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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
623 stars 328 forks source link

Global planner hangs at Planner abort: missing required data #563

Open aydal opened 4 years ago

aydal commented 4 years ago

Running global planner on my system, it randomly hangs and begins showing Planner abort: missing required data. Any idea of why it happens?

roslaunch global_planner global_planner_stereo.launch
... logging to /home/vizzbee/.ros/log/23e75578-5b85-11ea-9cff-185680ce2426/roslaunch-vizzbee-TUF-GAMING-FX504GD-FX80GD-18769.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://vizzbee-TUF-GAMING-FX504GD-FX80GD:34995/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /global_planner_node/frame_id: local_origin
 * /global_planner_node/pointcloud_topics: ['/stereo/points2']
 * /global_planner_node/robot_radius: 0.5
 * /global_planner_node/start_pos_x: 0.5
 * /global_planner_node/start_pos_y: 0.5
 * /global_planner_node/start_pos_z: 3.5
 * /global_planner_node/world_name: /home/vizzbee/cat...
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: udp://:14540@loca...
 * /mavros/gcs_url: 
 * /mavros/global_position/frame_id: fcu
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: fcu_utm
 * /mavros/global_position/tf/frame_id: local_origin
 * /mavros/global_position/tf/send: False
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /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/odometry/fcu/odom_child_id_des: base_link
 * /mavros/odometry/fcu/odom_parent_id_des: map
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682
 * /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
 * /octomap_server/color/a: 1.0
 * /octomap_server/color/b: 0.1
 * /octomap_server/color/g: 0.1
 * /octomap_server/color/r: 0.1
 * /octomap_server/frame_id: local_origin
 * /octomap_server/height_map: False
 * /octomap_server/occupancy_min_z: 1.0
 * /octomap_server/publish_free_space: False
 * /octomap_server/resolution: 1.0
 * /octomap_server/sensor_model/hit: 0.9
 * /octomap_server/sensor_model/max: 0.99
 * /octomap_server/sensor_model/max_range: 9.0
 * /octomap_server/sensor_model/min: 0.01
 * /octomap_server/sensor_model/miss: 0.45
 * /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)
    global_planner_node (global_planner/global_planner_node)
    mavros (mavros/mavros_node)
    octomap_server (octomap_server/octomap_server_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 [18779]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 23e75578-5b85-11ea-9cff-185680ce2426
process[rosout-1]: started with pid [18790]
started core service [/rosout]
process[tf_depth_camera-2]: started with pid [18798]
process[rqt_reconfigure-3]: started with pid [18799]
process[sitl_0-4]: started with pid [18807]
INFO  [px4] Creating symlink /home/vizzbee/Firmware/ROMFS/px4fmu_common -> /home/vizzbee/.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 [18821]
INFO  [param] selected parameter default file eeprom/parameters_1015
[param] Loaded: eeprom/parameters_1015
process[gazebo-6]: started with pid [18829]
process[spawn_model-7]: started with pid [18842]
process[stereo/stereo_image_proc-8]: started with pid [18852]
process[global_planner_node-9]: started with pid [18860]
process[octomap_server-10]: started with pid [18864]
process[rviz-11]: started with pid [18870]
[ INFO] [1583043798.706323953]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1583043798.709652061]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1583043798.709945302]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1583043798.710187252]: GCS bridge disabled
[ INFO] [1583043798.728519496]: Plugin 3dr_radio loaded
[ INFO] [1583043798.731400854]: Plugin 3dr_radio initialized
[ INFO] [1583043798.731590364]: Plugin actuator_control loaded
[ INFO] [1583043798.739026947]: Plugin actuator_control initialized
[ INFO] [1583043798.743051700]: Plugin adsb loaded
[ INFO] [1583043798.757532442]: Plugin adsb initialized
[ INFO] [1583043798.757704273]: Plugin altitude loaded
[ INFO] [1583043798.759712203]: Plugin altitude initialized
[ INFO] [1583043798.759884856]: Plugin cam_imu_sync loaded
[ INFO] [1583043798.761096310]: Plugin cam_imu_sync initialized
[ INFO] [1583043798.761337647]: Plugin command loaded
[ INFO] [1583043798.782572702]: Plugin command initialized
[ INFO] [1583043798.782829925]: Plugin companion_process_status loaded
[ERROR] [1583043798.790019801]: Skipped loading plugin with error: XML Document '/home/vizzbee/catkin_ws/src/struct_core_ros/plugins.xml' has no Root Element. This likely means the XML is malformed or missing..
[ INFO] [1583043798.790423971]: Plugin companion_process_status initialized
[ INFO] [1583043798.790544415]: Plugin debug_value loaded
[ INFO] [1583043798.807882071]: Plugin debug_value initialized
