search

PX4 / PX4-Avoidance

PX4 avoidance ROS node for obstacle detection and avoidance.
http://px4.io
BSD 3-Clause "New" or "Revised" License
616 stars 321 forks source link

local_origin not successfully connected with fcu #677

Open yubo105139 opened 2 years ago

yubo105139 commented 2 years ago

Describe the bug Hello, I am using this program for differential trolley operation. I am using realsense d455, px4 solid v1.11.3, but still there is local_origin not successfully connected with fcu. What is the situation please?

Expected behavior I want my little car to be able to move

Log Files and Screenshots Always provide a link to the flight log file: Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://hewen-desktop:36641/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / 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) rviz (rviz/rviz) tf_camera (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [13039] process[tf_camera-2]: started with pid [13040] process[drop_camera_depth-3]: started with pid [13041] process[drop_camera_ir-4]: started with pid [13056] process[dynparam-5]: started with pid [13063] process[local_planner_node-6]: started with pid [13082] process[rqt_param_toggle-7]: started with pid [13090] process[rviz-8]: started with pid [13097] [ INFO] [1651222297.789156450]: Initializing nodelet with 4 worker threads. advertised as /camera/depth/image_rect_raw_drop [DEBUG] [1651222297.878139967]: Initializing nodelet...

**** camera_topic is /camera/depth/color/points ***** [ INFO] [1651222298.246219682]: FCU URL: /dev/ttyACM0:921600 [ INFO] [1651222298.287458670]: serial0: device: /dev/ttyACM0 @ 921600 bps [ INFO] [1651222298.288448110]: GCS URL: udp://@192.168.100.5 [ INFO] [1651222298.289720507]: udp1: Bind address: 0.0.0.0:14555 [ INFO] [1651222298.291348672]: udp1: Remote address: 192.168.100.5:14550 [ INFO] [1651222298.413787091]: Plugin 3dr_radio blacklisted [ INFO] [1651222298.413891046]: Plugin actuator_control blacklisted [ INFO] [1651222298.437252931]: Plugin adsb loaded [ INFO] [1651222298.451068840]: rviz version 1.13.24 [ INFO] [1651222298.451211855]: compiled against Qt version 5.9.5 [ INFO] [1651222298.451259093]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1651222298.566727321]: Forcing OpenGl version 0. [ INFO] [1651222298.578981678]: Plugin adsb initialized [ INFO] [1651222298.643874675]: Plugin altitude loaded [ INFO] [1651222298.683988290]: Plugin altitude initialized [ INFO] [1651222298.684523946]: Plugin cam_imu_sync loaded [ INFO] [1651222298.720999894]: Plugin cam_imu_sync initialized [ INFO] [1651222298.722043602]: Plugin camera loaded [ INFO] [1651222298.730013338]: Plugin camera initialized [ INFO] [1651222298.730356397]: Plugin command loaded [ INFO] [1651222299.006184615]: Plugin command initialized [ INFO] [1651222299.006518195]: Plugin companion_process_status loaded [ INFO] [1651222299.122866224]: Plugin companion_process_status initialized [ INFO] [1651222299.123202408]: Plugin debug_value loaded [ INFO] [1651222299.307884467]: Plugin debug_value initialized [ INFO] [1651222299.308042169]: Plugin distance_sensor blacklisted [ INFO] [1651222299.308464861]: Plugin esc_status loaded [ INFO] [1651222299.347682537]: Plugin esc_status initialized [ INFO] [1651222299.348019399]: Plugin esc_telemetry loaded [ INFO] [1651222299.366732153]: Plugin esc_telemetry initialized [ INFO] [1651222299.367243122]: Plugin fake_gps loaded [DEBUG] [1651222299.927097196]: Trying to publish message of type [dynamic_reconfigure/ConfigDescription/757ce9d44ba8ddd801bb30bc456f946f] on a publisher with type [dynamic_reconfigure/ConfigDescription/757ce9d44ba8ddd801bb30bc456f946f] [ INFO] [1651222300.181567515]: Plugin fake_gps initialized [ INFO] [1651222300.181686730]: Plugin ftp blacklisted [ INFO] [1651222300.182037185]: Plugin geofence loaded [ INFO] [1651222300.299885770]: Plugin geofence initialized [ INFO] [1651222300.300436478]: Plugin global_position loaded [ INFO] [1651222300.447543038]: Stereo is NOT SUPPORTED source_frame_data camera_depth_optical_frame, target_frame /fcu [ INFO] [1651222300.447933492]: OpenGL device: NVIDIA Tegra X1 (nvgpu)/integrated [ INFO] [1651222300.448051300]: OpenGl version: 4.6 (GLSL 4.6). [DEBUG] [1651222300.819215641]: Trying to publish message of type [dynamic_reconfigure/Config/958f16a05573709014982821e6822580] on a publisher with type [dynamic_reconfigure/Config/958f16a05573709014982821e6822580] [ INFO] [1651222300.819701664]: ===== Set Goal ======: [0.000000, 0.000000, 4.000000]. [DEBUG] [1651222300.819867542]: [OA] Dynamic reconfigure call [ERROR] [1651222300.878172979]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1651222300.919445382]: TF Buffer: could not retrieve requested transform from buffer, unregistered

Additional context run jetson nano frames.pdf [Uploading frames.pdf…]()

wlgnsthd commented 1 year ago

I solved this problem by adding local_origin tf arg in local planner launcher. 화면 캡처 2022-09-04 171533 image

And I have a question about my frame tree relevance. Could you let me know about your result frame tree after solving the problem?

Badrivishal commented 1 year ago

This would not help as the transform from local origin to the fcu is not supposed to be static. It will be published by mavros. To check it, check whether the local_posistion/pose topic is being published. If it is, check the px4_config.yaml file for the transform.

I solved this problem by adding local_origin tf arg in local planner launcher. 화면 캡처 2022-09-04 171533 image

And I have a question about my frame tree relevance. Could you let me know about your result frame tree after solving the problem?