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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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TF Buffer: could not retrieve requested transform from buffer, unregistered #523

Closed maerad7 closed 4 years ago

maerad7 commented 4 years ago

Why am I getting an error? The environment is drone upboard2. Please tell me why or how to find the error.

avoidance version : 0.3.1, camera: intel D435 camera export : export CAMERA_CONFIGS="camera,realsense,819612070807,0.3,0.32,-0.11,0,0,0"

roslaunch local_planner avoidance.launch fcu_url:=/dev/ttyUSB4 ... logging to /home/up2/.ros/log/6161c0d6-041f-11ea-9031-8ca982fea4f2/roslaunch-up2-UP-APL01-14467.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://localhost:34181/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES /camera/ points_xyz_sw_registered (nodelet/nodelet) realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) / drop_camera_depth (topic_tools/drop) drop_camera_ir (topic_tools/drop) local_planner_node (local_planner/local_planner_node) mavros (mavros/mavros_node) rqt_param_toggle (local_planner/rqt_param_toggle.sh) tf_camera (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [14485] process[tf_camera-2]: started with pid [14486] process[camera/realsense2_camera_manager-3]: started with pid [14492] process[camera/realsense2_camera-4]: started with pid [14505] process[camera/points_xyz_sw_registered-5]: started with pid [14511] process[drop_camera_depth-6]: started with pid [14512] process[drop_camera_ir-7]: started with pid [14529] process[local_planner_node-8]: started with pid [14541] process[rqt_param_toggle-9]: started with pid [14547] [ INFO] [1573434707.428395353]: Initializing nodelet with 4 worker threads. [ INFO] [1573434707.616160784]: RealSense ROS v2.2.9 [ INFO] [1573434707.616252045]: Running with LibRealSense v2.30.0 [ INFO] [1573434707.626853681]: FCU URL: /dev/ttyUSB4 [ INFO] [1573434707.630113259]: serial0: device: /dev/ttyUSB4 @ 57600 bps [ INFO] [1573434707.631206221]: GCS bridge disabled [ INFO] [1573434707.689721019]: Plugin 3dr_radio loaded [ INFO] [1573434707.709103535]: Plugin 3dr_radio initialized [ INFO] [1573434707.709501858]: Plugin actuator_control loaded [ INFO] [1573434707.752502274]: Plugin actuator_control initialized [ INFO] [1573434707.760126761]: Plugin adsb loaded [ INFO] [1573434707.812896141]: Plugin adsb initialized [ INFO] [1573434707.813198223]: Plugin altitude loaded [ INFO] [1573434707.828415166]: Plugin altitude initialized [ INFO] [1573434707.828652977]: Plugin cam_imu_sync loaded [ INFO] [1573434707.835916488]: Plugin cam_imu_sync initialized [ INFO] [1573434707.836155497]: Plugin command loaded [ INFO] [1573434707.893613338]: Plugin command initialized [ INFO] [1573434707.894091874]: Plugin companion_process_status loaded [ INFO] [1573434707.936170281]: Plugin companion_process_status initialized [ INFO] [1573434707.936382244]: Plugin debug_value loaded [ INFO] [1573434707.988187977]: Plugin debug_value initialized [ INFO] [1573434707.988271875]: Plugin distance_sensor blacklisted [ INFO] [1573434707.988502214]: Plugin fake_gps loaded [ INFO] [1573434708.102223761]: Plugin fake_gps initialized [ INFO] [1573434708.102496670]: Plugin ftp loaded [ INFO] [1573434708.128086855]:
[ INFO] [1573434708.167316065]: Device with serial number 825312070955 was found.

[ INFO] [1573434708.167435997]: Device with physical ID /sys/devices/pci0000:00/0000:00:15.0/usb2/2-4/2-4:1.0/video4linux/video0 was found. [ INFO] [1573434708.167481337]: Device with name Intel RealSense D435 was found. [ INFO] [1573434708.173697226]: Device with port number 2-4 was found. [ INFO] [1573434708.175738513]: Plugin ftp initialized [ INFO] [1573434708.176048384]: Plugin global_position loaded

