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VIS4ROB-lab / multi_robot_coordination

"Multi-robot Coordination with Agent-Server Architecture for Autonomous Navigation in Partially Unknown Environments", IROS 2020
GNU General Public License v3.0
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roslaunch multi_robot_simulation mav_sim_powerplant_three.launch #5

Closed chen12345678910 closed 2 years ago

chen12345678910 commented 2 years ago

I have encountered the following problems. How can I solve them?

roslaunch multi_robot_simulation mav_sim_powerplant_three.launch ... logging to /home/chen/.ros/log/5d9fc65a-d816-11ec-a745-b0227af4ec04/roslaunch-chen-Victus-by-HP-Laptop-16-d0xxx-22767.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.

redefining global symbol: pi when processing file: /home/chen/catkin_ws/src/multi_robot_coordination/multi_robot_simulation/descriptions/component_snippets.xacro included from: /home/chen/catkin_ws/src/multi_robot_coordination/multi_robot_simulation/descriptions/firefly_base_gps.xacro redefining global symbol: pi when processing file: /home/chen/catkin_ws/src/multi_robot_coordination/multi_robot_simulation/descriptions/component_snippets.xacro included from: /home/chen/catkin_ws/src/multi_robot_coordination/multi_robot_simulation/descriptions/firefly_base_gps.xacro redefining global symbol: pi when processing file: /home/chen/catkin_ws/src/multi_robot_coordination/multi_robot_simulation/descriptions/component_snippets.xacro included from: /home/chen/catkin_ws/src/multi_robot_coordination/multi_robot_simulation/descriptions/firefly_base_gps.xacro started roslaunch server http://chen-Victus-by-HP-Laptop-16-d0xxx:43263/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / gazebo (gazebo_ros/gzserver) odometry_transform_publisher (multi_robot_simulation/odometry_transform_publisher_node) pointcloud_filter_node_0 (multi_robot_simulation/pointcloud_filter_node) pointcloud_filter_node_1 (multi_robot_simulation/pointcloud_filter_node) pointcloud_filter_node_2 (multi_robot_simulation/pointcloud_filter_node) pointcloud_transformator (multi_robot_simulation/pointcloud_transformator_node) rviz (rviz/rviz) /firefly_0/ PID_attitude_controller (mav_lowlevel_attitude_controller/mav_pid_attitude_controller_node) agent_0_vi_broadcaster (tf/static_transform_publisher) gps_to_pose_conversion_node (geodetic_utils/gps_to_pose_conversion_node) hovering_example (rotors_gazebo/hovering_example) mav_nonlinear_mpc (mav_nonlinear_mpc/nonlinear_mpc_node) set_gps_reference_node (geodetic_utils/set_gps_reference_node) spawn_firefly_0 (gazebo_ros/spawn_model) /firefly_1/ PID_attitude_controller (mav_lowlevel_attitude_controller/mav_pid_attitude_controller_node) agent_1_vi_broadcaster (tf/static_transform_publisher) gps_to_pose_conversion_node (geodetic_utils/gps_to_pose_conversion_node) hovering_example (rotors_gazebo/hovering_example) mav_nonlinear_mpc (mav_nonlinear_mpc/nonlinear_mpc_node) set_gps_reference_node (geodetic_utils/set_gps_reference_node) spawn_firefly_1 (gazebo_ros/spawn_model) /firefly_2/ PID_attitude_controller (mav_lowlevel_attitude_controller/mav_pid_attitude_controller_node) agent_2_vi_broadcaster (tf/static_transform_publisher) gps_to_pose_conversion_node (geodetic_utils/gps_to_pose_conversion_node) hovering_example (rotors_gazebo/hovering_example) mav_nonlinear_mpc (mav_nonlinear_mpc/nonlinear_mpc_node) set_gps_reference_node (geodetic_utils/set_gps_reference_node) spawn_firefly_2 (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [22846] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5d9fc65a-d816-11ec-a745-b0227af4ec04 process[rosout-1]: started with pid [22872] started core service [/rosout] process[gazebo-2]: started with pid [22880] process[firefly_0/spawn_firefly_0-3]: started with pid [22885] process[firefly_0/set_gps_reference_node-4]: started with pid [22886] process[firefly_0/gps_to_pose_conversion_node-5]: started with pid [22887] [ INFO] [1653035112.950526111]: Usage: set_gps_reference [n_fixes] [average|wait], defaults: n_fixes=50, average [ INFO] [1653035112.950810297]: Taking 10 measurements and averaging to get the reference

