I followed the README instructions exactly to run the avoidance simulation and I am getting an error in RViz saying there is no local_origin frame. The console is spammed with the error: "TF Buffer: could not retrieve requested transform from buffer, unregistered". When I try to arm the drone I get a request failed message. Any help would be much appreciated.
I added the sitl_gazebo-classic/models folder to GAZEBO_MODEL_PATH because I was getting an error: "unable to find model: iris_obs_avoidance"
Console Output
.. logging to /home/greta/.ros/log/1c199a60-9b68-11ed-8676-f72bb289410f/roslaunch-ubuntu-11728.log
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.
auto-starting new master
process[master]: started with pid [11779]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 1c199a60-9b68-11ed-8676-f72bb289410f
process[rosout-1]: started with pid [11791]
started core service [/rosout]
process[tf_depth_camera-2]: started with pid [11799]
process[rqt_reconfigure-3]: started with pid [11813]
process[sitl_0-4]: started with pid [11929]
process[mavros-5]: started with pid [11930]
process[gazebo-6]: started with pid [11931]
process[gazebo_gui-7]: started with pid [11933]
process[spawn_model-8]: started with pid [11937]
process[stereo/stereo_image_proc-9]: started with pid [11942]
process[local_planner_node-10]: started with pid [11943]
INFO [px4] instance: 0
I followed the README instructions exactly to run the avoidance simulation and I am getting an error in RViz saying there is no local_origin frame. The console is spammed with the error: "TF Buffer: could not retrieve requested transform from buffer, unregistered". When I try to arm the drone I get a request failed message. Any help would be much appreciated.
Screencast from 01-23-2023 04:56:09 PM.webm
System: Ubuntu 20.04 Ros Noetic Nvidia Jetson Nano
.bashrc (added at end) source /opt/ros/noetic/setup.bash source /catkin_ws/devel/setup.bash \~/Firmware/Tools/simulation/gazebo-classic/setup_gazebo.bash \~/Firmware \~/Firmware/build/px4_sitl_default export GAZEBO_MODEL_PATH=:\~/catkin_ws/src/avoidance/avoidance/sim/models:\~/catkin_ws/src/avoidance/avoidance/sim/worlds:\~/Firmware/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models:\~/Firmware/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/Firmware
I added the sitl_gazebo-classic/models folder to GAZEBO_MODEL_PATH because I was getting an error: "unable to find model: iris_obs_avoidance"
Console Output .. logging to /home/greta/.ros/log/1c199a60-9b68-11ed-8676-f72bb289410f/roslaunch-ubuntu-11728.log 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.
SUMMARY
CLEAR PARAMETERS
PARAMETERS
NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) 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) /stereo/ stereo_image_proc (stereo_image_proc/stereo_image_proc)
auto-starting new master process[master]: started with pid [11779] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 1c199a60-9b68-11ed-8676-f72bb289410f process[rosout-1]: started with pid [11791] started core service [/rosout] process[tf_depth_camera-2]: started with pid [11799] process[rqt_reconfigure-3]: started with pid [11813] process[sitl_0-4]: started with pid [11929] process[mavros-5]: started with pid [11930] process[gazebo-6]: started with pid [11931] process[gazebo_gui-7]: started with pid [11933] process[spawn_model-8]: started with pid [11937] process[stereo/stereo_image_proc-9]: started with pid [11942] process[local_planner_node-10]: started with pid [11943] INFO [px4] instance: 0
| \ \ \ / / / | | |/ / \ V / / /| | | / / \ / /_| | | | / /^\ \ __ | _| \/ \/ |/
px4 starting.
INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0 process[rviz-11]: started with pid [11955] INFO [init] found model autostart file as SYS_AUTOSTART=1015 INFO [param] selected parameter default file parameters.bson INFO [param] selected parameter backup file parameters_backup.bson [ INFO] [1674510705.917244308]: Initializing nodelet with 4 worker threads. SYS_AUTOCONFIG: curr: 0 -> new: 1 SYS_AUTOSTART: curr: 0 -> new: 1015 CAL_ACC0_ID: curr: 0 -> new: 1310988 [ INFO] [1674510706.634169568]: FCU URL: udp://:14540@localhost:14557 [ INFO] [1674510706.668420230]: udp0: Bind address: 0.0.0.0:14540 [ INFO] [1674510706.669406113]: udp0: Remote address: 127.0.0.1:14557 [ INFO] [1674510706.669932519]: GCS bridge disabled CAL_GYRO0_ID: curr: 0 -> new: 1310988 CAL_ACC1_ID: curr: 0 -> new: 1310996 [ INFO] [1674510706.992338605]: Plugin 3dr_radio loaded [ INFO] [1674510707.026522653]: Plugin 3dr_radio initialized [ INFO] [1674510707.026770621]: Plugin actuator_control loaded [ INFO] [1674510707.113228161]: Plugin actuator_control initialized CAL_GYRO1_ID: curr: 0 -> new: 1310996 [ INFO] [1674510707.216741136]: Plugin adsb loaded CAL_ACC2_ID: curr: 0 -> new: 1311004 [ INFO] [1674510707.272123371]: rviz version 1.14.19 [ INFO] [1674510707.272358423]: compiled against Qt version 5.12.8 [ INFO] [1674510707.272407694]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1674510707.317757605]: Plugin adsb initialized [ INFO] [1674510707.318854166]: Plugin altitude loaded CAL_GYRO2_ID: curr: 0 -> new: 1311004 [ INFO] [1674510707.373005362]: Plugin altitude initialized [ INFO] [1674510707.373391403]: Plugin cam_imu_sync loaded [ INFO] [1674510707.411280131]: Plugin cam_imu_sync initialized [ INFO] [1674510707.411649714]: Plugin camera loaded [ INFO] [1674510707.460742326]: Plugin camera initialized [ INFO] [1674510707.461130815]: Plugin cellular_status loaded CAL_MAG0_ID: curr: 0 -> new: 197388 CAL_MAG0_PRIO: curr: -1 -> new: 50 [ INFO] [1674510707.588295359]: Plugin cellular_status initialized [ INFO] [1674510707.588664473]: Plugin command loaded [ INFO] [1674510707.626847159]: Forcing OpenGl version 0. CAL_MAG1_ID: curr: 0 -> new: 197644 [ INFO] [1674510707.721252131]: Plugin command initialized [ INFO] [1674510707.721854786]: Plugin companion_process_status loaded CAL_MAG1_PRIO: curr: -1 -> new: 50 [ INFO] [1674510707.816279966]: Plugin companion_process_status initialized [ INFO] [1674510707.817115537]: Plugin debug_value loaded