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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

How to send target point to avoidance in real drone #619

Open pirate-lofy opened 3 years ago

pirate-lofy commented 3 years ago

I'm trying to make a drone fly autonomously using avoidance node, Jetson TX2, J120 carrier board and realsense D435i camera.. I'm now in the hardware phase, I used /tools/generate_launchfile.launch.deprecated to generate avoidance file in local_planner node. it runs without errors now but it reaches a point when nothing happens. I can arm the vehicle and switch to offbard mode by mavros massages. when running roslaunch local_planner avoidance.launch fcu_url:=/dev/ttyUSB0:921600 , ..

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /camera_main/realsense2_camera/accel_fps: 0
 * /camera_main/realsense2_camera/accel_frame_id: camera_main_accel...
 * /camera_main/realsense2_camera/accel_optical_frame_id: camera_main_accel...
 * /camera_main/realsense2_camera/align_depth: False
 * /camera_main/realsense2_camera/aligned_depth_to_color_frame_id: camera_main_align...
 * /camera_main/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_main_align...
 * /camera_main/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_main_align...
 * /camera_main/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_main_align...
 * /camera_main/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_main_align...
 * /camera_main/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_main_align...
 * /camera_main/realsense2_camera/allow_no_texture_points: False
 * /camera_main/realsense2_camera/base_frame_id: camera_main_link
 * /camera_main/realsense2_camera/calib_odom_file: 
 * /camera_main/realsense2_camera/clip_distance: -1.0
 * /camera_main/realsense2_camera/color_fps: 15
 * /camera_main/realsense2_camera/color_frame_id: camera_main_color...
 * /camera_main/realsense2_camera/color_height: 480
 * /camera_main/realsense2_camera/color_optical_frame_id: camera_main_color...
 * /camera_main/realsense2_camera/color_width: 640
 * /camera_main/realsense2_camera/depth_fps: 15
 * /camera_main/realsense2_camera/depth_frame_id: camera_main_depth...
 * /camera_main/realsense2_camera/depth_height: 480
 * /camera_main/realsense2_camera/depth_optical_frame_id: camera_main_depth...
 * /camera_main/realsense2_camera/depth_width: 640
 * /camera_main/realsense2_camera/device_type: 
 * /camera_main/realsense2_camera/enable_accel: False
 * /camera_main/realsense2_camera/enable_color: False
 * /camera_main/realsense2_camera/enable_depth: True
 * /camera_main/realsense2_camera/enable_fisheye1: False
 * /camera_main/realsense2_camera/enable_fisheye2: False
 * /camera_main/realsense2_camera/enable_fisheye: False
 * /camera_main/realsense2_camera/enable_gyro: False
 * /camera_main/realsense2_camera/enable_infra1: True
 * /camera_main/realsense2_camera/enable_infra2: False
 * /camera_main/realsense2_camera/enable_infra: False
 * /camera_main/realsense2_camera/enable_pointcloud: False
 * /camera_main/realsense2_camera/enable_pose: False
 * /camera_main/realsense2_camera/enable_sync: False
 * /camera_main/realsense2_camera/filters: 
 * /camera_main/realsense2_camera/fisheye1_frame_id: camera_main_fishe...
 * /camera_main/realsense2_camera/fisheye1_optical_frame_id: camera_main_fishe...
 * /camera_main/realsense2_camera/fisheye2_frame_id: camera_main_fishe...
 * /camera_main/realsense2_camera/fisheye2_optical_frame_id: camera_main_fishe...
 * /camera_main/realsense2_camera/fisheye_fps: 30
 * /camera_main/realsense2_camera/fisheye_frame_id: camera_main_fishe...
 * /camera_main/realsense2_camera/fisheye_height: 0
 * /camera_main/realsense2_camera/fisheye_optical_frame_id: camera_main_fishe...
 * /camera_main/realsense2_camera/fisheye_width: 0
 * /camera_main/realsense2_camera/gyro_fps: 0
 * /camera_main/realsense2_camera/gyro_frame_id: camera_main_gyro_...
 * /camera_main/realsense2_camera/gyro_optical_frame_id: camera_main_gyro_...
 * /camera_main/realsense2_camera/imu_optical_frame_id: camera_main_imu_o...
 * /camera_main/realsense2_camera/infra1_frame_id: camera_main_infra...
 * /camera_main/realsense2_camera/infra1_optical_frame_id: camera_main_infra...
 * /camera_main/realsense2_camera/infra2_frame_id: camera_main_infra...
 * /camera_main/realsense2_camera/infra2_optical_frame_id: camera_main_infra...
 * /camera_main/realsense2_camera/infra_fps: 15
 * /camera_main/realsense2_camera/infra_height: 480
 * /camera_main/realsense2_camera/infra_rgb: False
 * /camera_main/realsense2_camera/infra_width: 640
 * /camera_main/realsense2_camera/initial_reset: False
 * /camera_main/realsense2_camera/json_file_path: /home/isoft-jetso...
 * /camera_main/realsense2_camera/linear_accel_cov: 0.01
 * /camera_main/realsense2_camera/odom_frame_id: camera_main_odom_...
 * /camera_main/realsense2_camera/pointcloud_texture_index: 0
 * /camera_main/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera_main/realsense2_camera/pose_frame_id: camera_main_pose_...
 * /camera_main/realsense2_camera/pose_optical_frame_id: camera_main_pose_...
 * /camera_main/realsense2_camera/publish_odom_tf: True
 * /camera_main/realsense2_camera/publish_tf: True
 * /camera_main/realsense2_camera/rosbag_filename: 
 * /camera_main/realsense2_camera/serial_no: 923322071215
 * /camera_main/realsense2_camera/tf_publish_rate: 0.0
 * /camera_main/realsense2_camera/topic_odom_in: camera_main/odom_in
 * /camera_main/realsense2_camera/unite_imu_method: none
 * /camera_main/realsense2_camera/usb_port_id: 
 * /local_planner_node/goal_x_param: 10
 * /local_planner_node/goal_y_param: 5
 * /local_planner_node/goal_z_param: 4
 * /local_planner_node/pointcloud_topics: ['/camera_main/de...
 * /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: /dev/ttyUSB0:921600
 * /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: melodic
 * /rosversion: 1.14.10