process[firefly_0/mav_nonlinear_mpc-6]: started with pid [22897] [ INFO] [1653035112.958100141]: Waiting for GPS reference parameters... [ INFO] [1653035112.958549678]: GPS reference not ready yet, use set_gps_reference_node to set it process[firefly_0/PID_attitude_controller-7]: started with pid [22899] [ INFO] [1653035112.967884629]: start initializing mav_disturbance_observer:KF [ INFO] [1653035112.969498777]: mav_disturbance_observer:KF dynamic config is called successfully process[firefly_0/hovering_example-8]: started with pid [22911] [ INFO] [1653035112.979066121]: KF parameters loaded successfully

0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 [ INFO] [1653035112.979385151]: Kalman Filter Initialized! [ INFO] [1653035112.982462232]: Nonlinear MPC: initialized correctly process[firefly_0/agent_0_vi_broadcaster-9]: started with pid [22912] [ INFO] [1653035112.987640015]: Started hovering example. process[firefly_1/spawn_firefly_1-10]: started with pid [22917] [ INFO] [1653035112.988526231]: Wait for 1 second before trying to unpause Gazebo again. process[firefly_1/set_gps_reference_node-11]: started with pid [22927] process[firefly_1/gps_to_pose_conversion_node-12]: started with pid [22940] process[firefly_1/mav_nonlinear_mpc-13]: started with pid [22946] [ INFO] [1653035113.009809476]: Usage: set_gps_reference [n_fixes] [average|wait], defaults: n_fixes=50, average [ INFO] [1653035113.010568076]: Taking 10 measurements and averaging to get the reference

process[firefly_1/PID_attitude_controller-14]: started with pid [22951] [ INFO] [1653035113.019234784]: Created control interface for controller nonlinear_model_predictive_controller and RC ACI rc interface process[firefly_1/hovering_example-15]: started with pid [22958] [ INFO] [1653035113.022830558]: Waiting for GPS reference parameters... [ INFO] [1653035113.025236768]: GPS reference not ready yet, use set_gps_reference_node to set it process[firefly_1/agent_1_vi_broadcaster-16]: started with pid [22963] process[firefly_2/spawn_firefly_2-17]: started with pid [22970] [ INFO] [1653035113.038339014]: Started hovering example. process[firefly_2/set_gps_reference_node-18]: started with pid [22975] process[firefly_2/gps_to_pose_conversion_node-19]: started with pid [22979] [ INFO] [1653035113.046445029]: Wait for 1 second before trying to unpause Gazebo again. process[firefly_2/mav_nonlinear_mpc-20]: started with pid [22984] [ INFO] [1653035113.052075885]: start initializing mav_disturbance_observer:KF [ INFO] [1653035113.055113320]: Usage: set_gps_reference [n_fixes] [average|wait], defaults: n_fixes=50, average [ INFO] [1653035113.056707226]: mav_disturbance_observer:KF dynamic config is called successfully [ INFO] [1653035113.056808823]: Taking 10 measurements and averaging to get the reference

process[firefly_2/PID_attitude_controller-21]: started with pid [22993] process[firefly_2/hovering_example-22]: started with pid [23000] [ INFO] [1653035113.067048441]: Waiting for GPS reference parameters... [ INFO] [1653035113.071603407]: GPS reference not ready yet, use set_gps_reference_node to set it process[firefly_2/agent_2_vi_broadcaster-23]: started with pid [23019] process[odometry_transform_publisher-24]: started with pid [23026] [ INFO] [1653035113.085797435]: Started hovering example. process[pointcloud_filter_node_0-25]: started with pid [23032] [ INFO] [1653035113.088846603]: Wait for 1 second before trying to unpause Gazebo again. process[pointcloud_filter_node_1-26]: started with pid [23038] [ INFO] [1653035113.095466094]: KF parameters loaded successfully