[ INFO] [1583043798.807933886]: Plugin distance_sensor blacklisted
[ INFO] [1583043798.808061225]: Plugin fake_gps loaded
[ INFO] [1583043798.831898819]: Plugin fake_gps initialized
[ INFO] [1583043798.832038299]: Plugin ftp loaded
[ INFO] [1583043798.851778645]: Plugin ftp initialized
[ INFO] [1583043798.851949427]: Plugin global_position loaded
[ INFO] [1583043798.884218322]: Plugin global_position initialized
[ INFO] [1583043798.884331528]: Plugin gps_rtk loaded
[ INFO] [1583043798.890391285]: Plugin gps_rtk initialized
[ INFO] [1583043798.890523146]: Plugin hil loaded
[ WARN] [1583043798.910855688]: Nothing to publish, octree is empty
[ INFO] [1583043798.918184455]: Plugin hil initialized
[ INFO] [1583043798.918328902]: Plugin home_position loaded
[ INFO] [1583043798.924886807]: Plugin home_position initialized
[ INFO] [1583043798.925019729]: Plugin imu loaded
[ INFO] [1583043798.942374445]: Plugin imu initialized
[ INFO] [1583043798.942502719]: Plugin landing_target loaded
[ INFO] [1583043798.957962838]: Plugin landing_target initialized
[ INFO] [1583043798.958115088]: Plugin local_position loaded
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
[ INFO] [1583043798.962442876]: rviz version 1.13.7
[ INFO] [1583043798.962494235]: compiled against Qt version 5.9.5
[ INFO] [1583043798.962509934]: compiled against OGRE version 1.9.0 (Ghadamon)
INFO  [simulator] Waiting for simulator to connect on TCP port 4560
[ INFO] [1583043798.978011063]: Plugin local_position initialized
[ INFO] [1583043798.978128264]: Plugin log_transfer loaded
[ INFO] [1583043798.978905066]: Forcing OpenGl version 0.
[ INFO] [1583043798.984801465]: Plugin log_transfer initialized
[ INFO] [1583043798.984978047]: Plugin manual_control loaded
[ INFO] [1583043798.990276128]: Plugin manual_control initialized
[ INFO] [1583043798.990425905]: Plugin mocap_pose_estimate loaded
[ INFO] [1583043798.996456161]: Plugin mocap_pose_estimate initialized
[ INFO] [1583043798.996608239]: Plugin mount_control loaded
[ INFO] [1583043799.002771784]: Plugin mount_control initialized
[ INFO] [1583043799.002924329]: Plugin obstacle_distance loaded
[ INFO] [1583043799.007471024]: Plugin obstacle_distance initialized
[ INFO] [1583043799.007592908]: Plugin odom loaded
[ INFO] [1583043799.016563764]: Plugin odom initialized
[ INFO] [1583043799.016712892]: Plugin onboard_computer_status loaded
[ INFO] [1583043799.021387110]: Plugin onboard_computer_status initialized
[ INFO] [1583043799.021646706]: Plugin param loaded
[ INFO] [1583043799.028401136]: Plugin param initialized
[ INFO] [1583043799.028537409]: Plugin px4flow loaded
[ INFO] [1583043799.043469828]: Plugin px4flow initialized
[ INFO] [1583043799.043539277]: Plugin rangefinder blacklisted
[ INFO] [1583043799.043695399]: Plugin rc_io loaded
[ INFO] [1583043799.049902914]: Plugin rc_io initialized
[ INFO] [1583043799.049962587]: Plugin safety_area blacklisted
[ INFO] [1583043799.050076400]: Plugin setpoint_accel loaded
[ INFO] [1583043799.054304881]: Plugin setpoint_accel initialized
[ INFO] [1583043799.054484652]: Plugin setpoint_attitude loaded
[ INFO] [1583043799.073587039]: Plugin setpoint_attitude initialized
[ INFO] [1583043799.073986222]: Plugin setpoint_position loaded
[ INFO] [1583043799.119115683]: Plugin setpoint_position initialized
[ INFO] [1583043799.119290219]: Plugin setpoint_raw loaded
[ INFO] [1583043799.137532386]: Stereo is NOT SUPPORTED
[ INFO] [1583043799.137633024]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1583043799.144810546]: Plugin setpoint_raw initialized
[ INFO] [1583043799.145019289]: Plugin setpoint_trajectory loaded
[ INFO] [1583043799.154793075]: Plugin setpoint_trajectory initialized
[ INFO] [1583043799.155078714]: Plugin setpoint_velocity loaded
[ INFO] [1583043799.174252490]: Plugin setpoint_velocity initialized
[ INFO] [1583043799.174447205]: Plugin sys_status loaded
[ INFO] [1583043799.195872065]: Plugin sys_status initialized
[ INFO] [1583043799.196035156]: Plugin sys_time loaded
[ INFO] [1583043799.208559416]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1583043799.210285428]: TM: Timesync mode: MAVLINK
[ INFO] [1583043799.212181726]: Plugin sys_time initialized
[ INFO] [1583043799.212318474]: Plugin trajectory loaded
[ INFO] [1583043799.215192185]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1583043799.224353739]: Plugin trajectory initialized
[ INFO] [1583043799.224473669]: Plugin vfr_hud loaded
[ INFO] [1583043799.225852592]: Plugin vfr_hud initialized
[ INFO] [1583043799.225903696]: Plugin vibration blacklisted
[ INFO] [1583043799.226019619]: Plugin vision_pose_estimate loaded
[ INFO] [1583043799.243609879]: Plugin vision_pose_estimate initialized
[ INFO] [1583043799.243723376]: Plugin vision_speed_estimate loaded
