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larics / uav_ros_simulation

A collection of ROS packages for Gazebo simulations of Ardupilot / PX4 UAV platforms
BSD 3-Clause "New" or "Revised" License
7 stars 1 forks source link

Properly link folders created from unpack_modules.sh with an appropriate Catkin workspace #5

Closed lmark1 closed 3 years ago

lmark1 commented 3 years ago

To reproduce this issue do the following:

git clone https://github.com/lmark1/uav_ros_simulation
bash uav_ros_simulation/installation/install_and_setup_workspace.sh
bash uav_ros_simulation/installation/unapck_modules.sh

Now, only uav_ros_simulation folder is linked with uav_ws/src and the stack is not able to be built. To build the stack from this point the user need to manually do the following:

cd ~/uav_ws/src 
ln -s ~/path/to/uav_ros_simulation_modules
ln -s ~/path/to/uav_ros_stack_modules
xiecuijuan commented 3 years ago

要重现此问题，请执行以下操作：

git clone https://github.com/lmark1/uav_ros_simulation
bash uav_ros_simulation/installation/install_and_setup_workspace.sh
bash uav_ros_simulation/installation/unapck_modules.sh

现在，只有uav_ros_simulation文件夹与_uav_ws / src_链接，并且无法构建堆栈。从这一点开始构建堆栈，用户需要手动执行以下操作：

cd ~/uav_ws/src 
ln -s ~/path/to/uav_ros_simulation_modules
ln -s ~/path/to/uav_ros_stack_modules

Hi,sir,when i slone installing the uav_ros_simulation in my mean fail, i am running ''bash uav_ros_simulation/installation/unpack_modules.sh'' i meet some problem. ''one argument expected - path to the 'src' folder of the Catkin Workspace''

lmark1 commented 3 years ago

Run the following command:

bash uav_ros_simulation/installation/unapck_modules.sh $HOME/uav_ws/src
xiecuijuan commented 3 years ago

Run the following command:

bash uav_ros_simulation/installation/unapck_modules.sh $HOME/uav_ws/src

thank you very much.i have try this way.but when i launch the mavros.launch in ardupilot_gazebo file.i also meet the problem: [mavros.launch] is neither a launch file in package [ardupilot_gazebo] nor is [ardupilot_gazebo] a launch file name The traceback for the exception was written to the log file and the environment variable has been added .bashrc file

lmark1 commented 3 years ago

Add the following line to th ~/.bashrc

source $HOME/uav_ws/devel/setup.bash

Also check out and validate other exports as seen here: https://github.com/lmark1/uav_ros_simulation#troubleshooting

xiecuijuan commented 3 years ago

将以下行添加到〜/ .bashrc中

source $HOME/uav_ws/devel/setup.bash

还要检查并验证其他导出，如此处所示：https : //github.com/lmark1/uav_ros_simulation#troubleshooting

thank you .sir .my gazebo can load the model of uav.but the uav can not take off

lmark1 commented 3 years ago

Try to execute one of the startup scripts in order to launch the UAV stack. For example:

cd ~/uav_ws/src/uav_ros_simulation/startup/kopterworx_one_flying
./start.sh

Please read more about how to navigate the TMUX environment and control the UAV here HOWTO.md

xiecuijuan commented 3 years ago 
./start.sh

if i use this way to start my uav,there will happen some problem,as follow: RLException: [mavros.launch] is neither a launch file in package [ardupilot_gazebo] nor is [ardupilot_gazebo] a launch file name The traceback for the exception was written to the log file but i exclusive use the launch,the terminal can be started.and gazebo also can be started. i do not know what the problem is here.

lmark1 commented 3 years ago

Add the following line to ~/.bashrc:

export UAV_NAMESPACE=red

Then type the following commands in each terminal in order:

# 1. terminal - Roscore
roscore

# 2. terminal - Ardupilot Software-in-the-loop
roslaunch ardupilot_gazebo sim_vehicle.launch enable_console:=false

# 3. terminal - Mavros
roslaunch roslaunch ardupilot_gazebo mavros.launch 

# 4. terminal - UAV in Gazebo
roslaunch ardupilot_gazebo kopterworx.launch

# 5. terminal - UAV control
roslaunch uav_ros_control pid_carrot.launch manual_takeoff:=false

# 6. terminal - UAV Automatic takeoff
rosrun ardupilot_gazebo automatic_takeoff.sh

After the last command is entered the UAV should take-off soon. If you are still unable to find or launch ROS packages please send the following information:

xiecuijuan commented 3 years ago

please

I use the way you said,can active my uav,but can not let my uav take off. the follow path is uav_ros_simulation installed path.jojo is my name.the uav_ros_simulation is installed in my root directory. '/home/jojo/uav_ros_simulation' and my .bashrc fail are follow, uav2_ws is workspace where I run my program: source /opt/ros/melodic/setup.bash source ~/uav2_ws/devel/setup.sh source /usr/share/gazebo/setup.sh

Shell script configuration

source /home/jojo/uav_ros_simulation/ros_packages/uav_ros_stack/miscellaneous/shell_additions/shell_scripts.sh source /home/jojo/uav_ros_simulation/firmware/ardupilot/Tools/completion/completion.bash

Ardupilot exports

export PATH=$PATH:/home/jojo/uav2_ws/src/uav_ros_simulation/firmware/ardupilot/Tools/autotest export PATH=/usr/lib/ccache:$PATH

ardupilot_gazebo exports

export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/home/jojo/uav2_ws/build/ardupilot_gazebo export GAZEBO_MODEL_PATH=/home/jojo/uav_ros_simulation/ros_ackage/ardupilot_gazebo/models:${GAZEBO_MODEL_PATH} export GAZEBO_MODEL_PATH=/home/jojo/uav_ros_simulation/ros_ackage/ardupilot_gazebo/models_gazebo:${GAZEBO_MODEL_PATH} export GAZEBO_RESOURCE_PATH=/home/jojo/uav_ros_simulation/ros_ackage/ardupilot_gazebo/worlds:${GAZEBO_RESOURCE_PATH} export PATH=$HOME/.local/bin:$PATH export UAV_NAMESPACE=red

lmark1 commented 3 years ago

I use the way you said,can active my uav,but can not let my uav take off.

