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Woojin-Seol / KVRC2022

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When I run 'gazebo.launch', I can only see the drone on the gazebo #1

Closed JeonHyeongJunKW closed 2 years ago

JeonHyeongJunKW commented 2 years ago

When I run 'gazebo.launch', I can only see the drone on the gazebo. However there isn't the map. I want to solve this problem.

I commanded like this: 

roslaunch khnp_competition gazebo.launch

Gazebo window : there is no structure like a building. Screenshot from 2022-11-02 13-14-32

My command window prints this :

jeon@jeon-System-Product-Name:~$ roslaunch khnp_competition gazebo.launch
... logging to /home/jeon/.ros/log/a86888f6-5a62-11ed-b7b7-705dccff1928/roslaunch-jeon-System-Product-Name-32290.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.

WARNING: Package name "Extract_Bag" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
started roslaunch server http://jeon-System-Product-Name:42097/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /mavros/camera/frame_id: base_link
 * /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: PITCH_270
 * /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: PITCH_270
 * /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: PITCH_270
 * /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/horizontal_fov_ratio: 1.0
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 408.0
 * /mavros/fake_gps/geo_origin/lat: 47.3667
 * /mavros/fake_gps/geo_origin/lon: 8.55
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: True
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: udp://:14540@loca...
 * /mavros/gcs_url: 
 * /mavros/global_position/child_frame_id: base_link
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/gps_uere: 1.0
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/landing_target/camera/fov_x: 2.0071286398
 * /mavros/landing_target/camera/fov_y: 2.0071286398
 * /mavros/landing_target/image/height: 480
 * /mavros/landing_target/image/width: 640
 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /mavros/landing_target/listen_lt: False
 * /mavros/landing_target/mav_frame: LOCAL_NED
 * /mavros/landing_target/target_size/x: 0.3
 * /mavros/landing_target/target_size/y: 0.3
 * /mavros/landing_target/tf/child_frame_id: camera_center
 * /mavros/landing_target/tf/frame_id: landing_target
 * /mavros/landing_target/tf/listen: False
 * /mavros/landing_target/tf/rate_limit: 10.0
 * /mavros/landing_target/tf/send: True
 * /mavros/local_position/frame_id: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mission/use_mission_item_int: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/mount/debounce_s: 4.0
 * /mavros/mount/err_threshold_deg: 10.0
 * /mavros/mount/negate_measured_pitch: False
 * /mavros/mount/negate_measured_roll: False
 * /mavros/mount/negate_measured_yaw: False
 * /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_thrust: False
 * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /mavros/setpoint_attitude/tf/frame_id: map
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /mavros/setpoint_attitude/use_quaternion: False
 * /mavros/setpoint_position/mav_frame: LOCAL_NED
 * /mavros/setpoint_position/tf/child_frame_id: target_position
 * /mavros/setpoint_position/tf/frame_id: map
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/setpoint_raw/thrust_scaling: 1.0
 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /mavros/startup_px4_usb_quirk: False
 * /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/time/timesync_mode: MAVLINK
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: odom
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: True
 * /mavros/vision_speed/twist_cov: True
 * /mavros/wheel_odometry/child_frame_id: base_link
 * /mavros/wheel_odometry/count: 2
 * /mavros/wheel_odometry/frame_id: odom
 * /mavros/wheel_odometry/send_raw: True
 * /mavros/wheel_odometry/send_twist: False
 * /mavros/wheel_odometry/tf/child_frame_id: base_link
 * /mavros/wheel_odometry/tf/frame_id: odom
 * /mavros/wheel_odometry/tf/send: False
 * /mavros/wheel_odometry/use_rpm: False
 * /mavros/wheel_odometry/vel_error: 0.1
 * /mavros/wheel_odometry/wheel0/radius: 0.05
 * /mavros/wheel_odometry/wheel0/x: 0.0
 * /mavros/wheel_odometry/wheel0/y: -0.15
 * /mavros/wheel_odometry/wheel1/radius: 0.05
 * /mavros/wheel_odometry/wheel1/x: 0.0
 * /mavros/wheel_odometry/wheel1/y: 0.15
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    mavros (mavros/mavros_node)
    sitl (px4/px4)
    vehicle_spawn_jeon_System_Product_Name_32290_7975444385401712461 (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

WARNING: Package name "Extract_Bag" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[sitl-1]: started with pid [32324]
INFO  [px4] Creating symlink /home/jeon/PX4-Autopilot/build/px4_sitl_default/etc -> /home/jeon/.ros/etc