[ INFO] [1573434708.405454507]: Plugin global_position initialized [ INFO] [1573434708.405698019]: Plugin gps_rtk loaded [ INFO] [1573434708.445358870]: Plugin gps_rtk initialized [ INFO] [1573434708.445802695]: Plugin hil loaded [ INFO] [1573434708.600932517]: Plugin hil initialized [ INFO] [1573434708.601298062]: Plugin home_position loaded [ INFO] [1573434708.640930949]: Plugin home_position initialized [ INFO] [1573434708.641388968]: Plugin imu loaded [ INFO] [1573434708.709203765]: Plugin imu initialized [ INFO] [1573434708.709611958]: Plugin landing_target loaded [ INFO] [1573434708.796784360]: Plugin landing_target initialized [ INFO] [1573434708.797501425]: Plugin local_position loaded [ INFO] [1573434708.885050900]: Plugin local_position initialized [ INFO] [1573434708.885535925]: Plugin log_transfer loaded

[ INFO] [1573434708.905719463]: Plugin log_transfer initialized [ INFO] [1573434708.906150816]: Plugin manual_control loaded [ INFO] [1573434708.922405839]: Plugin manual_control initialized [ INFO] [1573434708.922867386]: Plugin mocap_pose_estimate loaded [ INFO] [1573434708.941978641]: Plugin mocap_pose_estimate initialized [ INFO] [1573434708.942293225]: Plugin mount_control loaded [ INFO] [1573434708.963356740]: Plugin mount_control initialized [ INFO] [1573434708.963992922]: Plugin obstacle_distance loaded [ INFO] [1573434708.975331046]: Plugin obstacle_distance initialized [ INFO] [1573434708.975617181]: Plugin odom loaded [ INFO] [1573434708.996862400]: Plugin odom initialized [ INFO] [1573434708.997533531]: Plugin onboard_computer_status loaded [ INFO] [1573434709.010827819]: Plugin onboard_computer_status initialized [ INFO] [1573434709.011220600]: Plugin param loaded [ INFO] [1573434709.025055047]: Plugin param initialized [ INFO] [1573434709.025348690]: Plugin px4flow loaded [ INFO] [1573434709.066803817]: Plugin px4flow initialized [ INFO] [1573434709.066898421]: Plugin rangefinder blacklisted [ INFO] [1573434709.067244326]: Plugin rc_io loaded [ INFO] [1573434709.082972550]: Plugin rc_io initialized [ INFO] [1573434709.083067476]: Plugin safety_area blacklisted [ INFO] [1573434709.083452942]: Plugin setpoint_accel loaded [ INFO] [1573434709.099267055]: Plugin setpoint_accel initialized [ INFO] [1573434709.099669412]: Plugin setpoint_attitude loaded [ INFO] [1573434709.143569571]: Plugin setpoint_attitude initialized [ INFO] [1573434709.143854345]: Plugin setpoint_position loaded [ INFO] [1573434709.226454901]: Plugin setpoint_position initialized [ INFO] [1573434709.226752954]: Plugin setpoint_raw loaded [ INFO] [1573434709.237705511]: JSON file is loaded! (/home/up2/catkin_ws/src/avoidance/local_planner/resource/stereo_calib.json) [ INFO] [1573434709.237821467]: ROS Node Namespace: camera [ INFO] [1573434709.237895407]: Device Name: Intel RealSense D435 [ INFO] [1573434709.237931231]: Device Serial No: 825312070955 [ INFO] [1573434709.237970321]: Device physical port: /sys/devices/pci0000:00/0000:00:15.0/usb2/2-4/2-4:1.0/video4linux/video0 [ INFO] [1573434709.238008222]: Device FW version: 05.11.15.00 [ INFO] [1573434709.238045670]: Device Product ID: 0x0B07 [ INFO] [1573434709.238079891]: Enable PointCloud: Off [ INFO] [1573434709.238129735]: Align Depth: Off [ INFO] [1573434709.238162447]: Sync Mode: Off [ INFO] [1573434709.238807998]: Device Sensors: [ INFO] [1573434709.239287603]: Stereo Module was found. [ INFO] [1573434709.239390108]: RGB Camera was found. [ INFO] [1573434709.239489604]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1573434709.239538675]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1573434709.239579772]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1573434709.239617973]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1573434709.239662337]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1573434709.239699361]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1573434709.240087978]: num_filters: 0 [ INFO] [1573434709.240136682]: Setting Dynamic reconfig parameters. [ INFO] [1573434709.281542945]: Plugin setpoint_raw initialized [ INFO] [1573434709.282158466]: Plugin setpoint_velocity loaded [ INFO] [1573434709.311804686]: Plugin setpoint_velocity initialized [ INFO] [1573434709.312188865]: Plugin sys_status loaded [ INFO] [1573434709.396076845]: Plugin sys_status initialized [ INFO] [1573434709.396416881]: Plugin sys_time loaded [ INFO] [1573434709.441757301]: TM: Timesync mode: MAVLINK [ INFO] [1573434709.451897380]: Plugin sys_time initialized [ INFO] [1573434709.452244402]: Plugin trajectory loaded [ INFO] [1573434709.500902290]: Plugin trajectory initialized [ INFO] [1573434709.501236093]: Plugin vfr_hud loaded [ INFO] [1573434709.505042789]: Plugin vfr_hud initialized [ INFO] [1573434709.505139281]: Plugin vibration blacklisted [ INFO] [1573434709.505328785]: Plugin vision_pose_estimate loaded [ INFO] [1573434709.570903223]: Done Setting Dynamic reconfig parameters. [ INFO] [1573434709.588197667]: Plugin vision_pose_estimate initialized [ INFO] [1573434709.588900447]: Plugin vision_speed_estimate loaded [ INFO] [1573434709.590398099]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1573434709.591077623]: infra1 stream is enabled - width: 640, height: 480, fps: 15, Format: Y8