Can you copy terminal outputs from the controllers so i can check what went wrong ?

xiecuijuan commented 3 years ago

I use the way you said,can active my uav,but can not let my uav take off.

Can you copy terminal outputs from the controllers so i can check what went wrong ?

ok.

terminal 1:roscore is normal running

terminal 2:

jojo@jojo-INVALID:~/uav2_ws$ roslaunch ardupilot_gazebo sim_vehicle.launch enable_console:=false ... logging to /home/jojo/.ros/log/7f65c482-bd38-11eb-a0be-28d2447412e9/roslaunch-jojo-INVALID-25806.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jojo-INVALID:46717/

SUMMARY

PARAMETERS

NODES / sim_vehicle_startup (ardupilot_gazebo/run_copter.sh)

ROS_MASTER_URI=http://localhost:11311

process[sim_vehicle_startup-1]: started with pid [25826] /home/jojo/Documents/kopterworx_1_startup sim_vehicle.py -v ArduCopter --add-param-file=/home/jojo/Documents/kopterworx_1_startup/identity.parm -f gazebo-iris -I0 -m "--mav10 --streamrate=50 --target-system=1"
SIM_VEHICLE: Start SIM_VEHICLE: Killing tasks SIM_VEHICLE: Starting up at SITL location SIM_VEHICLE: WAF build SIM_VEHICLE: Configure waf SIM_VEHICLE: "/home/jojo/uav_ros_simulation_modules/ardupilot/modules/waf/waf-light" "configure" "--board" "sitl" Setting top to : /home/jojo/uav_ros_simulation_modules/ardupilot Setting out to : /home/jojo/uav_ros_simulation_modules/ardupilot/build Autoconfiguration : enabled Setting board to : sitl Using toolchain : native Checking for 'g++' (C++ compiler) : /usr/lib/ccache/g++ Checking for 'gcc' (C compiler) : /usr/lib/ccache/gcc Checking for c flags '-MMD' : yes Checking for cxx flags '-MMD' : yes CXX Compiler : g++ 7.5.0 Checking for need to link with librt : not necessary Checking for feenableexcept : yes Checking for HAVE_CMATH_ISFINITE : yes Checking for HAVE_CMATH_ISINF : yes Checking for HAVE_CMATH_ISNAN : yes Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : yes Checking for NEED_CMATH_ISINF_STD_NAMESPACE : yes Checking for NEED_CMATH_ISNAN_STD_NAMESPACE : yes Checking for header endian.h : yes Checking for header byteswap.h : yes Checking for HAVE_MEMRCHR : yes Checking for program 'python' : /usr/bin/python Checking for python version >= 2.7.0 : 2.7.17 Checking for program 'python' : /usr/bin/python Checking for python version >= 2.7.0 : 2.7.17 Source is git repository : yes Update submodules : yes Checking for program 'git' : /usr/bin/git Checking for program 'size' : /usr/bin/size Benchmarks : disabled Unit tests : enabled Scripting : enabled Scripting runtime checks : enabled Checking for program 'rsync' : /usr/bin/rsync 'configure' finished successfully (3.832s) SIM_VEHICLE: Building SIM_VEHICLE: "/home/jojo/uav_ros_simulation_modules/ardupilot/modules/waf/waf-light" "build" "--target" "bin/arducopter" Waf: Entering directory /home/jojo/uav_ros_simulation_modules/ardupilot/build/sitl' Embedding file locations.txt:Tools/autotest/locations.txt Embedding file models/Callisto.json:Tools/autotest/models/Callisto.json Waf: Leaving directory/home/jojo/uav_ros_simulation_modules/ardupilot/build/sitl'

BUILD SUMMARY Build directory: /home/jojo/uav_ros_simulation_modules/ardupilot/build/sitl Target Text Data BSS Total

bin/arducopter 3360889 148243 159136 3668268

Build commands will be stored in build/sitl/compile_commands.json 'build' finished successfully (10.789s) SIM_VEHICLE: Using defaults from (/home/jojo/uav_ros_simulation_modules/ardupilot/Tools/autotest/default_params/copter.parm,/home/jojo/uav_ros_simulation_modules/ardupilot/Tools/autotest/default_params/gazebo-iris.parm) SIM_VEHICLE: Adding parameters from (/home/jojo/Documents/kopterworx_1_startup/identity.parm) SIM_VEHICLE: Run ArduCopter SIM_VEHICLE: "/home/jojo/uav_ros_simulation_modules/ardupilot/Tools/autotest/run_in_terminal_window.sh" "ArduCopter" "/home/jojo/uav_ros_simulation_modules/ardupilot/build/sitl/bin/arducopter" "-S" "--model" "gazebo-iris" "--speedup" "1" "--defaults" "/home/jojo/uav_ros_simulation_modules/ardupilot/Tools/autotest/default_params/copter.parm,/home/jojo/uav_ros_simulation_modules/ardupilot/Tools/autotest/default_params/gazebo-iris.parm,/home/jojo/Documents/kopterworx_1_startup/identity.parm" "-I0" SIM_VEHICLE: Run MavProxy SIM_VEHICLE: "mavproxy.py" "--mav10" "--streamrate" "50" "--target-system" "1" "--out" "127.0.0.1:14550" "--out" "127.0.0.1:14551" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501" RiTW: Starting ArduCopter : /home/jojo/uav_ros_simulation_modules/ardupilot/build/sitl/bin/arducopter -S --model gazebo-iris --speedup 1 --defaults /home/jojo/uav_ros_simulation_modules/ardupilot/Tools/autotest/default_params/copter.parm,/home/jojo/uav_ros_simulation_modules/ardupilot/Tools/autotest/default_params/gazebo-iris.parm,/home/jojo/Documents/kopterworx_1_startup/identity.parm -I0 Connect tcp:127.0.0.1:5760 source_system=255 Log Directory: Telemetry log: mav.tlog Waiting for heartbeat from tcp:127.0.0.1:5760 MAV> link 1 down

