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beomsu7 / Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors
GNU General Public License v3.0
14 stars 2 forks source link

facing error while launch in gazebo #3

Closed EhrazImam closed 2 years ago

EhrazImam commented 2 years ago

enord@enord:~/PX4-Autopilot$ roslaunch plan_manage px4_sitl_kino_replan.launch

... logging to /home/enord/.ros/log/85e76976-3346-11ec-96d8-706655b11773/roslaunch-enord-32093.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://192.168.177.94:36487/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / camera_link_base_link (tf/static_transform_publisher) fast_planner_node (plan_manage/fast_planner_node) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) mavros (mavros/mavros_node) robot_state_publisher (robot_state_publisher/state_publisher) rvizvisualisation (rviz/rviz) sitl (px4/px4) traj_msg_converter (plan_manage/trajectory_msg_converter_raw.py) traj_server (plan_manage/traj_server) vehicle_spawn_enord_32093_2826947510407897450 (gazebo_ros/spawn_model) waypoint_generator (waypoint_generator/waypoint_generator)

ROS_MASTER_URI=http://localhost:11311

process[fast_planner_node-1]: started with pid [32117] process[traj_server-2]: started with pid [32118] process[waypoint_generator-3]: started with pid [32120] ERROR: cannot launch node of type [plan_manage/trajectory_msg_converter_raw.py]: Cannot locate node of type [trajectory_msg_converter_raw.py] in package [plan_manage]. Make sure file exists in package path and permission is set to executable (chmod +x) process[rvizvisualisation-5]: started with pid [32209] process[robot_state_publisher-6]: started with pid [32210] [ WARN] [1634914760.374593207]: The 'state_publisher' executable is deprecated. Please use 'robot_statepublisher' instead hit: 0.619039 miss: -0.619039 min log: -1.99243 max: 2.19722 thresh log: 1.38629 origin: -20 -10 -1 map size: 40 20 5 process[sitl-7]: started with pid [399] Creating symlink /home/enord/PX4-Autopilot/build/px4_sitl_default/etc -> /home/enord/.ros/etc

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

px4 starting.

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0 process[gazebo-8]: started with pid [450] ERROR [init] Unknown model iris_depth_camera (not found by name on /home/enord/.ros/etc/init.d-posix/airframes) ERROR [px4] Startup script returned with return value: 256 process[gazebo_gui-9]: started with pid [469] ================================================================================REQUIRED process [sitl-7] has died! process has died [pid 399, exit code 255, cmd /home/enord/PX4-Autopilot/build/px4_sitl_default/bin/px4 /home/enord/PX4-Autopilot/build/px4_sitl_default/etc -s etc/init.d-posix/rcS name:=sitl log:=/home/enord/.ros/log/85e76976-3346-11ec-96d8-706655b11773/sitl-7.log]. log file: /home/enord/.ros/log/85e76976-3346-11ec-96d8-706655b11773/sitl-7*.log Initiating shutdown!

RLException: cannot add process [vehicle_spawn_enord_32093_2826947510407897450-10] after process monitor has been shut down The traceback for the exception was written to the log file [gazebo_gui-9] killing on exit [gazebo-8] killing on exit [sitl-7] killing on exit Traceback (most recent call last): File "/opt/ros/melodic/bin/catkin_find", line 12, in from catkin.find_in_workspaces import find_in_workspaces # noqa: E402 File "/opt/ros/melodic/lib/python2.7/dist-packages/catkin/find_in_workspaces.py", line 39, in Traceback (most recent call last): File "/opt/ros/melodic/bin/catkin_find", line 12, in from catkin.find_in_workspaces import find_in_workspaces # noqa: E402 File "/opt/ros/melodic/lib/python2.7/dist-packages/catkin/find_in_workspaces.py", line 39, in [robot_state_publisher-6] killing on exit from catkin_pkg.packages import find_packages from catkin_pkg.packages import find_packages File "/usr/lib/python2.7/dist-packages/catkin_pkg/packages.py", line 38, in File "/usr/lib/python2.7/dist-packages/catkin_pkg/packages.py", line 38, in from .package import _get_package_xml File "/usr/lib/python2.7/dist-packages/catkin_pkg/package.py", line 43, in from .package import _get_package_xml File "/usr/lib/python2.7/dist-packages/catkin_pkg/package.py", line 43, in from catkin_pkg.condition import evaluate_condition File "/usr/lib/python2.7/dist-packages/catkin_pkg/condition.py", line 17, in from catkin_pkg.condition import evaluate_condition File "/usr/lib/python2.7/dist-packages/catkin_pkg/condition.py", line 17, in import pyparsing as pp File "/usr/lib/python2.7/dist-packages/pyparsing.py", line 5377, in import pyparsing as pp File "/usr/lib/python2.7/dist-packages/pyparsing.py", line 5342, in [waypoint_generator-3] killing on exit class pyparsing_common: File "/usr/lib/python2.7/dist-packages/pyparsing.py", line 5564, in pyparsingcommon anyOpenTag,anyCloseTag = makeHTMLTags(Word(alphas,alphanums+":").setName('any tag')) File "/usr/lib/python2.7/dist-packages/pyparsing.py", line 2681, in init self.re = re.compile( self.reString ) File "/usr/lib/python2.7/re.py", line 194, in compile return _compile(pattern, flags) File "/usr/lib/python2.7/re.py", line 249, in _compile p = sre_compile.compile(pattern, flags) File "/usr/lib/python2.7/sre_compile.py", line 572, in compile ipv6_address = Combine((_full_ipv6_address | _mixed_ipv6_address | _short_ipv6_address).setName("IPv6 address")).setName("IPv6 address") File "/usr/lib/python2.7/dist-packages/pyparsing.py", line 4233, in init p = sre_parse.parse(p, flags) File "/usr/lib/python2.7/sre_parse.py", line 735, in parse p = _parse_sub(source, pattern, 0) File "/usr/lib/python2.7/sre_parse.py", line 343, in _parse_sub itemsappend(_parse(source, state, nested + 1)) File "/usr/lib/python2.7/sre_parse.py", line 462, in _parse if this == "]" and set != start: KeyboardInterrupt self.leaveWhitespace() File "/usr/lib/python2.7/dist-packages/pyparsing.py", line 3725, in leaveWhitespace self.expr.leaveWhitespace() File "/usr/lib/python2.7/dist-packages/pyparsing.py", line 3272, in leaveWhitespace e.leaveWhitespace() File "/usr/lib/python2.7/dist-packages/pyparsing.py", line 3270, in leaveWhitespace self.exprs = [ e.copy() for e in self.exprs ] File "/usr/lib/python2.7/dist-packages/pyparsing.py", line 3343, in copy ret.exprs = [e.copy() for e in self.exprs] File "/usr/lib/python2.7/dist-packages/pyparsing.py", line 3343, in copy ret.exprs = [e.copy() for e in self.exprs] File "/usr/lib/python2.7/dist-packages/pyparsing.py", line 3343, in copy ret.exprs = [e.copy() for e in self.exprs] File "/usr/lib/python2.7/dist-packages/pyparsing.py", line 1160, in copy cpy = copy.copy( self ) File "/usr/lib/python2.7/copy.py", line 88, in copy rv = reductor(2) KeyboardInterrupt [rvizvisualisation-5] killing on exit

