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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
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No point cloud in rviz #56

Closed Chris-cch closed 5 years ago

Chris-cch commented 5 years ago

Issue Template

Context

Please provide any relevant information about your setup.

Expected Behavior

When doing the 图片 I should see point cloud in rviz like 图片

Current Behavior

I can't see any point cloud in rviz.

Screenshots

I just do as the tutorials told, everything I can see in my screen: 图片

Failure Logs

Copy console log and paste it here. 图片 图片

And the 'path_planning.launch' consloe log: ... logging to /home/ubuntu/.ros/log/dbb5e6f4-d824-11e9-8baa-03af469f68e4/roslaunch-cch-38852.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://cch:33805/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) mavros (mavros/mavros_node) sitl (px4/px4) vehicle_spawn_cch_38852_6664878163512917421 (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [38862] ROS_MASTER_URI=http://localhost:11311

setting /run_id to dbb5e6f4-d824-11e9-8baa-03af469f68e4 process[rosout-1]: started with pid [38875] started core service [/rosout] process[sitl-2]: started with pid [38900] node name: sitl data path: /home/ubuntu/catkin_ws/src/Firmware commands file: /home/ubuntu/catkin_ws/src/Firmware/posix-configs/SITL/init/ekf2/iris_stereo_gray_gps 117 WARNING: setRealtimeSched failed (not run as root?)

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

px4 starting.

