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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
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issue to start local_planner #485

Closed onionysy closed 5 years ago

onionysy commented 5 years ago

We use GitHub issues only to discuss PX4 Avoidance bugs and new features. For questions about using PX4 or related components, please use PX4 Discuss.

i try to roslaunch local_planner local_planner_stereo.launch again and it change to this `coamc@coamc-HP-Z840-Workstation:~/Firmware$ roslaunch local_planner local_planner_stereo.launch ... logging to /home/coamc/.ros/log/61dd7502-d8f3-11e9-8eef-44334c49fbe0/roslaunch-coamc-HP-Z840-Workstation-15412.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://coamc-HP-Z840-Workstation:39483/ SUMMARY

CLEAR PARAMETERS

/mavros/

PARAMETERS

/gazebo/enable_ros_network: True
/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/coamc/avoid...
/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: melodic
/rosversion: 1.14.3
/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 [15422] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 61dd7502-d8f3-11e9-8eef-44334c49fbe0 process[rosout-1]: started with pid [15433] started core service [/rosout] process[tf_depth_camera-2]: started with pid [15441] process[rqt_reconfigure-3]: started with pid [15442] process[sitl_0-4]: started with pid [15450] INFO [px4] PX4 daemon already running for instance 0 (Resource temporarily unavailable) process[mavros-5]: started with pid [15451] process[gazebo-6]: started with pid [15452] process[spawn_model-7]: started with pid [15458] [sitl_0-4] process has died [pid 15450, exit code 255, cmd /home/coamc/Firmware/build/px4_sitl_default/bin/px4 /home/coamc/Firmware/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i 0 -d name:=sitl_0 __log:=/home/coamc/.ros/log/61dd7502-d8f3-11e9-8eef-44334c49fbe0/sitl_0-4.log]. log file: /home/coamc/.ros/log/61dd7502-d8f3-11e9-8eef-44334c49fbe0/sitl_0-4*.log process[stereo/stereo_image_proc-8]: started with pid [15463] process[local_planner_node-9]: started with pid [15464] process[rviz-10]: started with pid [15466] [ INFO] [1568687545.295338407]: FCU URL: udp://:14540@localhost:14557 [ INFO] [1568687545.297578355]: udp0: Bind address: 0.0.0.0:14540 [ INFO] [1568687545.297677405]: udp0: Remote address: 127.0.0.1:14557 [ INFO] [1568687545.297780890]: GCS bridge disabled [ INFO] [1568687545.301917115]: udp0: Remote address: 127.0.0.1:14580 [ INFO] [1568687545.313149981]: Plugin 3dr_radio loaded [ INFO] [1568687545.315649180]: Plugin 3dr_radio initialized [ INFO] [1568687545.315732367]: Plugin actuator_control loaded [ INFO] [1568687545.319331595]: Plugin actuator_control initialized [ INFO] [1568687545.323734106]: Plugin adsb loaded [ INFO] [1568687545.327394803]: Plugin adsb initialized [ INFO] [1568687545.327529208]: Plugin altitude loaded [ INFO] [1568687545.329039498]: Plugin altitude initialized [ INFO] [1568687545.329159414]: Plugin cam_imu_sync loaded [ INFO] [1568687545.330188029]: Plugin cam_imu_sync initialized [ INFO] [1568687545.330315810]: Plugin command loaded [ INFO] [1568687545.340042054]: Plugin command initialized [ INFO] [1568687545.340173328]: Plugin companion_process_status loaded [ INFO] [1568687545.348270384]: Plugin companion_process_status initialized [ INFO] [1568687545.348366267]: Plugin debug_value loaded [ INFO] [1568687545.366131148]: Plugin debug_value initialized [ INFO] [1568687545.366175703]: Plugin distance_sensor blacklisted [ INFO] [1568687545.366296784]: Plugin fake_gps loaded [ INFO] [1568687545.377410695]: Plugin fake_gps initialized [ INFO] [1568687545.377524762]: Plugin ftp loaded [ INFO] [1568687545.389240533]: Plugin ftp