[ INFO] [1573434709.605848900]: Expected frequency for depth = 30.00000 [ INFO] [1573434709.619869674]: Plugin vision_speed_estimate initialized [ INFO] [1573434709.620182820]: Plugin waypoint loaded [ INFO] [1573434709.656518594]: Plugin waypoint initialized [ INFO] [1573434709.656621031]: Plugin wheel_odometry blacklisted [ INFO] [1573434709.657044268]: Plugin wind_estimation loaded [ INFO] [1573434709.661520833]: Plugin wind_estimation initialized [ INFO] [1573434709.661648446]: Autostarting mavlink via USB on PX4 [ INFO] [1573434709.661776402]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1573434709.661829085]: Built-in MAVLink package version: 2019.10.10 [ INFO] [1573434709.661895926]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta [ INFO] [1573434709.661955489]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1573434709.746604696]: Expected frequency for infra1 = 15.00000

[ INFO] [1573434709.865872967]: insert Depth to Stereo Module [ INFO] [1573434709.866322455]: insert Infrared to Stereo Module [ INFO] [1573434709.890631784]: SELECTED BASE:Depth, 0 [ INFO] [1573434709.920501420]: RealSense Node Is Up! advertised as /camera/depth/image_rect_raw_drop advertised as /camera/infra1/image_rect_raw_drop [ERROR] [1573434710.440143992]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.441506492]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.442868227]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.444088485]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.445301250]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.446605069]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.447925021]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.449150719]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.450317182]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.451507733]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.452794238]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.454021860]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.455198446]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.456357776]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.457544633]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.458800668]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.459966169]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.461164566]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.462356707]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573434710.463512828]: TF Buffer: could not retrieve requested transform from buffer, unregistered

mrivi commented 4 years ago

@maerad7 there was a recent fix for the transform buffers. Please try avoidance master.

maerad7 commented 4 years ago

The error also occurs in the master version. Since px4_config.yaml is missing, I used version 0.31(px4_config.ymal<--version 0.31). What's the problem?

roslaunch local_planner avoidance.launch fcu_url:=/dev/ttyUSB4 ... logging to /home/up2/.ros/log/49ae8f1c-0462-11ea-badf-8ca982fea4f2/roslaunch-up2-UP-APL01-16840.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://localhost:43865/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES /camera/ points_xyz_sw_registered (nodelet/nodelet) realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) / drop_camera_depth (topic_tools/drop) drop_camera_ir (topic_tools/drop) dynparam (dynamic_reconfigure/dynparam) local_planner_node (local_planner/local_planner_node) mavros (mavros/mavros_node) rqt_param_toggle (local_planner/rqt_param_toggle.sh) tf_camera (tf/static_transform_publisher)

