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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
1.91k stars 442 forks source link

bad results report #30

Closed guoxianzhen closed 4 years ago

guoxianzhen commented 5 years ago

Issue Template

Context

Please provide any relevant information about your setup.

Expected Behavior

I hope the copter could perform better according to the command.

Current Behavior

Takeoff: Sometimes when the copter takes off, it will fly higher than the expected location and then hovering around the destination. Sometimes, the copter may flies randomly after taking off. Land: During the landing process, the copter will keep fly forward. I hope the copter could land just right below or close to the point where it covering. Flying mission The copter has not succeeded flying in a square way. The slam will lose when the copter turning 90 degrees and then the copter will fly randomly. In addition, according to the test tutorial, I have installed all the dependencies including Pangolin EIgen3 g2o PLC and Opencv. I just want to ask it there results are normal or if I have missed some steps.

Screenshots

These are some screenshots of the trajectories when copters takes off. 2019-05-09 14-34-54屏幕截图

takeoff

2019-05-09 14-35-28屏幕截图 I also simplifies the mission in square.py. I command the copter to fly to the right for 3 meters then turn around for 90 degrees, land finally. This is the results gpslamline1

Failure Logs

**part of the console of slam :*** Tracking frame 2150 ** I0510 16:05:06.864307 26386 TrackerLK.cpp:110] Tracking frame 1 I0510 16:05:06.879122 26389 BackendSlidingWindowG2O.cpp:133] new good points: 0 in total immature points: 0 I0510 16:05:06.879212 26389 BackendSlidingWindowG2O.cpp:156] Local BA cost time: 9.9e-08 I0510 16:05:06.879249 26389 BackendSlidingWindowG2O.cpp:182] Deleting KF 0 I0510 16:05:06.879266 26389 BackendSlidingWindowG2O.cpp:193] Erase KF in mpKFs I0510 16:05:06.879516 26389 BackendSlidingWindowG2O.cpp:199] Done I0510 16:05:06.879671 26389 BackendSlidingWindowG2O.cpp:427] Clean map point done, total bad points 1 I0510 16:05:06.879696 26389 BackendSlidingWindowG2O.cpp:165] Backend KF: 10, map points: 132 I0510 16:05:06.879714 26389 BackendSlidingWindowG2O.cpp:38] Process new KF done. I0510 16:05:06.902025 26386 Tracker.cpp:1568] Quit iteration in: 10 I0510 16:05:06.904637 26386 Tracker.cpp:1586] Inlier/total=129/129 I0510 16:05:06.904803 26386 Tracker.cpp:1602] Estimated TCW = 0.0767104 00.983975 00.160963 0014.6661 -0.983889 0.0485575 00.172059 004.61203 00.161486 -0.171568 00.971847 0010.8394 000000000 000000000 000000000 000000001 I0510 16:05:06.932163 26386 ORBExtractor.cpp:470] Calling fast single level I0510 16:05:06.935111 26386 TrackerLK.cpp:541] Detect new feature cost time: 0.00319594 I0510 16:05:06.938956 26386 TrackerLK.cpp:613] new stereo: 0, new Mono: 0, update immature: 0, total features: 129 I0510 16:05:06.939127 26386 TrackerLK.cpp:618] Create map point cost time: 0.00722153 I0510 16:05:06.939270 26386 Tracker.cpp:506] Insert keyframe done. I0510 16:05:06.939328 26386 TrackerLK.cpp:235] Insert KF cost time: 0.0074259 I0510 16:05:06.939479 26386 TrackerLK.cpp:114] Tracking frame 2 I0510 16:05:06.939540 26386 TrackerLK.cpp:148] Tracking frame 3 I0510 16:05:06.939602 26386 TrackerLK.cpp:153] Tracker position = 1.68634,-12.7308,-13.6894, vision pose: -14.9427, -10.4848, -4.37022 EstimatedPose : -14.9427, -10.4848, -4.37022 I0510 16:05:06.941656 26389 BackendSlidingWindowG2O.cpp:36] Process new KF QObject::~QObject: Timers cannot be stopped from another thread

Console of px4 Firmware ... logging to /home/guo/.ros/log/bcb47986-72f9-11e9-9dbb-b0c0902a3964/roslaunch-guo-Lenovo-TianYi-100-14IBD-25090.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.

