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generalized-intelligence / GAAS

GAAS is an open-source program designed for fully autonomous VTOL(a.k.a flying cars) and drones. GAAS stands for Generalized Autonomy Aviation System.
https://www.gaas.dev
BSD 3-Clause "New" or "Revised" License
1.94k stars 445 forks source link

roslaunch px4 sfm.launch cannot connect #27

Closed YCH188 closed 5 years ago

YCH188 commented 5 years ago

I'm using Ubuntu16.04 Firmware 1.8.2 Gazebo 8.6 I have finished tutorial1 and the vehicle flyt well. But when I'm running roslaunch px4 sfm.launch. The /mavros/state is not connected. Could anyone help? Thanks a lot! The log is as below

... logging to /home/ubuntu/.ros/log/02ffe9d2-644c-11e9-a52f-00117f139124/roslaunch-ubuntu-OptiPlex-960-22008.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu-OptiPlex-960:40241/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /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/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /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: 0.000349065850399
 * /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/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/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/in/child_frame_id: base_link
 * /mavros/odometry/in/frame_id: odom
 * /mavros/odometry/in/frame_tf/body_frame_orientation: flu
 * /mavros/odometry/in/frame_tf/local_frame: local_origin_ned
 * /mavros/odometry/out/frame_tf/body_frame_orientation: frd
 * /mavros/odometry/out/frame_tf/local_frame: vision_ned
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682389136
 * /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: True
 * /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: map
 * /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: map
 * /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: map
 * /mavros/wheel_odometry/tf/send: True
 * /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: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    mavros (mavros/mavros_node)
    sitl (px4/px4)
    vehicle_spawn_ubuntu_OptiPlex_960_22008_624846013369977176 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [22018]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 02ffe9d2-644c-11e9-a52f-00117f139124
process[rosout-1]: started with pid [22031]
started core service [/rosout]
process[sitl-2]: started with pid [22056]
INFO  [px4] Creating symlink /home/ubuntu/src/Firmware/ROMFS/px4fmu_common -> /home/ubuntu/.ros/etc
0 WARNING: setRealtimeSched failed (not run as root?)