beomsu7 commented 2 years ago

You need to check the setting parts the drone model with depth camera is not set properly in PX4-autopilot default repository

EhrazImam commented 2 years ago

i need your help in my project its similar to fast planner I dont wanna use T265 camera i wanna use it orignal Fast Planner

beomsu7 commented 2 years ago

Mayb HKUST used VINS, then you cans use VINS for localization

EhrazImam commented 2 years ago

for localization we can use SLAM too ??

beomsu7 commented 2 years ago

That Fast planner is planner that create the trajectory and before using planner, your system's localization would be robust You can use slam for localization and you need to find specific system for your hardware

EhrazImam commented 2 years ago

Hi @beomsu7 as in the launch file you have used "/mavros/local_position/odom" on the place of VIO and "/mavros/local_position/pose" on the place of camera pose...im getting that topics by my FLIGHT CONTROLLER can i use it on both places??

beomsu7 commented 2 years ago

Yes, you can change the launch file and rematch the topic

EhrazImam commented 2 years ago

Hi @beomsu7 whenever i am running launch file i am getting same error again and again

enord@enord:~/PX4-Autopilot$ roslaunch plan_manage px4_sitl_kino_replan.launch ... logging to /home/enord/.ros/log/7f0ceb02-397d-11ec-8fec-706655b11773/roslaunch-enord-6242.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.

Resource not found: mavros ROS path [0]=/opt/ros/melodic/share/ros ROS path [1]=/home/enord/beo_ws/src/Fast-Planner/fast_planner/plan_env ROS path [2]=/home/enord/beo_ws/src/Fast-Planner/fast_planner/bspline ROS path [3]=/home/enord/beo_ws/src/Fast-Planner/fast_planner/bspline_opt ROS path [4]=/home/enord/beo_ws/src/Fast-Planner/fast_planner/path_searching ROS path [5]=/home/enord/beo_ws/src/Fast-Planner/fast_planner/poly_traj ROS path [6]=/home/enord/beo_ws/src/Fast-Planner/uav_simulator/Utils/quadrotor_msgs ROS path [7]=/home/enord/beo_ws/src/Fast-Planner/uav_simulator/Utils/testbot_description ROS path [8]=/home/enord/beo_ws/src/Fast-Planner/fast_planner/traj_utils ROS path [9]=/home/enord/beo_ws/src/Fast-Planner/fast_planner/plan_manage ROS path [10]=/home/enord/beo_ws/src/Fast-Planner/uav_simulator/Utils/waypoint_generator ROS path [11]=/opt/ros/melodic/share ROS path [12]=/home/enord/PX4-Autopilot ROS path [13]=/home/enord/PX4-Autopilot/Tools/sitl_gazebo The traceback for the exception was written to the log file

EhrazImam commented 2 years ago

i just followed all your steps

beomsu7 commented 2 years ago

Umm I think you need to check the error You need mavros package

EhrazImam commented 2 years ago

Hi @beomsu7 can you just help how can we make it fly in real world as i have given the depth as well as odom what can i do to make it fly in real world. Thhankuh