/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/loader.py:409: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details. data = yaml.load(text) started roslaunch server http://guo-Lenovo-TianYi-100-14IBD:43109/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) mavros (mavros/mavros_node) sitl (px4/px4) vehicle_spawn_guo_Lenovo_TianYi_100_14IBD_25090_5892815240772984067 (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [25100] ROS_MASTER_URI=http://localhost:11311

setting /run_id to bcb47986-72f9-11e9-9dbb-b0c0902a3964 process[rosout-1]: started with pid [25113] started core service [/rosout] process[sitl-2]: started with pid [25139] node name: sitl data path: /home/guo/catkin_ws/src/Firmware commands file: /home/guo/catkin_ws/src/Firmware/posix-configs/SITL/init/ekf2/iris_stereo_gray_no_gps 65 WARNING: setRealtimeSched failed (not run as root?)

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

px4 starting.

process[gazebo-3]: started with pid [25147] process[gazebo_gui-4]: started with pid [25154] process[vehicle_spawn_guo_Lenovo_TianYi_100_14IBD_25090_5892815240772984067-5]: started with pid [25159] process[mavros-6]: started with pid [25160] INFO [dataman] Unknown restart, data manager file 'rootfs/fs/microsd/dataman' size is 11405132 bytes INFO [simulator] Waiting for initial data on UDP port 14560. Please start the flight simulator to proceed.. [ INFO] [1557475256.572810515]: FCU URL: udp://:14540@localhost:14557 [ INFO] [1557475256.577184771]: udp0: Bind address: 0.0.0.0:14540 [ INFO] [1557475256.577387877]: udp0: Remote address: 127.0.0.1:14557 [ INFO] [1557475256.577844825]: GCS bridge disabled Gazebo multi-robot simulator, version 7.0.0 Copyright (C) 2012-2016 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

[ INFO] [1557475256.615857364]: Plugin 3dr_radio loaded [ INFO] [1557475256.620982244]: Plugin 3dr_radio initialized [ INFO] [1557475256.621286055]: Plugin actuator_control loaded [ INFO] [1557475256.630845175]: Plugin actuator_control initialized [ INFO] [1557475256.647018084]: Plugin adsb loaded [ INFO] [1557475256.663212473]: Plugin adsb initialized [ INFO] [1557475256.663638018]: Plugin altitude loaded [ INFO] [1557475256.676851706]: Plugin altitude initialized [ INFO] [1557475256.677311405]: Plugin cam_imu_sync loaded [ INFO] [1557475256.679476151]: Plugin cam_imu_sync initialized [ INFO] [1557475256.680219681]: Plugin command loaded [ INFO] [1557475256.706815624]: Plugin command initialized [ INFO] [1557475256.707275688]: Plugin companion_process_status loaded [ INFO] [1557475256.720203229]: Plugin companion_process_status initialized [ INFO] [1557475256.720739406]: Plugin debug_value loaded [ INFO] [1557475256.739027085]: Plugin debug_value initialized [ INFO] [1557475256.739270099]: Plugin distance_sensor blacklisted [ INFO] [1557475256.739733269]: Plugin fake_gps loaded Gazebo multi-robot simulator, version 7.0.0 Copyright (C) 2012-2016 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

