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beltransen / velo2cam_gazebo

Repository including Gazebo models, plugins and worlds to test calibration algorithms for Lidar-camera setups.
http://wiki.ros.org/velo2cam_gazebo
GNU General Public License v2.0
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PX4 with velodyne-vlp16 #17

Open kashifzr opened 10 months ago

kashifzr commented 10 months ago

HI I am trying velodyne-vlp16 with iris drone in PX4 Autopilot for 3D environment, But i am not unable resolve the issue on shell while run my mavros_posix_sitl.launch file given in PX4. Can you guide me how to add Velodyne-VLP16 on iris. the out put

OS = noetic and Ubuntu 20.04

roslaunch mavros_posix_sitl.launch vehicle:=velodyne_vlp16 ... logging to /home/rob-kkj/.ros/log/8f2c7834-52e6-11ee-aeeb-03152963aacc/roslaunch-robkkj-System-Product-Name-19042.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.

started roslaunch server http://robkkj-System-Product-Name:34331/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) mavros (mavros/mavros_node) sitl (px4/px4) vehicle_spawn_robkkj_System_Product_Name_19042_4356956176121904559 (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [19065] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8f2c7834-52e6-11ee-aeeb-03152963aacc process[rosout-1]: started with pid [19096] started core service [/rosout] process[sitl-2]: started with pid [19104]

| \ \ \ / / / | | |/ / \ V / / /| | | / / \ / /_| | | | / /^\ \ __ | _| \/ \/ |/

px4 starting.

INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0 process[gazebo-3]: started with pid [19115] ERROR [init] Unknown model gazebo-classic_velodyne_vlp16 (not found by name on /home/rob-kkj/.ros/etc/init.d-posix/airframes) ERROR [px4] Startup script returned with return value: 256 process[gazebo_gui-4]: started with pid [19124] process[vehicle_spawn_robkkj_System_Product_Name_19042_4356956176121904559-5]: started with pid [19130] process[mavros-6]: started with pid [19131] ================================================================================REQUIRED process [sitl-2] has died! process has died [pid 19104, exit code 255, cmd /home/rob-kkj/home/PX4/Firmware/build/px4_sitl_default/bin/px4 /home/rob-kkj/home/PX4/Firmware/build/px4_sitl_default/etc -s etc/init.d-posix/rcS name:=sitl log:=/home/rob-kkj/.ros/log/8f2c7834-52e6-11ee-aeeb-03152963aacc/sitl-2.log]. log file: /home/rob-kkj/.ros/log/8f2c7834-52e6-11ee-aeeb-03152963aacc/sitl-2*.log Initiating shutdown!