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
Error: Unknown model 'iris_stereo_rgb_gps'
ERROR [px4] Startup script returned with return value: 256
pxh> process[gazebo-3]: started with pid [22071]
process[gazebo_gui-4]: started with pid [22077]
process[vehicle_spawn_ubuntu_OptiPlex_960_22008_624846013369977176-5]: started with pid [22082]
process[mavros-6]: started with pid [22083]
[ INFO] [1555861325.677890440]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1555861325.680580998]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1555861325.680718819]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1555861325.680862400]: GCS bridge disabled
[ INFO] [1555861325.699145398]: Plugin 3dr_radio loaded
[ INFO] [1555861325.702414397]: Plugin 3dr_radio initialized
[ INFO] [1555861325.702566733]: Plugin actuator_control loaded
[ INFO] [1555861325.709205713]: Plugin actuator_control initialized
[ INFO] [1555861325.713901679]: Plugin adsb loaded
[ INFO] [1555861325.720854050]: Plugin adsb initialized
[ INFO] [1555861325.721073824]: Plugin altitude loaded
[ INFO] [1555861325.723355419]: Plugin altitude initialized
[ INFO] [1555861325.723554940]: Plugin cam_imu_sync loaded
[ INFO] [1555861325.724989550]: Plugin cam_imu_sync initialized
[ INFO] [1555861325.725201904]: Plugin command loaded
[ INFO] [1555861325.737526393]: Plugin command initialized
[ INFO] [1555861325.737744510]: Plugin companion_process_status loaded
[ INFO] [1555861325.743769517]: Plugin companion_process_status initialized
[ INFO] [1555861325.744045119]: Plugin debug_value loaded
[ INFO] [1555861325.757476528]: Plugin debug_value initialized
[ INFO] [1555861325.757546556]: Plugin distance_sensor blacklisted
[ INFO] [1555861325.757733120]: Plugin fake_gps loaded
[ INFO] [1555861325.807450383]: Plugin fake_gps initialized
[ INFO] [1555861325.807726067]: Plugin ftp loaded
[ INFO] [1555861325.833656964]: Plugin ftp initialized
[ INFO] [1555861325.834005743]: Plugin global_position loaded
Gazebo multi-robot simulator, version 8.6.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Wrn] [GuiIface.cc:196] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin 
[ INFO] [1555861325.869551630]: Plugin global_position initialized
[ INFO] [1555861325.869808408]: Plugin gps_rtk loaded
[ INFO] [1555861325.876294487]: Plugin gps_rtk initialized
[ INFO] [1555861325.876614224]: Plugin hil loaded
Gazebo multi-robot simulator, version 8.6.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[ INFO] [1555861325.905380652]: Plugin hil initialized
[ INFO] [1555861325.905725013]: Plugin home_position loaded
[ INFO] [1555861325.913355154]: Plugin home_position initialized
[ INFO] [1555861325.913623192]: Plugin imu loaded
[ INFO] [1555861325.929320953]: Plugin imu initialized
[ INFO] [1555861325.929572410]: Plugin local_position loaded
[ INFO] [1555861325.945138292]: Plugin local_position initialized
[ INFO] [1555861325.945374853]: Plugin log_transfer loaded
[ INFO] [1555861325.950422949]: Plugin log_transfer initialized
[ INFO] [1555861325.950771498]: Plugin manual_control loaded
[ INFO] [1555861325.957134880]: Plugin manual_control initialized
[ INFO] [1555861325.957358261]: Plugin mocap_pose_estimate loaded
[ INFO] [1555861325.965482037]: Plugin mocap_pose_estimate initialized
[ INFO] [1555861325.965749062]: Plugin obstacle_distance loaded
[ INFO] [1555861325.972642931]: Plugin obstacle_distance initialized
[ INFO] [1555861325.972913580]: Plugin odom loaded
[ INFO] [1555861325.987224724]: Plugin odom initialized
[ INFO] [1555861325.987588173]: Plugin param loaded
[ INFO] [1555861325.993349733]: Plugin param initialized
[ INFO] [1555861325.993574816]: Plugin px4flow loaded
[ INFO] [1555861326.010359216]: Plugin px4flow initialized
[ INFO] [1555861326.010434615]: Plugin rangefinder blacklisted
[ INFO] [1555861326.010812916]: Plugin rc_io loaded
[ INFO] [1555861326.026459427]: Plugin rc_io initialized
[ INFO] [1555861326.026531699]: Plugin safety_area blacklisted
[ INFO] [1555861326.026754799]: Plugin setpoint_accel loaded
[ INFO] [1555861326.043101042]: Plugin setpoint_accel initialized
[ INFO] [1555861326.043500625]: Plugin setpoint_attitude loaded
[ INFO] [1555861326.050399832]: Finished loading Gazebo ROS API Plugin.
[Msg] Waiting for master.
[ INFO] [1555861326.057128023]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 183.173.87.22
[ INFO] [1555861326.085117591]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1555861326.086268514]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 183.173.87.22
[ INFO] [1555861326.098214187]: Plugin setpoint_attitude initialized
[ INFO] [1555861326.098480538]: Plugin setpoint_position loaded
[ INFO] [1555861326.137945120]: Plugin setpoint_position initialized
[ INFO] [1555861326.138385050]: Plugin setpoint_raw loaded
[ INFO] [1555861326.156155893]: Plugin setpoint_raw initialized
[ INFO] [1555861326.156423255]: Plugin setpoint_velocity loaded
[ INFO] [1555861326.165323152]: Plugin setpoint_velocity initialized
[ INFO] [1555861326.165605555]: Plugin sys_status loaded
[ INFO] [1555861326.180060074]: Plugin sys_status initialized
[ INFO] [1555861326.180321396]: Plugin sys_time loaded
[ INFO] [1555861326.188747519]: TM: Timesync mode: MAVLINK
[ INFO] [1555861326.190451227]: Plugin sys_time initialized
[ INFO] [1555861326.190684388]: Plugin trajectory loaded