[ INFO] [1557475256.833805376]: Plugin fake_gps initialized [ INFO] [1557475256.834341910]: Plugin ftp loaded [ INFO] [1557475256.848533727]: Finished loading Gazebo ROS API Plugin. [Msg] Waiting for master. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 134.169.243.94 [ INFO] [1557475256.858632841]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1557475256.881393881]: Plugin ftp initialized [ INFO] [1557475256.881948055]: Plugin global_position loaded [ INFO] [1557475256.959289448]: Plugin global_position initialized [ INFO] [1557475256.959735150]: Plugin gps_rtk loaded [ INFO] [1557475256.968964349]: Plugin gps_rtk initialized [ INFO] [1557475256.969449983]: Plugin hil loaded [ INFO] [1557475257.048677681]: Plugin hil initialized [ INFO] [1557475257.049249155]: Plugin home_position loaded [ INFO] [1557475257.073797074]: Plugin home_position initialized [ INFO] [1557475257.074226634]: Plugin imu loaded [ INFO] [1557475257.097780951]: Finished loading Gazebo ROS API Plugin. [Msg] Waiting for master. [ INFO] [1557475257.104162232]: 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: 134.169.243.94 [ INFO] [1557475257.124159802]: Plugin imu initialized [ INFO] [1557475257.124574443]: Plugin local_position loaded [ INFO] [1557475257.152289912]: Plugin local_position initialized [ INFO] [1557475257.152615234]: Plugin log_transfer loaded [ INFO] [1557475257.161496706]: Plugin log_transfer initialized [ INFO] [1557475257.161867984]: Plugin manual_control loaded [ INFO] [1557475257.170535638]: Plugin manual_control initialized [ INFO] [1557475257.170840035]: Plugin mocap_pose_estimate loaded [ INFO] [1557475257.186189051]: Plugin mocap_pose_estimate initialized [ INFO] [1557475257.186487362]: Plugin obstacle_distance loaded [ INFO] [1557475257.194409856]: Plugin obstacle_distance initialized [ INFO] [1557475257.194710930]: Plugin odom loaded [ INFO] [1557475257.215927630]: Plugin odom initialized [ INFO] [1557475257.216400522]: Plugin param loaded [ INFO] [1557475257.225368862]: Plugin param initialized [ INFO] [1557475257.225649762]: Plugin px4flow loaded [ INFO] [1557475257.245123543]: Plugin px4flow initialized [ INFO] [1557475257.245197482]: Plugin rangefinder blacklisted [ INFO] [1557475257.245599425]: Plugin rc_io loaded [ INFO] [1557475257.256995418]: Plugin rc_io initialized [ INFO] [1557475257.257089490]: Plugin safety_area blacklisted [ INFO] [1557475257.257450869]: Plugin setpoint_accel loaded [ INFO] [1557475257.269748749]: Plugin setpoint_accel initialized [ INFO] [1557475257.270240251]: Plugin setpoint_attitude loaded [ INFO] [1557475257.308590995]: Plugin setpoint_attitude initialized [ INFO] [1557475257.309042919]: Plugin setpoint_position loaded [ INFO] [1557475257.366109524]: Plugin setpoint_position initialized [ INFO] [1557475257.366496509]: Plugin setpoint_raw loaded [ INFO] [1557475257.409950216]: Plugin setpoint_raw initialized [ INFO] [1557475257.410378266]: Plugin setpoint_velocity loaded SpawnModel script started [ INFO] [1557475257.438146065]: Plugin setpoint_velocity initialized [ INFO] [1557475257.440797012]: Plugin sys_status loaded [ INFO] [1557475257.476992263]: Plugin sys_status initialized [ INFO] [1557475257.477332819]: Plugin sys_time loaded [ INFO] [1557475257.492696595]: TM: Timesync mode: MAVLINK [ INFO] [1557475257.498475491]: Plugin sys_time initialized [ INFO] [1557475257.498997393]: Plugin trajectory loaded [ INFO] [1557475257.519031800]: Plugin trajectory initialized [ INFO] [1557475257.519361876]: Plugin vfr_hud loaded [ INFO] [1557475257.520987916]: Plugin vfr_hud initialized [ INFO] [1557475257.521171882]: Plugin vibration blacklisted [ INFO] [1557475257.521475096]: Plugin vision_pose_estimate loaded [ INFO] [1557475257.548657594]: Plugin vision_pose_estimate initialized [ INFO] [1557475257.549493553]: Plugin vision_speed_estimate loaded [ INFO] [1557475257.570823694]: Plugin vision_speed_estimate initialized [ INFO] [1557475257.571282457]: Plugin waypoint loaded [ INFO] [1557475257.589921316]: Plugin waypoint initialized [ INFO] [1557475257.590107046]: Plugin wheel_odometry