initialized [ INFO] [1568687545.389368951]: Plugin global_position loaded [ INFO] [1568687545.399234107]: Plugin global_position initialized [ INFO] [1568687545.399339863]: Plugin gps_rtk loaded [ INFO] [1568687545.401394768]: Plugin gps_rtk initialized [ INFO] [1568687545.401489742]: Plugin hil loaded [ INFO] [1568687545.411250749]: rviz version 1.13.3 [ INFO] [1568687545.411307363]: compiled against Qt version 5.9.5 [ INFO] [1568687545.411322796]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1568687545.419440720]: Plugin hil initialized [ INFO] [1568687545.419565973]: Plugin home_position loaded [ INFO] [1568687545.431584903]: Plugin home_position initialized [ INFO] [1568687545.431690173]: Plugin imu loaded [ INFO] [1568687545.445217102]: Plugin imu initialized [ INFO] [1568687545.445304466]: Plugin landing_target loaded [ INFO] [1568687545.459264557]: Plugin landing_target initialized [ INFO] [1568687545.459438224]: Plugin local_position loaded [ INFO] [1568687545.469168074]: Plugin local_position initialized [ INFO] [1568687545.469317387]: Plugin log_transfer loaded [ INFO] [1568687545.473278748]: Plugin log_transfer initialized [ INFO] [1568687545.473365993]: Plugin manual_control loaded [ INFO] [1568687545.477198684]: Plugin manual_control initialized [ INFO] [1568687545.477278227]: Plugin mocap_pose_estimate loaded [ INFO] [1568687545.482844505]: Plugin mocap_pose_estimate initialized [ INFO] [1568687545.482960048]: Plugin mount_control loaded [ INFO] [1568687545.487232551]: Plugin mount_control initialized [ INFO] [1568687545.487369544]: Plugin obstacle_distance loaded [ INFO] [1568687545.490840505]: Plugin obstacle_distance initialized [ INFO] [1568687545.490936831]: Plugin odom loaded [ INFO] [1568687545.498464028]: Plugin odom initialized [ INFO] [1568687545.498592412]: Plugin param loaded [ INFO] [1568687545.502853188]: Plugin param initialized [ INFO] [1568687545.502954593]: Plugin px4flow loaded [ INFO] [1568687545.512376117]: Plugin px4flow initialized [ INFO] [1568687545.512419052]: Plugin rangefinder blacklisted [ INFO] [1568687545.512539401]: Plugin rc_io loaded [ INFO] [1568687545.516608001]: Plugin rc_io initialized [ INFO] [1568687545.516635237]: Plugin safety_area blacklisted [ INFO] [1568687545.516741261]: Plugin setpoint_accel loaded [ INFO] [1568687545.520456321]: Plugin setpoint_accel initialized [ INFO] [1568687545.520602159]: Plugin setpoint_attitude loaded [ INFO] [1568687545.533574921]: Plugin setpoint_attitude initialized [ INFO] [1568687545.533744009]: Plugin setpoint_position loaded [ INFO] [1568687545.559262312]: Plugin setpoint_position initialized [ INFO] [1568687545.559416364]: Plugin setpoint_raw loaded [ INFO] [1568687545.573729928]: Plugin setpoint_raw initialized [ INFO] [1568687545.573881421]: Plugin setpoint_velocity loaded [ INFO] [1568687545.583025614]: Plugin setpoint_velocity initialized [ INFO] [1568687545.583173943]: Plugin sys_status loaded [ INFO] [1568687545.600703417]: Plugin sys_status initialized [ INFO] [1568687545.600853352]: Plugin sys_time loaded [ INFO] [1568687545.607789314]: TM: Timesync mode: MAVLINK [ INFO] [1568687545.610008220]: Plugin sys_time initialized [ INFO] [1568687545.610122491]: Plugin trajectory loaded [ INFO] [1568687545.619648979]: Plugin trajectory initialized [ INFO] [1568687545.619744914]: Plugin vfr_hud loaded [ INFO] [1568687545.620285961]: Plugin vfr_hud initialized [ INFO] [1568687545.620309602]: Plugin vibration blacklisted [ INFO] [1568687545.620403831]: Plugin vision_pose_estimate loaded [ INFO] [1568687545.634839510]: Plugin vision_pose_estimate initialized [ INFO] [1568687545.635014848]: Plugin vision_speed_estimate loaded [ INFO] [1568687545.641649415]: Plugin vision_speed_estimate initialized [ INFO] [1568687545.641843911]: Plugin waypoint loaded [ INFO] [1568687545.648945831]: Plugin waypoint initialized [ INFO] [1568687545.649002570]: Plugin wheel_odometry blacklisted [ INFO] [1568687545.649185077]: Plugin wind_estimation loaded [ INFO] [1568687545.650286793]: Plugin wind_estimation initialized [ INFO] [1568687545.650359078]: Autostarting mavlink via USB on PX4 [ INFO] [1568687545.650436381]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1568687545.650481610]: Built-in MAVLink package version: 2019.8.8 [ INFO] [1568687545.650535159]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta [ INFO] [1568687545.650582913]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1568687545.661466090]: IMU: High resolution IMU detected! [ INFO] [1568687545.661688890]: IMU: Attitude quaternion IMU detected! [gazebo-6] process has died [pid 15452, exit code 255, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/coamc/avoid_catkin_ws/src/avoidance/avoidance/sim/worlds/simple_obstacle.world name:=gazebo __log:=/home/coamc/.ros/log/61dd7502-d8f3-11e9-8eef-44334c49fbe0/gazebo-6.log]. log file: /home/coamc/.ros/log/61dd7502-d8f3-11e9-8eef-44334c49fbe0/gazebo-6*.log [ INFO] [1568687545.881487243]: Stereo is NOT SUPPORTED [ INFO] [1568687545.882647314]: OpenGl version: 4.3 (GLSL 4.3). [INFO] [1568687546.014526, 0.000000]: Loading model XML from Gazebo Model Database [INFO] [1568687546.017357, 0.000000]: Waiting for service /gazebo/spawn_sdf_model [ WARN] [1568687546.162753956]: TM : RTT too high for timesync: 18446743543773.55 ms. [ INFO] [1568687546.363356269]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1568687546.382220514]: IMU: High resolution IMU detected! [ INFO] [1568687546.382400871]: IMU: Attitude quaternion IMU detected! [ WARN] [1568687546.762324140]: TM : RTT too high for timesync: 18446743543173.55 ms. [ WARN] [1568687547.364918485]: TM : RTT too high for timesync: 18446743542573.55 ms. [ WARN] [1568687547.966004495]: TM : RTT too high for timesync: 18446743541973.55 ms. [ WARN] [1568687548.566392070]: TM : RTT too high for timesync: 18446743541373.55 ms. [ WARN] [1568687549.166364958]: TM : RTT too high for timesync: 18446743540773.55 ms. [ WARN] [1568687549.766566951]: TM : RTT too high for timesync: 18446743540173.55 ms. [ WARN] [1568687550.366403711]: TM : RTT too high for timesync: 18446743539573.55 ms. [ERROR] [1568687550.392129298]: PR: Unknown parameter to get: MPC_XY_CRUISE [ERROR] [1568687550.393856488]: PR: Unknown parameter to get: MPC_COL_PREV_D [ERROR] [1568687550.395527875]: PR: Unknown parameter to get: MPC_LAND_SPEED [ERROR] [1568687550.397087052]: PR: Unknown parameter to get: NAV_ACC_RAD [ WARN] [1568687550.966317149]: TM : RTT too high for timesync: 18446743538973.55 ms. [ WARN] [1568687551.569440052]: TM : RTT too high for timesync: 18446743538373.55 ms. [ WARN] [1568687552.170070225]: TM : RTT too high for timesync: 18446743537773.55 ms. [ WARN] [1568687552.770034684]: TM : RTT too high for timesync: 18446743537173.55 ms. [ WARN] [1568687553.370531860]: TM : RTT too high for timesync: 18446743536573.55 ms. [ WARN] [1568687553.970412392]: TM : RTT too high for timesync: 18446743535973.55 ms. [ WARN] [1568687554.570737686]: TM : RTT too high for timesync: 18446743535373.55 ms. [ WARN] [1568687555.170559939]: TM : RTT too high for timesync: 18446743534773.55 ms. [ERROR] [1568687555.399407232]: PR: Unknown parameter to get: MPC_XY_CRUISE [ERROR] [1568687555.401084783]: PR: Unknown parameter to get: MPC_COL_PREV_D [ERROR] [1568687555.402661459]: PR: Unknown parameter to get: MPC_LAND_SPEED [ERROR] [1568687555.404010770]: PR: Unknown parameter to get: NAV_ACC_RAD ` i don't know why! how can i fix it @mrivi can you give me some advices. thank you