Init ArduCopter V4.1.0-dev (fd91cb03)

Free RAM: 131072 load_all took 0us 0 0 0 AP_Logger_File: buffer size=16384 Ignored unknown param ADSB_ENABLE in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param ARMING_VOLT2_MIN in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param ARMING_VOLT_MIN in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param ATC_RAT_PIT_FILT in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param ATC_RAT_RLL_FILT in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param ATC_RAT_YAW_FILT in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param BRD_IMU_TARGTEMP in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param BRD_IO_ENABLE in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param BRD_SAFETYENABLE in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param BRD_SAFETY_MASK in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param BRD_SBUS_OUT in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param BRD_SER1_RTSCTS in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param BRD_SER2_RTSCTS in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param BRD_TYPE in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param CH10_OPT in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param CH11_OPT in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param CH12_OPT in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param CH7_OPT in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param CH8_OPT in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param CH9_OPT in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param EK2_GPS_DELAY in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param EK2_LOG_MASK in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param FLOW_ENABLE in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param GND_ABS_PRESS in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param GND_ABS_PRESS2 in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param GND_ABS_PRESS3 in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param GND_ALT_OFFSET in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param GND_EXT_BUS in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param GND_FLTR_RNG in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param GND_PRIMARY in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param GND_TEMP in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param INS_PRODUCT_ID in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param LGR_SERVO_DEPLOY in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param LGR_SERVO_RTRACT in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param MAG_ENABLE in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param PILOT_TKOFF_DZ in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param PSC_ACCZ_FILT in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param SERVO_BLH_AUTO in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param SERVO_BLH_DEBUG in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param SERVO_BLH_MASK in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param SERVO_BLH_OTYPE in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param SERVO_BLH_PORT in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param SERVO_BLH_TEST in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param SERVO_BLH_TMOUT in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param SERVO_BLH_TRATE in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param SYSID_SW_MREV in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param TERRAIN_FOLLOW in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param TUNE_HIGH in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm Ignored unknown param TUNE_LOW in defaults file /home/jojo/Documents/kopterworx_1_startup/identity.parm AP: ArduCopter V4.1.0-dev (fd91cb03) AP: de97fc30397d41e5b99d0673689b1f91 AP: Frame: QUAD AP: ArduCopter V4.1.0-dev (fd91cb03) AP: de97fc30397d41e5b99d0673689b1f91 AP: Frame: QUAD AP_IRLock_SITL::init() AP: Calibrating barometer link 1 OK STABILIZE> Mode STABILIZE AP: Barometer 1 calibration complete AP: Barometer 2 calibration complete Init Gyro*AP: ArduCopter V4.1.0-dev (fd91cb03) AP: de97fc30397d41e5b99d0673689b1f91 AP: Frame: QUAD Got COMMAND_ACK: REQUEST_AUTOPILOT_CAPABILITIES: ACCEPTED **Received 1249 parameters Saved 1249 parameters to mav.parm

AP: ArduPilot Ready AP: AHRS: DCM active ALT_HOLD> Mode ALT_HOLD AP: SaveWaypoint LOW AP: PrecisionLoiter MIDDLE AP: AHRS: EKF2 active AP: EKF2 IMU0 initial yaw alignment complete AP: EKF2 IMU1 initial yaw alignment complete AP: EKF2 IMU0 tilt alignment complete AP: EKF2 IMU1 tilt alignment complete AP: ArduCopter V4.1.0-dev (fd91cb03) AP: de97fc30397d41e5b99d0673689b1f91 AP: Frame: QUAD Got COMMAND_ACK: GET_HOME_POSITION: FAILED AP: GPS 1: detected as u-blox at 230400 baud Got COMMAND_ACK: GET_HOME_POSITION: FAILED AP: EKF2 IMU0 origin set AP: EKF2 IMU1 origin set AP: EKF2 IMU0 is using GPS AP: EKF2 IMU1 is using GPS Flight battery 100 percent Got MAVLink msg: COMMAND_ACK {command : 11, result : 0} GUIDED> Mode GUIDED Flight battery 110 percent Got MAVLink msg: COMMAND_ACK {command : 11, result : 0} Got MAVLink msg: COMMAND_ACK {command : 11, result : 0} Flight battery 120 percent Got MAVLink msg: COMMAND_ACK {command : 11, result : 0} AP: Arming motors Got COMMAND_ACK: COMPONENT_ARM_DISARM: ACCEPTED ARMED AP: Potential Thrust Loss (3) Flight battery 130 percent Flight battery -130 percent Flight battery warning Flight battery warning Flight battery -120 percent Flight battery warning Flight battery warning Flight battery warning Flight battery warning Flight battery warning Flight battery warning

terminal 3:

jojo@jojo-INVALID:~/uav2_ws$ roslaunch ardupilot_gazebo mavros.launch ... logging to /home/jojo/.ros/log/7f65c482-bd38-11eb-a0be-28d2447412e9/roslaunch-jojo-INVALID-26143.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jojo-INVALID:45607/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES /red/ mavros (mavros/mavros_node)