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-2]: started with pid [32336]
Info: found model autostart file as SYS_AUTOSTART=10016
INFO  [param] selected parameter default file eeprom/parameters_10016
INFO  [parameters] BSON document size 406 bytes, decoded 406 bytes
[param] Loaded: eeprom/parameters_10016
process[gazebo_gui-3]: started with pid [32350]
process[vehicle_spawn_jeon_System_Product_Name_32290_7975444385401712461-4]: started with pid [32361]
process[mavros-5]: started with pid [32368]
WARNING: Package name "Extract_Bag" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
WARNING: Package name "Extract_Bag" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
PX4 SIM HOST: localhost
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1667362188.554984719]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1667362188.556397049]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1667362188.556455113]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1667362188.556493662]: GCS bridge disabled
[ INFO] [1667362188.562058425]: Plugin 3dr_radio loaded
[ INFO] [1667362188.565068386]: Plugin 3dr_radio initialized
[ INFO] [1667362188.565119227]: Plugin actuator_control loaded
[ INFO] [1667362188.566691347]: Plugin actuator_control initialized
[ INFO] [1667362188.569648843]: Plugin adsb loaded
[ INFO] [1667362188.572770534]: Plugin adsb initialized
[ INFO] [1667362188.572845811]: Plugin altitude loaded
[ INFO] [1667362188.573728286]: Plugin altitude initialized
[ INFO] [1667362188.573785161]: Plugin cam_imu_sync loaded
[ INFO] [1667362188.574083213]: Plugin cam_imu_sync initialized
[ INFO] [1667362188.574146460]: Plugin camera loaded
[ INFO] [1667362188.574639339]: Plugin camera initialized
[ INFO] [1667362188.574694671]: Plugin cellular_status loaded
[ INFO] [1667362188.576644570]: Plugin cellular_status initialized
[ INFO] [1667362188.576709534]: Plugin command loaded
[ INFO] [1667362188.581589578]: Plugin command initialized
[ INFO] [1667362188.581652301]: Plugin companion_process_status loaded
[ INFO] [1667362188.583565713]: Plugin companion_process_status initialized
[ INFO] [1667362188.583626924]: Plugin debug_value loaded
[ INFO] [1667362188.586211120]: Plugin debug_value initialized
[ INFO] [1667362188.586229324]: Plugin distance_sensor blacklisted
[ INFO] [1667362188.586276091]: Plugin esc_status loaded
[ INFO] [1667362188.587009133]: Plugin esc_status initialized
[ INFO] [1667362188.587088996]: Plugin esc_telemetry loaded
[ INFO] [1667362188.587634453]: Plugin esc_telemetry initialized
[ INFO] [1667362188.587699877]: Plugin fake_gps loaded
WARNING: Package name "Extract_Bag" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
WARNING: Package name "Extract_Bag" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
[ INFO] [1667362188.597549148]: Plugin fake_gps initialized
[ INFO] [1667362188.597643227]: Plugin ftp loaded
[ INFO] [1667362188.601130208]: Plugin ftp initialized
[ INFO] [1667362188.601205367]: Plugin geofence loaded
[ INFO] [1667362188.603191879]: Plugin geofence initialized
[ INFO] [1667362188.603258691]: Plugin global_position loaded
[ INFO] [1667362188.611908245]: Plugin global_position initialized
[ INFO] [1667362188.611967132]: Plugin gps_input loaded
[ INFO] [1667362188.613576786]: Plugin gps_input initialized
[ INFO] [1667362188.613635621]: Plugin gps_rtk loaded
[ INFO] [1667362188.615241388]: Plugin gps_rtk initialized
[ INFO] [1667362188.615294772]: Plugin gps_status loaded
[ INFO] [1667362188.616481537]: Plugin gps_status initialized
[ INFO] [1667362188.616534727]: Plugin guided_target loaded
INFO  [commander] LED: open /dev/led0 failed (22)
[ INFO] [1667362188.618631199]: Plugin guided_target initialized
[ INFO] [1667362188.618712268]: Plugin hil loaded
[ INFO] [1667362188.627326469]: Plugin hil initialized
[ INFO] [1667362188.627392703]: Plugin home_position loaded
[ INFO] [1667362188.633150840]: Plugin home_position initialized
[ INFO] [1667362188.633217992]: Plugin imu loaded
[ INFO] [1667362188.642966268]: Plugin imu initialized
[ INFO] [1667362188.643034144]: Plugin landing_target loaded
[ INFO] [1667362188.669083864]: Plugin landing_target initialized
[ INFO] [1667362188.669187570]: Plugin local_position loaded
[ INFO] [1667362188.674072265]: Plugin local_position initialized
[ INFO] [1667362188.674162307]: Plugin log_transfer loaded
[ INFO] [1667362188.676614599]: Plugin log_transfer initialized
[ INFO] [1667362188.676696960]: Plugin mag_calibration_status loaded
[ INFO] [1667362188.677652174]: Plugin mag_calibration_status initialized
[ INFO] [1667362188.677710191]: Plugin manual_control loaded
[ INFO] [1667362188.679058773]: Plugin manual_control initialized
[ INFO] [1667362188.679107259]: Plugin mocap_pose_estimate loaded
[ INFO] [1667362188.681026171]: Plugin mocap_pose_estimate initialized
[ INFO] [1667362188.681080608]: Plugin mount_control loaded
[ WARN] [1667362188.684345912]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1667362188.684565312]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1667362188.684806016]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1667362188.685435956]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1667362188.685699185]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1667362188.685730023]: Plugin mount_control initialized
[ INFO] [1667362188.685779689]: Plugin nav_controller_output loaded
[ INFO] [1667362188.686013460]: Plugin nav_controller_output initialized
[ INFO] [1667362188.686050927]: Plugin obstacle_distance loaded
[ INFO] [1667362188.688123799]: Plugin obstacle_distance initialized
