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PX4 / PX4-Avoidance

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

Failed to run local planner ," Planner abort: missing required data " #566

Closed Norton-z closed 4 years ago

Norton-z commented 4 years ago

After I run roslaunch local_planner local_planner_stereo.launch,I can see the UAV and world in rviz,but I can't arm the drone, when i run rosrun mavros mavsys mode -c OFFBOARD, it reaponse "Time out". How can I solve it? But,I can run the launch file roslaunch local_planner local_planner_sitl_3cam.launch successfully,

local_planner local_planner_stereo.launch
... logging to /home/zhangcx/.ros/log/7aeadb80-5f57-11ea-8442-30e37a24e9dd/roslaunch-zhangcx-HP-Pavilion-Notebook-5367.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://zhangcx-HP-Pavilion-Notebook:44923/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

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

NODES
  /stereo/
    stereo_image_proc (stereo_image_proc/stereo_image_proc)
  /
    gazebo (gazebo_ros/gzserver)
    local_planner_node (local_planner/local_planner_node)
    mavros (mavros/mavros_node)
    rqt_reconfigure (rqt_reconfigure/rqt_reconfigure)
    rviz (rviz/rviz)
    sitl_0 (px4/px4)
    spawn_model (gazebo_ros/spawn_model)
    tf_depth_camera (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [5377]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7aeadb80-5f57-11ea-8442-30e37a24e9dd
process[rosout-1]: started with pid [5390]
started core service [/rosout]
process[tf_depth_camera-2]: started with pid [5415]
process[rqt_reconfigure-3]: started with pid [5416]
process[sitl_0-4]: started with pid [5436]
INFO  [px4] Creating symlink /home/zhangcx/Firmware/ROMFS/px4fmu_common -> /home/zhangcx/.ros/etc