ROS_MASTER_URI=http://localhost:11311

process[red/mavros-1]: started with pid [26164] [ INFO] [1621933667.526172369]: FCU URL: udp://:14550@localhost:14555 [ INFO] [1621933667.529789655]: udp0: Bind address: 0.0.0.0:14550 [ INFO] [1621933667.529936789]: udp0: Remote address: 127.0.0.1:14555 [ INFO] [1621933667.530082992]: GCS bridge disabled [ INFO] [1621933667.735573551]: Plugin 3dr_radio loaded [ INFO] [1621933667.739162309]: Plugin 3dr_radio initialized [ INFO] [1621933667.739224274]: Plugin actuator_control blacklisted [ INFO] [1621933667.797521771]: Plugin adsb loaded [ INFO] [1621933667.803041463]: Plugin adsb initialized [ INFO] [1621933667.803086982]: Plugin altitude blacklisted [ INFO] [1621933667.803211791]: Plugin cam_imu_sync loaded [ INFO] [1621933667.804029320]: Plugin cam_imu_sync initialized [ INFO] [1621933667.804194231]: Plugin command loaded [ INFO] [1621933667.815352418]: Plugin command initialized [ INFO] [1621933667.815496063]: Plugin companion_process_status loaded [ INFO] [1621933667.819462953]: Plugin companion_process_status initialized [ INFO] [1621933667.819691433]: Plugin debug_value blacklisted [ INFO] [1621933667.820058457]: Plugin distance_sensor loaded [ INFO] [1621933667.842675039]: Plugin distance_sensor initialized [ INFO] [1621933667.842835909]: Plugin esc_status loaded [ INFO] [1621933667.844494751]: Plugin esc_status initialized [ INFO] [1621933667.863458982]: Plugin fake_gps loaded [ INFO] [1621933667.898507041]: Plugin fake_gps initialized [ INFO] [1621933667.898556520]: Plugin ftp blacklisted [ INFO] [1621933667.898726951]: Plugin geofence loaded [ INFO] [1621933667.904578476]: Plugin geofence initialized [ INFO] [1621933667.904753758]: Plugin global_position loaded [ INFO] [1621933667.935858860]: Plugin global_position initialized [ INFO] [1621933667.936013614]: Plugin gps_rtk loaded [ INFO] [1621933667.942739675]: Plugin gps_rtk initialized [ INFO] [1621933667.942897913]: Plugin gps_status loaded [ INFO] [1621933667.946165372]: Plugin gps_status initialized [ INFO] [1621933667.946213935]: Plugin hil blacklisted [ INFO] [1621933667.946387695]: Plugin home_position loaded [ INFO] [1621933667.954786302]: Plugin home_position initialized [ INFO] [1621933667.954950050]: Plugin imu loaded [ INFO] [1621933667.970650026]: Plugin imu initialized [ INFO] [1621933667.970812336]: Plugin landing_target loaded [ INFO] [1621933667.993411413]: Plugin landing_target initialized [ INFO] [1621933667.993597564]: Plugin local_position loaded [ INFO] [1621933668.004801747]: Plugin local_position initialized [ INFO] [1621933668.004976623]: Plugin log_transfer loaded [ INFO] [1621933668.010088346]: Plugin log_transfer initialized [ INFO] [1621933668.010289577]: Plugin manual_control loaded [ INFO] [1621933668.017248092]: Plugin manual_control initialized [ INFO] [1621933668.017435949]: Plugin mocap_pose_estimate loaded [ INFO] [1621933668.028143778]: Plugin mocap_pose_estimate initialized [ INFO] [1621933668.028360547]: Plugin mount_control loaded [ INFO] [1621933668.035328447]: Plugin mount_control initialized [ INFO] [1621933668.035514287]: Plugin obstacle_distance loaded [ INFO] [1621933668.043324486]: Plugin obstacle_distance initialized [ INFO] [1621933668.043529501]: Plugin odom loaded [ INFO] [1621933668.052124552]: Plugin odom initialized [ INFO] [1621933668.052280970]: Plugin onboard_computer_status loaded [ INFO] [1621933668.056852543]: Plugin onboard_computer_status initialized [ INFO] [1621933668.057041708]: Plugin param loaded [ INFO] [1621933668.062617072]: Plugin param initialized [ INFO] [1621933668.062749419]: Plugin play_tune loaded [ INFO] [1621933668.066410658]: Plugin play_tune initialized [ INFO] [1621933668.066461638]: Plugin px4flow blacklisted [ INFO] [1621933668.066597624]: Plugin rallypoint loaded [ INFO] [1621933668.072115842]: Plugin rallypoint initialized [ INFO] [1621933668.072262907]: Plugin rangefinder loaded [ INFO] [1621933668.073324477]: Plugin rangefinder initialized [ INFO] [1621933668.073484930]: Plugin rc_io loaded [ INFO] [1621933668.078686616]: Plugin rc_io initialized [ INFO] [1621933668.078740881]: Plugin safety_area blacklisted [ INFO] [1621933668.078852627]: Plugin setpoint_accel loaded [ INFO] [1621933668.085674209]: Plugin setpoint_accel initialized [ INFO] [1621933668.085867204]: Plugin setpoint_attitude loaded [ INFO] [1621933668.107691652]: Plugin setpoint_attitude initialized [ INFO] [1621933668.108107905]: Plugin setpoint_position loaded [ INFO] [1621933668.144601554]: Plugin setpoint_position initialized [ INFO] [1621933668.144822851]: Plugin setpoint_raw loaded [ INFO] [1621933668.161002022]: Plugin setpoint_raw initialized [ INFO] [1621933668.161177621]: Plugin setpoint_trajectory loaded [ INFO] [1621933668.169560203]: Plugin setpoint_trajectory initialized [ INFO] [1621933668.169780710]: Plugin setpoint_velocity loaded [ INFO] [1621933668.183390062]: Plugin setpoint_velocity initialized [ INFO] [1621933668.183558476]: Plugin sys_status loaded [ INFO] [1621933668.205785593]: Plugin sys_status initialized [ INFO] [1621933668.206002285]: Plugin sys_time loaded [ INFO] [1621933668.217353467]: TM: Timesync mode: MAVLINK [ INFO] [1621933668.219226002]: Plugin sys_time initialized [ INFO] [1621933668.219349476]: Plugin trajectory loaded [ INFO] [1621933668.228358939]: Plugin trajectory initialized [ INFO] [1621933668.228550105]: Plugin vfr_hud loaded [ INFO] [1621933668.229472199]: Plugin vfr_hud initialized [ INFO] [1621933668.229517464]: Plugin vibration blacklisted [ INFO] [1621933668.229644947]: Plugin vision_pose_estimate loaded [ INFO] [1621933668.246752971]: Plugin vision_pose_estimate initialized [ INFO] [1621933668.246810037]: Plugin vision_speed_estimate blacklisted [ INFO] [1621933668.246978568]: Plugin waypoint loaded [ INFO] [1621933668.253938291]: Plugin waypoint initialized [ INFO] [1621933668.254003335]: Plugin wheel_odometry blacklisted [ INFO] [1621933668.254161828]: Plugin wind_estimation loaded [ INFO] [1621933668.255307239]: Plugin wind_estimation initialized [ INFO] [1621933668.255378081]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1621933668.255411590]: Built-in MAVLink package version: 2021.5.5 [ INFO] [1621933668.255449569]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta [ INFO] [1621933668.255480623]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1621933729.201404229]: udp0: Remote address: 127.0.0.1:50718 [ INFO] [1621933729.201622674]: FCU: ArduCopter V4.1.0-dev (fd91cb03) [ INFO] [1621933729.205754292]: FCU: de97fc30397d41e5b99d0673689b1f91 [ INFO] [1621933729.206307441]: FCU: Frame: QUAD [ INFO] [1621933729.220685260]: FCU: ArduCopter V4.1.0-dev (fd91cb03) [ INFO] [1621933729.220775389]: FCU: de97fc30397d41e5b99d0673689b1f91 [ INFO] [1621933729.220843069]: FCU: Frame: QUAD [ INFO] [1621933729.220901828]: FCU: Calibrating barometer [ INFO] [1621933730.046666746]: CON: Got HEARTBEAT, connected. FCU: ArduPilot [ INFO] [1621933730.827204896]: FCU: Barometer 1 calibration complete [ INFO] [1621933730.828142500]: FCU: Barometer 2 calibration complete [ INFO] [1621933730.911590506]: FCU: ArduCopter V4.1.0-dev (fd91cb03) [ INFO] [1621933730.913029246]: FCU: de97fc30397d41e5b99d0673689b1f91 [ INFO] [1621933730.913113779]: FCU: Frame: QUAD [ WARN] [1621933730.951022800]: PR: Param ESC_CALIBRATION (65535/1249): 0 different index: 63/1249 [ WARN] [1621933730.972466537]: PR: Param COMPASS_EXTERNAL (65535/1249): 1 different index: 131/1249 [ WARN] [1621933730.976181013]: PR: Param COMPASS_DEV_ID (65535/1249): 97539 different index: 144/1249 [ WARN] [1621933730.977136483]: PR: Param COMPASS_DEV_ID2 (65535/1249): 131874 different index: 145/1249 [ WARN] [1621933730.977325237]: PR: Param COMPASS_DEV_ID3 (65535/1249): 263178 different index: 146/1249 [ WARN] [1621933730.987248868]: PR: Param COMPASS_DEV_ID4 (65535/1249): 97283 different index: 185/1249 [ WARN] [1621933730.987455411]: PR: Param COMPASS_DEV_ID5 (65535/1249): 97795 different index: 186/1249 [ WARN] [1621933730.987592889]: PR: Param COMPASS_DEV_ID6 (65535/1249): 98051 different index: 187/1249 [ WARN] [1621933730.987760470]: PR: Param COMPASS_DEV_ID7 (65535/1249): 983044 different index: 188/1249 [ WARN] [1621933730.987980707]: PR: Param COMPASS_DEV_ID8 (65535/1249): 0 different index: 189/1249 [ WARN] [1621933731.059641969]: CMD: Unexpected command 520, result 0 [ WARN] [1621933731.064621074]: PR: Param INS_ACC_ID (65535/1249): 2753028 different index: 241/1249 [ WARN] [1621933731.064973490]: PR: Param INS_ACC2_ID (65535/1249): 2753036 different index: 242/1249 [ INFO] [1621933731.129503444]: GF: Using MISSION_ITEM_INT [ INFO] [1621933731.129583667]: RP: Using MISSION_ITEM_INT [ INFO] [1621933731.129631255]: WP: Using MISSION_ITEM_INT [ INFO] [1621933731.129690080]: VER: 1.1: Capabilities 0x000000000000fbef [ INFO] [1621933731.129730537]: VER: 1.1: Flight software: 04010000 (fd91cb03) [ INFO] [1621933731.129777029]: VER: 1.1: Middleware software: 00000000 ( ) [ INFO] [1621933731.129820035]: VER: 1.1: OS software: 00000000 ( ) [ INFO] [1621933731.129864464]: VER: 1.1: Board hardware: 00000000 [ INFO] [1621933731.129907327]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1621933731.129949813]: VER: 1.1: UID: 0000000000000000 [ WARN] [1621933731.361285144]: PR: Param BARO1_GND_PRESS (65535/1249): 94500.3984375 different index: 778/1249 [ WARN] [1621933731.361560259]: PR: Param BARO_ALT_OFFSET (65535/1249): 0 different index: 780/1249 [ WARN] [1621933731.362000543]: PR: Param BARO2_GND_PRESS (65535/1249): 94499.8671875 different index: 783/1249 [ INFO] [1621933732.039406092]: FCU: ArduPilot Ready [ INFO] [1621933732.039999901]: FCU: AHRS: DCM active [ INFO] [1621933732.119923829]: RC_CHANNELS message detected! [ INFO] [1621933732.120082046]: IMU: Raw IMU message used. [ WARN] [1621933732.120306039]: GP: No GPS fix [ WARN] [1621933732.120489139]: TM: Wrong FCU time. [ INFO] [1621933732.427656974]: FCU: SaveWaypoint LOW [ INFO] [1621933732.428481727]: FCU: PrecisionLoiter MIDDLE [ INFO] [1621933734.065247952]: FCU: AHRS: EKF2 active [ INFO] [1621933734.073268738]: FCU: EKF2 IMU0 initial yaw alignment complete [ INFO] [1621933734.079466437]: FCU: EKF2 IMU1 initial yaw alignment complete [ INFO] [1621933735.996155311]: FCU: EKF2 IMU0 tilt alignment complete [ INFO] [1621933735.996974364]: FCU: EKF2 IMU1 tilt alignment complete [ INFO] [1621933740.049117511]: HP: requesting home position [ INFO] [1621933740.099429636]: FCU: ArduCopter V4.1.0-dev (fd91cb03) [ INFO] [1621933740.103025883]: FCU: de97fc30397d41e5b99d0673689b1f91 [ INFO] [1621933740.104341403]: FCU: Frame: QUAD [ INFO] [1621933741.378205353]: PR: parameters list received [ INFO] [1621933742.400928352]: FCU: GPS 1: detected as u-blox at 230400 baud [ INFO] [1621933745.062065490]: GF: mission received [ INFO] [1621933745.063762573]: RP: mission received [ INFO] [1621933745.064694860]: WP: mission received [ INFO] [1621933750.048536493]: HP: requesting home position [ INFO] [1621933754.427675732]: FCU: EKF2 IMU0 origin set [ INFO] [1621933754.428265170]: FCU: EKF2 IMU1 origin set [ INFO] [1621933777.225447894]: FCU: EKF2 IMU0 is using GPS [ INFO] [1621933777.226119041]: FCU: EKF2 IMU1 is using GPS [ WARN] [1621933862.739613635]: CMD: Unexpected command 11, result 0 [ WARN] [1621934013.901672388]: CMD: Unexpected command 11, result 0 [ WARN] [1621934137.446875329]: CMD: Unexpected command 11, result 0 [ WARN] [1621934472.796013973]: CMD: Unexpected command 11, result 0 [ INFO] [1621934484.718052567]: FCU: Arming motors [ERROR] [1621934494.429652653]: FCU: Potential Thrust Loss (3)