NODES
  /
    drop_camera_main_depth (topic_tools/drop)
    drop_camera_main_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_main (tf/static_transform_publisher)
  /camera_main/
    points_xyz_sw_registered (nodelet/nodelet)
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [11947]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d8599238-4f8f-11eb-981c-48b02d0ffab6
process[rosout-1]: started with pid [11958]
started core service [/rosout]
process[mavros-2]: started with pid [11966]
process[tf_camera_main-3]: started with pid [11967]
process[camera_main/realsense2_camera_manager-4]: started with pid [11968]
process[camera_main/realsense2_camera-5]: started with pid [11975]
process[camera_main/points_xyz_sw_registered-6]: started with pid [11979]
process[drop_camera_main_depth-7]: started with pid [11981]
process[drop_camera_main_ir-8]: started with pid [11986]
[ INFO] [1609876481.288451139]: Initializing nodelet with 4 worker threads.
process[local_planner_node-9]: started with pid [12008]
process[rqt_param_toggle-10]: started with pid [12016]
[ INFO] [1609876481.379110634]: FCU URL: /dev/ttyUSB0:921600
[ INFO] [1609876481.384163771]: serial0: device: /dev/ttyUSB0 @ 921600 bps
[ INFO] [1609876481.410708401]: GCS bridge disabled
[ INFO] [1609876481.444227614]: Plugin 3dr_radio loaded
[ INFO] [1609876481.448657517]: Plugin 3dr_radio initialized
[ INFO] [1609876481.449046862]: Plugin actuator_control loaded
[ INFO] [1609876481.457122121]: Plugin actuator_control initialized
[ INFO] [1609876481.467081193]: Plugin adsb loaded
[ INFO] [1609876481.475451492]: Plugin adsb initialized
[ INFO] [1609876481.475797413]: Plugin altitude loaded
[ INFO] [1609876481.478424462]: Plugin altitude initialized
[ INFO] [1609876481.478766607]: Plugin cam_imu_sync loaded
[ INFO] [1609876481.481234487]: Plugin cam_imu_sync initialized
[ INFO] [1609876481.481558296]: Plugin command loaded
[ INFO] [1609876481.501191224]: Plugin command initialized
[ INFO] [1609876481.501445337]: Plugin companion_process_status loaded
[ INFO] [1609876481.509440947]: Plugin companion_process_status initialized
[ INFO] [1609876481.509706964]: Plugin debug_value loaded
[ INFO] [1609876481.528151632]: Initializing nodelet with 4 worker threads.
[ INFO] [1609876481.539202900]: Plugin debug_value initialized
[ INFO] [1609876481.539311604]: Plugin distance_sensor blacklisted
[ INFO] [1609876481.539527029]: Plugin esc_status loaded
[ INFO] [1609876481.545871722]: Plugin esc_status initialized
[ INFO] [1609876481.546203883]: Plugin fake_gps loaded
[ INFO] [1609876481.593435973]: Plugin fake_gps initialized
[ INFO] [1609876481.593753254]: Plugin ftp loaded
[ INFO] [1609876481.632412068]: Plugin ftp initialized
[ INFO] [1609876481.632729477]: Plugin global_position loaded
[ INFO] [1609876481.717928763]: Plugin global_position initialized
[ INFO] [1609876481.718185563]: Plugin gps_rtk loaded
[ INFO] [1609876481.736872888]: Plugin gps_rtk initialized
[ INFO] [1609876481.737150553]: Plugin gps_status loaded
[ INFO] [1609876481.751033287]: Plugin gps_status initialized
[ INFO] [1609876481.751315623]: Plugin hil loaded