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[mavros-5]: started with pid [5449]
INFO  [param] selected parameter default file eeprom/parameters_1015
[param] Loaded: eeprom/parameters_1015
process[gazebo-6]: started with pid [5459]
process[spawn_model-7]: started with pid [5471]
process[stereo/stereo_image_proc-8]: started with pid [5474]
process[local_planner_node-9]: started with pid [5485]
process[rviz-10]: started with pid [5504]
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to connect on TCP port 4560
[ INFO] [1583463993.013702827]: Initializing nodelet with 4 worker threads.
[ INFO] [1583463993.313958867]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1583463993.316242294]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1583463993.316355375]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1583463993.316476842]: GCS bridge disabled
[ INFO] [1583463993.417059726]: Plugin 3dr_radio loaded
[ INFO] [1583463993.452877977]: Plugin 3dr_radio initialized
[ INFO] [1583463993.453056651]: Plugin actuator_control loaded
[ INFO] [1583463993.487345445]: Plugin actuator_control initialized
[ INFO] [1583463993.492297783]: Plugin adsb loaded
[ INFO] [1583463993.523036186]: Plugin adsb initialized
[ INFO] [1583463993.523231108]: Plugin altitude loaded
[ INFO] [1583463993.535050482]: Plugin altitude initialized
[ INFO] [1583463993.535191868]: Plugin cam_imu_sync loaded
[ INFO] [1583463993.546894009]: Plugin cam_imu_sync initialized
[ INFO] [1583463993.547055306]: Plugin command loaded
[ INFO] [1583463993.579389583]: rviz version 1.12.17
[ INFO] [1583463993.579653852]: compiled against Qt version 5.5.1
[ INFO] [1583463993.579674885]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1583463993.668072516]: Plugin command initialized
[ INFO] [1583463993.668210267]: Plugin companion_process_status loaded
[ INFO] [1583463993.711039942]: Plugin companion_process_status initialized
[ INFO] [1583463993.711174318]: Plugin debug_value loaded
[ INFO] [1583463993.718679910]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1583463993.742230916]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1583463993.761588488]: Plugin debug_value initialized
[ INFO] [1583463993.761633156]: Plugin distance_sensor blacklisted
[ INFO] [1583463993.761763212]: Plugin fake_gps loaded
[ INFO] [1583463993.830365191]: Plugin fake_gps initialized
[ INFO] [1583463993.830524061]: Plugin ftp loaded
[ INFO] [1583463993.875681047]: Plugin ftp initialized
[ INFO] [1583463993.875859587]: Plugin global_position loaded
SpawnModel script started
[ INFO] [1583463993.966929977]: Stereo is NOT SUPPORTED
[ INFO] [1583463993.967167331]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1583463993.990035858]: Plugin global_position initialized
[ INFO] [1583463993.990209231]: Plugin gps_rtk loaded
[ INFO] [1583463994.016596495]: Plugin gps_rtk initialized
[ INFO] [1583463994.016764589]: Plugin hil loaded
[INFO] [1583463994.035473, 0.000000]: Loading model XML from Gazebo Model Database
[INFO] [1583463994.035819, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1583463994.163903878]: Plugin hil initialized
[ INFO] [1583463994.164070546]: Plugin home_position loaded
[ INFO] [1583463994.206102191]: Plugin home_position initialized
[ INFO] [1583463994.206353761]: Plugin imu loaded
[ INFO] [1583463994.259207456]: Plugin imu initialized
[ INFO] [1583463994.259432640]: Plugin landing_target loaded
[ INFO] [1583463994.330482705]: Plugin landing_target initialized
[ INFO] [1583463994.330635589]: Plugin local_position loaded
[ INFO] [1583463994.371661715]: Plugin local_position initialized
[ INFO] [1583463994.371813509]: Plugin log_transfer loaded
[ INFO] [1583463994.385152848]: Plugin log_transfer initialized
[ INFO] [1583463994.385327653]: Plugin manual_control loaded
[ INFO] [1583463994.406215808]: Plugin manual_control initialized
[ INFO] [1583463994.406391757]: Plugin mocap_pose_estimate loaded
[ INFO] [1583463994.461093739]: Plugin mocap_pose_estimate initialized
[ INFO] [1583463994.461254243]: Plugin mount_control loaded
[ INFO] [1583463994.499124044]: Plugin mount_control initialized
[ INFO] [1583463994.499362469]: Plugin obstacle_distance loaded
[ INFO] [1583463994.529048896]: Plugin obstacle_distance initialized
[ INFO] [1583463994.529223664]: Plugin odom loaded
[ INFO] [1583463994.564663666]: Plugin odom initialized
[ INFO] [1583463994.564801694]: Plugin onboard_computer_status loaded
[ INFO] [1583463994.585781786]: Plugin onboard_computer_status initialized
[ INFO] [1583463994.585955272]: Plugin param loaded
[ INFO] [1583463994.603005788]: Plugin param initialized
[ INFO] [1583463994.603151566]: Plugin px4flow loaded
[ INFO] [1583463994.671433929]: Plugin px4flow initialized
[ INFO] [1583463994.671620984]: Plugin rangefinder blacklisted
[ INFO] [1583463994.671889819]: Plugin rc_io loaded
[ INFO] [1583463994.702906880]: Plugin rc_io initialized
[ INFO] [1583463994.703055233]: Plugin safety_area blacklisted
[ INFO] [1583463994.703266614]: Plugin setpoint_accel loaded
[ INFO] [1583463994.744842802]: Plugin setpoint_accel initialized
[ INFO] [1583463994.745130437]: Plugin setpoint_attitude loaded
[ INFO] [1583463994.829918918]: Plugin setpoint_attitude initialized
[ INFO] [1583463994.830103990]: Plugin setpoint_position loaded
[INFO] [1583463994.954102, 0.008000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1583463994.955829687, 0.012000000]: Plugin setpoint_position initialized
[ INFO] [1583463994.956017813, 0.012000000]: Plugin setpoint_raw loaded
[ INFO] [1583463994.969150645, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1583463995.039187998, 0.092000000]: Plugin setpoint_raw initialized
[ INFO] [1583463995.039362384, 0.092000000]: Plugin setpoint_trajectory loaded