Thanks!

mrivi commented 5 years ago 
[gazebo-6] process has died [pid 15452, exit code 255, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/coamc/avoid_catkin_ws/src/avoidance/avoidance/sim/worlds/simple_obstacle.world __name:=gazebo __log:=/home/coamc/.ros/log/61dd7502-d8f3-11e9-8eef-44334c49fbe0/gazebo-6.log].
log file: /home/coamc/.ros/log/61dd7502-d8f3-11e9-8eef-44334c49fbe0/gazebo-6*.log

Gazebo died. Does that always happen? It can happen sometimes that Gazebo doesn't start up properly and you need to try a couple of times.

onionysy commented 5 years ago 
[gazebo-6] process has died [pid 15452, exit code 255, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/coamc/avoid_catkin_ws/src/avoidance/avoidance/sim/worlds/simple_obstacle.world __name:=gazebo __log:=/home/coamc/.ros/log/61dd7502-d8f3-11e9-8eef-44334c49fbe0/gazebo-6.log].
log file: /home/coamc/.ros/log/61dd7502-d8f3-11e9-8eef-44334c49fbe0/gazebo-6*.log

Gazebo died. Does that always happen? It can happen sometimes that Gazebo doesn't start up properly and you need to try a couple of times.

i wonder after i make px4_sitl_default gazebo in build and run the simulation step should i kill the gazebo simulation in terminal?

mrivi commented 5 years ago

yes, you need to run make px4_sitl gazebo then kill the simulation. Afterwards you can run roslaunch local_planner local_planner_depth-camera.launch

onionysy commented 5 years ago

yes, you need to run make px4_sitl gazebo then kill the simulation. Afterwards you can run roslaunch local_planner local_planner_depth-camera.launch

i try it again and it shows this `coamc@coamc-HP-Z840-Workstation:~/Firmware$ roslaunch local_planner local_planner_stereo.launch ... logging to /home/coamc/.ros/log/f306d5c8-d90c-11e9-8eef-44334c49fbe0/roslaunch-coamc-HP-Z840-Workstation-7072.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://coamc-HP-Z840-Workstation:35861/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

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)

ROS_MASTER_URI=http://localhost:11311

process[tf_depth_camera-1]: started with pid [7088] process[rqt_reconfigure-2]: started with pid [7089] process[sitl_0-3]: started with pid [7097] INFO [px4] Creating symlink /home/coamc/Firmware/ROMFS/px4fmu_common -> /home/coamc/.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-4]: started with pid [7098] process[gazebo-5]: started with pid [7117] process[spawn_model-6]: started with pid [7126] SYS_AUTOSTART: curr: 0 -> new: 1015 BAT_N_CELLS: curr: 0 -> new: 3 CAL_ACC0_ID: curr: 0 -> new: 1311244 process[stereo/stereo_image_proc-7]: started with pid [7137] 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 process[local_planner_node-8]: started with pid [7147] CAL_MAG_PRIME: curr: 0 -> new: 197388 CAL_BARO_PRIME: curr: 0 -> new: 6620172 COM_DISARM_LAND: curr: 2.0000 -> new: 0.1000 COM_OBL_ACT: curr: 0 -> new: 2 process[rviz-9]: started with pid [7158] 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: 0.1000 -> new: 0.1500 MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000 MPC_XY_P: curr: 0.9500 -> new: 0.8000 MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000 MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160 MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000 MPC_ACC_HOR_MAX: curr: 5.0000 -> new: 3.0000 NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000 NAV_DLL_ACT: curr: 0 -> new: 2 [ INFO] [1568700986.223187751]: FCU URL: udp://:14540@localhost:14557 RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000 [ INFO] [1568700986.225322020]: udp0: Bind address: 0.0.0.0:14540 [ INFO] [1568700986.225427938]: udp0: Remote address: 127.0.0.1:14557 RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000 [ INFO] [1568700986.225553056]: GCS bridge disabled 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 [ INFO] [1568700986.240577397]: Plugin 3dr_radio loaded TRIG_INTERFACE: curr: 4 -> new: 3 [ INFO] [1568700986.243972090]: Plugin 3dr_radio initialized [ INFO] [1568700986.244022804]: Plugin actuator_control loaded [ INFO] [1568700986.250770898]: Plugin actuator_control initialized

