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ctu-mrs / mrs_uav_system

The entry point to the MRS UAV system.
https://ctu-mrs.github.io/
BSD 3-Clause "New" or "Revised" License
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Question about seminar task. Fails to launch control manager #79

Closed MvdB123 closed 3 years ago

MvdB123 commented 3 years ago

I try to launch the seminar task from mtsp_state_machine/tmux/test/start.sh. Something is going wrong in the control manager.

I added to the following to the world.yaml as control was complaining it was missing some obligatory parameters:

init_gps_origin_local: false
init_gps_offset_x: 0.0 # initial position of UAV relative to gps_origin when init_gps_origin_local is enabled
init_gps_offset_y: 0.0 # initial position of UAV relative to gps_origin when init_gps_origin_local is enabled

I have seen this error passing by. Should I follow the setup for px4, also when running in simulation? Any tips on how to go through the setup when you do not own a px4? (https://github.com/ctu-mrs/ctu-mrs.github.io/blob/cf749f60de12277e143c17e4f0f4b45f2b66305a/docs/hardware/px4_configuration.md)

[ERROR] [1621403825.181926215, 11.276000000]: [ControlManager]: Not recieving Mavros state message for '0.052 s'! Setup the PixHawk SD card!!

Other than having seen this error there are warning messages from which I cannot determine where to start debugging. Any ideas? I will post some of the warnings here.

[ WARN] [1621402964.653864120, 11.196000000]: [Odometry]: estimator: HEIGHT measurement: height_range fusing: true
[ WARN] [1621402964.653886180, 11.196000000]: [Odometry]: estimator: HEIGHT measurement: height_sonar fusing: false
[ WARN] [1621402964.653903886, 11.196000000]: [Odometry]: estimator: HEIGHT measurement: height_plane fusing: false
[ WARN] [1621402964.653920388, 11.196000000]: [Odometry]: estimator: HEIGHT measurement: height_brick fusing: false
[ WARN] [1621402964.653935114, 11.196000000]: [Odometry]: estimator: HEIGHT measurement: height_vio fusing: false
[ WARN] [1621402964.653951354, 11.196000000]: [Odometry]: estimator: HEIGHT measurement: height_aloam fusing: false
[ WARN] [1621402964.653967458, 11.196000000]: [Odometry]: estimator: HEIGHT measurement: height_liosam fusing: false
[ WARN] [1621402964.653985925, 11.196000000]: [Odometry]: estimator: HEIGHT measurement: height_baro fusing: false
[ WARN] [1621402964.654003074, 11.196000000]: [Odometry]: estimator: HEIGHT measurement: height_rtk fusing: false
[ WARN] [1621402964.654017587, 11.196000000]: [Odometry]: estimator: HEIGHT measurement: vel_baro fusing: true
[ WARN] [1621402964.654031718, 11.196000000]: [Odometry]: estimator: HEIGHT measurement: vel_vio fusing: false
[ WARN] [1621402964.654048045, 11.196000000]: [Odometry]: estimator: HEIGHT measurement: vel_liosam_z fusing: false
[ WARN] [1621402964.654063196, 11.196000000]: [Odometry]: estimator: HEIGHT measurement: acc_imu fusing: false
[ WARN] [1621402964.770997569, 11.312000000]: [Odometry]: Transition to PIXHAWK heading estimator successful
[ INFO] [1621402964.771038107, 11.312000000]: [Odometry]: finished hdg switch
[ INFO] [1621402964.771064229, 11.312000000]: [Odometry]: Changing altitude estimator to HEIGHT. (desired_estimator: HEIGHT)
[ WARN] [1621402964.771107373, 11.312000000]: [Odometry]: Transition to HEIGHT altitude estimator successful
[ WARN] [1621402964.771153299, 11.312000000]: [Odometry]: control manager diagnostics not available
[ WARN] [1621402964.771189220, 11.312000000]: [Odometry]: Setting max_altitude to 6.00
[ WARN] [1621402964.771231290, 11.312000000]: [Odometry]: Transition to GPS state estimator successful 

[ WARN] [1621403825.258424400, 11.352000000]: [ControlManager]: missing TFs, can not publish safety area markers  
[ WARN] [1621403825.320828666, 11.412000000]: [Odometry]: Transition to PIXHAWK heading estimator successful                                                                                                
[ INFO] [1621403825.320853950, 11.412000000]: [Odometry]: finished hdg switch                                                                                                                               
[ INFO] [1621403825.320882860, 11.412000000]: [Odometry]: Changing altitude estimator to HEIGHT. (desired_estimator: HEIGHT)                                                                                
[ WARN] [1621403825.320941533, 11.412000000]: [Odometry]: Transition to HEIGHT altitude estimator successful                                                                                                
[ WARN] [1621403825.320993015, 11.412000000]: [Odometry]: control manager diagnostics not available                                                                                                         
[ WARN] [1621403825.321031510, 11.412000000]: [Odometry]: Setting max_altitude to 6.00                                                                                                                      
[ WARN] [1621403825.321094762, 11.412000000]: [Odometry]: Transition to GPS state estimator successful  
[ WARN] [1621403825.408741687, 11.500000000]: [Odometry] Last attitude command too old, passing zero input to altitude estimator.                                                                           
[ WARN] [1621403825.408794500, 11.500000000]: [/uav1/uav1_nodelet_manager]: TF_REPEATED_DATA ignoring data with redundant timestamp. Transform from frame 'uav1/fcu' to frame 'uav1/fcu_untilted'           
[ WARN] [1621403825.408833898, 11.500000000]: [Odometry]: ALOAMGARM/ALOAMREP active, but not received aloam odom yet. Skipping altitude prediction until aloam odom starts coming.                          
[ WARN] [1621403825.408889963, 11.500000000]: [Odometry] Last attitude command too old, passing zero input to heading estimator.                                                                            
[ WARN] [1621403825.408937994, 11.500000000]: [Odometry] Last attitude command too old, passing zero input to state estimator.                                                                              
[ WARN] [1621403825.408977960, 11.500000000]: [ControlManager]: Transformer: could not resolve an empty frame_id, missing the current control frame (are you calling the setCurrentControlFrame()?)         
[ INFO] [1621403825.409034715, 11.500000000]: [Odometry]: Prediction step of all state estimators running.                                                                                                  
[ INFO] [1621403825.409065948, 11.500000000]: [Odometry]: Waiting for altitude data from sensors - received? pixhawk: TRUE, ranger: FALSE                                                                   
[ WARN] [1621403825.409099778, 11.500000000]: [ControlManager]: the reference could not be transformed  
[ WARN] [1621403825.530023809, 11.624000000]: [ConstraintManager]: the current constraints '' are not within the allowed constraints for 'GPS'