0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 [ INFO] [1653035113.096043316]: Kalman Filter Initialized! process[pointcloud_filter_node_2-27]: started with pid [23044] process[pointcloud_transformator-28]: started with pid [23062] [ INFO] [1653035113.110938585]: Nonlinear MPC: initialized correctly [ INFO] [1653035113.112873037]: start initializing mav_disturbance_observer:KF [ INFO] [1653035113.121062202]: mav_disturbance_observer:KF dynamic config is called successfully process[rviz-29]: started with pid [23071] [ INFO] [1653035113.166195450]: KF parameters loaded successfully

0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1 [ INFO] [1653035113.166545159]: Kalman Filter Initialized! [ INFO] [1653035113.184749026]: Nonlinear MPC: initialized correctly [ INFO] [1653035113.199261697]: [PCL Filter] Initialized pcl filter for agent 0 [ INFO] [1653035113.207965279]: rviz version 1.13.24 [ INFO] [1653035113.208042092]: compiled against Qt version 5.9.5 [ INFO] [1653035113.208069078]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1653035113.212798430]: Subscribing to: firefly_0/vi_sensor/camera_depth/depth/points [ INFO] [1653035113.220475138]: [PCL Filter] Initialized pcl filter for agent 2 [ INFO] [1653035113.221403232]: Subscribing to: firefly_1/vi_sensor/camera_depth/depth/points [ INFO] [1653035113.224349904]: Forcing OpenGl version 0. [ INFO] [1653035113.225069756]: Subscribing to: firefly_2/vi_sensor/camera_depth/depth/points [ INFO] [1653035113.227383054]: [PCL Filter] Initialized pcl filter for agent 1 [ INFO] [1653035113.243791319]: Created control interface for controller nonlinear_model_predictive_controller and RC ACI rc interface [ INFO] [1653035113.248992963]: Created control interface for controller nonlinear_model_predictive_controller and RC ACI rc interface [ INFO] [1653035113.305953382]: Stereo is NOT SUPPORTED [ INFO] [1653035113.306001966]: OpenGL device: llvmpipe (LLVM 10.0.0, 256 bits) [ INFO] [1653035113.306015743]: OpenGl version: 3.1 (GLSL 1.4). [ INFO] [1653035113.320518061]: Finished loading Gazebo ROS API Plugin. [ INFO] [1653035113.321375842]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1653035113.566130169]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1653035113.571871, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1653035113.581644, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1653035113.584160, 0.000000]: Calling service /gazebo/spawn_urdf_model [ INFO] [1653035113.588119741]: Physics dynamic reconfigure ready. [INFO] [1653035113.621589, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1653035113.630268, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1653035113.631783, 0.000000]: Calling service /gazebo/spawn_urdf_model [INFO] [1653035113.675757, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1653035113.684207, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1653035113.686163, 0.000000]: Calling service /gazebo/spawn_urdf_model [ WARN] [1653035113.837528195, 55.260000000]: No odometry message received in the last 1 seconds! [ WARN] [1653035113.837581264, 55.260000000]: No odometry message received in the last 1 seconds! [ WARN] [1653035113.838441126, 55.260000000]: No odometry message received in the last 1 seconds! [ WARN] [1653035113.838491691, 55.260000000]: No odometry message received in the last 1 seconds! [ WARN] [1653035113.838488147, 55.260000000]: No odometry message received in the last 1 seconds! [ WARN] [1653035113.838532693, 55.260000000]: No odometry message received in the last 1 seconds! [INFO] [1653035113.840206, 55.260000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name firefly_0 [ERROR] [1653035113.841213, 55.260000]: Spawn service failed. Exiting. [firefly_0/spawn_firefly_0-3] process has died [pid 22885, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -param robot_description -urdf -x 60.0 -y 17.0 -z 0.3 -model firefly_0 name:=spawn_firefly_0 log:=/home/chen/.ros/log/5d9fc65a-d816-11ec-a745-b0227af4ec04/firefly_0-spawn_firefly_0-3.log]. log file: /home/chen/.ros/log/5d9fc65a-d816-11ec-a745-b0227af4ec04/firefly_0-spawn_firefly_0-3.log [ INFO] [1653035114.151064669, 55.260000000]: Camera Plugin: Using the 'robotNamespace' param: 'firefly_0/vi_sensor' [ INFO] [1653035114.153747037, 55.260000000]: Camera Plugin (ns = firefly_0/vi_sensor) , set to "firefly_0/vi_sensor" [ INFO] [1653035114.158494939, 55.260000000]: Camera Plugin: Using the 'robotNamespace' param: '/firefly_0/' [ INFO] [1653035114.158610647, 