[ INFO] [1555861326.199483569]: Plugin trajectory initialized
[ INFO] [1555861326.199717765]: Plugin vfr_hud loaded
[ INFO] [1555861326.201165814]: Plugin vfr_hud initialized
[ INFO] [1555861326.201214276]: Plugin vibration blacklisted
[ INFO] [1555861326.201384192]: Plugin vision_pose_estimate loaded
[ INFO] [1555861326.212981245]: Plugin vision_pose_estimate initialized
[ INFO] [1555861326.213217225]: Plugin vision_speed_estimate loaded
[ INFO] [1555861326.219053012]: Plugin vision_speed_estimate initialized
[ INFO] [1555861326.219287858]: Plugin waypoint loaded
[ INFO] [1555861326.226235777]: Plugin waypoint initialized
[ INFO] [1555861326.226290776]: Plugin wheel_odometry blacklisted
[ INFO] [1555861326.226489054]: Plugin wind_estimation loaded
[ INFO] [1555861326.227393190]: Plugin wind_estimation initialized
[ INFO] [1555861326.227453554]: Autostarting mavlink via USB on PX4
[ INFO] [1555861326.227523453]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1555861326.227558664]: Built-in MAVLink package version: 2019.2.2
[ INFO] [1555861326.227608658]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1555861326.227640768]: MAVROS started. MY ID 1.240, TARGET ID 1.1
SpawnModel script started
[INFO] [1555861326.489421, 0.000000]: Loading model XML from file
[INFO] [1555861326.489848, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[INFO] [1555861327.397328, 0.000000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1555861327.405088, 149.206000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name iris_stereo_rgb_gps
[ INFO] [1555861327.424683308, 149.224000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
Warning [parser.cc:838] XML Element[child], child of element[sensor] not defined in SDF. Ignoring[child]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:838] XML Element[parent], child of element[sensor] not defined in SDF. Ignoring[parent]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[ INFO] [1555861327.542096293, 149.272000000]: Physics dynamic reconfigure ready.
[Wrn] [msgs.cc:1832] Conversion of sensor type[multicamera] not supported.
[vehicle_spawn_ubuntu_OptiPlex_960_22008_624846013369977176-5] process has finished cleanly
log file: /home/ubuntu/.ros/log/02ffe9d2-644c-11e9-a52f-00117f139124/vehicle_spawn_ubuntu_OptiPlex_960_22008_624846013369977176-5*.log
[Err] [Plugin.hh:180] Failed to load plugin libgazebo_ros_multicamera.so: libgazebo_ros_multicamera.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:180] Failed to load plugin libgazebo_multirotor_base_plugin.so: libgazebo_multirotor_base_plugin.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:180] Failed to load plugin libgazebo_motor_model.so: libgazebo_motor_model.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:180] Failed to load plugin libgazebo_motor_model.so: libgazebo_motor_model.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:180] Failed to load plugin libgazebo_motor_model.so: libgazebo_motor_model.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:180] Failed to load plugin libgazebo_motor_model.so: libgazebo_motor_model.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:180] Failed to load plugin libgazebo_gps_plugin.so: libgazebo_gps_plugin.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:180] Failed to load plugin libgazebo_mavlink_interface.so: libgazebo_mavlink_interface.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:180] Failed to load plugin libgazebo_imu_plugin.so: libgazebo_imu_plugin.so: cannot open shared object file: No such file or directory
[ INFO] [1555861328.079182163, 149.294000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1555861328.149709966, 149.366000000]: Physics dynamic reconfigure ready.
[Wrn] [msgs.cc:1832] Conversion of sensor type[multicamera] not supported.
[Wrn] [msgs.cc:1832] Conversion of sensor type[multicamera] not supported.
[Wrn] [GuiIface.cc:117] void DBusMenuExporterPrivate::addAction(QAction*, int): Already tracking action "&File" under id 56
[Wrn] [GuiIface.cc:117] void DBusMenuExporterPrivate::addAction(QAction*, int): Already tracking action "&Edit" under id 59
[Wrn] [GuiIface.cc:117] void DBusMenuExporterPrivate::addAction(QAction*, int): Already tracking action "&Camera" under id 61
[Wrn] [GuiIface.cc:117] void DBusMenuExporterPrivate::addAction(QAction*, int): Already tracking action "&View" under id 64
[Wrn] [GuiIface.cc:117] void DBusMenuExporterPrivate::addAction(QAction*, int): Already tracking action "&Window" under id 68
[Wrn] [GuiIface.cc:117] void DBusMenuExporterPrivate::addAction(QAction*, int): Already tracking action "&Help" under id 73
[Wrn] [GuiIface.cc:117] QObject::startTimer: Timers cannot be started from another thread
[Wrn] [GuiIface.cc:117] QObject::killTimer: Timers cannot be stopped from another thread
[Wrn] [GuiIface.cc:117] QObject::startTimer: Timers cannot be started from another thread
[Wrn] [GuiIface.cc:117] QObject::killTimer: Timers cannot be stopped from another thread
[Wrn] [GuiIface.cc:117] QObject::startTimer: Timers cannot be started from another thread
[Wrn] [msgs.cc:1832] Conversion of sensor type[multicamera] not supported.
Doodle1106 commented 5 years ago
  1. "Error: Unknown model 'iris_stereo_rgb_gps'", sitl is not finding the model, are you copying models and ekf2 init files to the right folder?
  2. do apt install ros-kinetic-ros-control and ros-kinetic-gazebo8-* and try again.