mrivi commented 5 years ago

The first time you load the world it takes quite a bit of time, that's why you see those unknown parameters. You can change this parameter to true such that you see when the Gazebo world has loaded.

onionysy commented 5 years ago

@mrivi thanks for your guide. i succed in lauch the gazebo and get map in the rviz. However, i want the uav to the target point but the UAV could only change its altitude but not change its x,y position i runin offboard mode can you give me some advices. thanks a lot `coamc@coamc-HP-Z840-Workstation:~/Firmware$ roslaunch local_planner local_planner_stereo.launch ... logging to /home/coamc/.ros/log/f306d5c8-d90c-11e9-8eef-44334c49fbe0/roslaunch-coamc-HP-Z840-Workstation-10952.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://coamc-HP-Z840-Workstation:45733/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES /stereo/ stereo_image_proc (stereo_image_proc/stereo_image_proc) / 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_depth_camera (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

process[tf_depth_camera-1]: started with pid [10968] process[rqt_reconfigure-2]: started with pid [10969] process[sitl_0-3]: started with pid [10977] INFO [px4] Creating symlink /home/coamc/Firmware/ROMFS/px4fmu_common -> /home/coamc/.ros/etc 0 WARNING: setRealtimeSched failed (not run as root?)

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px4 starting.

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0 process[mavros-4]: started with pid [10978] process[gazebo-5]: started with pid [10996] process[gazebo_gui-6]: started with pid [11006] process[spawn_model-7]: started with pid [11023] INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes process[stereo/stereo_image_proc-8]: started with pid [11033] INFO [simulator] Waiting for simulator to connect on TCP port 4560 process[local_planner_node-9]: started with pid [11037] process[rviz-10]: started with pid [11042] [ INFO] [1568704955.301206564]: FCU URL: udp://:14540@localhost:14557 [ INFO] [1568704955.303262843]: udp0: Bind address: 0.0.0.0:14540 [ INFO] [1568704955.303381860]: udp0: Remote address: 127.0.0.1:14557 [ INFO] [1568704955.303528092]: GCS bridge disabled [ INFO] [1568704955.318163139]: Plugin 3dr_radio loaded [ INFO] [1568704955.320922669]: Plugin 3dr_radio initialized [ INFO] [1568704955.321084255]: Plugin actuator_control loaded [ INFO] [1568704955.328356677]: Plugin actuator_control initialized [ INFO] [1568704955.334485347]: Plugin adsb loaded [ INFO] [1568704955.340961965]: Plugin adsb initialized [ INFO] [1568704955.341069688]: Plugin altitude loaded [ INFO] [1568704955.342719097]: Plugin altitude initialized [ INFO] [1568704955.342826209]: Plugin cam_imu_sync loaded [ INFO] [1568704955.344052840]: Plugin cam_imu_sync initialized [ INFO] [1568704955.344169302]: Plugin command loaded [ INFO] [1568704955.354043120]: Plugin command initialized [ INFO] [1568704955.354160173]: Plugin companion_process_status loaded [ INFO] [1568704955.358458507]: Plugin companion_process_status initialized [ INFO] [1568704955.358529854]: Plugin debug_value loaded [ INFO] [1568704955.369869426]: Plugin debug_value initialized [ INFO] [1568704955.369908840]: Plugin distance_sensor blacklisted [ INFO] [1568704955.370007266]: Plugin fake_gps loaded [ INFO] [1568704955.384005658]: Plugin fake_gps initialized [ INFO] [1568704955.384161317]: Plugin ftp loaded [ INFO] [1568704955.396328845]: rviz version 1.13.3 [ INFO] [1568704955.396400238]: compiled against Qt version 5.9.5 [ INFO] [1568704955.396426631]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1568704955.415485783]: Plugin ftp initialized [ INFO] [1568704955.415657389]: Plugin global_position loaded [ INFO] [1568704955.439103510]: Plugin global_position initialized [ INFO] [1568704955.439302222]: Plugin gps_rtk loaded [ INFO] [1568704955.443262214]: Plugin gps_rtk initialized [ INFO] [1568704955.443408442]: Plugin hil loaded [ INFO] [1568704955.462686468]: Plugin hil initialized [ INFO] [1568704955.462846420]: Plugin home_position loaded [ INFO] [1568704955.469660972]: Plugin home_position initialized [ INFO] [1568704955.469811906]: Plugin imu loaded [ INFO] [1568704955.482710841]: Plugin imu initialized [ INFO] [1568704955.482832676]: Plugin landing_target loaded [ INFO] [1568704955.499146424]: Plugin landing_target initialized [ INFO] [1568704955.499331079]: Plugin local_position loaded [ INFO] [1568704955.510736334]: Plugin local_position initialized [ INFO] [1568704955.510829439]: Plugin log_transfer loaded [ INFO] [1568704955.516690392]: Plugin log_transfer initialized [ INFO] [1568704955.516772208]: Plugin manual_control loaded [ INFO] [1568704955.520776321]: Plugin manual_control initialized [ INFO] [1568704955.520842746]: Plugin mocap_pose_estimate loaded [ INFO] [1568704955.525939384]: Plugin mocap_pose_estimate initialized [ INFO] [1568704955.526062868]: Plugin mount_control loaded [ INFO] [1568704955.530170075]: Plugin mount_control initialized [ INFO] [1568704955.530263801]: Plugin obstacle_distance loaded [ INFO] [1568704955.535175633]: Plugin obstacle_distance initialized [ INFO] [1568704955.535269645]: Plugin odom loaded [ INFO] [1568704955.542980927]: Plugin odom initialized [ INFO] [1568704955.543072961]: Plugin param loaded [ INFO] [1568704955.550207519]: Plugin param initialized [ INFO] [1568704955.550279581]: Plugin px4flow loaded [ INFO] [1568704955.561918658]: Plugin px4flow initialized [ INFO] [1568704955.561949359]: Plugin rangefinder blacklisted [ INFO] [1568704955.562023637]: Plugin rc_io loaded [ INFO] [1568704955.568711859]: Plugin rc_io initialized [ INFO] [1568704955.568744108]: Plugin safety_area blacklisted [ INFO] [1568704955.568846940]: Plugin setpoint_accel loaded [ INFO] [1568704955.574637015]: Plugin setpoint_accel initialized [ INFO] [1568704955.574766011]: Plugin setpoint_attitude loaded [ INFO] [1568704955.590104238]: Plugin setpoint_attitude initialized [ INFO] [1568704955.590220390]: Plugin setpoint_position loaded [ INFO] [1568704955.625541466]: Plugin setpoint_position initialized [ INFO] [1568704955.625786904]: Plugin setpoint_raw loaded [ INFO] [1568704955.628525602]: Finished loading Gazebo ROS API Plugin. [ INFO] [1568704955.633364259]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1568704955.637857053]: Finished loading Gazebo ROS API Plugin. [ INFO] [1568704955.641392317]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1568704955.654856425]: Plugin setpoint_raw initialized [ INFO] [1568704955.654933082]: Plugin setpoint_velocity loaded [ INFO] [1568704955.668248299]: Plugin setpoint_velocity initialized [ INFO] [1568704955.668402825]: Plugin sys_status loaded [ INFO] [1568704955.686386008]: Plugin sys_status initialized [ INFO] [1568704955.686618739]: Plugin sys_time loaded [ INFO] [1568704955.694907500]: TM: Timesync mode: MAVLINK [ INFO] [1568704955.696808000]: Plugin sys_time initialized [ INFO] [1568704955.696920089]: Plugin trajectory loaded [ INFO] [1568704955.708486688]: Plugin trajectory initialized [ INFO] [1568704955.708602378]: Plugin vfr_hud loaded [ INFO] [1568704955.711483667]: Plugin vfr_hud initialized [ INFO] [1568704955.711518463]: Plugin vibration blacklisted [ INFO] [1568704955.711630670]: Plugin vision_pose_estimate loaded [ INFO] [1568704955.725467466]: Plugin vision_pose_estimate initialized [ INFO] [1568704955.725585642]: Plugin vision_speed_estimate loaded [ INFO] [1568704955.730791764]: Plugin vision_speed_estimate initialized [ INFO] [1568704955.730985167]: Plugin waypoint loaded [ INFO] [1568704955.737295666]: Plugin waypoint initialized [ INFO] [1568704955.737333158]: Plugin wheel_odometry blacklisted [ INFO] [1568704955.737484514]: Plugin wind_estimation loaded [ INFO] [1568704955.738395645]: Plugin wind_estimation initialized [ INFO] [1568704955.738435271]: Autostarting mavlink via USB on PX4 [ INFO] [1568704955.738539304]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1568704955.738562212]: Built-in MAVLink package version: 2019.8.8 [ INFO] [1568704955.738589420]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta [ INFO] [1568704955.738612978]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1568704955.843281714]: Stereo is NOT SUPPORTED [ INFO] [1568704955.844232168]: OpenGl version: 4.3 (GLSL 4.3). [INFO] [1568704955.985488, 0.000000]: Loading model XML from Gazebo Model Database [INFO] [1568704955.986943, 0.000000]: Waiting for service /gazebo/spawn_sdf_model INFO [px4_work_queue] creating: wq:hp_default, priority: 87, stack: 16384 bytes INFO [px4_work_queue] creating: wq:att_pos_ctrl, priority: 88, stack: 16384 bytes INFO [px4_work_queue] creating: wq:rate_ctrl, priority: 99, stack: 16384 bytes 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 [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/2019-09-17/07_22_36.ulg INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network) [ INFO] [1568704956.430921411]: udp0: Remote address: 127.0.0.1:14580 [ INFO] [1568704956.431261855]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot INFO [px4] Startup script returned successfully INFO [mavlink] partner IP: 127.0.0.1 [INFO] [1568704956.893413, 0.000000]: Calling service /gazebo/spawn_sdf_model [ INFO] [1568704956.967425387, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1568704957.232054, 0.108000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1568704957.245791010, 0.108000000]: Physics dynamic reconfigure ready. [ INFO] [1568704957.445026310, 0.108000000]: Camera Plugin: The 'robotNamespace' param did not exit [ INFO] [1568704957.445385654, 0.108000000]: Camera Plugin: The 'robotNamespace' param did not exit [ INFO] [1568704957.449011604, 0.108000000]: Camera Plugin (ns = ) , set to "" [ INFO] [1568704957.450058282, 0.108000000]: Camera Plugin (ns = ) , set to "" [spawn_model-7] process has finished cleanly log file: /home/coamc/.ros/log/f306d5c8-d90c-11e9-8eef-44334c49fbe0/spawn_model-7*.log INFO [simulator] Simulator connected on TCP port 4560. [ INFO] [1568704958.288425524, 0.124000000]: IMU: Attitude quaternion IMU detected! [ INFO] [1568704958.291843024, 0.128000000]: IMU: High resolution IMU detected! [ INFO] [1568704958.378286988, 0.212000000]: FCU: Avoidance system starting INFO [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14) [ERROR] [1568704959.098570324, 0.924000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp [ERROR] [1568704959.098709476, 0.924000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) [ERROR] [1568704959.134785866, 0.960000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp [ERROR] [1568704959.134977821, 0.960000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) [ERROR] [1568704959.166448266, 0.992000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp [ERROR] [1568704959.166595521, 0.992000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) [ INFO] [1568704959.176704352, 1.000000000]: VER: 1.1: Capabilities 0x000000000000e4ef [ INFO] [1568704959.176783026, 1.000000000]: VER: 1.1: Flight software: 010a0000 (5507f14bb2000000) [ INFO] [1568704959.176815916, 1.000000000]: VER: 1.1: Middleware software: 010a0000 (5507f14bb2000000) [ INFO] [1568704959.176842607, 1.000000000]: VER: 1.1: OS software: 050000ff (d8da511082646d83) [ INFO] [1568704959.176892889, 1.000000000]: VER: 1.1: Board hardware: 00000001 [ INFO] [1568704959.176924456, 1.000000000]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1568704959.176958155, 