[ INFO] [1583043799.252125763]: Plugin vision_speed_estimate initialized
[ INFO] [1583043799.252265493]: Plugin waypoint loaded
[ INFO] [1583043799.266798965]: Plugin waypoint initialized
[ INFO] [1583043799.266874205]: Plugin wheel_odometry blacklisted
[ INFO] [1583043799.267155332]: Plugin wind_estimation loaded
[ INFO] [1583043799.268841798]: Plugin wind_estimation initialized
[ INFO] [1583043799.269000760]: Autostarting mavlink via USB on PX4
[ INFO] [1583043799.269128836]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1583043799.269180824]: Built-in MAVLink package version: 2019.12.30
[ INFO] [1583043799.269433690]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1583043799.269531006]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ WARN] [1583043799.403460382]: The input topic '/stereo/left/image_raw' is not yet advertised
[ WARN] [1583043799.403594994]: The input topic '/stereo/left/camera_info' is not yet advertised
[ WARN] [1583043799.403640394]: The input topic '/stereo/right/image_raw' is not yet advertised
[ WARN] [1583043799.403695401]: The input topic '/stereo/right/camera_info' is not yet advertised
[INFO] [1583043799.778016, 0.000000]: Loading model XML from Gazebo Model Database
[INFO] [1583043799.782682, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
INFO  [commander] Mission #3 loaded, 4 WPs, curr: 1
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)
WARN  [logger] Too many subscriptions, failed to add: ekf_gps_position 0
WARN  [logger] Too many subscriptions, failed to add: sensor_selection 0
WARN  [logger] Too many subscriptions, failed to add: vehicle_visual_odometry 0
WARN  [logger] Too many subscriptions, failed to add: vehicle_visual_odometry_aligned 0
WARN  [logger] Too many subscriptions, failed to add: collision_constraints 0
WARN  [logger] Too many subscriptions, failed to add: obstacle_distance_fused 0
WARN  [logger] Too many subscriptions, failed to add: onboard_computer_status 0
WARN  [logger] Too many subscriptions, failed to add: vehicle_mocap_odometry 0
WARN  [logger] Too many subscriptions, failed to add: vehicle_trajectory_waypoint 0
WARN  [logger] Too many subscriptions, failed to add: vehicle_trajectory_waypoint_desired 0
WARN  [logger] Too many subscriptions, failed to add: vehicle_visual_odometry 0
INFO  [logger] Start file log (type: full)
INFO  [logger] Opened full log file: ./log/2020-03-01/06_23_20.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
[ INFO] [1583043800.456586265]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1583043800.457560299]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1583043800.460625916]: FCU: [logger] file: ./log/2020-03-01/06_23_20.ulg
INFO  [px4] Startup script returned successfully
INFO  [mavlink] partner IP: 127.0.0.1
INFO  [mavlink] partner IP: 127.0.0.1
[INFO] [1583043800.697568, 0.000000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1583043801.173790, 0.004000]: Spawn status: SpawnModel: Successfully spawned entity
[spawn_model-7] process has finished cleanly
log file: /home/vizzbee/.ros/log/23e75578-5b85-11ea-9cff-185680ce2426/spawn_model-7*.log
[ INFO] [1583043802.086582414, 0.004000000]: Camera Plugin: The 'robotNamespace' param did not exit
[ INFO] [1583043802.087847588, 0.004000000]: Camera Plugin: The 'robotNamespace' param did not exit
[ INFO] [1583043802.100019640, 0.004000000]: Camera Plugin (ns = )  <tf_prefix_>, set to ""
[ INFO] [1583043802.101481160, 0.004000000]: Camera Plugin (ns = )  <tf_prefix_>, set to ""
[ INFO] [1583043802.660665130, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1583043802.714505248, 0.076000000]: Physics dynamic reconfigure ready.
ERROR [mavlink] [timesync] Time jump detected. Resetting time synchroniser.
INFO  [simulator] Simulator connected on TCP port 4560.
[ INFO] [1583043802.998383750, 0.336000000]: IMU: High resolution IMU detected!
[ INFO] [1583043803.073320029, 0.408000000]: FCU: Avoidance system connected
[ INFO] [1583043803.674457884, 1.000000000]: Goal position is occupied
[ INFO] [1583043803.679291777, 1.004000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1583043803.679485293, 1.004000000]: VER: 1.1: Flight software:     010a0080 (94e05362e1000000)
[ INFO] [1583043803.679625519, 1.004000000]: VER: 1.1: Middleware software: 010a0080 (94e05362e1000000)
[ INFO] [1583043803.679755756, 1.004000000]: VER: 1.1: OS software:         050300ff (9331fda0d7f7220d)
[ INFO] [1583043803.679886487, 1.004000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1583043803.679996400, 1.004000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1583043803.680110241, 1.004000000]: VER: 1.1: UID:                 4954414c44494e4f
[ INFO] [1583043803.680838002, 1.004000000]: Failed to find a path
Total time: 2.88 ms 
[ INFO] [1583043803.681824766, 1.008000000]:   Received empty path