55.260000000]: Camera Plugin: Using the 'robotNamespace' param: '/firefly_0/' [ INFO] [1653035114.160217303, 55.260000000]: Camera Plugin (ns = /firefly_0/) , set to "/firefly_0" [ INFO] [1653035114.160327258, 55.260000000]: Camera Plugin (ns = /firefly_0/) , set to "/firefly_0" [ INFO] [1653035114.270976857, 55.260000000]: imu plugin missing , defaults to 0s [ INFO] [1653035114.271020147, 55.260000000]: imu plugin missing , defaults to 0s [INFO] [1653035114.565922, 55.460000]: Spawn status: SpawnModel: Successfully spawned entity [firefly_1/spawn_firefly_1-10] process has finished cleanly log file: /home/chen/.ros/log/5d9fc65a-d816-11ec-a745-b0227af4ec04/firefly_1-spawn_firefly_1-10.log [ INFO] [1653035115.247895980, 55.460000000]: Camera Plugin: Using the 'robotNamespace' param: 'firefly_1/vi_sensor' [ WARN] [1653035115.248881584, 55.460000000]: [PCL Filter] Using latest TF transform instead of timestamp match. [ERROR] [1653035115.248983505, 55.460000000]: [PCL Filter] Error getting TF transform from sensor data: Could not find a connection between 'world' and 'firefly_0/vi_sensor/camera_depth_optical_center_link' because they are not part of the same tree.Tf has two or more unconnected trees. [ INFO] [1653035115.249268862, 55.460000000]: Camera Plugin: Using the 'robotNamespace' param: '/firefly_1/' [ INFO] [1653035115.249374557, 55.460000000]: Camera Plugin: Using the 'robotNamespace' param: '/firefly_1/' [ INFO] [1653035115.250133789, 55.460000000]: Camera Plugin (ns = firefly_1/vi_sensor) , set to "firefly_1/vi_sensor" [ INFO] [1653035115.251675835, 55.460000000]: Camera Plugin (ns = /firefly_1/) , set to "/firefly_1" [ INFO] [1653035115.251991176, 55.460000000]: Camera Plugin (ns = /firefly_1/) , set to "/firefly_1" [ERROR] [1653035115.253657924, 55.460000000]: Error getting TF transform from sensor data: Could not find a connection between 'world' and 'firefly_0/vi_sensor/camera_depth_optical_center_link' because they are not part of the same tree.Tf has two or more unconnected trees. [ INFO] [1653035115.266703927, 55.460000000]: imu plugin missing , defaults to 0s [ INFO] [1653035115.267282645, 55.460000000]: imu plugin missing , defaults to 0s [ INFO] [1653035115.303486113, 55.470000000]: PIDAttitudeController got first odometry message. [ INFO] [1653035115.341242906, 55.500000000]: Current measurement: 47.45088866, 8.68127887, 0.02 [ INFO] [1653035115.341292405, 55.500000000]: Still waiting for 9 measurements [ INFO] [1653035115.558138965, 55.660000000]: Unpaused the Gazebo simulation. [ INFO] [1653035115.558147700, 55.660000000]: Unpaused the Gazebo simulation. [ INFO] [1653035115.558208376, 55.660000000]: Unpaused the Gazebo simulation. [INFO] [1653035115.558268, 55.660000]: Spawn status: SpawnModel: Successfully spawned entity [firefly_2/spawn_firefly_2-17] process has finished cleanly log file: /home/chen/.ros/log/5d9fc65a-d816-11ec-a745-b0227af4ec04/firefly_2-spawn_firefly_2-17*.log [ INFO] [1653035120.565712973, 55.670000000]: PIDAttitudeController got first odometry message. [ INFO] [1653035120.642396247, 55.750000000]: Current measurement: 47.45088727, 8.68128033, 0.44 [ INFO] [1653035120.642423584, 55.750000000]: Still waiting for 8 measurements [ INFO] [1653035120.642582421, 55.750000000]: Current measurement: 47.45081987, 8.68128075, -0.28 [ INFO] [1653035120.642606781, 55.750000000]: Still waiting for 9 measurements [ INFO] [1653035120.652329339, 55.760000000]: Waiting for GPS reference parameters... [ INFO] [1653035120.652328037, 55.760000000]: Waiting for GPS reference parameters... [ INFO] [1653035120.652385315, 55.760000000]: Waiting for GPS reference parameters... [ INFO] [1653035120.652653175, 55.760000000]: GPS reference not ready yet, use set_gps_reference_node to set it [ INFO] [1653035120.652830450, 55.760000000]: GPS reference not ready yet, use set_gps_reference_node to set it [ INFO] [1653035120.652952878, 55.760000000]: GPS reference not ready yet, use set_gps_reference_node to set it [ INFO] [1653035120.893587839, 56.000000000]: Current measurement: 47.45088961, 8.68127969, 0.59 [ INFO] [1653035120.893619743, 56.000000000]: Still waiting for 7 measurements [ INFO] [1653035120.893777965, 56.000000000]: Current measurement: 47.45082095, 8.68127989, -0.12 [ INFO] [1653035120.893793118, 56.000000000]: Still waiting for 8 measurements [ INFO] [1653035121.144258742, 56.250000000]: Current measurement: 47.45088879, 8.68128135, 0.59 [ INFO] [1653035121.144285347, 56.250000000]: Still waiting