[ INFO] [1667362188.688165992]: Plugin odom loaded
[ INFO] [1667362188.690787549]: Plugin odom initialized
[ INFO] [1667362188.690842467]: Plugin onboard_computer_status loaded
[ INFO] [1667362188.692375036]: Plugin onboard_computer_status initialized
[ INFO] [1667362188.692428242]: Plugin param loaded
[ INFO] [1667362188.694107341]: Plugin param initialized
[ INFO] [1667362188.694154091]: Plugin play_tune loaded
[ INFO] [1667362188.694892615]: Plugin play_tune initialized
[ INFO] [1667362188.694938786]: Plugin px4flow loaded
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
[ INFO] [1667362188.697035873]: Plugin px4flow initialized
[ INFO] [1667362188.697095241]: Plugin rallypoint loaded
[ INFO] [1667362188.698069651]: Plugin rallypoint initialized
[ INFO] [1667362188.698091959]: Plugin rangefinder blacklisted
[ INFO] [1667362188.698145419]: Plugin rc_io loaded
[ INFO] [1667362188.699243070]: Plugin rc_io initialized
[ INFO] [1667362188.699261012]: Plugin safety_area blacklisted
[ INFO] [1667362188.699305640]: Plugin setpoint_accel loaded
[ INFO] [1667362188.700554293]: Plugin setpoint_accel initialized
[ INFO] [1667362188.700608161]: Plugin setpoint_attitude loaded
[ INFO] [1667362188.703287658]: Plugin setpoint_attitude initialized
[ INFO] [1667362188.703361627]: Plugin setpoint_position loaded
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
[ INFO] [1667362188.709466211]: Plugin setpoint_position initialized
[ INFO] [1667362188.709543743]: Plugin setpoint_raw loaded
[ INFO] [1667362188.713363259]: Plugin setpoint_raw initialized
[ INFO] [1667362188.713442666]: Plugin setpoint_trajectory loaded
[ INFO] [1667362188.715374476]: Plugin setpoint_trajectory initialized
[ INFO] [1667362188.715431419]: Plugin setpoint_velocity loaded
[ INFO] [1667362188.717271892]: Plugin setpoint_velocity initialized
[ INFO] [1667362188.717338914]: Plugin sys_status loaded
[ INFO] [1667362188.720848198]: Plugin sys_status initialized
[ INFO] [1667362188.720912132]: Plugin sys_time loaded
[ INFO] [1667362188.722461164]: TM: Timesync mode: MAVLINK
[ INFO] [1667362188.722700208]: TM: Not publishing sim time
[ INFO] [1667362188.723277242]: Plugin sys_time initialized
[ INFO] [1667362188.723346398]: Plugin terrain loaded
[ INFO] [1667362188.723609929]: Plugin terrain initialized
[ INFO] [1667362188.723664875]: Plugin trajectory loaded
[ INFO] [1667362188.725942585]: Plugin trajectory initialized
[ INFO] [1667362188.726011008]: Plugin tunnel loaded
[ INFO] [1667362188.727130212]: Plugin tunnel initialized
[ INFO] [1667362188.727191696]: Plugin vfr_hud loaded
[ INFO] [1667362188.727434241]: Plugin vfr_hud initialized
[ INFO] [1667362188.727457928]: Plugin vibration blacklisted
[ INFO] [1667362188.727508221]: Plugin vision_pose_estimate loaded
[ INFO] [1667362188.731110335]: Plugin vision_pose_estimate initialized
[ INFO] [1667362188.731203078]: Plugin vision_speed_estimate loaded
[ INFO] [1667362188.732761521]: Plugin vision_speed_estimate initialized
[ INFO] [1667362188.732869731]: Plugin waypoint loaded
[ INFO] [1667362188.734899631]: Plugin waypoint initialized
[ INFO] [1667362188.734921335]: Plugin wheel_odometry blacklisted
[ INFO] [1667362188.734992387]: Plugin wind_estimation loaded
[ INFO] [1667362188.735294799]: Plugin wind_estimation initialized
[ INFO] [1667362188.735357930]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1667362188.735386364]: Built-in MAVLink package version: 2022.8.8
[ INFO] [1667362188.735408068]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1667362188.735420628]: MAVROS started. MY ID 1.240, TARGET ID 1.1
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
[ INFO] [1667362188.836690650]: Finished loading Gazebo ROS API Plugin.
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
[ INFO] [1667362188.838849481]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2022-11-02/04_09_48.ulg
INFO  [logger] Opened full log file: ./log/2022-11-02/04_09_48.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh> [ INFO] [1667362188.919333959]: udp0: Remote address: 127.0.0.1:14580
INFO  [mavlink] partner IP: 127.0.0.1
[gazebo-2] process has died [pid 32336, exit code 255, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/jeon/challenge/src/KVRC2022/main_code/../gazebo_map_for_khnp/season2/practice.world __name:=gazebo __log:=/home/jeon/.ros/log/a86888f6-5a62-11ed-b7b7-705dccff1928/gazebo-2.log].
log file: /home/jeon/.ros/log/a86888f6-5a62-11ed-b7b7-705dccff1928/gazebo-2*.log
[INFO] [1667362189.202867, 0.000000]: Loading model XML from file /home/jeon/challenge/src/KVRC2022/main_code/../gazebo_map_for_khnp/season2/iris_khnp_sensors/iris_khnp_sensors.sdf
[INFO] [1667362189.203483, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1667362189.819375054]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1667362190.825588737]: GF: Using MISSION_ITEM_INT
[ INFO] [1667362190.825617935]: RP: Using MISSION_ITEM_INT
[ INFO] [1667362190.825640596]: WP: Using MISSION_ITEM_INT
[ INFO] [1667362190.825660715]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1667362190.825680490]: VER: 1.1: Flight software:     010c0000 (96c7fe4978000000)
[ INFO] [1667362190.825697946]: VER: 1.1: Middleware software: 010c0000 (96c7fe4978000000)
[ INFO] [1667362190.825713221]: VER: 1.1: OS software:         050400ff (405cfa2571ab9eee)
[ INFO] [1667362190.825729177]: VER: 1.1: Board hardware:      00000001
[ INFO] [1667362190.825743253]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1667362190.825757814]: VER: 1.1: UID:                 4954414c44494e4f
ERROR [ekf2] start failed (-1)
engcang commented 2 years ago