auto-starting new master process[master]: started with pid [16850] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 49ae8f1c-0462-11ea-badf-8ca982fea4f2 process[rosout-1]: started with pid [16863] started core service [/rosout] process[mavros-2]: started with pid [16881] process[tf_camera-3]: started with pid [16882] process[camera/realsense2_camera_manager-4]: started with pid [16883] process[camera/realsense2_camera-5]: started with pid [16895] process[camera/points_xyz_sw_registered-6]: started with pid [16901] process[drop_camera_depth-7]: started with pid [16912] process[drop_camera_ir-8]: started with pid [16926] process[dynparam-9]: started with pid [16937] process[local_planner_node-10]: started with pid [16953] process[rqt_param_toggle-11]: started with pid [16955] [ INFO] [1573463080.586114566]: Initializing nodelet with 4 worker threads. [ INFO] [1573463080.666180005]: Initializing nodelet with 4 worker threads. [ INFO] [1573463080.930163115]: FCU URL: /dev/ttyUSB4 [ INFO] [1573463080.933565623]: serial0: device: /dev/ttyUSB4 @ 57600 bps [ INFO] [1573463080.934775322]: GCS bridge disabled [ INFO] [1573463080.965206246]: RealSense ROS v2.2.9 [ INFO] [1573463080.965666891]: Running with LibRealSense v2.30.0 [ INFO] [1573463081.025632537]: Plugin 3dr_radio loaded [ INFO] [1573463081.049134677]: Plugin 3dr_radio initialized [ INFO] [1573463081.049345066]: Plugin actuator_control loaded [ INFO] [1573463081.102703108]: Plugin actuator_control initialized [ INFO] [1573463081.126584973]: Plugin adsb loaded [ INFO] [1573463081.197168563]: Plugin adsb initialized [ INFO] [1573463081.197521946]: Plugin altitude loaded [ INFO] [1573463081.220321820]: Plugin altitude initialized [ INFO] [1573463081.220619268]: Plugin cam_imu_sync loaded [ INFO] [1573463081.236470769]: Plugin cam_imu_sync initialized [ INFO] [1573463081.236887641]: Plugin command loaded [ INFO] [1573463081.337591250]: Plugin command initialized [ INFO] [1573463081.337876373]: Plugin companion_process_status loaded [ INFO] [1573463081.386883810]: Plugin companion_process_status initialized [ INFO] [1573463081.387398507]: Plugin debug_value loaded [ INFO] [1573463081.472135146]: Plugin debug_value initialized [ INFO] [1573463081.472239389]: Plugin distance_sensor blacklisted [ INFO] [1573463081.472489196]: Plugin fake_gps loaded [ INFO] [1573463081.481181951]:
[ INFO] [1573463081.554026684]: Plugin fake_gps initialized [ INFO] [1573463081.554401413]: Plugin ftp loaded [ INFO] [1573463081.613377642]: Device with serial number 825312070955 was found.

[ INFO] [1573463081.614048882]: Device with physical ID /sys/devices/pci0000:00/0000:00:15.0/usb2/2-4/2-4:1.0/video4linux/video0 was found. [ INFO] [1573463081.614600088]: Device with name Intel RealSense D435 was found. [ INFO] [1573463081.624260280]: Device with port number 2-4 was found. [ INFO] [1573463081.652630320]: Plugin ftp initialized [ INFO] [1573463081.653093380]: Plugin global_position loaded [ INFO] [1573463081.804703472]: Plugin global_position initialized [ INFO] [1573463081.805110582]: Plugin gps_rtk loaded [ INFO] [1573463081.816171162]: Plugin gps_rtk initialized [ INFO] [1573463081.816401768]: Plugin hil loaded