for 6 measurements [ INFO] [1653035121.144444580, 56.250000000]: Current measurement: 47.45082218, 8.68128100, 0.29 [ INFO] [1653035121.144460526, 56.250000000]: Still waiting for 7 measurements [ INFO] [1653035121.153977006, 56.260000000]: Waiting for GPS reference parameters... [ INFO] [1653035121.154055673, 56.260000000]: Waiting for GPS reference parameters... [ WARN] [1653035121.154150846, 56.260000000]: No odometry message received in the last 1 seconds! [ WARN] [1653035121.154150973, 56.260000000]: No odometry message received in the last 1 seconds! [ INFO] [1653035121.154233116, 56.260000000]: GPS reference not ready yet, use set_gps_reference_node to set it [ INFO] [1653035121.154455350, 56.260000000]: Waiting for GPS reference parameters... [ INFO] [1653035121.154466480, 56.260000000]: GPS reference not ready yet, use set_gps_reference_node to set it [ WARN] [1653035121.154580731, 56.260000000]: No odometry message received in the last 1 seconds! [ INFO] [1653035121.154689890, 56.260000000]: GPS reference not ready yet, use set_gps_reference_node to set it [ INFO] [1653035121.394699672, 56.500000000]: Current measurement: 47.45088779, 8.68127983, 0.32 [ INFO] [1653035121.394722474, 56.500000000]: Still waiting for 5 measurements [ INFO] [1653035121.394848957, 56.500000000]: Current measurement: 47.45082028, 8.68127975, 0.17 [ INFO] [1653035121.394863749, 56.500000000]: Still waiting for 6 measurements [ INFO] [1653035121.645373163, 56.750000000]: Current measurement: 47.45088903, 8.68128087, 0.08 [ INFO] [1653035121.645396593, 56.750000000]: Still waiting for 4 measurements [ INFO] [1653035121.645554627, 56.750000000]: Current measurement: 47.45082059, 8.68128127, -0.07 [ INFO] [1653035121.645570729, 56.750000000]: Still waiting for 5 measurements [ INFO] [1653035121.655634771, 56.760000000]: Waiting for GPS reference parameters... [ INFO] [1653035121.655714681, 56.760000000]: Waiting for GPS reference parameters... [ INFO] [1653035121.655740666, 56.760000000]: Waiting for GPS reference parameters... [ INFO] [1653035121.655912399, 56.760000000]: GPS reference not ready yet, use set_gps_reference_node to set it [ INFO] [1653035121.656079670, 56.760000000]: GPS reference not ready yet, use set_gps_reference_node to set it [ INFO] [1653035121.656302286, 56.760000000]: GPS reference not ready yet, use set_gps_reference_node to set it [ INFO] [1653035121.895705045, 57.000000000]: Current measurement: 47.45088841, 8.68128252, 0.20 [ INFO] [1653035121.895725764, 57.000000000]: Still waiting for 3 measurements [ INFO] [1653035121.895898660, 57.000000000]: Current measurement: 47.45082238, 8.68127773, 0.14 [ INFO] [1653035121.895919097, 57.000000000]: Still waiting for 4 measurements [ INFO] [1653035122.145915965, 57.250000000]: Current measurement: 47.45088888, 8.68127996, 0.15 [ INFO] [1653035122.145935488, 57.250000000]: Still waiting for 2 measurements [ INFO] [1653035122.146089679, 57.250000000]: Current measurement: 47.45082266, 8.68127638, 0.15 [ INFO] [1653035122.146107902, 57.250000000]: Still waiting for 3 measurements [ WARN] [1653035122.155412355, 57.260000000]: No odometry message received in the last 1 seconds! [ INFO] [1653035122.155438355, 57.260000000]: Waiting for GPS reference parameters... [ WARN] [1653035122.155501524, 57.260000000]: No odometry message received in the last 1 seconds! [ INFO] [1653035122.155614021, 57.260000000]: Waiting for GPS reference parameters... [ INFO] [1653035122.155720914, 57.260000000]: GPS reference not ready yet, use set_gps_reference_node to set it [ INFO] [1653035122.155895253, 57.260000000]: GPS reference not ready yet, use set_gps_reference_node to set it [ INFO] [1653035122.156156282, 57.260000000]: Waiting for GPS reference parameters... [ WARN] [1653035122.156291562, 57.260000000]: No odometry message received in the last 1 seconds! [ INFO] [1653035122.156368486, 57.260000000]: GPS reference not ready yet, use set_gps_reference_node to set it [ INFO] [1653035122.156534793, 57.260000000]: Published first transformation [ INFO] [1653035122.157060674, 57.260000000]: Published first odometry message [ INFO] [1653035122.157076723, 57.260000000]: Published first T_WM message [ INFO] [1653035122.157115337, 57.260000000]: Published first T_MO message [ INFO] [1653035122.157220123, 57.260000000]: Control interface got first odometry message. [ INFO] [1653035122.157463308, 57.260000000]: [PCL Filter] Got first map to odom transformation for agent 0 [ INFO] [1653035122.157477696, 