Hi @JeonHyeongJunKW . Sorry for late I just checked the issue. I am pretty sure this is because your GAZEBO_MODEL_PATH is somewhat wrong in your .bashrc Can you attach your ~/.bashrc file here?

It should be like:

....

source ~/khnp_ws/devel/setup.bash # order is important, workspace's setup.bash should be ahead of ROS_PACKAGE_PATH

export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/home/mason/PX4-Autopilot/build/px4_sitl_default/build_gazebo
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/mason/khnp_ws/src/KVRC2022/gazebo_map_for_khnp/season2:/home/mason/PX4-Autopilot/Tools/sitl_gazebo/models
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/mason/PX4-Autopilot/build/px4_sitl_default/build_gazebo
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/mason/PX4-Autopilot:/home/mason/PX4-Autopilot/Tools/sitl_gazebo # order is important, workspace's setup.bash should be ahead of ROS_PACKAGE_PATH

....
engcang commented 2 years ago

And can you also tell me where you cloned this repository?

JeonHyeongJunKW commented 2 years ago

Thank you for your detailed reply. I installed it yesterday and checked it again today, and it worked normally. I think the computer needs to reboot after installing the related package(In my case, this repository, Gazebo, PX4-SITL, mavros).

Our computer environment is as follows

my "~/.bashrc" file is writen as 

source /home/jeon/challenge/devel/setup.bash

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/jeon/challenge/src/KVRC2022/gazebo_map_for_khnp/season2:/home/jeon/PX4-Autopilot/Tools/sitl_gazebo/models
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/home/jeon/PX4-Autopilot/build/px4_sitl_default/build_gazebo
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/jeon/PX4-Autopilot/build/px4_sitl_default/build_gazebo
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/jeon/PX4-Autopilot:/home/jeon/PX4-Autopilot/Tools/sitl_gazebo