[ INFO] [1583043803.682030205, 1.008000000]:   Received empty path

INFO  [ecl/EKF] 612000: EKF GPS checks passed (WGS-84 origin set)
[ERROR] [1583043803.793967890, 1.120000000]: PR: Unknown parameter to get: MPC_ACC_HOR
[ERROR] [1583043803.798801641, 1.124000000]: PR: Unknown parameter to get: MPC_XY_CRUISE
INFO  [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14)
INFO  [ecl/EKF] 636000: EKF reset position to last known position
INFO  [ecl/EKF] 636000: EKF reset velocity to zero
[ERROR] [1583043803.802973764, 1.128000000]: PR: Unknown parameter to get: CP_DIST
[ INFO] [1583043803.805558592, 1.128000000]: IMU: Attitude quaternion IMU detected!
[ERROR] [1583043803.809254227, 1.132000000]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1583043803.828020252, 1.140000000]: PR: Unknown parameter to get: MPC_JERK_MAX
[ERROR] [1583043803.864315641, 1.164000000]: PR: Unknown parameter to get: NAV_ACC_RAD
[ INFO] [1583043804.771490362, 2.000000000]:   STOP  
[ INFO] [1583043804.773109998, 2.000000000]: Goal position is occupied
[ INFO] [1583043804.773270677, 2.000000000]: Failed to find a path
Total time: 0.60 ms 
[ INFO] [1583043804.774001826, 2.000000000]:   Received empty path

[ INFO] [1583043804.774172704, 2.000000000]:   Received empty path

[ INFO] [1583043804.788294003, 2.004000000]: Successfully loaded rviz world
[ INFO] [1583043805.883278806, 3.000000000]:   STOP  
[ INFO] [1583043805.884700352, 3.000000000]: Goal position is occupied
[ INFO] [1583043805.886160401, 3.004000000]: Failed to find a path
Total time: 2.47 ms 
[ INFO] [1583043805.888407638, 3.004000000]:   Received empty path