57.260000000]: [PCL Filter] Got first map to odom transformation for agent 0 [ INFO] [1653035122.157500788, 57.260000000]: [PCL Filter] Got first map to odom transformation for agent 0 [ INFO] [1653035122.157514251, 57.260000000]: [PCL Filter] Got first odom to map transformation for agent 0 [ INFO] [1653035122.157539198, 57.260000000]: [PCL Filter] Got first odom to map transformation for agent 0 [ INFO] [1653035122.157547477, 57.260000000]: [PCL Filter] Got first odom to map transformation for agent 0 [ INFO] [1653035122.157753311, 57.260000000]: Control interface got first odometry message. [ INFO] [1653035122.395989659, 57.500000000]: Current measurement: 47.45088882, 8.68127979, -0.16 [ INFO] [1653035122.396010046, 57.500000000]: Still waiting for 1 measurements [ INFO] [1653035122.396170449, 57.500000000]: Current measurement: 47.45082117, 8.68128061, 0.37 [ INFO] [1653035122.396183892, 57.500000000]: Still waiting for 2 measurements [ INFO] [1653035122.646277697, 57.750000000]: Current measurement: 47.45088898, 8.68128163, 0.08 [ INFO] [1653035122.646441273, 57.750000000]: Current measurement: 47.45082073, 8.68128045, 0.32 [ INFO] [1653035122.646457618, 57.750000000]: Still waiting for 1 measurements [ INFO] [1653035122.647445426, 57.750000000]: Final reference position: 47.45088862, 8.68128048, 0.23 [ INFO] [1653035122.656442096, 57.760000000]: Waiting for GPS reference parameters... [ INFO] [1653035122.656454757, 57.760000000]: Waiting for GPS reference parameters... [ INFO] [1653035122.656460973, 57.760000000]: Waiting for GPS reference parameters... [ INFO] [1653035122.657588581, 57.760000000]: GPS reference initialized correctly 0.828174, 0.151517, 0.228149 [ INFO] [1653035122.657909179, 57.760000000]: GPS reference initialized correctly 0.828174, 0.151517, 0.228149 [ INFO] [1653035122.658332122, 57.760000000]: GPS reference initialized correctly 0.828174, 0.151517, 0.228149 [ WARN] [1653035123.156523426, 58.260000000]: No odometry message received in the last 1 seconds! [ WARN] [1653035124.157108373, 59.260000000]: No odometry message received in the last 1 seconds! [ WARN] [1653035125.157624411, 60.260000000]: No odometry message received in the last 1 seconds! [ INFO] [1653035125.560451029, 60.660000000]: Publishing waypoint on namespace /firefly_2: [0.000000, 0.000000, 1.500000]. [ INFO] [1653035125.560969172, 60.660000000]: Publishing waypoint on namespace /firefly_0: [0.000000, 0.000000, 1.500000]. [ INFO] [1653035125.561162598, 60.660000000]: Publishing waypoint on namespace /firefly_1: [0.000000, 0.000000, 1.500000]. [ INFO] [1653035125.571165570, 60.670000000]: KF is updated for first time. [ INFO] [1653035125.599210700, 60.700000000]: KF is updated for first time. [firefly_0/hovering_example-8] process has finished cleanly log file: /home/chen/.ros/log/5d9fc65a-d816-11ec-a745-b0227af4ec04/firefly_0-hovering_example-8.log [firefly_1/hovering_example-15] process has finished cleanly log file: /home/chen/.ros/log/5d9fc65a-d816-11ec-a745-b0227af4ec04/firefly_1-hovering_example-15.log [firefly_2/hovering_example-22] process has finished cleanly log file: /home/chen/.ros/log/5d9fc65a-d816-11ec-a745-b0227af4ec04/firefly_2-hovering_example-22*.log [ WARN] [1653035126.157512749, 61.260000000]: No odometry message received in the last 1 seconds! ^C[rviz-29] killing on exit [pointcloud_transformator-28] killing on exit [pointcloud_filter_node_2-27] killing on exit [pointcloud_filter_node_1-26] killing on exit [pointcloud_filter_node_0-25] killing on exit [odometry_transform_publisher-24] killing on exit [firefly_2/agent_2_vi_broadcaster-23] killing on exit [firefly_2/PID_attitude_controller-21] killing on exit [firefly_2/mav_nonlinear_mpc-20] killing on exit [firefly_2/gps_to_pose_conversion_node-19] killing on exit [firefly_2/set_gps_reference_node-18] killing on exit [firefly_1/agent_1_vi_broadcaster-16] killing on exit [firefly_1/PID_attitude_controller-14] killing on exit [firefly_1/mav_nonlinear_mpc-13] killing on exit [firefly_1/gps_to_pose_conversion_node-12] killing on exit [firefly_1/set_gps_reference_node-11] killing on exit [firefly_0/agent_0_vi_broadcaster-9] killing on exit [firefly_0/PID_attitude_controller-7] killing on exit [firefly_0/mav_nonlinear_mpc-6] killing on exit [firefly_0/gps_to_pose_conversion_node-5] killing on exit [firefly_0/set_gps_reference_node-4] killing on exit [gazebo-2] killing on exit [gazebo-2] escalating to SIGTERM [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

