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PX4 / PX4-Avoidance

PX4 avoidance ROS node for obstacle detection and avoidance.
http://px4.io
BSD 3-Clause "New" or "Revised" License
640 stars 333 forks source link

Problems in connections with Gazebo Simulator #172

Closed SwiftGust closed 5 years ago

SwiftGust commented 5 years ago

As I follow instruction on this repo. I came to find some problems with connections.

  1. Problem with the connection with PX4 SITL with Gazebo Simulation It was very easy to miss the problem that no error or warning messages are given. After information message shown, INFO [simulator] Waiting for simulator to connect on TCP port 4560 and no update since unlike basic px4 Gazebo simulation make px4_sitl_default gazebo It does find connection with Gazebo right away and does work with additional mavros launch. 
    INFO  [simulator] Waiting for simulator to connect on TCP port 4560
INFO  [simulator] Simulator connected on TCP port 4560.
  1. Problem with the connection with MAVROS. I think it's cause of root is problem 1, MAVROS diagnostics report as it is not connected to FCU, thus nothing can be done.

Hope this could be solved soon. Thanks.

Jaeyoung-Lim commented 5 years ago

@SwiftGust The issue is not related to the avoidance, but your SITL environment is misconfigured.

Have you tried following the instruction provided in the px4 documentation?

SwiftGust commented 5 years ago

@Jaeyoung-Lim Hello, I have install and did try to solve this issue with referencing mavros, px4 dev docs, discuss forums and so on and i have come to conclusion that something wrong regarding communication setup of this repository.

I had to handle some errors that didn't mentioned in as following repo's doc and I did install mavros master branch from source.

As I described in problem 1, PX4 Gazebo itself does work very well as well as MAVROS so I can do arm, set mode, take off from mavros.

What I'm describing here is that I'm suspecting the cause of this issue #159 is Gazebo and PX4 SITL cannot communicate, consequently MAVROS doesn't work when using launch file of this repository.

nicovanduijn commented 5 years ago

Which launch file are you using? Generally, the launch file needs to set up this communication properly, e.g. by passing <arg name="fcu_url" default="udp://:14540@localhost:14557"/> to the mavros node.

The launch files in this repository intended for SITL set this argument as I mentioned, as far as I know. But feel free to submit a PR if you find a broken one.

SwiftGust commented 5 years ago

I tried and checked follow launch files and nothing works.

roslaunch global_planner global_planner_sitl_mavros.launch
roslaunch local_planner local_planner_stereo.launch
roslaunch local_planner local_planner_depth-camera.launch
roslaunch local_planner local_planner_sitl_3cam.launch

Those parts are of no problem regarding this matter. Nested launch files are nothing much differ from launching PX4 SITL Gazebo with separate MAVROS launch which works fine in my desktop.

What I don't know and suspected cause of problem is something keeps PX4 SITL instance waiting for Gazebo to be connected in TCP port 4560 and no update since while port was not in use and everything is up and running (Gazebo, RViz, rqt reconfigure...)

INFO  [dataman] Unknown restart, data manager file './dataman' size is 11405132 bytes
INFO  [simulator] Waiting for simulator to connect on TCP port 4560
[ INFO] [1546937170.603386138]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1546937170.606158435]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1546937170.606276570]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1546937170.606550482]: GCS bridge disabled
nicovanduijn commented 5 years ago

The above messages do not indicate any problem, they are all fine. Can you paste the complete output when running roslaunch local_planner local_planner_sitl_3cam.launch ? It works on my machine, as well as all my co-workers with the current master.

SwiftGust commented 5 years ago

@nicovanduijn Hello, what I'm guessing is that whatever the message is missing connection established between PX4 SITL - GAZEBO.

rqt graph : image

Console outputs below :