[ INFO] [1694686069.924101894]: FCU URL: udp://:14540@localhost:14557 [ INFO] [1694686069.925828657]: udp0: Bind address: 0.0.0.0:14540 [ INFO] [1694686069.925896403]: udp0: Remote address: 127.0.0.1:14557 [ INFO] [1694686069.925939705]: GCS bridge disabled [ INFO] [1694686069.932532191]: Plugin 3dr_radio loaded [ INFO] [1694686069.933471839]: Plugin 3dr_radio initialized [ INFO] [1694686069.933538189]: Plugin actuator_control loaded [ INFO] [1694686069.934951992]: Plugin actuator_control initialized [ INFO] [1694686069.937796080]: Plugin adsb loaded [ INFO] [1694686069.939256537]: Plugin adsb initialized [ INFO] [1694686069.939342442]: Plugin altitude loaded [ INFO] [1694686069.939805422]: Plugin altitude initialized [ INFO] [1694686069.939885600]: Plugin cam_imu_sync loaded [ INFO] [1694686069.940179913]: Plugin cam_imu_sync initialized [ INFO] [1694686069.940244237]: Plugin camera loaded [ INFO] [1694686069.940530936]: Plugin camera initialized [ INFO] [1694686069.940596937]: Plugin cellular_status loaded [ INFO] [1694686069.941739265]: Plugin cellular_status initialized [ INFO] [1694686069.941816021]: Plugin command loaded [ INFO] [1694686069.944775418]: Plugin command initialized [ INFO] [1694686069.944841488]: Plugin companion_process_status loaded [ INFO] [1694686069.945975646]: Plugin companion_process_status initialized [ INFO] [1694686069.946040039]: Plugin debug_value loaded [ INFO] [1694686069.948397472]: Plugin debug_value initialized [ INFO] [1694686069.948421497]: Plugin distance_sensor blacklisted [ INFO] [1694686069.948478628]: Plugin esc_status loaded [ INFO] [1694686069.949013475]: Plugin esc_status initialized [ INFO] [1694686069.949074516]: Plugin esc_telemetry loaded [ INFO] [1694686069.949363870]: Plugin esc_telemetry initialized [ INFO] [1694686069.949431546]: Plugin fake_gps loaded [ INFO] [1694686069.956866181]: Plugin fake_gps initialized [ INFO] [1694686069.956981979]: Plugin ftp loaded [ INFO] [1694686069.972316604]: Plugin ftp initialized [ INFO] [1694686069.972437779]: Plugin geofence loaded [ INFO] [1694686069.974035894]: Plugin geofence initialized [ INFO] [1694686069.974129551]: Plugin global_position loaded [ INFO] [1694686069.981790613]: Plugin global_position initialized [ INFO] [1694686069.981884061]: Plugin gps_input loaded [ INFO] [1694686069.983250371]: Plugin gps_input initialized [ INFO] [1694686069.983326778]: Plugin gps_rtk loaded [ INFO] [1694686069.984838499]: Plugin gps_rtk initialized [ INFO] [1694686069.984914766]: Plugin gps_status loaded [ INFO] [1694686069.986151660]: Plugin gps_status initialized [ INFO] [1694686069.986234772]: Plugin guided_target loaded [ INFO] [1694686069.988051141]: Plugin guided_target initialized [ INFO] [1694686069.988109599]: Plugin hil loaded [mavros-6] killing on exit [vehicle_spawn_robkkj_System_Product_Name_19042_4356956176121904559-5] killing on exit Traceback (most recent call last): File "/opt/ros/noetic/lib/gazebo_ros/spawn_model", line 20, in import rospy File "/opt/ros/noetic/lib/python3/dist-packages/rospy/init.py", line 49, in from .client import spin, myargv, init_node, \ File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 41, in import socket File "/usr/lib/python3.8/socket.py", line 49, in [gazebo_gui-4] killing on exit [gazebo-3] killing on exit [sitl-2] killing on exit import _socket File "", line 991, in _find_and_load File "", line 971, in _find_and_load_unlocked KeyboardInterrupt [ INFO] [1694686069.992594266]: Plugin hil initialized [ INFO] [1694686069.992665714]: Plugin home_position loaded [ INFO] [1694686069.993882074]: Plugin home_position initialized [ INFO] [1694686069.993933198]: Plugin imu loaded [ INFO] [1694686069.996448263]: Plugin imu initialized [ INFO] [1694686069.996493521]: Plugin landing_target loaded [ INFO] [1694686070.001373281]: Plugin landing_target initialized [ INFO] [1694686070.001440609]: Plugin local_position loaded [ INFO] [1694686070.003791127]: Plugin local_position initialized [ INFO] [1694686070.003854543]: Plugin log_transfer loaded [ INFO] [1694686070.004948611]: Plugin log_transfer initialized [ INFO] [1694686070.004993659]: Plugin mag_calibration_status loaded [ INFO] [1694686070.005362632]: Plugin mag_calibration_status initialized [ INFO] [1694686070.005412289]: Plugin manual_control loaded [ INFO] [1694686070.006398103]: Plugin manual_control initialized [ INFO] [1694686070.006453417]: Plugin mocap_pose_estimate loaded [ INFO] [1694686070.007735080]: Plugin mocap_pose_estimate initialized [ INFO] [1694686070.007778591]: Plugin mount_control loaded [ WARN] [1694686070.009685266]: Could not retrive negate_measured_roll parameter value, using default (0) [ WARN] [1694686070.009835216]: Could not retrive negate_measured_pitch parameter value, using default (0) [ WARN] [1694686070.009978601]: Could not retrive negate_measured_yaw parameter value, using default (0) [ WARN] [1694686070.010492076]: Could not retrive debounce_s parameter value, using default (4.000000) [ WARN] [1694686070.010629385]: Could not retrive err_threshold_deg parameter value, using default (10.000000) [ INFO] [1694686070.010651664]: Plugin mount_control initialized [ INFO] [1694686070.010705023]: Plugin nav_controller_output loaded [ INFO] [1694686070.010944650]: Plugin nav_controller_output initialized [ INFO] [1694686070.010999475]: Plugin obstacle_distance loaded [ INFO] [1694686070.011979213]: Plugin obstacle_distance initialized [ INFO] [1694686070.012023003]: Plugin odom loaded [ INFO] [1694686070.013505600]: Plugin odom initialized [ INFO] [1694686070.013554699]: Plugin onboard_computer_status loaded [ INFO] [1694686070.014375617]: Plugin onboard_computer_status initialized [ INFO] [1694686070.014424576]: Plugin param loaded [ INFO] [1694686070.015329443]: Plugin param initialized [ INFO] [1694686070.015370510]: Plugin play_tune loaded [ INFO] [1694686070.016199949]: Plugin play_tune initialized [ INFO] [1694686070.016246603]: Plugin px4flow loaded [ INFO] [1694686070.018581406]: Plugin px4flow initialized [ INFO] [1694686070.018634905]: Plugin rallypoint loaded [ INFO] [1694686070.019607798]: Plugin rallypoint initialized [ INFO] [1694686070.019621766]: Plugin rangefinder blacklisted [ INFO] [1694686070.019669329]: Plugin rc_io loaded [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done