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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
639 stars 333 forks source link

TF Buffer error when launching local_planer #471

Closed ngocdp closed 5 years ago

ngocdp commented 5 years ago

Hi,

I follow the installation instruction in PX4/avoidance and then I tried the local_planner by using:

roslaunch local_planner local_planner_stereo.launch

RVIZ opened up and I saw the tree, forest loaded up on RVIZ but not the drone.

When I look at the output of the Terminal i see a streamline of: [ERROR] [1566528303.936276449, 3.004000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered

The whole output are:

gijos@gijos-ThinkPad-T470:~$ roslaunch local_planner local_planner_stereo.launch 
... logging to /home/gijos/.ros/log/fd6bc512-c54f-11e9-8633-00216be8f31e/roslaunch-gijos-ThinkPad-T470-8948.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.

started roslaunch server http://gijos-ThinkPad-T470:35843/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /local_planner_node/goal_x_param: 15
 * /local_planner_node/goal_y_param: 15
 * /local_planner_node/goal_z_param: 4
 * /local_planner_node/pointcloud_topics: ['/stereo/points2']
 * /local_planner_node/world_name: /home/gijos/px4_a...
 * /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
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /stereo/stereo_image_proc/correlation_window_size: 19.0
 * /stereo/stereo_image_proc/disparity_range: 32.0
 * /stereo/stereo_image_proc/speckle_range: 2.0
 * /stereo/stereo_image_proc/speckle_size: 1000.0
 * /stereo/stereo_image_proc/stereo_algorithm: 1.0
 * /stereo/stereo_image_proc/uniqueness_ratio: 40.0
 * /use_sim_time: True