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.. process[gazebo-3]: started with pid [38910] process[gazebo_gui-4]: started with pid [38917] process[vehicle_spawn_cch_38852_6664878163512917421-5]: started with pid [38922] process[mavros-6]: started with pid [38923] [ INFO] [1568598843.987638918]: FCU URL: udp://:14540@localhost:14557 [ INFO] [1568598843.992672714]: udp0: Bind address: 0.0.0.0:14540 [ INFO] [1568598843.992828898]: udp0: Remote address: 127.0.0.1:14557 [ INFO] [1568598843.993239774]: GCS bridge disabled [ INFO] [1568598844.015337274]: Plugin 3dr_radio loaded [ INFO] [1568598844.018908599]: Plugin 3dr_radio initialized [ INFO] [1568598844.019022312]: Plugin actuator_control loaded [ INFO] [1568598844.026518085]: Plugin actuator_control initialized [ INFO] [1568598844.031140907]: Plugin adsb loaded [ INFO] [1568598844.039618507]: Plugin adsb initialized [ INFO] [1568598844.039985321]: Plugin altitude loaded [ INFO] [1568598844.042644586]: Plugin altitude initialized 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] [1568598844.042969253]: Plugin cam_imu_sync loaded [ INFO] [1568598844.044721509]: Plugin cam_imu_sync initialized [ INFO] [1568598844.045088915]: Plugin command 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] [1568598844.059599101]: Plugin command initialized [ INFO] [1568598844.059876621]: Plugin companion_process_status loaded [ INFO] [1568598844.066793883]: Plugin companion_process_status initialized [ INFO] [1568598844.067099636]: Plugin debug_value loaded [ INFO] [1568598844.080889271]: Plugin debug_value initialized [ INFO] [1568598844.080950031]: Plugin distance_sensor blacklisted [ INFO] [1568598844.081259451]: Plugin fake_gps loaded [ INFO] [1568598844.119085069]: Plugin fake_gps initialized [ INFO] [1568598844.119530156]: Plugin ftp loaded [ INFO] [1568598844.148565741]: Plugin ftp initialized [ INFO] [1568598844.149137497]: Plugin global_position loaded [ INFO] [1568598844.151566923]: Finished loading Gazebo ROS API Plugin. [Msg] Waiting for master. [ INFO] [1568598844.154826278]: 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: 10.168.40.62 [ INFO] [1568598844.183133103]: Finished loading Gazebo ROS API Plugin. [ INFO] [1568598844.184356510]: 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: 10.168.40.62 [ INFO] [1568598844.207772142]: Plugin global_position initialized [ INFO] [1568598844.208091092]: Plugin gps_rtk loaded [ INFO] [1568598844.212955344]: Plugin gps_rtk initialized [ INFO] [1568598844.213323227]: Plugin hil loaded [ INFO] [1568598844.236319172]: Plugin hil initialized [ INFO] [1568598844.236586869]: Plugin home_position loaded [ INFO] [1568598844.242752492]: Plugin home_position initialized [ INFO] [1568598844.243023142]: Plugin imu loaded [ INFO] [1568598844.263540135]: Plugin imu initialized [ INFO] [1568598844.263829848]: Plugin landing_target loaded [ INFO] [1568598844.296158695]: Plugin landing_target initialized [ INFO] [1568598844.296498495]: Plugin local_position loaded [ INFO] [1568598844.313564980]: Plugin local_position initialized [ INFO] [1568598844.313863763]: Plugin log_transfer loaded SpawnModel script started [ INFO] [1568598844.321670167]: Plugin log_transfer initialized [ INFO] [1568598844.321999950]: Plugin manual_control loaded [ INFO] [1568598844.329766881]: Plugin manual_control initialized [ INFO] [1568598844.329988251]: Plugin mocap_pose_estimate loaded [ INFO] [1568598844.340201765]: Plugin mocap_pose_estimate initialized [ INFO] [1568598844.340493618]: Plugin mount_control loaded [ INFO] [1568598844.347058849]: Plugin mount_control initialized [ INFO] [1568598844.347347191]: Plugin obstacle_distance loaded [ INFO] [1568598844.353895685]: Plugin obstacle_distance initialized [ INFO] [1568598844.354161630]: Plugin odom loaded [ INFO] [1568598844.374092314]: Plugin odom initialized [ INFO] [1568598844.374580554]: Plugin param loaded [ INFO] [1568598844.382900548]: Plugin param initialized [ INFO] [1568598844.383190161]: Plugin px4flow loaded [ INFO] [1568598844.402777885]: Plugin px4flow initialized [ INFO] [1568598844.402838539]: Plugin rangefinder blacklisted [ INFO] [1568598844.403207465]: Plugin rc_io loaded [ INFO] [1568598844.412939839]: Plugin rc_io initialized [ INFO] [1568598844.413001212]: Plugin safety_area blacklisted [ INFO] [1568598844.413331959]: Plugin setpoint_accel loaded [ INFO] [1568598844.422375606]: Plugin setpoint_accel initialized [ INFO] [1568598844.422877726]: Plugin setpoint_attitude loaded [ INFO] [1568598844.451979084]: Plugin setpoint_attitude initialized [ INFO] [1568598844.452352827]: Plugin setpoint_position loaded [INFO] [1568598844.468882, 0.000000]: Loading model XML from file [INFO] [1568598844.469312, 0.000000]: Waiting for service /gazebo/spawn_sdf_model [ INFO] [1568598844.499985112]: Plugin setpoint_position initialized [ INFO] [1568598844.500362342]: Plugin setpoint_raw loaded [ INFO] [1568598844.526445304]: Plugin setpoint_raw initialized [ INFO] [1568598844.526866054]: Plugin setpoint_velocity loaded [ INFO] [1568598844.543599592]: Plugin setpoint_velocity initialized [ INFO] [1568598844.544321092]: Plugin sys_status loaded [ INFO] [1568598844.573699063]: Plugin sys_status initialized [ INFO] [1568598844.574074923]: Plugin sys_time loaded [ INFO] [1568598844.589595094]: TM: Timesync mode: MAVLINK [ INFO] [1568598844.592678894]: Plugin sys_time initialized [ INFO] [1568598844.592968467]: Plugin trajectory loaded [ INFO] [1568598844.607917216]: Plugin trajectory initialized [ INFO] [1568598844.608250794]: Plugin vfr_hud loaded [ INFO] [1568598844.609871191]: Plugin vfr_hud initialized [ INFO] [1568598844.609943853]: Plugin vibration blacklisted [ INFO] [1568598844.610204148]: Plugin vision_pose_estimate loaded [ INFO] [1568598844.632665475]: Plugin vision_pose_estimate initialized [ INFO] [1568598844.632955318]: Plugin vision_speed_estimate loaded [ INFO] [1568598844.644049138]: Plugin vision_speed_estimate initialized [ INFO] [1568598844.644454285]: Plugin waypoint loaded [ INFO] [1568598844.656459578]: Plugin waypoint