1.000000000]: VER: 1.1: UID: 4954414c44494e4f INFO [ecl/EKF] EKF GPS checks passed (WGS-84 origin set) Error: [ERROR] [1568704959.198900139, 1.024000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp [ERROR] [1568704959.198980729, 1.024000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) [ERROR] [1568704959.235080802, 1.060000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp [ERROR] [1568704959.235199425, 1.060000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) [ERROR] [1568704959.246842408, 1.072000000]: ODOM: Ex: Could not find a connection between 'fcu_frd' and 'local_origin_ned' because they are not part of the same tree.Tf has two or more unconnected trees. [ERROR] [1568704959.267064748, 1.092000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) at line [ERROR] [1568704959.267172792, 1.092000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp [ERROR] [1568704959.299482566, 1.124000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp [ERROR] [1568704959.299710531, 1.124000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) [ERROR] [1568704959.334856511, 1.160000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp [ERROR] [1568704959.334985608, 1.160000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) Error: [ERROR] [1568704959.366922280, 1.192000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp [ERROR] [1568704959.367080801, 1.192000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) [ INFO] [1568704959.383125639, 1.208000000]: FCU: Avoidance system connected Error: [ERROR] [1568704959.398948573, 1.224000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp [ERROR] [1568704959.399508735, 1.224000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) [ERROR] [1568704959.435037891, 1.260000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp [ERROR] [1568704959.435167602, 1.260000000]: Ignoring transform for child_frame_id "fcu" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000) [ INFO] [1568704960.205307526, 2.028000000]: Successfully loaded rviz world [ERROR] [1568704960.415506240, 2.236000000]: PR: Unknown parameter to get: MPC_XY_CRUISE [ERROR] [1568704960.416781108, 2.236000000]: PR: Unknown parameter to get: MPC_COL_PREV_D [ERROR] [1568704960.418256945, 2.240000000]: PR: Unknown parameter to get: MPC_LAND_SPEED [ERROR] [1568704960.419422434, 2.240000000]: PR: Unknown parameter to get: NAV_ACC_RAD INFO [ecl/EKF] EKF commencing GPS fusion [ERROR] [1568704965.421052651, 7.236000000]: PR: Unknown parameter to get: MPC_XY_CRUISE [ERROR] [1568704965.422371469, 7.240000000]: PR: Unknown parameter to get: MPC_COL_PREV_D [ERROR] [1568704965.423657021, 7.240000000]: PR: Unknown parameter to get: MPC_LAND_SPEED [ERROR] [1568704965.424906018, 7.240000000]: PR: Unknown parameter to get: NAV_ACC_RAD [ INFO] [1568704973.190613025, 15.000000000]: WP: mission received [ INFO] [1568704984.340393510, 26.140000000]: Setting goal: Frame:local_origin, Position(35.594, -1.335, 0.000), Orientation(0.000, 0.000, -0.013, 1.000) = Angle: -0.027

[ INFO] [1568704992.508392452, 34.296000000]: Setting goal: Frame:local_origin, Position(55.649, 0.967, 0.000), Orientation(0.000, 0.000, 1.000, 0.014) = Angle: 3.113

[ WARN] [1568705003.720541922, 45.500000000]: CMD: Unexpected command 176, result 0 [ INFO] [1568705008.239756335, 50.016000000]: FCU: ARMED by Arm/Disarm component command INFO [commander] Takeoff detected [ INFO] [1568705009.450282063, 51.224000000]: FCU: Takeoff detected

`

onionysy commented 5 years ago

2019-09-17 16-32-34 的屏幕截图

mrivi commented 5 years ago

yes, there is known bug in offboard. You can either use this branch for offboard control or you can use the master branch in Mission Mode.

onionysy commented 5 years ago

thanks for your guide!i have solve my problem.