[ INFO] [1609876481.827024414]: Plugin hil initialized
[ INFO] [1609876481.827335903]: Plugin home_position loaded
[ INFO] [1609876481.855371387]: Plugin home_position initialized
[ INFO] [1609876481.855672860]: Plugin imu loaded
[ INFO] [1609876481.915620287]: Plugin imu initialized
[ INFO] [1609876481.915906016]: Plugin landing_target loaded
[ INFO] [1609876481.970360273]: RealSense ROS v2.2.20
[ INFO] [1609876481.971157396]: Built with LibRealSense v2.40.0
[ INFO] [1609876481.971577109]: Running with LibRealSense v2.40.0
[ INFO] [1609876481.982905434]: Plugin landing_target initialized
[ INFO] [1609876481.983230075]: Plugin local_position loaded
[ INFO] [1609876482.048018542]: Plugin local_position initialized
[ INFO] [1609876482.048314639]: Plugin log_transfer loaded
[ INFO] [1609876482.060190326]: Plugin log_transfer initialized
[ INFO] [1609876482.060556695]: Plugin manual_control loaded
[ INFO] [1609876482.078096848]: Plugin manual_control initialized
[ INFO] [1609876482.079232116]: Plugin mocap_pose_estimate loaded
[ INFO] [1609876482.088930420]:  
[ INFO] [1609876482.105200617]: Plugin mocap_pose_estimate initialized
[ INFO] [1609876482.105492970]: Plugin mount_control loaded
[ INFO] [1609876482.150443996]: Plugin mount_control initialized
[ INFO] [1609876482.150814269]: Plugin obstacle_distance loaded
[ INFO] [1609876482.166890225]: Plugin obstacle_distance initialized
[ INFO] [1609876482.167275251]: Plugin odom loaded
[ INFO] [1609876482.188205175]: Plugin odom initialized
[ INFO] [1609876482.188877817]: Plugin onboard_computer_status loaded
[ INFO] [1609876482.199643292]: Plugin onboard_computer_status initialized
[ INFO] [1609876482.201441026]: Plugin param loaded
[ INFO] [1609876482.232312838]: Plugin param initialized
[ INFO] [1609876482.232629448]: Plugin play_tune loaded
[ INFO] [1609876482.238501403]: Plugin play_tune initialized
[ INFO] [1609876482.239016860]: Plugin px4flow loaded
[ INFO] [1609876482.263741101]: Plugin px4flow initialized
[ INFO] [1609876482.264125038]: Plugin rangefinder blacklisted
[ INFO] [1609876482.264366383]: Plugin rc_io loaded
[ INFO] [1609876482.273748461]: Plugin rc_io initialized
[ INFO] [1609876482.273876942]: Plugin safety_area blacklisted
[ INFO] [1609876482.274134063]: Plugin setpoint_accel loaded
[ INFO] [1609876482.285077106]: Plugin setpoint_accel initialized
[ INFO] [1609876482.285430771]: Plugin setpoint_attitude loaded
[ INFO] [1609876482.309474914]: Plugin setpoint_attitude initialized
[ INFO] [1609876482.309992451]: Plugin setpoint_position loaded
[ INFO] [1609876482.356447835]: Plugin setpoint_position initialized
[ INFO] [1609876482.356818172]: Plugin setpoint_raw loaded
[ INFO] [1609876482.411881039]: Plugin setpoint_raw initialized
[ INFO] [1609876482.412323345]: Plugin setpoint_trajectory loaded
[ INFO] [1609876482.433146900]: Plugin setpoint_trajectory initialized
[ INFO] [1609876482.433472309]: Plugin setpoint_velocity loaded
[ INFO] [1609876482.456422368]: Plugin setpoint_velocity initialized
[ INFO] [1609876482.456867778]: Plugin sys_status loaded
[ INFO] [1609876482.484932797]: Device with serial number 923322071215 was found.