NODES
  /stereo/
    stereo_image_proc (stereo_image_proc/stereo_image_proc)
  /
    gazebo (gazebo_ros/gzserver)
    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_depth_camera (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [8958]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fd6bc512-c54f-11e9-8633-00216be8f31e
process[rosout-1]: started with pid [8971]
started core service [/rosout]
process[tf_depth_camera-2]: started with pid [8996]
process[rqt_reconfigure-3]: started with pid [8997]
process[sitl_0-4]: started with pid [9017]
INFO  [px4] Creating symlink /home/gijos/PX4/Firmware/ROMFS/px4fmu_common -> /home/gijos/.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-5]: started with pid [9035]
process[gazebo-6]: started with pid [9041]
  SYS_AUTOSTART: curr: 0 -> new: 1015
  BAT_N_CELLS: curr: 0 -> new: 3
process[spawn_model-7]: started with pid [9052]
process[stereo/stereo_image_proc-8]: started with pid [9059]
process[local_planner_node-9]: started with pid [9072]
  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
process[rviz-10]: started with pid [9090]
  CAL_BARO_PRIME: curr: 0 -> new: 6620172
  COM_DISARM_LAND: curr: 2.0000 -> new: 0.1000
  COM_OBL_ACT: curr: 0 -> new: 2
  COM_OF_LOSS_T: curr: 0.0000 -> new: 5.0000
  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_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: 0.0200 -> 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_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
* 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
  COM_OBS_AVOID: curr: 0 -> new: 1
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to connect on TCP port 4560
[ INFO] [1566528296.963350758]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1566528296.966219302]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1566528296.966330069]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1566528296.966623194]: GCS bridge disabled
[ INFO] [1566528297.008379716]: Plugin 3dr_radio loaded
[ INFO] [1566528297.010193031]: rviz version 1.12.17
[ INFO] [1566528297.010250928]: compiled against Qt version 5.5.1
[ INFO] [1566528297.010264880]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1566528297.025415672]: Plugin 3dr_radio initialized
[ INFO] [1566528297.025627025]: Plugin actuator_control loaded
[ INFO] [1566528297.049150930]: Plugin actuator_control initialized
[ INFO] [1566528297.053941920]: Plugin adsb loaded
[ INFO] [1566528297.093649507]: Plugin adsb initialized
[ INFO] [1566528297.093921171]: Plugin altitude loaded
[ INFO] [1566528297.126246949]: Plugin altitude initialized
[ INFO] [1566528297.126511531]: Plugin cam_imu_sync loaded
[ INFO] [1566528297.128498429]: Plugin cam_imu_sync initialized
[ INFO] [1566528297.128784270]: Plugin command loaded
[ INFO] [1566528297.186283238]: Plugin command initialized
[ INFO] [1566528297.186545106]: Plugin companion_process_status loaded
[ INFO] [1566528297.201827261]: Plugin companion_process_status initialized
[ INFO] [1566528297.202654899]: Plugin debug_value loaded
[ INFO] [1566528297.255230029]: Plugin debug_value initialized
[ INFO] [1566528297.255355519]: Plugin distance_sensor blacklisted
[ INFO] [1566528297.255620920]: Plugin fake_gps loaded
SpawnModel script started
[ INFO] [1566528297.330621361]: Plugin fake_gps initialized
[ INFO] [1566528297.330985024]: Plugin ftp loaded
[ INFO] [1566528297.346593962]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1566528297.349028468]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1566528297.358692739]: Plugin ftp initialized
[ INFO] [1566528297.358880702]: Plugin global_position loaded
[ INFO] [1566528297.404911344]: Stereo is NOT SUPPORTED
[ INFO] [1566528297.405068065]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1566528297.429695974]: Plugin global_position initialized
[ INFO] [1566528297.429928667]: Plugin gps_rtk loaded
[ INFO] [1566528297.437597838]: Plugin gps_rtk initialized
[ INFO] [1566528297.437776133]: Plugin hil loaded
[INFO] [1566528297.456844, 0.000000]: Loading model XML from Gazebo Model Database
[INFO] [1566528297.457073, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1566528297.474743088]: Plugin hil initialized
[ INFO] [1566528297.474893013]: Plugin home_position loaded
[ INFO] [1566528297.490552886]: Plugin home_position initialized
[ INFO] [1566528297.490724203]: Plugin imu loaded
[ INFO] [1566528297.506273296]: Plugin imu initialized
[ INFO] [1566528297.506421159]: Plugin landing_target loaded
[ INFO] [1566528297.529004127]: Plugin landing_target initialized
[ INFO] [1566528297.529232717]: Plugin local_position loaded
[ INFO] [1566528297.542740129]: Plugin local_position initialized
[ INFO] [1566528297.542886894]: Plugin log_transfer loaded
[ INFO] [1566528297.548429269]: Plugin log_transfer initialized
[ INFO] [1566528297.548681664]: Plugin manual_control loaded
[ INFO] [1566528297.555330107]: Plugin manual_control initialized
[ INFO] [1566528297.555500210]: Plugin mocap_pose_estimate loaded
[ INFO] [1566528297.564083902]: Plugin mocap_pose_estimate initialized
[ INFO] [1566528297.564263589]: Plugin mount_control loaded
[ INFO] [1566528297.573460107]: Plugin mount_control initialized
[ INFO] [1566528297.573667816]: Plugin obstacle_distance loaded
[ INFO] [1566528297.588174844]: Plugin obstacle_distance initialized
[ INFO] [1566528297.588346634]: Plugin odom loaded
[ INFO] [1566528297.614002179]: Plugin odom initialized
[ INFO] [1566528297.614325594]: Plugin param loaded
[ INFO] [1566528297.625313667]: Plugin param initialized
[ INFO] [1566528297.625454246]: Plugin px4flow loaded
[ INFO] [1566528297.654558356]: Plugin px4flow initialized
[ INFO] [1566528297.654598696]: Plugin rangefinder blacklisted
[ INFO] [1566528297.654810168]: Plugin rc_io loaded
[ INFO] [1566528297.671978110]: Plugin rc_io initialized
[ INFO] [1566528297.672023550]: Plugin safety_area blacklisted
[ INFO] [1566528297.672216669]: Plugin setpoint_accel loaded
[ INFO] [1566528297.761123261]: Plugin setpoint_accel initialized
[ INFO] [1566528297.763400713]: Plugin setpoint_attitude loaded
INFO  [px4_work_queue] creating: wq:hp_default, priority: 87, stack: 16384 bytes
[ INFO] [1566528298.308998531]: Plugin setpoint_attitude initialized
[ INFO] [1566528298.315602675]: Plugin setpoint_position loaded
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 14570 remote port 14550
[ INFO] [1566528299.111301008]: Plugin setpoint_position initialized
[ INFO] [1566528299.113123654]: Plugin setpoint_raw loaded
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14558 remote port 14541
[ INFO] [1566528299.483555137]: Plugin setpoint_raw initialized
[ INFO] [1566528299.485155758]: Plugin setpoint_velocity loaded
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] Opened full log file: ./log/2019-08-23/02_44_59.ulg
[ INFO] [1566528299.693484933]: Plugin setpoint_velocity initialized
[ INFO] [1566528299.696220552]: Plugin sys_status loaded
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
[ INFO] [1566528299.715532816]: udp0: Remote address: 127.0.0.1:14580
INFO  [px4] Startup script returned successfully
[ INFO] [1566528299.945488516]: Plugin sys_status initialized
[ INFO] [1566528299.945785335]: Plugin sys_time loaded
[ INFO] [1566528299.972047250]: TM: Timesync mode: MAVLINK
[ INFO] [1566528299.976632813]: Plugin sys_time initialized
[ INFO] [1566528299.976813928]: Plugin trajectory loaded
[ INFO] [1566528299.997270304]: Plugin trajectory initialized
[ INFO] [1566528299.997483915]: Plugin vfr_hud loaded
[ INFO] [1566528299.998445656]: Plugin vfr_hud initialized
[ INFO] [1566528299.998487572]: Plugin vibration blacklisted
[ INFO] [1566528299.998658551]: Plugin vision_pose_estimate loaded
[ INFO] [1566528300.013434490]: Plugin vision_pose_estimate initialized
[ INFO] [1566528300.013698419]: Plugin vision_speed_estimate loaded
[ INFO] [1566528300.019207442]: Plugin vision_speed_estimate initialized
[ INFO] [1566528300.019540275]: Plugin waypoint loaded
[ INFO] [1566528300.029977696]: Plugin waypoint initialized
[ INFO] [1566528300.030104065]: Plugin wheel_odometry blacklisted
[ INFO] [1566528300.030337008]: Plugin wind_estimation loaded
[ INFO] [1566528300.032071474]: Plugin wind_estimation initialized
[ INFO] [1566528300.032204481]: Autostarting mavlink via USB on PX4
[ INFO] [1566528300.032393174]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1566528300.032555387]: Built-in MAVLink package version: 2019.8.8
[ INFO] [1566528300.032620378]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1566528300.032680855]: MAVROS started. MY ID 1.240, TARGET ID 1.1
INFO  [mavlink] partner IP: 127.0.0.1
[ INFO] [1566528300.036751692]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[INFO] [1566528300.377740, 0.004000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1566528300.393679131, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1566528300.744660, 0.204000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1566528300.766870197, 0.204000000]: Physics dynamic reconfigure ready.
[spawn_model-7] process has finished cleanly
log file: /home/gijos/.ros/log/fd6bc512-c54f-11e9-8633-00216be8f31e/spawn_model-7*.log
[ INFO] [1566528301.022245086, 0.204000000]: Camera Plugin: The 'robotNamespace' param did not exit
[ INFO] [1566528301.022369669, 0.204000000]: Camera Plugin: The 'robotNamespace' param did not exit
[ INFO] [1566528301.027951905, 0.204000000]: Camera Plugin (ns = )  <tf_prefix_>, set to ""
[ INFO] [1566528301.037979392, 0.204000000]: Camera Plugin (ns = )  <tf_prefix_>, set to ""
ERROR [mavlink] [timesync] Time jump detected. Resetting time synchroniser.
[ INFO] [1566528301.921712810, 1.004000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1566528301.921894463, 1.004000000]: VER: 1.1: Flight software:     01090000 (71613ac631000000)
[ INFO] [1566528301.921986850, 1.004000000]: VER: 1.1: Middleware software: 01090000 (71613ac631000000)
[ INFO] [1566528301.922067749, 1.004000000]: VER: 1.1: OS software:         040f00ff (0000000000000000)
[ INFO] [1566528301.922094635, 1.004000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1566528301.922173742, 1.004000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1566528301.922254075, 1.004000000]: VER: 1.1: UID:                 4954414c44494e4f
[ERROR] [1566528302.404594969, 1.464000000]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1566528302.405663607, 1.464000000]: PR: Unknown parameter to get: MPC_COL_PREV_D
[ERROR] [1566528302.406660147, 1.464000000]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1566528302.407548177, 1.464000000]: PR: Unknown parameter to get: NAV_ACC_RAD
[ INFO] [1566528302.931049379, 2.000000000]: Successfully loaded rviz world
[ERROR] [1566528303.936276449, 3.004000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528303.940698857, 3.008000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528303.945023492, 3.012000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528303.953179468, 3.016000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528303.957516211, 3.020000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528303.968100548, 3.024000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528303.970449626, 3.028000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528303.974711323, 3.032000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528303.977913402, 3.036000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528303.982168401, 3.040000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528303.985619541, 3.044000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528303.989883936, 3.048000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528303.994891954, 3.052000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528303.998127777, 3.056000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528304.001877437, 3.060000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528304.005026664, 3.064000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528304.008274562, 3.068000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528304.012488531, 3.072000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1566528304.016706536, 3.076000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered

My ROS_PACKAGE_PATH, GAZEBO_MODEL_PATH, GAZEBO_PLUGIN_PATH and LD_LIBRARY_PATH: 

ROS_PACKAGE_PATH /home/gijos/px4_avoidance/src/mavlink:/home/gijos/px4_avoidance/src/mavros/libmavconn:/home/gijos/px4_avoidance/src/mavros/mavros_msgs:/home/gijos/px4_avoidance/src/mavros/mavros:/home/gijos/px4_avoidance/src/mavros/mavros_extras:/home/gijos/px4_avoidance/src/avoidance/avoidance:/home/gijos/px4_avoidance/src/avoidance/global_planner:/home/gijos/px4_avoidance/src/avoidance/local_planner:/home/gijos/px4_avoidance/src/avoidance/safe_landing_planner:/home/gijos/px4_avoidance/src/mavros/test_mavros:/opt/ros/kinetic/share:/home/gijos/PX4/Firmware

GAZEBO_PLUGIN_PATH :/home/gijos/PX4/Firmware/build/px4_sitl_defaul/build_gazebo

GAZEBO_MODEL_PATH /home/gijos/.gazebo/models/:/home/gijos/PX4/Firmware/Tools/sitl_gazebo/models:/home/gijos/px4_avoidance/src/avoidance/avoidance/sim/models:/home/gijos/px4_avoidance/src/avoidance/avoidance/sim/worlds

LD_LIBRARY_PATH /home/gijos/px4_avoidance/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/gijos/PX4/Firmware/build/px4_sitl_defaul/build_gazebo

For my first launch, it is just a warning, but from second launch, it turned to be an 'ERROR'

mrivi commented 5 years ago

Hi @ngocdp, it seems that the communication between the Firmware and ROS is not up correctly. This is most likely due to a setup mistake. However the system variables you shared seem correct. Are the system variables echoed from the same terminal where you tried to run the local planner? Could you please verify that the folder /home/gijos/PX4/Firmware/build/px4_sitl_defaul/build_gazebo actually exists? If you run make px4_sitl gazebo in the Firmware directory do you see the vehicle on the ground?

altshuler commented 5 years ago

I have very similar issue.

I'm using : Ubuntu 16.04 ROS Kinetic mavros - compiled from master mavlink - 2019.8.8-1 Firmware - v1.9.2

Here is the output:

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /local_planner_node/goal_x_param: 15
 * /local_planner_node/goal_y_param: 15
 * /local_planner_node/goal_z_param: 4
 * /local_planner_node/pointcloud_topics: ['/stereo/points2']
 * /local_planner_node/world_name: /home/evgeny/catk...
 * /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
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /stereo/stereo_image_proc/correlation_window_size: 19.0
 * /stereo/stereo_image_proc/disparity_range: 32.0
 * /stereo/stereo_image_proc/speckle_range: 2.0
 * /stereo/stereo_image_proc/speckle_size: 1000.0
 * /stereo/stereo_image_proc/stereo_algorithm: 1.0
 * /stereo/stereo_image_proc/uniqueness_ratio: 40.0
 * /use_sim_time: True

