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ethz-asl / mav_control_rw

Control strategies for rotary wing Micro Aerial Vehicles using ROS
Apache License 2.0
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Error: process has died [pid 22759, exit code -11, cmd devel/lib/mav_linear_mpc/mav_linear_mpc_node odometry:=ground_truth/odometry #45

Open Amir-Ramezani opened 3 years ago

Amir-Ramezani commented 3 years ago

Hi,

I am facing this error:

process[hummingbird/mav_linear_mpc-1]: started with pid [22759]
[ INFO] [1618838511.976781472]: start initializing mav_disturbance_observer:KF
[ INFO] [1618838511.982472661]: mav_disturbance_observer:KF dynamic config is called successfully
[ INFO] [1618838512.089732276]: KF parameters loaded successfully
[ INFO] [1618838512.091881717]: state_covariance_: 
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] [1618838512.092414855]: Kalman Filter Initialized!
[ INFO] [1618838512.152031754]: Linear MPC: Steady State calculation is initialized correctly
[ INFO] [1618838512.152621132]: A: 
         1          0          0    0.09995          0          0          0  0.0426219
         0          1          0          0    0.09995          0 -0.0417737          0
         0          0          1          0          0        0.1          0          0
         0          0          0      0.999          0          0          0   0.794857
         0          0          0          0      0.999          0  -0.771302          0
         0          0          0          0          0          1          0          0
         0          0          0          0          0          0   0.606531          0
         0          0          0          0          0          0          0   0.647405
[ INFO] [1618838512.152912682]: B: 
          0  0.00542006           0
-0.00606806           0           0
          0           0     0.00495
          0    0.157882           0
  -0.175898           0           0
          0           0         0.1
   0.335286           0           0
          0    0.303891           0
[ INFO] [1618838512.153121789]: B_d: 
0.00494836          0          0
         0 0.00494836          0
         0          0    0.00495
 0.0999505          0          0
         0  0.0999505          0
         0          0        0.1
         0          0          0
         0          0          0
[ INFO] [1618838512.153471097]: Linear MPC: initialized correctly
[ INFO] [1618838512.385890028]: Linear MPC: Tuning parameters updated...
[ INFO] [1618838512.386254503]: diag(Q) = 
40 40 60 20 20 25 20 20
[ INFO] [1618838512.386620070]: diag(R) = 
35 35  2
[ INFO] [1618838512.387137912]: diag(R_delta) = 
    0.3    0.3 0.0025
[ INFO] [1618838512.388042858]: Q_final = 
  426.97        0        0  106.425        0        0        0  102.467
       0  422.018        0        0  101.431        0  -90.394        0
       0        0  563.584        0        0   111.51        0        0
 106.425        0        0  107.637        0        0        0  101.807
       0  101.431        0        0  102.542        0 -88.5021        0
       0        0   111.51        0        0  111.486        0        0
       0  -90.394        0        0 -88.5021        0   134.11        0
 102.467        0        0  101.807        0        0        0  164.115
[ INFO] [1618838512.627594266]: Created control interface for controller linear_model_predictive_controller and RC ACI rc interface
[hummingbird/mav_linear_mpc-1] process has died [pid 22759, exit code -11, cmd /home/ubuntu/catkin_ethz_controller_ws/devel/lib/mav_linear_mpc/mav_linear_mpc_node odometry:=ground_truth/odometry __name:=mav_linear_mpc __log:=/home/ubuntu/.ros/log/0f0fe9de-a112-11eb-9a83-95eaa68aef5f/hummingbird-mav_linear_mpc-1.log].
log file: /home/ubuntu/.ros/log/0f0fe9de-a112-11eb-9a83-95eaa68aef5f/hummingbird-mav_linear_mpc-1*.log
[hummingbird/mav_linear_mpc-1] restarting process

while running: roslaunch mav_linear_mpc mav_linear_mpc.launcnamespace:=hummingbird

Details: I am running this code repo on a raspberri pi 4. I wrote a C++ code to receive the attitude data from High Level processor and send motor speeds to the high level processor using serial port. Then fused the attitude with position data getting from VICON to generate odometry and publishing it on /hummingbird/ground_truth/odometry, also a Joy message for /hummingbird/rc topic. This error happens either when the RC is 'on' (setting rc[0]=1) or when I try to send point to /hummingbird/command/pose.

I guess the problem comes when the code wants to start the 'statemachine' but I am not sure how.