[ INFO] [1609876482.485576671]: Device with physical ID 1-2.4-6 was found.
[ INFO] [1609876482.485908736]: Device with name Intel RealSense D435I was found.
[ INFO] [1609876482.488191848]: Device with port number 1-2.4 was found.
[ INFO] [1609876482.488561321]: Device USB type: 2.1
[ WARN] [1609876482.488885258]: Device 923322071215 is connected using a 2.1 port. Reduced performance is expected.
[ INFO] [1609876482.498362761]: getParameters...
[ INFO] [1609876482.501794100]: Plugin sys_status initialized
[ INFO] [1609876482.502112725]: Plugin sys_time loaded
[ INFO] [1609876482.531471253]: TM: Timesync mode: MAVLINK
[ INFO] [1609876482.536944326]: Plugin sys_time initialized
[ INFO] [1609876482.537233639]: Plugin trajectory loaded
[ INFO] [1609876482.584573793]: Plugin trajectory initialized
[ INFO] [1609876482.584914371]: Plugin vfr_hud loaded
[ INFO] [1609876482.588535086]: Plugin vfr_hud initialized
[ INFO] [1609876482.588700943]: Plugin vibration blacklisted
[ INFO] [1609876482.589020208]: Plugin vision_pose_estimate loaded
[ INFO] [1609876482.623028287]: Plugin vision_pose_estimate initialized
[ INFO] [1609876482.623534720]: Plugin vision_speed_estimate loaded
[ INFO] [1609876482.645589064]: Plugin vision_speed_estimate initialized
[ INFO] [1609876482.645920137]: Plugin waypoint loaded
[ INFO] [1609876482.675062536]: Plugin waypoint initialized
[ INFO] [1609876482.675203464]: Plugin wheel_odometry blacklisted
[ INFO] [1609876482.675457225]: Plugin wind_estimation loaded
[ INFO] [1609876482.678921909]: Plugin wind_estimation initialized
[ INFO] [1609876482.679069365]: Autostarting mavlink via USB on PX4
[ INFO] [1609876482.679143861]: IMU: High resolution IMU detected!
[ INFO] [1609876482.679534519]: Built-in SIMD instructions: ARM NEON
[ INFO] [1609876482.679653175]: Built-in MAVLink package version: 2020.11.11
[ INFO] [1609876482.679731063]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1609876482.679814808]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1609876482.694849576]: IMU: Attitude quaternion IMU detected!
[ INFO] [1609876482.721091198]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1609876482.723432230]: IMU: High resolution IMU detected!
[ INFO] [1609876482.728197013]: IMU: Attitude quaternion IMU detected!
[ INFO] [1609876482.770248126]: setupDevice...
[ INFO] [1609876483.728148365]: WP: Using MISSION_ITEM_INT
[ INFO] [1609876483.728363469]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1609876483.728487918]: VER: 1.1: Flight software:     010b02ff (97ab8277ed000000)
[ INFO] [1609876483.728575790]: VER: 1.1: Middleware software: 010b02ff (97ab8277ed000000)
[ INFO] [1609876483.728655950]: VER: 1.1: OS software:         080200ff (ec20f2e6c5cc35b2)
[ INFO] [1609876483.728740847]: VER: 1.1: Board hardware:      00000032
[ INFO] [1609876483.728827343]: VER: 1.1: VID/PID:             26ac:0032
[ INFO] [1609876483.728909231]: VER: 1.1: UID:                 3139511039313430
[ WARN] [1609876483.731215543]: CMD: Unexpected command 520, result 0
 05/01 11:54:43,822 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
[ INFO] [1609876483.944486605]: JSON file is loaded! (/home/isoft-jetson/catkin_ws/src/avoidance/local_planner/resource/stereo_calib.json)
[ INFO] [1609876483.944614670]: ROS Node Namespace: camera_main
[ INFO] [1609876483.944666702]: Device Name: Intel RealSense D435I
[ INFO] [1609876483.944706542]: Device Serial No: 923322071215
[ INFO] [1609876483.944743054]: Device physical port: 1-2.4-6
[ INFO] [1609876483.944779918]: Device FW version: 05.12.09.00
[ INFO] [1609876483.944840686]: Device Product ID: 0x0B3A
[ INFO] [1609876483.944880942]: Enable PointCloud: Off
[ INFO] [1609876483.944916431]: Align Depth: Off
[ INFO] [1609876483.944956111]: Sync Mode: Off
[ INFO] [1609876483.945048495]: Device Sensors: 
[ INFO] [1609876483.963721420]: Stereo Module was found.
[ INFO] [1609876483.974126606]: RGB Camera was found.
[ INFO] [1609876483.974553743]: Motion Module was found.
[ INFO] [1609876483.974727664]: num_filters: 0
[ INFO] [1609876483.974818800]: Setting Dynamic reconfig parameters.
[ INFO] [1609876484.550300288]: Done Setting Dynamic reconfig parameters.
[ INFO] [1609876484.551224515]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1609876484.551645220]: infra1 stream is enabled - width: 640, height: 480, fps: 15, Format: Y8
[ INFO] [1609876484.551718948]: setupPublishers...
[ INFO] [1609876484.557485911]: Expected frequency for depth = 15.00000
[ INFO] [1609876484.641507432]: Expected frequency for infra1 = 15.00000
[ INFO] [1609876484.727559200]: setupStreams...
[ INFO] [1609876484.764409624]: insert Depth to Stereo Module
[ INFO] [1609876484.764560568]: insert Infrared to Stereo Module
 05/01 11:54:44,829 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1609876484.881087763]: SELECTED BASE:Depth, 0
[ INFO] [1609876484.895421026]: RealSense Node Is Up!
advertised as /camera_main/depth/image_rect_raw_drop
 05/01 11:54:45,052 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
advertised as /camera_main/infra1/image_rect_raw_drop
[ERROR] [1609876485.063297252]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ WARN] [1609876485.067285553]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.072643202]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.077815251]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.082958628]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.088114645]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.093338086]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.098644663]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