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /factor_close_to_goal_start_speed_limitation: 3.0
 * /factor_close_to_goal_stop_speed_limitation: 4.0
 * /goal_acceptance_radius_in: 0.5
 * /goal_acceptance_radius_out: 1.5
 * /local_planner_node/goal_x_param: 17
 * /local_planner_node/goal_y_param: 15
 * /local_planner_node/goal_z_param: 3
 * /local_planner_node/pointcloud_topics: ['/camera_front/d...
 * /local_planner_node/world_name: /home/jmarple/cat...
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: udp://:14540@loca...
 * /mavros/gcs_url: 
 * /mavros/global_position/frame_id: fcu
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: fcu_utm
 * /mavros/global_position/tf/frame_id: local_origin
 * /mavros/global_position/tf/send: False
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.000349065850399
 * /mavros/imu/frame_id: fcu
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/local_position/frame_id: local_origin
 * /mavros/local_position/tf/child_frame_id: fcu
 * /mavros/local_position/tf/frame_id: local_origin
 * /mavros/local_position/tf/send: True
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mocap/use_pose: False
 * /mavros/mocap/use_tf: True
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.0
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_throttle: False
 * /mavros/setpoint_attitude/tf/child_frame_id: attitude
 * /mavros/setpoint_attitude/tf/frame_id: local_origin
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 10.0
 * /mavros/setpoint_position/tf/child_frame_id: setpoint
 * /mavros/setpoint_position/tf/frame_id: local_origin
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/startup_px4_usb_quirk: True
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/vibration/frame_id: vibration
 * /mavros/vision_pose/tf/child_frame_id: vision
 * /mavros/vision_pose/tf/frame_id: local_origin
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: False
 * /max_speed_close_to_goal_factor: 0.1
 * /min_speed_close_to_goal: 0.5
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    local_planner_node (local_planner/local_planner_node)
    mavros (mavros/mavros_node)
    rqt_reconfigure (rqt_reconfigure/rqt_reconfigure)
    rviz (rviz/rviz)
    sitl_0 (px4/px4)
    spawn_model (gazebo_ros/spawn_model)
    tf_front_camera (tf/static_transform_publisher)
    tf_left_camera (tf/static_transform_publisher)
    tf_right_camera (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [5795]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to cbe4988c-13a9-11e9-98da-2c56dc4a8293
process[rosout-1]: started with pid [5812]
started core service [/rosout]
process[tf_front_camera-2]: started with pid [5837]
process[tf_right_camera-3]: started with pid [5838]
process[tf_left_camera-4]: started with pid [5839]
process[rqt_reconfigure-5]: started with pid [5852]
process[sitl_0-6]: started with pid [5894]
INFO  [px4] Creating symlink /home/jmarple/catkin_ws/src/Firmware/ROMFS/px4fmu_common -> /home/jmarple/.ros/etc
0 WARNING: setRealtimeSched failed (not run as root?)