blacklisted [ INFO] [1557475257.590427102]: Plugin wind_estimation loaded [ INFO] [1557475257.597709665]: Plugin wind_estimation initialized [ INFO] [1557475257.597930283]: Autostarting mavlink via USB on PX4 [ INFO] [1557475257.598377298]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1557475257.598524693]: Built-in MAVLink package version: 2019.4.4 [ INFO] [1557475257.598651588]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta [ INFO] [1557475257.598767568]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [INFO] [1557475257.655319, 0.000000]: Loading model XML from file [INFO] [1557475257.655938, 0.000000]: Waiting for service /gazebo/spawn_sdf_model [ INFO] [1557475257.939922894, 0.026000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1557475257.966327, 0.050000]: Calling service /gazebo/spawn_sdf_model [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/guo/catkin_ws/src/Firmware/Tools/sitl_gazebo/cmake" [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/guo/catkin_ws/src/Firmware/Tools/sitl_gazebo/external" [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/guo/catkin_ws/src/Firmware/Tools/sitl_gazebo/include" [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/guo/catkin_ws/src/Firmware/Tools/sitl_gazebo/models" [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/guo/catkin_ws/src/Firmware/Tools/sitl_gazebo/msgs" [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/guo/catkin_ws/src/Firmware/Tools/sitl_gazebo/scripts" [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/guo/catkin_ws/src/Firmware/Tools/sitl_gazebo/src" [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/guo/catkin_ws/src/Firmware/Tools/sitl_gazebo/worlds" Warning [parser.cc:778] 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:778] 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. [Wrn] [msgs.cc:1655] Conversion of sensor type[multicamera] not suppported. [INFO] [1557475258.236667, 0.070000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1557475258.277546639, 0.070000000]: Physics dynamic reconfigure ready. [vehicle_spawn_guo_Lenovo_TianYi_100_14IBD_25090_5892815240772984067-5] process has finished cleanly log file: /home/guo/.ros/log/bcb47986-72f9-11e9-9dbb-b0c0902a3964/vehicle_spawn_guo_Lenovo_TianYi_100_14IBD_25090_5892815240772984067-5*.log [ INFO] [1557475258.717826002, 0.070000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1557475258.718126496, 0.070000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1557475258.727596878, 0.070000000]: Camera Plugin (ns = /) , set to "" [ INFO] [1557475258.728058946, 0.070000000]: Camera Plugin (ns = /) , set to "" [Dbg] [gazebo_mavlink_interface.cpp:138] not found for channel[0] no joint control will be performed for this channel. [Dbg] [gazebo_mavlink_interface.cpp:138] not found for channel[1] no joint control will be performed for this channel. [Dbg] [gazebo_mavlink_interface.cpp:138] not found for channel[2] no joint control will be performed for this channel. [Dbg] [gazebo_mavlink_interface.cpp:138] not found for channel[3] no joint control will be performed for this channel. [Wrn] [gazebo_mavlink_interface.cpp:127] joint [zephyr_delta_wing::propeller_joint] not found for channel[4] no joint control for this channel. [Wrn] [gazebo_mavlink_interface.cpp:127] joint [zephyr_delta_wing::flap_left_joint] not found for channel[5] no joint control for this channel. [Wrn] [gazebo_mavlink_interface.cpp:127] joint [zephyr_delta_wing::flap_right_joint] not found for channel[6] no joint control for this channel. [Dbg] [gazebo_mavlink_interface.cpp:138] not found for channel[7] no joint control will be performed for this channel. [Msg] Using MAVLink protocol v2.0 [ INFO] [1557475259.062907810, 0.098000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1557475259.163115377, 0.164000000]: Physics dynamic reconfigure ready. [Wrn] [msgs.cc:1655] Conversion of sensor type[multicamera] not suppported. [Wrn] [msgs.cc:1655] Conversion of sensor type[multicamera] not suppported. [Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/iris_stereo_gray_no_gps/motors, deleting