 05/01 11:54:45,103 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ WARN] [1609876485.103809256]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.109109081]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.114287050]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.119458779]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.124594923]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.129758588]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.135462735]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.140488319]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.161489443]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
 05/01 11:54:45,162 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ WARN] [1609876485.171822181]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.178322490]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.183489035]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.188882044]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.194180398]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.199379230]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.204587663]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.218699645]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.223101260]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.228175516]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.233328717]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.238488702]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.243648814]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.248914912]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.254067408]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.259235265]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.264393362]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.269545123]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.313029648]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.322831280]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.328010465]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.333181330]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.338489155]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.343921557]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.348819524]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.354136886]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.359322407]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.364748856]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.369963113]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.375144410]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.380438635]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.385575260]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.390774797]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.395961342]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.401137263]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.406304127]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.411486864]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.416681377]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.421853970]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.427851974]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.441791763]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.457235525]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ERROR] [1609876486.913422721]: PR: Unknown parameter to get: MPC_ACC_HOR
[ERROR] [1609876486.916734572]: PR: Unknown parameter to get: MPC_ACC_DOWN_MAX
[ERROR] [1609876486.919127220]: PR: Unknown parameter to get: MPC_ACC_UP_MAX
[ERROR] [1609876486.921577276]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1609876486.923923076]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_DN
[ERROR] [1609876486.930737722]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_UP
[ERROR] [1609876486.934465830]: PR: Unknown parameter to get: CP_DIST
[ERROR] [1609876486.937650544]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1609876486.962942466]: PR: Unknown parameter to get: MPC_JERK_MAX
[ERROR] [1609876486.965602699]: PR: Unknown parameter to get: NAV_ACC_RAD
[ERROR] [1609876486.969176695]: PR: Unknown parameter to get: MPC_YAWRAUTO_MAX
 05/01 11:54:47,492 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 05/01 11:54:47,569 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 05/01 11:54:47,619 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 05/01 11:54:47,670 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[rqt_param_toggle-10] process has finished cleanly
log file: /home/isoft-jetson/.ros/log/d8599238-4f8f-11eb-981c-48b02d0ffab6/rqt_param_toggle-10*.log
[ERROR] [1609876491.980802093]: PR: Unknown parameter to get: MPC_ACC_HOR
[ERROR] [1609876491.983004116]: PR: Unknown parameter to get: MPC_ACC_DOWN_MAX
[ERROR] [1609876491.985239068]: PR: Unknown parameter to get: MPC_ACC_UP_MAX
[ERROR] [1609876491.987555043]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1609876491.989570730]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_DN
[ERROR] [1609876491.991584016]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_UP
[ERROR] [1609876491.996871073]: PR: Unknown parameter to get: CP_DIST
[ERROR] [1609876492.009200297]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1609876492.012278419]: PR: Unknown parameter to get: MPC_JERK_MAX
[ERROR] [1609876492.015473341]: PR: Unknown parameter to get: NAV_ACC_RAD
[ERROR] [1609876492.018906185]: PR: Unknown parameter to get: MPC_YAWRAUTO_MAX
[ INFO] [1609876493.451422497]: parameter CP_DIST is set from  nan to -1.000000 
[ INFO] [1609876494.450445373]: parameter MPC_ACC_DOWN_MAX is set from  nan to 3.000000 