[ INFO] [1583463995.080902102, 0.132000000]: Plugin setpoint_trajectory initialized
[ INFO] [1583463995.081085697, 0.132000000]: Plugin setpoint_velocity loaded
[ INFO] [1583463995.120741233, 0.172000000]: Plugin setpoint_velocity initialized
[ INFO] [1583463995.121294219, 0.172000000]: Plugin sys_status loaded
[ INFO] [1583463995.182126230, 0.200000000]: Plugin sys_status initialized
[ INFO] [1583463995.182299681, 0.200000000]: Plugin sys_time loaded
[ INFO] [1583463995.191802550, 0.200000000]: TM: Timesync mode: MAVLINK
[ INFO] [1583463995.193846310, 0.200000000]: Plugin sys_time initialized
[ INFO] [1583463995.193954668, 0.200000000]: Plugin trajectory loaded
[ INFO] [1583463995.207465206, 0.200000000]: Plugin trajectory initialized
[ INFO] [1583463995.207643302, 0.200000000]: Plugin vfr_hud loaded
[ INFO] [1583463995.208522036, 0.200000000]: Plugin vfr_hud initialized
[ INFO] [1583463995.208569149, 0.200000000]: Plugin vibration blacklisted
[ INFO] [1583463995.208701386, 0.200000000]: Plugin vision_pose_estimate loaded
[ INFO] [1583463995.224409636, 0.200000000]: Plugin vision_pose_estimate initialized
[ INFO] [1583463995.224557932, 0.200000000]: Plugin vision_speed_estimate loaded
[ INFO] [1583463995.235133444, 0.200000000]: Plugin vision_speed_estimate initialized
[ INFO] [1583463995.235314752, 0.200000000]: Plugin waypoint loaded
[ INFO] [1583463995.243647998, 0.200000000]: Plugin waypoint initialized
[ INFO] [1583463995.243708553, 0.200000000]: Plugin wheel_odometry blacklisted
[ INFO] [1583463995.243928000, 0.200000000]: Plugin wind_estimation loaded
[ INFO] [1583463995.246715309, 0.200000000]: Plugin wind_estimation initialized
[ INFO] [1583463995.246771683, 0.200000000]: Autostarting mavlink via USB on PX4
[ INFO] [1583463995.246822562, 0.200000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1583463995.246846719, 0.200000000]: Built-in MAVLink package version: 2020.2.2
[ INFO] [1583463995.246890765, 0.200000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1583463995.246917297, 0.200000000]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1583463995.346429, 0.200000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1583463995.367561523, 0.200000000]: Physics dynamic reconfigure ready.
[spawn_model-7] process has finished cleanly
log file: /home/zhangcx/.ros/log/7aeadb80-5f57-11ea-8442-30e37a24e9dd/spawn_model-7*.log
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] LED: open /dev/led0 failed (22)
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 18570 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/2020-03-06/03_06_35.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
[ INFO] [1583463995.897167676, 0.384000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1583463995.897255580, 0.384000000]: IMU: High resolution IMU detected!
[ INFO] [1583463995.924436098, 0.412000000]: FCU: [logger] file: ./log/2020-03-06/03_06_35.ulg
INFO  [mavlink] partner IP: 127.0.0.1
[ INFO] [1583463995.976465208, 0.464000000]: FCU: Avoidance system starting
INFO  [ecl/EKF] 472000: EKF aligned, (baro height, IMU buf: 22, OBS buf: 14)
INFO  [ecl/EKF] 472000: reset position to last known position
INFO  [ecl/EKF] 472000: reset velocity to zero
[ INFO] [1583463996.361734013, 0.848000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1583463996.526638643, 1.000000000]: FCU: Avoidance system connected
INFO  [ecl/EKF] 648000: GPS checks passed (WGS-84 origin set)
[ INFO] [1583463996.888332541, 1.360000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1583463996.890226449, 1.360000000]: IMU: High resolution IMU detected!
[ INFO] [1583463996.894661520, 1.368000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1583463997.547815689, 2.000000000]: Successfully loaded rviz world
[ INFO] [1583463997.907613251, 2.360000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1583463997.907668936, 2.360000000]: VER: 1.1: Flight software:     010b0080 (ffc3373492000000)
[ INFO] [1583463997.907702279, 2.360000000]: VER: 1.1: Middleware software: 010b0080 (ffc3373492000000)
[ INFO] [1583463997.907730089, 2.360000000]: VER: 1.1: OS software:         040f00ff (fdf1837077104e80)
[ INFO] [1583463997.907759077, 2.360000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1583463997.907789461, 2.360000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1583463997.907819978, 2.360000000]: VER: 1.1: UID:                 4954414c44494e4f
[ERROR] [1583463998.245616296, 2.700000000]: PR: Unknown parameter to get: MPC_ACC_HOR
[ERROR] [1583463998.247021621, 2.700000000]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1583463998.248393068, 2.700000000]: PR: Unknown parameter to get: CP_DIST
[ERROR] [1583463998.249950066, 2.704000000]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1583463998.251180985, 2.704000000]: PR: Unknown parameter to get: MPC_JERK_MAX
[ERROR] [1583463998.252314674, 2.704000000]: PR: Unknown parameter to get: NAV_ACC_RAD
[ INFO] [1583464001.249244802, 5.204000000]: FCU: Avoidance system timed out
INFO  [ecl/EKF] 5192000: reset position to GPS
INFO  [ecl/EKF] 5192000: reset velocity to GPS
INFO  [ecl/EKF] 5192000: commencing GPS fusion
[ERROR] [1583464003.258967710, 7.044000000]: PR: Unknown parameter to get: MPC_ACC_HOR
[ERROR] [1583464003.260562433, 7.048000000]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1583464003.264382398, 7.048000000]: PR: Unknown parameter to get: CP_DIST
[ERROR] [1583464003.266870785, 7.048000000]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1583464003.269768854, 7.056000000]: PR: Unknown parameter to get: MPC_JERK_MAX
[ERROR] [1583464003.274473540, 7.060000000]: PR: Unknown parameter to get: NAV_ACC_RAD
[ INFO] [1583464007.883216879, 11.460000000]: parameter CP_DIST is set from  nan to -1.000000 