terminal 4:

jojo@jojo-INVALID:~/uav2_ws$ roslaunch ardupilot_gazebo kopterworx.launch ... logging to /home/jojo/.ros/log/7f65c482-bd38-11eb-a0be-28d2447412e9/roslaunch-jojo-INVALID-26874.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option. redefining global property: pi when processing file: /home/jojo/uav2_ws/src/uav_ros_simulation_modules/rotors_simulator/rotors_description/urdf/component_snippets.xacro included from: /home/jojo/uav2_ws/src/uav_ros_simulation_modules/ardupilot_gazebo/models/kopterworx/urdf/kopterworx.urdf.xacro started roslaunch server http://jojo-INVALID:36235/

SUMMARY

PARAMETERS

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) spawn_robot (gazebo_ros/spawn_model) /red/ robot_state_publisher (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [26908] process[gazebo_gui-2]: started with pid [26912] process[red/robot_state_publisher-3]: started with pid [26916] process[spawn_robot-4]: started with pid [26919] [INFO] [1621933709.810134, 0.000000]: Loading model XML from ros parameter red/robot_description [INFO] [1621933709.828974, 0.000000]: Waiting for service /gazebo/spawn_urdf_model Gazebo multi-robot simulator, version 9.0.0 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

[Wrn] [GuiIface.cc:199] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin Gazebo multi-robot simulator, version 9.0.0 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

[ INFO] [1621933718.606795665]: Finished loading Gazebo ROS API Plugin. [ INFO] [1621933718.607700897]: Finished loading Gazebo ROS API Plugin. [ INFO] [1621933718.614142337]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1621933718.614893423]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [Msg] Waiting for master. [Msg] Waiting for master. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 172.16.108.89 [Msg] Publicized address: 172.16.108.89 [INFO] [1621933723.151427, 0.000000]: Calling service /gazebo/spawn_urdf_model [ INFO] [1621933723.171127996]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1621933724.812484522, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported. [INFO] [1621933724.827064, 0.001000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1621933724.848999251, 0.001000000]: Physics dynamic reconfigure ready. [ INFO] [1621933724.862123667, 0.001000000]: set to: // [ INFO] [1621933724.862178018, 0.001000000]: set to: ///red/imu [ INFO] [1621933724.862217244, 0.001000000]: set to: red/imu [ INFO] [1621933724.862273951, 0.001000000]: set to: 50 [ INFO] [1621933724.862323173, 0.001000000]: set to: 0 [ INFO] [1621933724.862361956, 0.001000000]: set to: 0 0 0 [ INFO] [1621933724.862424554, 0.001000000]: set to: 0 -0 0 [ INFO] [1621933724.937323544, 0.001000000]: Camera Plugin (ns = /) , set to "" [spawn_robot-4] process has finished cleanly log file: /home/jojo/.ros/log/7f65c482-bd38-11eb-a0be-28d2447412e9/spawn_robot-4*.log [ INFO] [1621933725.465239546, 0.001000000]: Loading gazebo_ros_control plugin [ INFO] [1621933725.465668662, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /red [ INFO] [1621933725.467303419, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/red/robot_description] on the ROS param server. [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/jojo/.gazebo/models/gazebo_models" [ INFO] [1621933728.292252944, 0.001000000]: Loaded gazebo_ros_control. [Dbg] [ArduPilotPlugin.cc:1053] [red] ArduPilot controller online detected. [Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported. [Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported. [Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported. [Err] [ModelDatabase.cc:390] Unable to parse model.config for model[http://gazebosim.org/models/bin_4_dropping_task] [Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once. [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/person_standing] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/person_walking] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/pickup] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/pier] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/pine_tree] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/pioneer2dx] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/pioneer3at] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/piston_rod_part] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/plastic_cup] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/playground] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/polaris_ranger_ev] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/polaris_ranger_xp900] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/polaris_ranger_xp900_no_roll_cage] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/police_station] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/post_office] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/postbox] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/powerplant] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/pr2] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/pr2_gripper] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/prius_hybrid] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/prius_hybrid_sensors] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/pulley_part] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/quadrotor] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/r2_description] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/radio_tower] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/ragdoll] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/reactor] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/region_event_box] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/robocup09_spl_field] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/robocup14_spl_field] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/robocup14_spl_goal] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/robocup_3Dsim_ball] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/robocup_3Dsim_field] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/robocup_3Dsim_goal] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/robocup_spl_ball] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/robonaut] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/round_tin_base] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/round_tin_top] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/salon] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/sand_island] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/saucepan] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/scanse_sweep] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/school] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/simple_arm] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/simple_arm_gripper] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/simple_gripper] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/sonoma_raceway] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/spectrum_plane] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/speed_limit_sign] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/src_doorway] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/standpipe] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/starting_pen] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/stereo_camera] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/stone_10_2_5_1cm] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/stop_light] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/stop_light_post] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/stop_sign] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/submarine] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/submarine_buoyant] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/submarine_sinking] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/sun] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/suv] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/t_brace_part] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/table] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/table_marble] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/telephone_pole] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/textured_shapes] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/thrift_shop] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/tower_crane] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/trisphere_cycle] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/truss_bridge] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/tube_2_25cm] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/tube_9_5mm] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/turtlebot] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/u_joint_part] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/ur10] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/utility_cart] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/velodyne_hdl32] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/vrc_driving_terrain] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/walkway_metal_45] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/walkway_metal_90] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/walkway_metal_straight] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/warehouse_robot] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/washer] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/water_tower] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/willowgarage] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/winding_valley_heightmap] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/wood_block_10_2_1cm] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/wood_cube_10cm] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/wood_cube_2_5cm] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/wood_cube_5cm] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/wood_cube_7_5cm] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/wooden_board] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/wooden_case] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/wooden_case_metal_peg] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/wooden_case_wooden_peg] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/wooden_peg] [Err] [ModelDatabase.cc:394] Unable to get model name[http://gazebosim.org/models/wooden_peg_board] [Err] [ModelDatabase.cc:390] Unable to parse model.config for model[http://gazebosim.org/models/yosemite] [Err] [ModelDatabase.cc:390] Unable to parse model.config for model[http://gazebosim.org/models/youbot] [Err] [ModelDatabase.cc:390] Unable to parse model.config for model[http://gazebosim.org/models/zephyr_delta_wing] [Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.