[ INFO] [1609876494.451202400]: parameter MPC_ACC_HOR is set from  nan to 3.000000 

[ INFO] [1609876494.481791299]: parameter MPC_ACC_UP_MAX is set from  nan to 4.000000 

[ INFO] [1609876494.501814435]: parameter MPC_JERK_MAX is set from  nan to 8.000000 

[ INFO] [1609876494.501995908]: parameter MPC_JERK_MIN is set from  nan to 8.000000 

[ INFO] [1609876494.585323601]: parameter MPC_TKO_SPEED is set from  nan to 1.500000 
[ WARN] [1609876497.111234795]: PR: request param #416 timeout, retries left 2, and 5 params still missing
[ INFO] [1609876497.731116248]: WP: item #0* F:� C: 22 p: 15 0 0 nan x: 373586884 y: -1219531937 z: 50
[ INFO] [1609876497.734057794]: WP: item #1  F:� C: 16 p: 0 0 0 nan x: 373540421 y: -1219471130 z: 50
[ INFO] [1609876497.734401763]: WP: mission received

now I have multiple questions:

  1. I have tried to fix [ WARN] [1609876485.098644663]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer but with no luck, how to fix it and is it really matter or I can skip it?
  2. what do the last three lines (WP: -) mean, do they mean it is in mission mode or the node sends target location implicitly?
  3. if node sends initial target points and waits for the drone to move and reach them, how it does that?
  4. I tried to find local_planner_node to find in which line it sends the target points -if exist- but I couldn't find the file related to local_planner node in recent master branch, is it's deprecated?
  5. I tried to publish target points to many topics like /mavros/local_position/pose and /mavros/setpoint_position/local but it didn't work, what is the right topic to do that
  6. if it is possible, how to send the target point using mavsdk or even mavros? thanks.
kiprock commented 3 years ago

Hello @pirate-lofy I also have this same problem. I can send points in simulation by using R-Vis or just publish directly to /move_base_simple/goal but the planner will not move the real drone. In R-Viz the goal (small yellow ball) does not snow the new goal being set. Again it all works great in simulation, but not in real lifr. I have been also looking at the code but I cannot find out why. Were you able to resolve this?

kiprock commented 3 years ago

I should say that this is all indoors. Does the module require gps? @mrivi ?

Cristian-wp commented 3 years ago

I have the same problem using QGC, It did not take...Where you able to solve this?