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[mavros-7]: started with pid [5907]
process[gazebo-8]: started with pid [5916]
  SYS_AUTOSTART: curr: 0 -> new: 10016
  BAT_N_CELLS: curr: 0 -> new: 3
process[gazebo_gui-9]: started with pid [5927]
  CAL_ACC0_ID: curr: 0 -> new: 1376264
  CAL_ACC1_ID: curr: 0 -> new: 1310728
  CAL_ACC_PRIME: curr: 0 -> new: 1376264
process[spawn_model-10]: started with pid [5940]
  CAL_GYRO0_ID: curr: 0 -> new: 2293768
  CAL_GYRO_PRIME: curr: 0 -> new: 2293768
  CAL_MAG0_ID: curr: 0 -> new: 196616
  CAL_MAG_PRIME: curr: 0 -> new: 196616
process[local_planner_node-11]: started with pid [5945]
  COM_DISARM_LAND: curr: -1.0000 -> new: 0.1000
  COM_OBL_ACT: curr: 0 -> new: 2
  COM_OF_LOSS_T: curr: 0.0000 -> new: 5.0000
process[rviz-12]: started with pid [5973]
  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
  EKF2_MAG_TYPE: curr: 0 -> new: 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: 0.0200 -> 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: 10.0000 -> new: 3.0000
  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_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
* 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
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11405132 bytes
INFO  [simulator] Waiting for simulator to connect on TCP port 4560
[ INFO] [1546995561.489910621]: rviz version 1.12.16
[ INFO] [1546995561.489956787]: compiled against Qt version 5.5.1
[ INFO] [1546995561.489968753]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1546995561.514429387]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1546995561.519244773]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1546995561.519461092]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1546995561.519900370]: GCS bridge disabled
[ INFO] [1546995561.583745356]: Plugin 3dr_radio loaded
[ INFO] [1546995561.591352803]: Plugin 3dr_radio initialized
[ INFO] [1546995561.591547027]: Plugin actuator_control loaded
[ INFO] [1546995561.686069925]: Plugin actuator_control initialized
[ INFO] [1546995561.705332630]: Plugin adsb loaded
[ INFO] [1546995561.720822207]: Plugin adsb initialized
[ INFO] [1546995561.721040285]: Plugin altitude loaded
[ INFO] [1546995561.723226757]: Plugin altitude initialized
[ INFO] [1546995561.723400172]: Plugin cam_imu_sync loaded
[ INFO] [1546995561.724944598]: Plugin cam_imu_sync initialized
[ INFO] [1546995561.725132716]: Plugin command loaded
[ INFO] [1546995561.747093183]: Plugin command initialized
[ INFO] [1546995561.747340392]: Plugin companion_process_status loaded
[ INFO] [1546995561.760970895]: Plugin companion_process_status initialized
[ INFO] [1546995561.761260083]: Plugin debug_value loaded
[ INFO] [1546995561.784927960]: Plugin debug_value initialized
[ INFO] [1546995561.784984557]: Plugin distance_sensor blacklisted
[ INFO] [1546995561.785227781]: Plugin fake_gps loaded
[ INFO] [1546995561.800192304]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1546995561.801153621]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1546995561.838355220]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1546995561.838484342]: Plugin fake_gps initialized
[ INFO] [1546995561.838741254]: Plugin ftp loaded
[ INFO] [1546995561.841420162]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1546995561.888577224]: Plugin ftp initialized
[ INFO] [1546995561.888829623]: Plugin global_position loaded
SpawnModel script started
[ INFO] [1546995561.980133840]: Plugin global_position initialized
[ INFO] [1546995561.980259181]: Plugin gps_rtk loaded
[ INFO] [1546995561.983784367]: Plugin gps_rtk initialized
[ INFO] [1546995561.983950980]: Plugin hil loaded
[ INFO] [1546995562.007810504]: Plugin hil initialized
[ INFO] [1546995562.008119973]: Plugin home_position loaded
[ INFO] [1546995562.014317932]: Plugin home_position initialized
[ INFO] [1546995562.014570076]: Plugin imu loaded
[ INFO] [1546995562.026114507]: Plugin imu initialized
[ INFO] [1546995562.026307716]: Plugin local_position loaded
[ INFO] [1546995562.035055125]: Plugin local_position initialized
[ INFO] [1546995562.035210253]: Plugin log_transfer loaded
[ INFO] [1546995562.039312621]: Plugin log_transfer initialized
[ INFO] [1546995562.039470195]: Plugin manual_control loaded
[ INFO] [1546995562.044133580]: Plugin manual_control initialized
[ INFO] [1546995562.044263582]: Plugin mocap_pose_estimate loaded