Traceback (most recent call last): File "/opt/ros/kinetic/lib/dynamic_reconfigure/dynparam", line 240, in elif cmd == 'load': do_load() File "/opt/ros/kinetic/lib/dynamic_reconfigure/dynparam", line 159, in do_load f = file(path, 'r') IOError: [Errno 2] No such file or directory: '/home/up2/catkin_ws/src/avoidance/local_planner/cfg/params_vehicle_1.yaml' [ INFO] [1573463081.903079812]: Plugin hil initialized [ INFO] [1573463081.903579106]: Plugin home_position loaded [ INFO] [1573463081.941767857]: Plugin home_position initialized [ INFO] [1573463081.942103450]: Plugin imu loaded [ INFO] [1573463082.015516905]: Plugin imu initialized [ INFO] [1573463082.015786534]: Plugin landing_target loaded [ INFO] [1573463082.104599328]: Plugin landing_target initialized [ INFO] [1573463082.105051813]: Plugin local_position loaded [dynparam-9] process has died [pid 16937, exit code 1, cmd /opt/ros/kinetic/lib/dynamic_reconfigure/dynparam load local_planner_node /home/up2/catkin_ws/src/avoidance/local_planner/cfg/params_vehicle_1.yaml name:=dynparam log:=/home/up2/.ros/log/49ae8f1c-0462-11ea-badf-8ca982fea4f2/dynparam-9.log]. log file: /home/up2/.ros/log/49ae8f1c-0462-11ea-badf-8ca982fea4f2/dynparam-9*.log [ INFO] [1573463082.179279882]: Plugin local_position initialized [ INFO] [1573463082.179511411]: Plugin log_transfer loaded [ INFO] [1573463082.206547978]: Plugin log_transfer initialized [ INFO] [1573463082.206855595]: Plugin manual_control loaded [ INFO] [1573463082.237092976]: Plugin manual_control initialized [ INFO] [1573463082.237358704]: Plugin mocap_pose_estimate loaded [ INFO] [1573463082.275728779]: Plugin mocap_pose_estimate initialized [ INFO] [1573463082.276006274]: Plugin mount_control loaded [ INFO] [1573463082.303561065]: Plugin mount_control initialized [ INFO] [1573463082.303863420]: Plugin obstacle_distance loaded [ INFO] [1573463082.323421305]: Plugin obstacle_distance initialized [ INFO] [1573463082.323713414]: Plugin odom loaded [ INFO] [1573463082.351847473]: Plugin odom initialized [ INFO] [1573463082.352099717]: Plugin onboard_computer_status loaded [ INFO] [1573463082.372424410]: Plugin onboard_computer_status initialized [ INFO] [1573463082.372761264]: Plugin param loaded

[ INFO] [1573463082.390794389]: Plugin param initialized [ INFO] [1573463082.391069120]: Plugin px4flow loaded [ INFO] [1573463082.424442601]: Plugin px4flow initialized [ INFO] [1573463082.424537211]: Plugin rangefinder blacklisted [ INFO] [1573463082.425009680]: Plugin rc_io loaded [ INFO] [1573463082.442281632]: Plugin rc_io initialized [ INFO] [1573463082.442370610]: Plugin safety_area blacklisted [ INFO] [1573463082.442593448]: Plugin setpoint_accel loaded [ INFO] [1573463082.462241221]: Plugin setpoint_accel initialized [ INFO] [1573463082.462712800]: Plugin setpoint_attitude loaded [ INFO] [1573463082.655668127]: Plugin setpoint_attitude initialized [ INFO] [1573463082.655939729]: Plugin setpoint_position loaded [ INFO] [1573463082.728166711]: JSON file is loaded! (/home/up2/catkin_ws/src/avoidance/local_planner/resource/stereo_calib.json) [ INFO] [1573463082.728369847]: ROS Node Namespace: camera [ INFO] [1573463082.728464601]: Device Name: Intel RealSense D435 [ INFO] [1573463082.728539548]: Device Serial No: 825312070955 [ INFO] [1573463082.728610830]: Device physical port: /sys/devices/pci0000:00/0000:00:15.0/usb2/2-4/2-4:1.0/video4linux/video0 [ INFO] [1573463082.728686142]: Device FW version: 05.11.15.00 [ INFO] [1573463082.728759909]: Device Product ID: 0x0B07 [ INFO] [1573463082.728933290]: Enable PointCloud: Off [ INFO] [1573463082.729017232]: Align Depth: Off [ INFO] [1573463082.729085039]: Sync Mode: Off [ INFO] [1573463082.729841871]: Device Sensors: [ INFO] [1573463082.730589073]: Stereo Module was found. [ INFO] [1573463082.730906177]: RGB Camera was found. [ INFO] [1573463082.731126973]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1573463082.731243078]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1573463082.731329744]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1573463082.731417099]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1573463082.731506536]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1573463082.731605523]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1573463082.732226942]: num_filters: 0 [ INFO] [1573463082.732408118]: Setting Dynamic reconfig parameters. [ INFO] [1573463082.742839958]: Plugin setpoint_position initialized [ INFO] [1573463082.743429579]: Plugin setpoint_raw loaded [ INFO] [1573463082.791052559]: Plugin setpoint_raw initialized [ INFO] [1573463082.791727383]: Plugin setpoint_velocity loaded [ INFO] [1573463082.822440455]: Plugin setpoint_velocity initialized [ INFO] [1573463082.824494293]: Plugin sys_status loaded [ INFO] [1573463082.876933367]: Plugin sys_status initialized [ INFO] [1573463082.877247029]: Plugin sys_time loaded [ INFO] [1573463082.920046666]: TM: Timesync mode: MAVLINK [ INFO] [1573463082.930362005]: Plugin sys_time initialized [ INFO] [1573463082.930657885]: Plugin trajectory loaded [ INFO] [1573463082.982244823]: Plugin trajectory initialized [ INFO] [1573463082.982625152]: Plugin vfr_hud loaded [ INFO] [1573463082.989379613]: Plugin vfr_hud initialized [ INFO] [1573463082.989558867]: Plugin vibration blacklisted [ INFO] [1573463082.989814970]: Plugin vision_pose_estimate loaded [ INFO] [1573463083.067074578]: Plugin vision_pose_estimate initialized [ INFO] [1573463083.067432520]: Plugin vision_speed_estimate loaded [ INFO] [1573463083.100379437]: Plugin vision_speed_estimate initialized [ INFO] [1573463083.100752157]: Plugin waypoint loaded [ INFO] [1573463083.135251244]: Done Setting Dynamic reconfig parameters. [ INFO] [1573463083.142480535]: Plugin waypoint initialized [ INFO] [1573463083.142603939]: Plugin wheel_odometry blacklisted [ INFO] [1573463083.142817716]: Plugin wind_estimation loaded [ INFO] [1573463083.148770614]: Plugin wind_estimation initialized [ INFO] [1573463083.148970937]: Autostarting mavlink via USB on PX4 [ INFO] [1573463083.149052158]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1573463083.149092724]: Built-in MAVLink package version: 2019.10.10 [ INFO] [1573463083.149151583]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta [ INFO] [1573463083.149194821]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1573463083.155586683]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1573463083.156381145]: infra1 stream is enabled - width: 640, height: 480, fps: 15, Format: Y8