[ INFO] [1583464008.081167664, 11.632000000]: parameter MPC_ACC_DOWN_MAX is set from  nan to 3.000000 

[ INFO] [1583464008.081256274, 11.632000000]: parameter MPC_ACC_HOR is set from  nan to 3.000000 

[ INFO] [1583464008.081345549, 11.632000000]: parameter MPC_ACC_UP_MAX is set from  nan to 4.000000 

[ INFO] [1583464008.081416202, 11.632000000]: parameter MPC_JERK_MAX is set from  nan to 20.000000 

[ INFO] [1583464008.101687371, 11.652000000]: parameter MPC_XY_CRUISE is set from  nan to 5.000000 

[ WARN] [1583464011.834143660, 15.048000000]:  Planner abort: missing required data 

[ WARN] [1583464011.933208821, 15.148000000]:  Planner abort: missing required data 

WARN  [commander] Avoidance system rejected
[ERROR] [1583464011.991927402, 15.208000000]: FCU: Avoidance system rejected
[ WARN] [1583464012.033268043, 15.248000000]:  Planner abort: missing required data 

[ WARN] [1583464012.131180973, 15.348000000]:  Planner abort: missing required data 

[ WARN] [1583464012.232655988, 15.448000000]:  Planner abort: missing required data 

[ WARN] [1583464012.331975088, 15.548000000]:  Planner abort: missing required data 

[ WARN] [1583464012.433829906, 15.648000000]:  Planner abort: missing required data 

[ WARN] [1583464012.550878583, 15.748000000]:  Planner abort: missing required data 

[ WARN] [1583464012.650200162, 15.848000000]:  Planner abort: missing required data 

[ WARN] [1583464012.749175830, 15.948000000]:  Planner abort: missing required data 

[ WARN] [1583464012.850038388, 16.048000000]:  Planner abort: missing required data 

[ WARN] [1583464012.954007388, 16.148000000]:  Planner abort: missing required data 

[ WARN] [1583464013.049973058, 16.248000000]:  Planner abort: missing required data 

[ WARN] [1583464013.154915106, 16.348000000]:  Planner abort: missing required data 

[ INFO] [1583464013.180325072, 16.368000000]: WP: mission received
[ WARN] [1583464013.261705784, 16.448000000]:  Planner abort: missing required data 

[ WARN] [1583464013.360228997, 16.548000000]:  Planner abort: missing required data 

[ WARN] [1583464013.459154463, 16.648000000]:  Planner abort: missing required data 

[ WARN] [1583464013.579661320, 16.748000000]:  Planner abort: missing required data 

[ WARN] [1583464013.676663866, 16.848000000]:  Planner abort: missing required data
mrivi commented 4 years ago

do you see the pointcloud? have you installed the packages in this part of the read me https://github.com/PX4/avoidance#local-planner-default-heavily-flight-tested ?

Norton-z commented 4 years ago

when I run roslaunch local_planner local_planner_stereo.launch,i don't see pointcloud, and i have installed the packages. i also can't set the goal point. @mrivi

mrivi commented 4 years ago

can you please double check that you have the stereo-image-proc package? That's the only difference with respect to the other launch file that it's working for you

Norton-z commented 4 years ago

Thanks for your response! I delete all model files in the folder ~/.gazebo/model, and reinstall ROS and Gazebo. I can run both stereo and depth launch files successfully. May be the difference between local camera models and the database models results in this error? And I want to know where are the stereo and depth camera model files from? online datebase, ~/gazebo/modelfolder or PX4 Firmware folder? @mrivi

mrivi commented 4 years ago

They are in Firmware/Tools/sitl_gazebo

rk800506 commented 3 years ago

@mrivi Is there any way to solve the issue without reinstalling ros and gazebo

Long-Wu-code commented 2 years ago

@mrivi Is there any way to solve the issue without reinstalling ros and gazebo

You can copy all models in Firmware/Tools/sitl_gazebo/models, and then paste all of them to ~/ .gazebo/models. Let new models replace original one!

Aaron1356 commented 1 year ago

So I tried this approach to solving the issue but it did not work for me. I tried Replacing the Models in Gazebo, and I tried uninstalling ROS and Gazebo from the system. Still getting the same warning that Data is missing and there is no image appearing in the image window of Local Planner