NODES
  /stereo/
    stereo_image_proc (stereo_image_proc/stereo_image_proc)
  /
    gazebo (gazebo_ros/gzserver)
    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_depth_camera (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [25342]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4f1128fe-c5d6-11e9-8b89-5cea1dc619f5
process[rosout-1]: started with pid [25355]
started core service [/rosout]
process[tf_depth_camera-2]: started with pid [25380]
process[rqt_reconfigure-3]: started with pid [25381]
process[sitl_0-4]: started with pid [25401]
INFO  [px4] Creating symlink /home/evgeny/Firmware/ROMFS/px4fmu_common -> /home/evgeny/.ros/etc

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
0 WARNING: setRealtimeSched failed (not run as root?)
process[mavros-5]: started with pid [25417]
process[gazebo-6]: started with pid [25422]
process[spawn_model-7]: started with pid [25430]
process[stereo/stereo_image_proc-8]: started with pid [25435]
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
process[local_planner_node-9]: started with pid [25448]
INFO  [simulator] Waiting for simulator to connect on TCP port 4560
process[rviz-10]: started with pid [25472]
[ INFO] [1566585987.266558563]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1566585987.271479594]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1566585987.271914092]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1566585987.272530780]: GCS bridge disabled
[ INFO] [1566585987.412560161]: Plugin 3dr_radio loaded
[ INFO] [1566585987.434552383]: Plugin 3dr_radio initialized
[ INFO] [1566585987.434789133]: Plugin actuator_control loaded
[ INFO] [1566585987.473052344]: Plugin actuator_control initialized
[ INFO] [1566585987.481107616]: rviz version 1.12.17
[ INFO] [1566585987.483465003]: Plugin adsb loaded
[ INFO] [1566585987.487761223]: compiled against Qt version 5.5.1
[ INFO] [1566585987.491182945]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1566585987.546529618]: Plugin adsb initialized
[ INFO] [1566585987.546860076]: Plugin altitude loaded
[ INFO] [1566585987.567033789]: Plugin altitude initialized
[ INFO] [1566585987.567488436]: Plugin cam_imu_sync loaded
[ INFO] [1566585987.583763908]: Plugin cam_imu_sync initialized
[ INFO] [1566585987.584250504]: Plugin command loaded
[ INFO] [1566585987.732003286]: Plugin command initialized
[ INFO] [1566585987.732420569]: Plugin companion_process_status loaded
[ INFO] [1566585987.798676268]: Plugin companion_process_status initialized
[ INFO] [1566585987.798972662]: Plugin debug_value loaded
[ INFO] [1566585987.928089604]: Plugin debug_value initialized
[ INFO] [1566585987.928319060]: Plugin distance_sensor blacklisted
[ INFO] [1566585987.928800469]: Plugin fake_gps loaded
[ INFO] [1566585988.061821087]: Plugin fake_gps initialized
[ INFO] [1566585988.062395728]: Plugin ftp loaded
[ INFO] [1566585988.107110122]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1566585988.113853752]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1566585988.175595100]: Plugin ftp initialized
[ INFO] [1566585988.176126117]: Plugin global_position loaded
SpawnModel script started
[ INFO] [1566585988.225630505]: Stereo is NOT SUPPORTED
[ INFO] [1566585988.226048813]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1566585988.360592905]: Plugin global_position initialized
[ INFO] [1566585988.361003321]: Plugin gps_rtk loaded
[ INFO] [1566585988.380384175]: Plugin gps_rtk initialized
[ INFO] [1566585988.380756438]: Plugin hil loaded
[INFO] [1566585988.438023, 0.000000]: Loading model XML from Gazebo Model Database
[INFO] [1566585988.438534, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1566585988.514075780]: Plugin hil initialized
[ INFO] [1566585988.514455837]: Plugin home_position loaded
[ INFO] [1566585988.546140948]: Plugin home_position initialized
[ INFO] [1566585988.546539788]: Plugin imu loaded
[ INFO] [1566585988.615664928]: Plugin imu initialized
[ INFO] [1566585988.616013114]: Plugin landing_target loaded
[ INFO] [1566585988.783845848]: Plugin landing_target initialized
[ INFO] [1566585988.784188619]: Plugin local_position loaded
[ INFO] [1566585988.875095443]: Plugin local_position initialized
[ INFO] [1566585988.875576571]: Plugin log_transfer loaded
[ INFO] [1566585988.921638270]: Plugin log_transfer initialized
[ INFO] [1566585988.922066867]: Plugin manual_control loaded
[ INFO] [1566585988.967679838]: Plugin manual_control initialized
[ INFO] [1566585988.968400254]: Plugin mocap_pose_estimate loaded
[ INFO] [1566585989.024744941]: Plugin mocap_pose_estimate initialized
[ INFO] [1566585989.025026906]: Plugin mount_control loaded
[ INFO] [1566585989.074741936]: Plugin mount_control initialized
[ INFO] [1566585989.075020458]: Plugin obstacle_distance loaded
[ INFO] [1566585989.109203424]: Plugin obstacle_distance initialized
[ INFO] [1566585989.109901728]: Plugin odom loaded
[ INFO] [1566585989.166693498]: Plugin odom initialized
[ INFO] [1566585989.167163697]: Plugin param loaded
[ INFO] [1566585989.201525342]: Plugin param initialized
[ INFO] [1566585989.202014023]: Plugin px4flow loaded
[ INFO] [1566585989.323165594]: Plugin px4flow initialized
[ INFO] [1566585989.323245778]: Plugin rangefinder blacklisted
[ INFO] [1566585989.323656037]: Plugin rc_io loaded
[ INFO] [1566585989.425749432]: Plugin rc_io initialized
[ INFO] [1566585989.425825875]: Plugin safety_area blacklisted
[ INFO] [1566585989.426197138]: Plugin setpoint_accel loaded
[ INFO] [1566585989.503139910]: Plugin setpoint_accel initialized
[ INFO] [1566585989.503703287]: Plugin setpoint_attitude loaded
[ INFO] [1566585989.668881645]: Plugin setpoint_attitude initialized
[ INFO] [1566585989.674530217]: Plugin setpoint_position loaded
[ INFO] [1566585989.879472827]: Plugin setpoint_position initialized
[ INFO] [1566585989.879795680]: Plugin setpoint_raw loaded
[INFO] [1566585990.012643, 0.000000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1566585990.018208432]: Plugin setpoint_raw initialized
[ INFO] [1566585990.018576092]: Plugin setpoint_velocity loaded
[ INFO] [1566585990.180414785]: Plugin setpoint_velocity initialized
[ INFO] [1566585990.181143688]: Plugin sys_status loaded
[ INFO] [1566585990.331274415]: Plugin sys_status initialized
[ INFO] [1566585990.331704349]: Plugin sys_time loaded
[ INFO] [1566585990.402645088, 0.004000000]: TM: Timesync mode: MAVLINK
[ INFO] [1566585990.409505860, 0.004000000]: Plugin sys_time initialized
[ INFO] [1566585990.409995143, 0.004000000]: Plugin trajectory loaded
[ INFO] [1566585990.502730438, 0.004000000]: Plugin trajectory initialized
[ INFO] [1566585990.503064086, 0.004000000]: Plugin vfr_hud loaded
[ INFO] [1566585990.506215318, 0.004000000]: Plugin vfr_hud initialized
[ INFO] [1566585990.506289192, 0.004000000]: Plugin vibration blacklisted
[ INFO] [1566585990.506625754, 0.004000000]: Plugin vision_pose_estimate loaded
[ INFO] [1566585990.561136622, 0.004000000]: Plugin vision_pose_estimate initialized
[ INFO] [1566585990.561495403, 0.004000000]: Plugin vision_speed_estimate loaded
[ INFO] [1566585990.586883976, 0.004000000]: Plugin vision_speed_estimate initialized
[ INFO] [1566585990.587402877, 0.004000000]: Plugin waypoint loaded
[ INFO] [1566585990.612158094, 0.004000000]: Plugin waypoint initialized
[ INFO] [1566585990.612466521, 0.004000000]: Plugin wheel_odometry blacklisted
[ INFO] [1566585990.612967123, 0.004000000]: Plugin wind_estimation loaded
[ INFO] [1566585990.621955741, 0.004000000]: Plugin wind_estimation initialized
[ INFO] [1566585990.622218473, 0.004000000]: Autostarting mavlink via USB on PX4
[ INFO] [1566585990.622627822, 0.004000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1566585990.622782413, 0.004000000]: Built-in MAVLink package version: 2019.8.8
[ INFO] [1566585990.622928933, 0.004000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1566585990.623068597, 0.004000000]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1566585990.787436, 0.004000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1566585991.264082018, 0.004000000]: Camera Plugin: The 'robotNamespace' param did not exit
[ INFO] [1566585991.264835251, 0.004000000]: Camera Plugin: The 'robotNamespace' param did not exit
[ INFO] [1566585991.273005254, 0.004000000]: Camera Plugin (ns = )  <tf_prefix_>, set to ""
[ INFO] [1566585991.282259050, 0.004000000]: Camera Plugin (ns = )  <tf_prefix_>, set to ""
[spawn_model-7] process has finished cleanly
log file: /home/evgeny/.ros/log/4f1128fe-c5d6-11e9-8b89-5cea1dc619f5/spawn_model-7*.log
INFO  [simulator] Simulator connected on TCP port 4560.
[ INFO] [1566585991.845711888, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1566585991.978222480, 0.124000000]: Physics dynamic reconfigure ready.
INFO  [commander] Mission #2 loaded, 7 WPs, curr: 0
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 14570 remote port 14550
[ERROR] [1566585993.044560553, 1.140000000]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1566585993.047592146, 1.144000000]: PR: Unknown parameter to get: MPC_COL_PREV_D
[ERROR] [1566585993.050400483, 1.148000000]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1566585993.056235920, 1.148000000]: PR: Unknown parameter to get: NAV_ACC_RAD
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14558 remote port 14541