terminal 5:

jojo@jojo-INVALID:~/uav2_ws$ roslaunch uav_ros_control pid_carrot.launch manual_takeoff:=false ... logging to /home/jojo/.ros/log/7f65c482-bd38-11eb-a0be-28d2447412e9/roslaunch-jojo-INVALID-2202.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jojo-INVALID:39099/

SUMMARY

PARAMETERS

NODES /red/ carrot_reference_node (uav_ros_control/carrot_reference_node) joy_node (joy/joy_node) pid_cascade_node (uav_ros_control/pid_cascade_node)

ROS_MASTER_URI=http://localhost:11311

process[red/carrot_reference_node-1]: started with pid [2584] process[red/joy_node-2]: started with pid [2589] process[red/pid_cascade_node-3]: started with pid [2616] [ERROR] [1621934430.995408381]: Couldn't open joystick /dev/input/js0. Will retry every second.

[ INFO] [1621934431.184229181]: ControlIndices are: lin_x=3 lin_y=2 lin_z=1 ang_z=0

[ INFO] [1621934431.199296780]: Attitude ScaleWeights are: lin_x=0.55 lin_y=0.55 lin_z=75 ang_z=0.02

[ INFO] [1621934431.213083266]: ControlBase - mavros/global_position/local callback enabled [ INFO] [1621934431.225852680]: Position ScaleWeights are: lin_x=0.05 lin_y=0.05 lin_z=0.05 ang_z=0

[ INFO] [1621934431.594857845, 479.007000000]: CarrotReference::initializeParameters() - carrot button enable index is 5 [ INFO] [1621934431.595362420, 479.007000000]: CarrotReference::initializeParameters() - carrot enable value is 1 [ WARN] [1621934431.595552848, 479.007000000]: CarrotReference::initializeParameters() - automatic takeoff enabled [ WARN] [1621934431.595732764, 479.007000000]: CarrotReference - Automatic takeoff enabled, position hold disabled [ INFO] [1621934431.595974687, 479.007000000]: CarrotReference::update - reset to odom.

[ INFO] [1621934431.830179396, 479.080000000]: Position - y PID parameters are: k_p=1.05 k_i=0 k_d=0 lim_low=-15 lim_high=15

[ INFO] [1621934431.844298692, 479.082000000]: Velocity - y PID parameters are: k_p=0.25 k_i=0.01 k_d=0 lim_low=-0.4 lim_high=0.4

[ INFO] [1621934431.863420213, 479.085000000]: Position - x PID parameters are: k_p=1.05 k_i=0 k_d=0 lim_low=-15 lim_high=15

[ INFO] [1621934431.880298368, 479.088000000]: Velocity - x PID parameters are: k_p=0.25 k_i=0.01 k_d=0 lim_low=-0.4 lim_high=0.4

[ INFO] [1621934431.908278953, 479.097000000]: Position - z PID parameters are: k_p=3 k_i=0.1 k_d=1.25 lim_low=-15 lim_high=15

[ INFO] [1621934431.931514308, 479.101000000]: Velocity - z PID parameters are: k_p=0.6 k_i=0 k_d=0 lim_low=-0.5 lim_high=0.5

[ INFO] [1621934431.955283864, 479.109000000]: Yaw rate PID parameters are: k_p=1.75 k_i=0 k_d=0.1 lim_low=-20 lim_high=20

[ INFO] [1621934431.989418478, 479.119000000]: Hover thrust: 0.47 [ INFO] [1621934431.989730091, 479.120000000]: Feed-forward velocity gain: [5.00, 5.00, 5.00] [ INFO] [1621934431.989921921, 479.120000000]: Feed-forward acceleration gain: [0.00, 0.00, 0.00]