message. This warning is printed only once. [Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/iris_stereo_gray_no_gps/motor_speed/0, deleting message. This warning is printed only once. [Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/iris_stereo_gray_no_gps/motor_speed/1, deleting message. This warning is printed only once. [Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/iris_stereo_gray_no_gps/imu, deleting message. This warning is printed only once. [Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/iris_stereo_gray_no_gps/motor_speed/2, deleting message. This warning is printed only once. [Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/iris_stereo_gray_no_gps/motor_speed/3, deleting message. This warning is printed only once. [Wrn] [msgs.cc:1655] Conversion of sensor type[multicamera] not suppported. INFO [simulator] Got initial simulation data, running sim.. INFO [pwm_out_sim] MODE_16PWM INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14556 remote port 14550 INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14557 remote port 14540 INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network) pxh> INFO [logger] logger started (mode=all) INFO [logger] Start file log INFO [logger] Opened log file: rootfs/fs/microsd/log/2019-05-10/08_01_00.ulg INFO [mavlink] partner IP: 127.0.0.1 [ INFO] [1557475260.257204303, 1.128000000]: udp0: Remote address: 127.0.0.1:14557 [ INFO] [1557475260.378267336, 1.262000000]: IMU: High resolution IMU detected! INFO [mavlink] partner IP: 127.0.0.1 INFO [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14) [ INFO] [1557475261.238106135, 2.064000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1557475261.248689658, 2.072000000]: IMU: High resolution IMU detected! [ INFO] [1557475261.361614057, 2.176000000]: IMU: Attitude quaternion IMU detected! [ INFO] [1557475262.705694238, 3.064000000]: VER: 1.1: Capabilities 0x000000000000e4ef [ INFO] [1557475262.705787152, 3.064000000]: VER: 1.1: Flight software: 010800ff (96443b3cf3e3adae) [ INFO] [1557475262.705841238, 3.064000000]: VER: 1.1: Middleware software: 010800ff (96443b3cf3e3adae) [ INFO] [1557475262.705885628, 3.064000000]: VER: 1.1: OS software: 040f00ff (0000000000000000) [ INFO] [1557475262.705926492, 3.064000000]: VER: 1.1: Board hardware: 00000001 [ INFO] [1557475262.705969890, 3.064000000]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1557475262.706015072, 3.064000000]: VER: 1.1: UID: 0000000100000002 [ INFO] [1557475279.586635608, 12.064000000]: HP: requesting home position [ INFO] [1557475290.977850830, 17.064000000]: WP: mission received [ INFO] [1557475306.203129558, 22.064000000]: HP: requesting home position INFO [ecl/EKF] EKF commencing external vision position fusion [ WARN] [1557475321.681447912, 26.810000000]: CMD: Unexpected command 246, result 0 [ INFO] [1557475336.404410881, 32.064000000]: HP: requesting home position WARN [commander_tests] Failsafe enabled: no RC [ WARN] [1557475358.762256937, 39.422000000]: CMD: Unexpected command 176, result 1 [ INFO] [1557475358.778073944, 39.426000000]: WP: reached #0 [Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/iris_stereo_gray_no_gps/gazebo/command/motor_speed, deleting message. This warning is printed only once. [ INFO] [1557475358.839747618, 39.450000000]: WP: reached #0 [ INFO] [1557475359.078308181, 39.530000000]: WP: reached #0

ninawrong commented 5 years ago

Thank you for submitting the issue :) We will get back to you on Monday.

Doodle1106 commented 5 years ago

Poor performance is related to optimizePoseFaster()， which replaced optimizecurrentposewithoutIMU in tracker.cpp due to seg faults. I am still working on solving this.

grreyes2 commented 5 years ago

Curious if there have been any updates on this issue, I am encountering the same problem.

Doodle1106 commented 5 years ago

have you tried replacing optimizePoseFaster with optimizecurrentposewithoutIMU? It usually helps

MasterPa commented 4 years ago

Issue closed, re-open if needed.

Rindelwald commented 3 years ago

I had the same problem. Anybody help？