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] Opened full log file: ./log/2019-08-23/18_46_33.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
[ INFO] [1566585993.286805089, 1.272000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1566585993.287223886, 1.272000000]: IMU: High resolution IMU detected!
INFO  [mavlink] partner IP: 127.0.0.1
[ INFO] [1566585993.569540914, 1.532000000]: FCU: [logger] file: ./log/2019-08-23/18_46_33.ulg
INFO  [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14)
[ INFO] [1566585994.054927470, 2.008000000]: Successfully loaded rviz world
[ INFO] [1566585994.192228458, 2.140000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1566585994.296636487, 2.232000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1566585994.306420974, 2.244000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1566585994.316796315, 2.252000000]: IMU: High resolution IMU detected!
INFO  [mavlink] partner IP: 127.0.0.1
[ WARN] [1566585995.202849535, 3.004000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.205344212, 3.008000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.210872564, 3.012000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.215361548, 3.016000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.219215740, 3.020000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.226632515, 3.024000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.228908474, 3.028000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.235574528, 3.032000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.240098716, 3.036000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.245626574, 3.040000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.251339631, 3.044000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.255097584, 3.048000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.259979610, 3.052000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.263543447, 3.056000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.267769612, 3.060000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.277733249, 3.064000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.283252540, 3.068000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.287917429, 3.072000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.293082545, 3.076000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.298517586, 3.080000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.302100651, 3.084000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.306617551, 3.088000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.312358464, 3.092000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.323414769, 3.096000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.326843199, 3.100000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.334766976, 3.104000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.341798248, 3.108000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.343068980, 3.112000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.347708568, 3.116000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.358105801, 3.120000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.360924059, 3.124000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.364568570, 3.128000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.371741246, 3.132000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.382341854, 3.136000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.390838654, 3.140000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.396764503, 3.144000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.399486720, 3.148000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.403275343, 3.152000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.408225433, 3.156000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.417102323, 3.164000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.422885427, 3.168000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.425377436, 3.172000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.429749403, 3.176000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.434135661, 3.180000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.438603232, 3.184000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.443430534, 3.188000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.452156206, 3.192000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.464361315, 3.196000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.468333275, 3.200000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.472979132, 3.204000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.482473348, 3.208000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.490216518, 3.212000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.497357217, 3.216000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.501001321, 3.220000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.507235686, 3.224000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.511990299, 3.228000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.517918492, 3.232000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ INFO] [1566585995.522756399, 3.232000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1566585995.523351007, 3.232000000]: VER: 1.1: Flight software:     010902ff (106905871d000000)
[ INFO] [1566585995.523593533, 3.232000000]: VER: 1.1: Middleware software: 010902ff (106905871d000000)
[ INFO] [1566585995.523735460, 3.232000000]: VER: 1.1: OS software:         040f00ff (423371c7d4012e72)
[ INFO] [1566585995.523881020, 3.232000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1566585995.524007533, 3.232000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1566585995.524132511, 3.232000000]: VER: 1.1: UID:                 4954414c44494e4f
[ WARN] [1566585995.526537360, 3.236000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.535218687, 3.240000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.539487055, 3.244000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.544851250, 3.248000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.549194551, 3.252000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.555553205, 3.256000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.560036954, 3.260000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.572470367, 3.264000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.575831899, 3.268000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.579467383, 3.272000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.583858247, 3.276000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.591211691, 3.280000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.596359780, 3.284000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.601104737, 3.288000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.605735355, 3.292000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.609066087, 3.296000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.618912637, 3.300000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.626938018, 3.308000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.633314126, 3.312000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.636132820, 3.316000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.644649971, 3.320000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.650516532, 3.324000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.653964816, 3.328000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.658344858, 3.332000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.662642374, 3.336000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.675214704, 3.340000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.678625544, 3.344000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.683377235, 3.348000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.687562393, 3.352000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1566585995.692012590, 3.356000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ERROR] [1566585998.060558580, 4.896000000]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1566585998.067167520, 4.896000000]: PR: Unknown parameter to get: MPC_COL_PREV_D
[ERROR] [1566585998.073222268, 4.904000000]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1566585998.080374650, 4.908000000]: PR: Unknown parameter to get: NAV_ACC_RAD
[ERROR] [1566586003.088038919, 7.836000000]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1566586003.090637222, 7.836000000]: PR: Unknown parameter to get: MPC_COL_PREV_D
[ERROR] [1566586003.094658843, 7.836000000]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1566586003.096966238, 7.840000000]: PR: Unknown parameter to get: NAV_ACC_RAD
[ERROR] [1566586008.099823719, 11.028000000]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1566586008.103742046, 11.028000000]: PR: Unknown parameter to get: MPC_COL_PREV_D
[ERROR] [1566586008.107549685, 11.032000000]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1566586008.118366673, 11.032000000]: PR: Unknown parameter to get: NAV_ACC_RAD
INFO  [ecl/EKF] EKF GPS checks passed (WGS-84 origin set)
INFO  [ecl/EKF] EKF commencing GPS fusion
[ INFO] [1566586010.206454554, 12.232000000]: HP: requesting home position
[ INFO] [1566586010.612142649, 12.500000000]: parameter MPC_TKO_SPEED is set from  nan to 1.500000 