[ INFO] [1546995562.053014201]: Plugin mocap_pose_estimate initialized
[ INFO] [1546995562.053135186]: Plugin obstacle_distance loaded
[ INFO] [1546995562.065490806]: Plugin obstacle_distance initialized
[ INFO] [1546995562.065653803]: Plugin odom loaded
[INFO] [1546995562.073033, 0.000000]: Loading model XML from Gazebo Model Database
[INFO] [1546995562.073342, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1546995562.082968216]: Plugin odom initialized
[ INFO] [1546995562.083371847]: Plugin param loaded
[ INFO] [1546995562.088949731]: Plugin param initialized
[ INFO] [1546995562.089094016]: Plugin px4flow loaded
[ INFO] [1546995562.100912128]: Plugin px4flow initialized
[ INFO] [1546995562.100945659]: Plugin rangefinder blacklisted
[ INFO] [1546995562.101158474]: Plugin rc_io loaded
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
[ INFO] [1546995562.111013552]: Plugin rc_io initialized
[ INFO] [1546995562.111070065]: Plugin safety_area blacklisted
[ INFO] [1546995562.111304240]: Plugin setpoint_accel loaded
[ INFO] [1546995562.116983643]: Plugin setpoint_accel initialized
[ INFO] [1546995562.117788718]: Plugin setpoint_attitude loaded
[ INFO] [1546995562.136687427]: Plugin setpoint_attitude initialized
[ INFO] [1546995562.136865436]: Plugin setpoint_position loaded
[ INFO] [1546995562.155828548]: Plugin setpoint_position initialized
[ INFO] [1546995562.156057560]: Plugin setpoint_raw loaded
[ INFO] [1546995562.174106881]: Plugin setpoint_raw initialized
[ INFO] [1546995562.174494059]: Plugin setpoint_velocity loaded
[ INFO] [1546995562.188452270]: Plugin setpoint_velocity initialized
[ INFO] [1546995562.189008773]: Plugin sys_status loaded
[ INFO] [1546995562.212680299]: Plugin sys_status initialized
[ INFO] [1546995562.213071170]: Plugin sys_time loaded
[ INFO] [1546995562.227192945]: TM: Timesync mode: MAVLINK
[ INFO] [1546995562.229705521]: Plugin sys_time initialized
[ INFO] [1546995562.229939746]: Plugin trajectory loaded
[ INFO] [1546995562.243923088]: Plugin trajectory initialized
[ INFO] [1546995562.244248228]: Plugin vfr_hud loaded
[ INFO] [1546995562.245318116]: Plugin vfr_hud initialized
[ INFO] [1546995562.245363527]: Plugin vibration blacklisted
[ INFO] [1546995562.245560529]: Plugin vision_pose_estimate loaded
[ INFO] [1546995562.259901561]: Plugin vision_pose_estimate initialized
[ INFO] [1546995562.260169379]: Plugin vision_speed_estimate loaded
[ INFO] [1546995562.266386646]: Plugin vision_speed_estimate initialized
[ INFO] [1546995562.266619125]: Plugin waypoint loaded
[ INFO] [1546995562.274791276]: Plugin waypoint initialized
[ INFO] [1546995562.275017722]: Plugin wind_estimation loaded
[ INFO] [1546995562.276476166]: Plugin wind_estimation initialized
[ INFO] [1546995562.276540695]: Autostarting mavlink via USB on PX4
[ INFO] [1546995562.276702315]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1546995562.276732971]: Built-in MAVLink package version: 2018.12.12
[ INFO] [1546995562.276768550]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1546995562.276801311]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1546995563.980337521]: Stereo is NOT SUPPORTED
[ INFO] [1546995563.980474804]: OpenGl version: 4.5 (GLSL 4.5).
0x28d8960 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x28d93f0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x28e4290 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x28e2890 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
0x2b3f200 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x2d5ac10 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x2d40ac0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x2d5a2d0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x2d5a9c0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x2b3f200 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
[ INFO] [1546995564.762086429, 0.038000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1546995564.795172, 0.070000]: Calling service /gazebo/spawn_sdf_model
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
[ INFO] [1546995564.928939909, 0.200000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1546995565.383069, 0.266000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1546995565.412999856, 0.296000000]: Physics dynamic reconfigure ready.
[ INFO] [1546995565.413511320, 0.296000000]: Physics dynamic reconfigure ready.
[spawn_model-10] process has finished cleanly
nicovanduijn commented 5 years ago