initialized [ INFO] [1568598844.656550866]: Plugin wheel_odometry blacklisted [ INFO] [1568598844.656817896]: Plugin wind_estimation loaded [ INFO] [1568598844.658450833]: Plugin wind_estimation initialized [ INFO] [1568598844.658546924]: Autostarting mavlink via USB on PX4 [ INFO] [1568598844.658814370]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1568598844.658854758]: Built-in MAVLink package version: 2019.8.8 [ INFO] [1568598844.658900744]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta [ INFO] [1568598844.658967826]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [INFO] [1568598845.983662, 0.000000]: Calling service /gazebo/spawn_sdf_model [Wrn] [ColladaLoader.cc:1761] Triangle input semantic: 'TEXCOORD' is currently not supported [Wrn] [ColladaLoader.cc:1761] Triangle input semantic: 'TEXCOORD' is currently not supported [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/ubuntu/catkin_ws/src/Firmware/Tools/sitl_gazebo/cmake" [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/ubuntu/catkin_ws/src/Firmware/Tools/sitl_gazebo/external" [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/ubuntu/catkin_ws/src/Firmware/Tools/sitl_gazebo/include" [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/ubuntu/catkin_ws/src/Firmware/Tools/sitl_gazebo/models" [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/ubuntu/catkin_ws/src/Firmware/Tools/sitl_gazebo/msgs" [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/ubuntu/catkin_ws/src/Firmware/Tools/sitl_gazebo/scripts" [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/ubuntu/catkin_ws/src/Firmware/Tools/sitl_gazebo/src" [Err] [InsertModelWidget.cc:298] Missing model.config for model "/home/ubuntu/catkin_ws/src/Firmware/Tools/sitl_gazebo/worlds" [INFO] [1568598846.170464, 996.334000]: 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_gray_gps 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. [vehicle_spawn_cch_38852_6664878163512917421-5] process has finished cleanly log file: /home/ubuntu/.ros/log/dbb5e6f4-d824-11e9-8baa-03af469f68e4/vehicle_spawn_cch_38852_6664878163512917421-5*.log [ INFO] [1568598846.517169814, 996.334000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1568598846.517419428, 996.334000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1568598846.527286665, 996.334000000]: Camera Plugin (ns = /) , set to "" [ INFO] [1568598846.528149628, 996.334000000]: 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 [Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/iris_stereo_gray_gps/motors, deleting message. This warning is printed only once. [Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/iris_stereo_gray_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_gps/motor_speed/1, deleting message. This warning is printed only once. [ INFO] [1568598846.670110817, 996.356000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1568598846.672344404, 996.358000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1568598846.826615902, 996.508000000]: Physics dynamic reconfigure ready. [ INFO] [1568598846.836862449, 996.520000000]: 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_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_gps/motor_speed/3, deleting message. This warning is printed only once. [Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/iris_stereo_gray_gps/imu, deleting message. This warning is printed only once. [Err] [Scene.cc:2927] Light [sun] not found. Use topic ~/factory/light to spawn a new light. [Err] [Scene.cc:2927] Light [sun] not found. Use topic ~/factory/light to spawn a new light. [Wrn] [msgs.cc:1655] Conversion of sensor type[multicamera] not suppported. [Wrn] [ColladaLoader.cc:1761] Triangle input semantic: 'TEXCOORD' is currently not supported [Wrn] [ColladaLoader.cc:1761] Triangle input semantic: 'TEXCOORD' is currently not supported 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) INFO [logger] logger started (mode=all) pxh> INFO [logger] Start file log INFO [logger] Opened log file: rootfs/fs/microsd/log/2019-09-16/01_54_07.ulg [ INFO] [1568598847.846489089, 997.506000000]: udp0: Remote address: 127.0.0.1:14557 INFO [mavlink] partner IP: 127.0.0.1 [ INFO] [1568598847.956244315, 997.612000000]: IMU: High resolution IMU detected! INFO [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14) [ INFO] [1568598848.751345670, 998.408000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1568598848.755860119, 998.414000000]: IMU: High resolution IMU detected! [ INFO] [1568598848.858601527, 998.516000000]: IMU: Attitude quaternion IMU detected! [ INFO] [1568598849.755799558, 999.412000000]: VER: 1.1: Capabilities 0x000000000000e4ef [ INFO] [1568598849.755910592, 999.412000000]: VER: 1.1: Flight software: 010800ff (96443b3cf3e3adae) [ INFO] [1568598849.755988852, 999.412000000]: VER: 1.1: Middleware software: 010800ff (96443b3cf3e3adae) [ INFO] [1568598849.756041332, 999.412000000]: VER: 1.1: OS software: 040f00ff (0000000000000000) [ INFO] [1568598849.756087072, 999.412000000]: VER: 1.1: Board hardware: 00000001 [ INFO] [1568598849.756137488, 999.412000000]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1568598849.756228992, 999.412000000]: VER: 1.1: UID: 0000000100000002 [ WARN] [1568598849.761542620, 999.418000000]: CMD: Unexpected command 520, result 0 INFO [ecl/EKF] EKF GPS checks passed (WGS-84 origin set) INFO [ecl/EKF] EKF commencing GPS fusion [ INFO] [1568598858.773406476, 1008.408000000]: HP: requesting home position [ INFO] [1568598863.783141454, 1013.408000000]: WP: mission received [mavros-6] killing on exit [gazebo_gui-4] killing on exit [gazebo-3] killing on exit [sitl-2] killing on exit

Exiting... pxh> Shutting down Restoring terminal [gazebo-3] escalating to SIGTERM [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

cyanine-gi commented 5 years ago

You may use rostopic hz /cloud_in to check if there are any msgs publishing. And you may check your rviz configuration, especially the Global Options-> Fixed Frame.

MasterPa commented 5 years ago

Issue closed, re-open if needed.