[ WARN] [1566586012.548763808, 13.668000000]: PR: request param #219 timeout, retries left 2, and 1 params still missing
[ WARN] [1566586012.550618004, 13.668000000]: PR: Param EKF2_RNG_GATE (218/570): <value><double>5</double></value> different index: 219/571
[ INFO] [1566586018.527720201, 17.232000000]: WP: item #0* F:2 C:178 p: 1.000000 5.000000 -1.000000 0.000000 x: 0.000000 y: 0.000000 z: 0.000000
[ INFO] [1566586018.532505963, 17.232000000]: WP: item #1  F:3 C: 22 p: 15.000000 0.000000 0.000000 nan x: 47.397766 y: 8.545789 z: 4.000000
[ INFO] [1566586018.537679765, 17.236000000]: WP: item #2  F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397686 y: 8.545789 z: 4.000000
[ INFO] [1566586018.540245330, 17.236000000]: WP: item #3  F:2 C:178 p: 1.000000 5.000000 -1.000000 0.000000 x: 0.000000 y: 0.000000 z: 0.000000
[ INFO] [1566586018.544622952, 17.236000000]: WP: item #4  F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397667 y: 8.545604 z: 4.000000
[ INFO] [1566586018.545670188, 17.244000000]: WP: item #5  F:2 C:178 p: 1.000000 5.000000 -1.000000 0.000000 x: 0.000000 y: 0.000000 z: 0.000000
[ INFO] [1566586018.546171347, 17.244000000]: WP: item #6  F:2 C: 20 p: 0.000000 0.000000 0.000000 0.000000 x: 0.000000 y: 0.000000 z: 0.000000
[ INFO] [1566586018.546354729, 17.244000000]: WP: mission received
[ WARN] [1566586028.094043090, 22.748000000]: CMD: Unexpected command 176, result 0
[ INFO] [1566586028.749870504, 23.088000000]: FCU: Failsafe mode activated
[ INFO] [1566586029.474397692, 23.528000000]: FCU: Failsafe mode deactivated
[ INFO] [1566586030.885544383, 24.400000000]: FCU: Failsafe mode activated
[ INFO] [1566586031.759662166, 24.912000000]: FCU: Failsafe mode deactivated
[ INFO] [1566586033.318609517, 25.672000000]: FCU: ARMED by Arm/Disarm component command
WARN  [commander] Failsafe enabled: no RC and no offboard
[ERROR] [1566586033.633905295, 25.812000000]: FCU: Failsafe enabled: no RC and no offboard
[ INFO] [1566586033.805225073, 25.868000000]: FCU: Failsafe mode activated
[ INFO] [1566586034.331105442, 26.016000000]: FCU: Failsafe mode deactivated
INFO  [commander] Takeoff detected
[ INFO] [1566586035.955207637, 26.896000000]: FCU: Takeoff detected
WARN  [commander] Failsafe enabled: no RC and no offboard
[ERROR] [1566586036.040327694, 26.948000000]: FCU: Failsafe enabled: no RC and no offboard
[ INFO] [1566586036.196952815, 26.996000000]: FCU: Failsafe mode activated
[ INFO] [1566586036.341187518, 27.112000000]: FCU: Failsafe mode deactivated
WARN  [commander] Failsafe enabled: no RC and no offboard
[ERROR] [1566586037.891038989, 28.012000000]: FCU: Failsafe enabled: no RC and no offboard
[ INFO] [1566586037.992327147, 28.064000000]: FCU: Failsafe mode activated
[ INFO] [1566586038.700927821, 28.524000000]: FCU: Failsafe mode deactivated
WARN  [commander] Failsafe enabled: no RC and no offboard
[ERROR] [1566586040.095968816, 29.400000000]: FCU: Failsafe enabled: no RC and no offboard
[ INFO] [1566586040.180931638, 29.452000000]: FCU: Failsafe mode activated
[ INFO] [1566586040.827967370, 29.724000000]: FCU: Failsafe mode deactivated
WARN  [commander] Failsafe enabled: no RC and no offboard
[ERROR] [1566586042.228936023, 30.616000000]: FCU: Failsafe enabled: no RC and no offboard
[ INFO] [1566586042.318957415, 30.668000000]: FCU: Failsafe mode activated
[ INFO] [1566586044.341107301, 31.728000000]: FCU: Failsafe mode deactivated
WARN  [commander] Failsafe enabled: no RC and no offboard
[ERROR] [1566586045.822157442, 32.604000000]: FCU: Failsafe enabled: no RC and no offboard
[ INFO] [1566586045.923519879, 32.656000000]: FCU: Failsafe mode activated
[ INFO] [1566586049.001211748, 34.312000000]: FCU: Failsafe mode deactivated
WARN  [commander] Failsafe enabled: no RC and no offboard
[ERROR] [1566586050.585895647, 35.212000000]: FCU: Failsafe enabled: no RC and no offboard
[ INFO] [1566586050.674970658, 35.264000000]: FCU: Failsafe mode activated
[ INFO] [1566586052.365709435, 36.316000000]: FCU: Failsafe mode deactivated
WARN  [commander] Failsafe enabled: no RC and no offboard
[ERROR] [1566586053.892079830, 37.208000000]: FCU: Failsafe enabled: no RC and no offboard
[ INFO] [1566586053.947417829, 37.256000000]: FCU: Failsafe mode activated
[ INFO] [1566586055.290928131, 38.128000000]: FCU: Failsafe mode deactivated
WARN  [commander] Failsafe enabled: no RC and no offboard
[ERROR] [1566586056.802629081, 39.008000000]: FCU: Failsafe enabled: no RC and no offboard
[ INFO] [1566586056.871435167, 39.056000000]: FCU: Failsafe mode activated
[ INFO] [1566586058.507387835, 40.120000000]: FCU: Failsafe mode deactivated
[ INFO] [1566586059.327026809, 40.636000000]: Setting goal: Frame:local_origin, Position(-1.408, 5.747, 0.000), Orientation(0.000, 0.000, 0.770, 0.638) = Angle: 1.758