lucaBartolomei commented 2 years ago

Hi,

The problem seems related to the re-definition of "pi" in a xacro file. What version of Ubuntu are you using?

chen12345678910 commented 2 years ago

ubuntu18.04 ros-melodic

lucaBartolomei commented 2 years ago

Hi, I tested again on my PC and everything works. I also get the warning about the redefinition of pi, but the drones are spawned correctly. I suggest you do the following:

chen12345678910 commented 2 years ago

roslaunch multi_robot_simulation mav_sim_example.launch world:=chemical-plant run_gazebo_gui:=true I encountered the following error: [ERROR] [1653229582.844355223, 161.440000000]: [PCL Filter] Error getting TF transform from sensor data: Could not find a connection between 'world' and 'firefly_0/vi_sensor/camera_depth_optical_center_link' because they are not part of the same tree.Tf has two or more unconnected trees. [ERROR] [1653229582.851080472, 161.450000000]: Error getting TF transform from sensor data: Could not find a connection between 'world' and 'firefly_0/vi_sensor/camera_depth_optical_center_link' because they are not part of the same tree.Tf has two or more unconnected trees. 2022-05-22 22-30-05 的屏幕截图 2022-05-22 22-29-54 的屏幕截图

lucaBartolomei commented 2 years ago

That error message is occasionally printed when launching the simulation and then it should disappear. Do you keep getting it even after the simulation is started? If so, please share a picture of the TF tree.

lucaBartolomei commented 2 years ago

Closing this issue because it's inactive - feel free to re-open it in case you need additional help.