[ INFO] [1583043805.889561873, 3.004000000]:   Received empty path

[ INFO] [1583043806.898339383, 4.000000000]:   STOP  
[ INFO] [1583043806.898502822, 4.000000000]: Goal position is occupied
[ INFO] [1583043806.898588276, 4.000000000]: Failed to find a path
Total time: 0.29 ms 
[ INFO] [1583043806.898738631, 4.000000000]:   Received empty path

[ INFO] [1583043806.898867039, 4.000000000]:   Received empty path

[ INFO] [1583043807.919627884, 5.000000000]:   STOP  
[ INFO] [1583043807.921596350, 5.000000000]: Goal position is occupied
[ INFO] [1583043807.922255332, 5.000000000]: Failed to find a path
Total time: 1.03 ms 
[ INFO] [1583043807.924040219, 5.000000000]:   Received empty path

[ INFO] [1583043807.925203349, 5.004000000]:   Received empty path

[ INFO] [1583043808.136108254, 5.212000000]: FCU: Avoidance system timed out
INFO  [ecl/EKF] 5176000: EKF reset position to GPS
INFO  [ecl/EKF] 5176000: EKF reset velocity to GPS
INFO  [ecl/EKF] 5176000: EKF commencing GPS fusion
[ERROR] [1583043808.869598214, 5.944000000]: PR: Unknown parameter to get: MPC_ACC_HOR
[ERROR] [1583043808.875616105, 5.948000000]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1583043808.881254668, 5.952000000]: PR: Unknown parameter to get: CP_DIST
[ERROR] [1583043808.886392949, 5.956000000]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1583043808.891247218, 5.964000000]: PR: Unknown parameter to get: MPC_JERK_MAX
[ERROR] [1583043808.897104595, 5.968000000]: PR: Unknown parameter to get: NAV_ACC_RAD
[ INFO] [1583043808.927309876, 6.000000000]:   STOP  
[ INFO] [1583043808.929249194, 6.000000000]: Goal position is occupied
[ INFO] [1583043808.929354944, 6.000000000]: Failed to find a path
Total time: 0.38 ms 
[ INFO] [1583043808.929520244, 6.000000000]:   Received empty path

[ INFO] [1583043808.929641658, 6.000000000]:   Received empty path

[ INFO] [1583043809.773985665, 6.840000000]: ========== Set goal : (-1067129,-5227321,0) ==========
[ INFO] [1583043809.934218554, 7.000000000]: Goal position is occupied
[ INFO] [1583043809.934376215, 7.000000000]: Failed to find a path
Total time: 0.57 ms 
[ INFO] [1583043809.934533609, 7.000000000]:   Received empty path

[ INFO] [1583043809.934642031, 7.000000000]:   Received empty path

[ INFO] [1583043811.050366492, 8.000000000]:   STOP  
[ INFO] [1583043811.050614450, 8.000000000]: Goal position is occupied
[ INFO] [1583043811.051606267, 8.000000000]: Failed to find a path
Total time: 2.07 ms 
[ INFO] [1583043811.052019421, 8.000000000]:   Received empty path

[ INFO] [1583043811.052626712, 8.004000000]:   Received empty path

[ INFO] [1583043811.095062143, 8.040000000]: ========== Set goal : (-1067129,-5227321,0) ==========
[ INFO] [1583043812.062638900, 9.000000000]: Goal position is occupied
[ INFO] [1583043812.062861100, 9.000000000]: Failed to find a path
Total time: 0.96 ms 
[ INFO] [1583043812.063053628, 9.000000000]:   Received empty path

[ INFO] [1583043812.063174564, 9.000000000]:   Received empty path

[ INFO] [1583043813.065835800, 10.000000000]:   STOP  
[ INFO] [1583043813.066471054, 10.000000000]: Goal position is occupied
[ INFO] [1583043813.066556314, 10.000000000]: Failed to find a path
Total time: 0.27 ms 
[ INFO] [1583043813.066797569, 10.000000000]:   Received empty path

[ INFO] [1583043813.067073282, 10.000000000]:   Received empty path

[ INFO] [1583043813.111533051, 10.040000000]: ========== Set goal : (-1067129,-5227321,0) ==========
[ INFO] [1583043813.162681670, 10.092000000]: parameter CP_DIST is set from  nan to -1.000000 