WARN  [commander] Failsafe enabled: no RC and no offboard
[ERROR] [1566586059.952605468, 41.008000000]: FCU: Failsafe enabled: no RC and no offboard
[ INFO] [1566586060.064111874, 41.060000000]: FCU: Failsafe mode activated
[ INFO] [1566586062.163085563, 42.328000000]: FCU: Failsafe mode deactivated
WARN  [commander] Failsafe enabled: no RC and no offboard
[ERROR] [1566586063.630042888, 43.204000000]: FCU: Failsafe enabled: no RC and no offboard
[ INFO] [1566586063.726723353, 43.256000000]: FCU: Failsafe mode activated
[ INFO] [1566586065.455282379, 44.224000000]: FCU: Failsafe mode deactivated
WARN  [commander] Failsafe enabled: no RC and no offboard
[ERROR] [1566586066.999392709, 45.100000000]: FCU: Failsafe enabled: no RC and no offboard
[ INFO] [1566586067.119154599, 45.152000000]: FCU: Failsafe mode activated
[ INFO] [1566586068.908123461, 46.124000000]: FCU: Failsafe mode deactivated
WARN  [commander] Failsafe enabled: no RC and no offboard
[ERROR] [1566586070.339154001, 47.008000000]: FCU: Failsafe enabled: no RC and no offboard
[ INFO] [1566586070.418213978, 47.056000000]: FCU: Failsafe mode activated
[ INFO] [1566586072.047035233, 48.016000000]: FCU: Failsafe mode deactivated
WARN  [commander] Failsafe enabled: no RC and no offboard
[ERROR] [1566586073.513257001, 48.900000000]: FCU: Failsafe enabled: no RC and no offboard
[ INFO] [1566586073.593082549, 48.956000000]: FCU: Failsafe mode activated
[ INFO] [1566586075.402232564, 50.036000000]: FCU: Failsafe mode deactivated
WARN  [commander] Failsafe enabled: no RC and no offboard
[ERROR] [1566586076.884565970, 50.912000000]: FCU: Failsafe enabled: no RC and no offboard
[ INFO] [1566586076.991856182, 50.964000000]: FCU: Failsafe mode activated
[ INFO] [1566586079.046513695, 52.028000000]: FCU: Failsafe mode deactivated
ngocdp commented 5 years ago