Can you check if the most recent Firmware change fixes your problem? (https://github.com/PX4/avoidance/pull/174)

altshuler commented 5 years ago

Hello.

I have the same problem. I'm running the latest master of PX4 Firmware and Avoidance projects.

mrivi commented 5 years ago

try to increase the number of watches e.g. sudo sysctl fs.inotify.max_watches=65536

SwiftGust commented 5 years ago

@nicovanduijn I have reinstalled and built both of PX4/avoidance & PX4/Firmware today, problem still presents. I checked messages of earlier and now getting the same except stamp and process id as well as rqt-graphs, so I won't append it. Thank you for your effort.

@mrivi Annoying messages are gone now. Thank you.

mrivi commented 5 years ago

can you share your ROS_PACKAGE_PATH, GAZEBO_MODEL_PATH, GAZEBO_PLUGIN_PATH and LD_LIBRARY_PATH? thank you.

SwiftGust commented 5 years ago

@mrivi Sure, I manually separated it with a colon Clearly it looks like something to do with environment variable setup.

For the clarity, I do have ardupilot-gazebo repository setup in my desktop and I did suspected that few days ago so I have temporarily removed it from the PATH variables but didn't worked. Also, there could've been a URI conflict but never happened, it looks like handles well about what it is looking for.

jmarple@jmarple-ubuntu:~$ $ROS_PACKAGE_PATH
bash: /home/jmarple/catkin_ws/src/mavlink:
/home/jmarple/catkin_ws/src/mavros/libmavconn:
/home/jmarple/catkin_ws/src/mavros/mavros_msgs:
/home/jmarple/catkin_ws/src/mavros/mavros:
/home/jmarple/catkin_ws/src/avoidance/global_planner:
/home/jmarple/catkin_ws/src/mavros/mavros_extras:
/home/jmarple/catkin_ws/src/avoidance/local_planner:
/home/jmarple/catkin_ws/src/Firmware:
/home/jmarple/catkin_ws/src/mavros/test_mavros:
/opt/ros/kinetic/share:
/home/jmarple/catkin_ws/src/Firmware:
/home/jmarple/catkin_ws/src/Firmware/Tools/sitl_gazebo: No such file or directory
jmarple@jmarple-ubuntu:~$ $GAZEBO_MODEL_PATH
bash: /home/jmarple/redtail/ros/packages/redtail_debug/gazebo:
/home/jmarple/ardupilot_gazebo/models_gazebo:
/home/jmarple/ardupilot_gazebo/models:
/usr/share/gazebo-8/models:
:/home/jmarple/catkin_ws/src/avoidance/sim/models:
/home/jmarple/catkin_ws/src/Firmware/Tools/sitl_gazebo/models: No such file or directory
jmarple@jmarple-ubuntu:~$ $GAZEBO_PLUGIN_PATH
bash: /usr/lib/x86_64-linux-gnu/gazebo-8/plugins:: No such file or directory
jmarple@jmarple-ubuntu:~$ $LD_LIBRARY_PATH
bash: /usr/local/cuda-9.0/lib64:
/home/jmarple/catkin_ws/devel/lib:
/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:
/usr/lib/x86_64-linux-gnu/gazebo-8/plugins: No such file or directory
mrivi commented 5 years ago

@SwiftGust I think you're missing the Firmware build path in LD_LIBRARY_PATH. Run source ~/catkin_ws/src/Firmware/Tools/setup_gazebo.bash ~/catkin_ws/src/Firmware ~/catkin_ws/src/Firmware/build/px4_sitl_default

SwiftGust commented 5 years ago

@mrivi Adding the line to the .bashrc, now launch file does connect to PX4 SITL, thank you. Clearly I have missed out these lines and modify accordingly.

# Setup some more Gazebo-related environment variables
. ~/Firmware/Tools/setup_gazebo.bash ~/Firmware ~/Firmware/build/px4_sitl_default

But I'm still having problems, examples are not working properly in my desktop. It looks like gazebo-ros is not connecting each other yet, still showing environment variable resulting in No such file or directory

I did add following in .bashrc file.

source ~/catkin_ws/src/Firmware/Tools/setup_gazebo.bash ~/catkin_ws/src/Firmware ~/catkin_ws/src/Firmware/build/px4_sitl_default

export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/catkin_ws/src/Firmware/Tools/sitl_gazebo/build
# Disable online model lookup since this is quite experimental and unstable
export GAZEBO_MODEL_DATABASE_URI=""
export SITL_GAZEBO_PATH=$HOME/catkin_ws/src/Firmware/Tools/sitl_gazebo

I don't know what am I missing.

And the following problems with current status is I think following problems could go away once as gazebo connects to ROS.

For the global planner, examples are showing

  1. Map is not coming into rviz, path planning always fails with goal position is occupied.

screenshot from 2019-01-14 13-52-23

For the local planner, examples are showing

  1. Looks like transform publisher has some problem regarding publishing image. Result in warning messages 
    Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
     at line 126 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp

    However, I can find the frame_id 'camera_link' with

rostopic echo /tf

transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 893
        nsecs:  94000000
      frame_id: "fcu"
    child_frame_id: "camera_link"
    transform: 
      translation: 
        x: 0.0
        y: 0.0
        z: 0.0
      rotation: 
        x: -0.499999841466
        y: 0.499601836645
        z: -0.499999841466
        w: 0.500398163355
---
  1. Images are not gets into with rosrun image_view stereo_view stereo:=/stereo image:=image_rect_color with sudo apt-get install ros-kinetic-image-view (missing part in doc) In Rqt, No image received warning is given

image

  1. Cannot set mode to OFFBOARD when using local planner examples. Giving mission in QGC does not avoid obstacles with param 'MPC_OBS_AVOID' enabled(1)
mrivi commented 5 years ago

@SwiftGust Could you please remove this line from the local planner launch file such that the debugging messages are output on the console and copy those here? Do you get any warning/errors from the PX4 Firmware side? For example, why it doesn't switch to OFFBOARD. Could you copy those here as well?