[ INFO] [1573463083.169884982]: Expected frequency for depth = 30.00000 [ INFO] [1573463083.299252511]: Expected frequency for infra1 = 15.00000

[ INFO] [1573463083.412376015]: insert Depth to Stereo Module [ INFO] [1573463083.412971476]: insert Infrared to Stereo Module [ INFO] [1573463083.433337774]: SELECTED BASE:Depth, 0 [ INFO] [1573463083.461231263]: RealSense Node Is Up! advertised as /camera/depth/image_rect_raw_drop advertised as /camera/infra1/image_rect_raw_drop [ERROR] [1573463083.714573472]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573463083.719729281]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573463083.725843323]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573463083.730166698]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573463083.735694000]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1573463083.740915025]

germal commented 4 years ago

I have exactly the same issue : I updated with the latest master just yesterday and I used the generated avoidance.launch .Please find attached avoidance.txt Please advice, Thanks Germal

germal commented 4 years ago

I have no more that error after a clean rebuild catkin_make clean avoidance

Jaeyoung-Lim commented 4 years ago

@germal catkin_make has been deprecated. Please use catkin build using python-catkin-tools

germal commented 4 years ago

Thanks Jaeyoung-Lim

maerad7 commented 4 years ago

I'm still seeing errors in advertised as / camera / infra1 / image_rect_raw_drop, advertised as / camera / depth / image_rect_raw_drop. I tried to build on master version as well, but I'm still having problems.

maerad7 commented 4 years ago

px4_config.txt avoidance.txt

Screenshot from 2019-11-12 10-08-05 Screenshot from 2019-11-12 10-08-44

mrivi commented 4 years ago

@maerad7 Please use the px4_config.yaml inside ~/catkin_ws/src/avoidance/avoidance/resource

If that file is not correct you won't get the correct transform tree hence the buffer errors. Once you have changed to use that px4_config.yaml you can see how the transforms tree is by running rosrun tf view_frames

maerad7 commented 4 years ago

Adding baud fixed the error. PR: Unknown parameter to get: CP_DIST What is this message? frames.pdf

maerad7 commented 4 years ago

thanks mrivi thanks Jaeyoung-Lim