[ INFO] [1583043813.332360729, 10.260000000]: parameter MPC_ACC_DOWN_MAX is set from  nan to 3.000000 

[ INFO] [1583043813.333852487, 10.260000000]: parameter MPC_LAND_SPEED is set from  nan to 0.700000 

[ INFO] [1583043813.354275865, 10.280000000]: parameter MPC_TKO_SPEED is set from  nan to 1.500000 

[ INFO] [1583043814.075400967, 11.000000000]: Goal position is occupied
[ INFO] [1583043814.075594059, 11.000000000]: Failed to find a path
Total time: 1.21 ms 
[ INFO] [1583043814.075871736, 11.000000000]:   Received empty path

[ INFO] [1583043814.076510530, 11.000000000]:   Received empty path

[ INFO] [1583043815.093220262, 12.004000000]:   STOP  
[ INFO] [1583043815.093372117, 12.004000000]: Goal position is occupied
[ INFO] [1583043815.093463508, 12.004000000]: Failed to find a path
Total time: 0.40 ms 
[ INFO] [1583043815.093886094, 12.004000000]:   Received empty path

[ INFO] [1583043815.094063976, 12.004000000]:   Received empty path

[ INFO] [1583043815.127470491, 12.040000000]: ========== Set goal : (-1067129,-5227321,0) ==========
[ INFO] [1583043816.102854587, 13.000000000]: Goal position is occupied
[ INFO] [1583043816.103050057, 13.000000000]: Failed to find a path
Total time: 0.71 ms 
[ INFO] [1583043816.103245644, 13.000000000]:   Received empty path

[ INFO] [1583043816.103389533, 13.000000000]:   Received empty path

[ INFO] [1583043817.120473482, 14.000000000]:   STOP  
[ INFO] [1583043817.120712080, 14.000000000]: Goal position is occupied
[ INFO] [1583043817.120895990, 14.000000000]: Failed to find a path
Total time: 1.11 ms 
[ INFO] [1583043817.121229421, 14.000000000]:   Received empty path

[ INFO] [1583043817.121386328, 14.000000000]:   Received empty path

[ INFO] [1583043817.164452530, 14.040000000]: ========== Set goal : (-1067129,-5227321,0) ==========
[ INFO] [1583043818.144801526, 15.000000000]: Goal position is occupied
[ INFO] [1583043818.144953562, 15.000000000]: Failed to find a path
Total time: 0.71 ms 
[ INFO] [1583043818.145178434, 15.000000000]:   Received empty path

[ INFO] [1583043818.145350657, 15.000000000]:   Received empty path

[ INFO] [1583043818.146357243, 15.000000000]: WP: item #0* F:3 C: 22 p: 15.000000 0.000000 0.000000 nan x: 47.397709 y: 8.546704 z: 5.000000
[ INFO] [1583043818.147657862, 15.004000000]: WP: item #1  F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397427 y: 8.546694 z: 50.000000
[ INFO] [1583043818.148606818, 15.004000000]: WP: item #2  F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397549 y: 8.546050 z: 50.000000
[ INFO] [1583043818.149333410, 15.004000000]: WP: item #3  F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.398125 y: 8.546157 z: 50.000000
[ INFO] [1583043818.149571936, 15.004000000]: WP: mission received
[ WARN] [1583043818.244105846, 15.100000000]:  Planner abort: missing required data 

[ WARN] [1583043818.345181128, 15.200000000]:  Planner abort: missing required data 

WARN  [commander] Avoidance system rejected
[ERROR] [1583043818.353060542, 15.208000000]: FCU: Avoidance system rejected
[ WARN] [1583043818.445155253, 15.300000000]:  Planner abort: missing required data
mrivi commented 4 years ago

It means that you're missing some required input data to run the planner. Check that you there is pointcloud pubished on /stereo/points2, a local position on /mavros/local_position/pose and check your transformation tree

Norton-z commented 4 years ago

I also have similar problem when i run local planner.Do you solve this problem? @aydal a local position on /mavros/local_position/pose is right. But when I run rostopic echo /stereo/points2, output is followed:

WARNING: no messages received and simulated time is active.
Is /clock being published?

What can i do to solve it? Thanks a lot! @mrivi

mrivi commented 4 years ago

have you installed stereo-image-proc as written here https://github.com/PX4/avoidance#local-planner-default-heavily-flight-tested ?