SwiftGust commented 5 years ago

@mrivi Even with that line removed, problem still presents. However it does show additional info message

Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
         at line 126 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp
[ INFO] [1547451888.124090234, 13.960000000]:  Pointcloud timeout  , no cloud received on topic /camera/depth/points , missing transforms  (Hovering at current position)
mrivi commented 5 years ago

@SwiftGust Gazebo isn't simulating the depth sensor so the planner isn't getting a pointcloud.

export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/catkin_ws/src/Firmware/Tools/sitl_gazebo/build

this is wrong. Should be ~/catkin_ws/src/Firmware/build/px4_sitl_default/build_gazebo . Please, set your environment variable from scratch following the instructions.

SwiftGust commented 5 years ago

@mrivi Sorry for the trouble, but today I have set environment variables following instructions px4 dev docs, instruction here and the sitl_gazebo docs looking for missing part.

I have set earlier environment variable as ~/catkin_ws/src/Firmware/build/px4_sitl_default/build_gazebo But It didn't work so I built & installed gazebo plugin in ~/catkin_ws/src/Firmware/Tools/sitl_gazebo and have set PATH to that as well with following instruction on sitl_gazebo repo. So the PATH is pointing gazebo - px4 plugins too, and changing it back doesn't work either.

Environment variable setup in .bashrc is following

source /opt/ros/kinetic/setup.bash
source /usr/share/gazebo/setup.sh
source ~/catkin_ws/devel/setup.bash
export LD_LIBRARY_PATH=/usr/local/cuda-9.0/lib64:$LD_LIBRARY_PATH
export PATH=/usr/local/cuda-9.0/bin:$PATH
export PATH=/usr/lib/boost:$PATH
export PATH=/usr/lib/ccache:$PATH

# PX4 Gazebo Related
source ~/catkin_ws/src/Firmware/Tools/setup_gazebo.bash ~/catkin_ws/src/Firmware ~/catkin_ws/src/Firmware/build/px4_sitl_default
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/catkin_ws/src/avoidance/sim/models
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/catkin_ws/src/Firmware/Tools/sitl_gazebo/models
export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH}:~/catkin_ws/src/Firmware/Tools/sitl_gazebo/worlds
export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH}:~/catkin_ws/src/avoidance/sim/worlds
export QT_X11_NO_MITSHM=1
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/catkin_ws/src/Firmware
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/catkin_ws/src/Firmware/Tools/sitl_gazebo

export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/catkin_ws/src/Firmware/build/px4_sitl_default/build_gazebo
# Disable online model lookup since this is quite experimental and unstable
export GAZEBO_MODEL_DATABASE_URI=""
export SITL_GAZEBO_PATH=$HOME/catkin_ws/src/Firmware/Tools/sitl_gazebo
mrivi commented 5 years ago

@SwiftGust this looks good. Do you still have the same issue? Could you check that you have all gazebo packages? sudo apt-get install ros-kinetic-gazebo-*

SwiftGust commented 5 years ago

@mrivi Now it's working! I manually updated gazebo8 from gazebo7, and from that there was missing part. with sudo apt-get install ros-kinetic-gazebo8-* gave me this machine is missingros-kinetic-gazebo8-plugins ros-kinetic-gazebo8-ros-control ros-kinetic-gazebo8-ros-pkgs ros-kinetic-polled-camera and now its working. I should've suspected this... Sorry for the trouble, and thank you very much!

mrivi commented 5 years ago

@SwiftGust great!

tuloski commented 5 years ago

I have the same problem: https://github.com/PX4/sitl_gazebo/issues/322 I don't think updating to Gazebo8 is the right solution, also because gazebo7 is installed from the scripts in the instructions.

Moreover it's weird that the "make px4_sitl_default gazebo" works while the roslaunch doesn't. Can it be a "timing" issue?

lupixi commented 4 years ago

I have the same problem when "make px4_sitl_default jmavsim", after information message shown, INFO [simulator] Waiting for simulator to connect on TCP port 4560 and no update.

yxt916 commented 4 years ago

should be--? export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/catkin_ws/src/avoidance/avoidance/sim/models