)
[ INFO] [1722869489.022195499, 635.724000000]: VER: 3.1: Middleware software: 010d0000 (8cc6d02af3000000)
[ INFO] [1722869489.022290865, 635.724000000]: VER: 3.1: OS software:         050f00ff (91bece51afbe7da9)
[ INFO] [1722869489.022437459, 635.725000000]: VER: 3.1: Board hardware:      00000001
[ INFO] [1722869489.022541815, 635.725000000]: VER: 3.1: VID/PID:             0000:0000
[ INFO] [1722869489.022642334, 635.725000000]: VER: 3.1: UID:                 4954414c44494e51
[ INFO] [1722869489.131941280, 635.820000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1722869489.132019096, 635.820000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1722869489.132058563, 635.820000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1722869489.132115882, 635.820000000]: VER: 1.1: Capabilities         0x000000000000e4ff
[ INFO] [1722869489.132170040, 635.820000000]: VER: 1.1: Flight software:     010d0000 (8cc6d02af3000000)
[ INFO] [1722869489.132204878, 635.820000000]: VER: 1.1: Middleware software: 010d0000 (8cc6d02af3000000)
[ INFO] [1722869489.132241002, 635.820000000]: VER: 1.1: OS software:         050f00ff (91bece51afbe7da9)
[ INFO] [1722869489.132273066, 635.820000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1722869489.132306333, 635.820000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1722869489.132336397, 635.820000000]: VER: 1.1: UID:                 4954414c44494e4f
WARN  [PreFlightCheck] Manual control unavailable
WARN  [PreFlightCheck] Manual control unavailable
INFO  [tone_alarm] home set
INFO  [tone_alarm] notify negative
INFO  [tone_alarm] home set
INFO  [tone_alarm] home set
INFO  [tone_alarm] notify negative
INFO  [tone_alarm] notify negative
INFO  [commander] Failsafe mode deactivated 
[ INFO] [1722869505.154563300, 649.564000000]: RP: mission received
[ INFO] [1722869505.154739865, 649.564000000]: GF: mission received
[ INFO] [1722869505.155545584, 649.565000000]: WP: mission received
[ INFO] [1722869505.428717722, 649.812000000]: GF: mission received
[ INFO] [1722869505.428827653, 649.812000000]: RP: mission received
[ INFO] [1722869505.429777614, 649.813000000]: WP: mission received
[ INFO] [1722869505.536740107, 649.917000000]: GF: mission received
[ INFO] [1722869505.536814110, 649.917000000]: RP: mission received
[ INFO] [1722869505.536843144, 649.917000000]: WP: mission received
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
WARN  [commander] Manual control lost   
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
[ WARN] [1722869702.031763499, 705.766000000]: CON: Lost connection, HEARTBEAT timed out.
[ WARN] [1722869702.209703355, 705.766000000]: CON: Lost connection, HEARTBEAT timed out.
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
[ INFO] [1722869703.997482887, 705.855000000]: IMU: High resolution IMU detected!
[ INFO] [1722869703.997480737, 705.855000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1722869704.056054825, 705.896000000]: IMU: High resolution IMU detected!
[ INFO] [1722869704.085872263, 705.896000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1722869704.173656990, 705.964000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1722869704.173667051, 705.964000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1722869704.262945036, 706.017000000]: IMU: High resolution IMU detected!
[ INFO] [1722869704.263184365, 706.017000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1722869704.263361708, 706.017000000]: IMU: High resolution IMU detected!
[ INFO] [1722869704.263521462, 706.017000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1722869705.623269808, 706.488000000]: VER: 1.1: Capabilities         0x000000000000e4ff
[ INFO] [1722869705.623294105, 706.488000000]: VER: 3.1: Capabilities         0x000000000000e4ff
[ INFO] [1722869705.643542923, 706.488000000]: VER: 1.1: Flight software:     010d0000 (8cc6d02af3000000)
[ INFO] [1722869705.643602796, 706.488000000]: VER: 3.1: Flight software:     010d0000 (8cc6d02af3000000)
[ INFO] [1722869705.643672570, 706.488000000]: VER: 1.1: Middleware software: 010d0000 (8cc6d02af3000000)
[ INFO] [1722869705.643697385, 706.488000000]: VER: 3.1: Middleware software: 010d0000 (8cc6d02af3000000)
[ INFO] [1722869705.643731558, 706.488000000]: VER: 1.1: OS software:         050f00ff (91bece51afbe7da9)
[ INFO] [1722869705.643778995, 706.488000000]: VER: 3.1: OS software:         050f00ff (91bece51afbe7da9)
[ INFO] [1722869705.643817261, 706.488000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1722869705.643851260, 706.488000000]: VER: 3.1: Board hardware:      00000001
[ INFO] [1722869705.643895818, 706.488000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1722869705.643934905, 706.488000000]: VER: 3.1: VID/PID:             0000:0000
[ INFO] [1722869705.643980836, 706.488000000]: VER: 1.1: UID:                 4954414c44494e4f
[ INFO] [1722869705.644147704, 706.488000000]: VER: 3.1: UID:                 4954414c44494e51
[ WARN] [1722869705.644243179, 706.488000000]: CMD: Unexpected command 520, result 0
[ WARN] [1722869705.644451567, 706.488000000]: CMD: Unexpected command 520, result 0
INFO  [commander] Manual control regained after 3.5s    
WARN  [commander] Manual control lost   
INFO  [commander] Manual control regained after 0.4s    
WARN  [commander] Manual control lost   
INFO  [commander] Manual control regained after 0.9s    
WARN  [commander] Manual control lost   
INFO  [commander] Manual control regained after 0.3s    
[ INFO] [1722869757.968899068, 721.009000000]: GF: mission received
[ INFO] [1722869757.968885335, 721.009000000]: GF: mission received
[ INFO] [1722869758.018100086, 721.017000000]: RP: mission received
[ INFO] [1722869758.018809801, 721.017000000]: WP: mission received
[ INFO] [1722869758.019681518, 721.018000000]: RP: mission received
[ INFO] [1722869758.019740673, 721.018000000]: WP: mission received
WARN  [commander] Manual control lost   
INFO  [commander] Manual control regained after 0.6s    
WARN  [commander] Manual control lost   
INFO  [commander] Manual control regained after 0.6s    
WARN  [commander] Manual control lost   
INFO  [commander] Manual control regained after 0.6s

Software Version

QGC : V4.2.8

Gazebo user@pc:~$ gazebo --version Gazebo multi-robot simulator, version 11.14.0 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

Gazebo multi-robot simulator, version 11.14.0 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

Flight controller

3DR Iris Quadrotor

Vehicle type

Multicopter

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

No response

Additional context

No response

XXLiu-HNU commented 2 weeks ago

Try ros topic echo /drone_1/mavros/local_position/local?

hcws commented 2 weeks ago

Try ros topic echo /drone_1/mavros/local_position/local?

They are all (0,0,0). Finally I use other ways to solve it

XXLiu-HNU commented 2 weeks ago

How did you solve it? We also encountered this problem when doing outdoor cluster experiments. The local position coordinate system of the drone was not uniform.~..~

hcws commented 2 weeks ago

How did you solve it? We also encountered this problem when doing outdoor cluster experiments. The local position coordinate system of the drone was not uniform.~..~

Set offsets