Hi @ngocdp, it seems that the communication between the Firmware and ROS is not up correctly. This is most likely due to a setup mistake. However the system variables you shared seem correct. Are the system variables echoed from the same terminal where you tried to run the local planner? Could you please verify that the folder /home/gijos/PX4/Firmware/build/px4_sitl_defaul/build_gazebo actually exists? If you run make px4_sitl gazebo in the Firmware directory do you see the vehicle on the ground?

Hi @mrivi, thank you for your reply.

Are the system variables echoed from the same terminal where you tried to run the local planner?

Could you please verify that the folder /home/gijos/PX4/Firmware/build/px4_sitl_defaul/build_gazebo actually exists?

If you run make px4_sitl gazebo in the Firmware directory do you see the vehicle on the ground?

make px4_sitl gazebo
[2/6] Performing configure step for 'sitl_gazebo'
FAILED: cd /home/gijos/PX4/Firmware/build/px4_sitl_default/build_gazebo && /usr/bin/cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DSEND_VISION_ESTIMATION_DATA=ON -GNinja /home/gijos/PX4/Firmware/Tools/sitl_gazebo && /usr/bin/cmake -E touch /home/gijos/PX4/Firmware/build/px4_sitl_default/external/Stamp/sitl_gazebo/sitl_gazebo-configure
-- install-prefix: /usr/local
-- Using C++14 compiler
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
--   thread
--   filesystem
--   chrono
--   date_time
--   atomic
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   thread
--   system
--   filesystem
--   program_options
--   regex
--   iostreams
--   date_time
--   chrono
--   atomic
-- Boost version: 1.58.0
-- Looking for OGRE...
-- Found Ogre Ghadamon (1.9.0)
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
-- Found Protobuf: /usr/local/lib/libprotobuf.a (Required is at least version "2.3.0") 
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
--   Found libzmq , version 4.1.4
-- Checking for module 'uuid'
--   Found uuid, version 2.27.0
-- Checking for module 'tinyxml2'
--   Found tinyxml2, version 2.2.0
-- Looking for dlfcn.h - found
-- Looking for libdl - found
-- FreeImage.pc not found, we will search for FreeImage_INCLUDE_DIRS and FreeImage_LIBRARIES
-- Checking for module 'gts'
--   Found gts, version 0.7.6
-- Checking for module 'libswscale'
--   Found libswscale, version 3.1.101
-- Checking for module 'libavdevice >= 56.4.100'
--   Found libavdevice , version 56.4.100
-- Checking for module 'libavformat'
--   Found libavformat, version 56.40.101
-- Checking for module 'libavcodec'
--   Found libavcodec, version 56.60.100
-- Checking for module 'libavutil'
--   Found libavutil, version 54.31.100
-- Checking for module 'jsoncpp'
--   Found jsoncpp, version 1.7.2
-- Checking for module 'yaml-0.1'
--   Found yaml-0.1, version 0.1.6
-- Checking for module 'libzip'
--   Found libzip, version 1.0.1
-- Building klt_feature_tracker without catkin
-- Building OpticalFlow with OpenCV
-- catkin DISABLED
-- Found Protobuf: /usr/local/lib/libprotobuf.a  
Gazebo version: 9.10
CMake Error at CMakeLists.txt:415 (install):
  install DIRECTORY given non-directory
  "/home/gijos/PX4/Firmware/Tools/sitl_gazebo/models/README.md" to install.

-- Configuring incomplete, errors occurred!
See also "/home/gijos/PX4/Firmware/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeOutput.log".
See also "/home/gijos/PX4/Firmware/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeError.log".
ninja: build stopped: subcommand failed.
Makefile:200: recipe for target 'px4_sitl' failed
make: * [px4_sitl] Error 1

The two files CMakeError and CMakeOutput are attached below: CMakeError.log CMakeOutput.log

mrivi commented 5 years ago

@ngocdp The firmware needs to be built for the avoidance to run correctly. Are you running PX4 Firmware master or a release? Could you please make sure that your px4 toolchain is properly installed (you can find instructions here https://dev.px4.io/master/en/setup/dev_env_linux.html) ?

mrivi commented 5 years ago

fixed

Cristian-wp commented 4 years ago

Excuse me, how was fixed?

yxt916 commented 4 years ago

1000000 TF Buffer errors, help!

yxt916 commented 4 years ago

FIxed! I use a new computer 1.Check your environment varibale & PATH，put ALL models in the model path you set. 2.Check ros, is it installed fully？ 3.Use a better computer. 99% is caused by model path wrong or model misssing or computer too old.

tiger-k commented 2 years ago

I use a new px4_config.yaml just copy from avoidancv/avoidance/resourec/px4_congih.yaml. and then this error disappeared.