[ WARN] [1621934432.447277155, 479.248000000]: [uav_controller::runDefault]: Control node for Ardupilot firmware is active! [FATAL] [1621934432.447483588, 479.248000000]: CascadePID::runDefault - controller inactive [FATAL] [1621934436.120124543, 481.248000000]: CascadePID::runDefault - controller inactive [FATAL] [1621934439.502868852, 483.248000000]: CascadePID::runDefault - controller inactive [FATAL] [1621934443.367994820, 485.248000000]: CascadePID::runDefault - controller inactive [FATAL] [1621934447.383608943, 487.249000000]: CascadePID::runDefault - controller inactive [ INFO] [1621934450.483100690, 489.007000000]: CarrotReference::update - reset to odom. [FATAL] [1621934450.950445694, 489.268000000]: CascadePID::runDefault - controller inactive [FATAL] [1621934454.375397608, 491.268000000]: CascadePID::runDefault - controller inactive [FATAL] [1621934458.025994374, 493.268000000]: CascadePID::runDefault - controller inactive [FATAL] [1621934462.971422483, 495.269000000]: CascadePID::runDefault - controller inactive [FATAL] [1621934467.456179809, 497.270000000]: CascadePID::runDefault - controller inactive [ INFO] [1621934471.832835452, 499.007000000]: CarrotReference::update - reset to odom. [FATAL] [1621934472.619274855, 499.288000000]: CascadePID::runDefault - controller inactive [FATAL] [1621934477.563084751, 501.290000000]: CascadePID::runDefault - controller inactive [ INFO] [1621934478.857548927, 501.868000000]: CarrotReference::updateCarrotStatus - CARROT_ON_LAND enabled. [ WARN] [1621934478.904198811, 501.888000000]: Resetting all PID controllers [ INFO] [1621934478.905352477, 501.888000000]: Controller integrators reset. [FATAL] [1621934481.290151930, 503.309000000]: CascadePID::runDefault - controller inactive [FATAL] [1621934486.303737039, 505.328000000]: CascadePID::runDefault - controller inactive [ INFO] [1621934488.300318676, 506.247000000]: CarrotReference::takeoffServiceCb - enable position hold [ INFO] [1621934488.301051251, 506.247000000]: CarrotReference::update - listen to position_hold/trajectory.

terminal 6:

jojo@jojo-INVALID:~/uav2_ws$ rosrun ardupilot_gazebo automatic_takeoff.sh Automatic takeoff started for red UAV waiting for odometry UAV red switch to GUIDED mode UAV red switch controller to CARROT Arming UAV red UAV red takeoff jojo@jojo-INVALID:~/uav2_ws$

lmark1 commented 3 years ago

Everything seems to be working correctly. I am not sure what the issue is. I would suggest the following:

Then execute the following commands

git clone https://github.com/lmark1/uav_ros_simulation
./uav_ros_simulation/installation/install_and_setup_workspace.sh

After the installation is complete make sure that the ~/uav_ws/devel/setup.bash is the ONLY sourced catkin workspace in the environment.

Then try to launch the UAV in the following way

cd ~/uav_ros_simulation/startup/kopterworx_one_flying
./start.sh

After about 10-15 seconds the UAV should take off. If that does not happen there is unfortunately compatibility issues with your system. The system should work fine for Ubuntu Linux 18.04 and 20.04 operating systems.

xiecuijuan commented 3 years ago

Everything seems to be working correctly. I am not sure what the issue is. I would suggest the following:

  • Remove the added lines added at the bottom of ~/.bashrc by the installation scripts
  • remove uav_ros_simulation
  • remove uav_ws catkin workspace

Then execute the following commands

git clone https://github.com/lmark1/uav_ros_simulation
./uav_ros_simulation/installation/install_and_setup_workspace.sh

After the installation is complete make sure that the ~/uav_ws/devel/setup.bash is the ONLY sourced catkin workspace in the environment.

Then try to launch the UAV in the following way

cd ~/uav_ros_simulation/startup/kopterworx_one_flying
./start.sh

After about 10-15 seconds the UAV should take off. If that does not happen there is unfortunately compatibility issues with your system. The system should work fine for Ubuntu Linux 18.04 and 20.04 operating systems.

when I installing the uav_ros_simulation,some error has happened. 正在解析主机 raw.githubusercontent.com (raw.githubusercontent.com)... 151.101.76.133, 151.101.100.133 正在连接 raw.githubusercontent.com (raw.githubusercontent.com)|151.101.76.133|:443... 已连接。 无法建立 SSL 连接。 /home/jojo/uav_ros_simulation/ros_packages/uav_ros_stack/installation/dependencies/general.sh: "wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh" command failed with exit code 4 /home/jojo/uav_ros_simulation/installation/../ros_packages/uav_ros_stack/installation/install.sh: "bash $MY_PATH/dependencies/general.sh" command failed with exit code 4 /home/jojo/uav_ros_simulation/installation/install.sh: "bash $MY_PATH/../ros_packages/uav_ros_stack/installation/install.sh" command failed with exit code 4 ./uav_ros_simulation/installation/install_and_setup_workspace.sh: "bash $MY_PATH/install.sh" command failed with exit code 4

i want find a way to replease the website of raw.githubusercontent.com, i chang the file /home/jojo/uav_ros_simulation/ros_packages/uav_ros_stack/installation/dependencies/general.sh,but this way is invalid.because the file(general.sh) is a spanned file.

lmark1 commented 3 years ago

Interesting problem! Since wget is not working for some reason i would suggest the following:

gedit ~/uav_ros_simulation/ros_packages/uav_ros_stack/installation/dependencies/general.sh

Remove the following lines:

# Install geographic_lib_dataset.
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.
chmod +x install_geographiclib_datasets.
sudo ./install_geographiclib_datasets.
rm -f install_geographiclib_datasets.sh

Save the file and try to start the installation again. If the installation finishes successfully this time then please try to manually copy and install geographiclib as follows:

touch ~/install_geographiclib_datasets.sh
gedit ~/install_geographiclib_datasets.sh

# At this point open https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets in a browser and copy the file manually. Then save and exit the editor.

cd
chmod +x install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh
xiecuijuan commented 3 years ago

now,I find my ubuntu18.04 is damaged ,so yesterday,i reinstall my ubuntu18.04. and I prepare reinstall uav_ros_simulation

lmark1 commented 3 years ago

Great! If you have further issues please let me know.

xiecuijuan commented 3 years ago

Great! If you have further issues please let me know.

there is a good new,my uav is flying

lmark1 commented 3 years ago

Happy flying! If you have any more issues feel free to contact me.

xiecuijuan commented 3 years ago

快乐飞翔！如果您有更多问题，请随时与我联系。

hello,sir .here I go again. when I start the uav take off.I start"roslaunch uav_ros_control pid_carrot_carto.launch manual_takeoff:=false odometry:=/$UAV_NAMESPACE/uav/cartographer/odometry_filtered_acc",my uav cannot stay at the same altitude and keep going up.but when I "roslaunch uav_ros_control pid_carrot.launch manual_takeoff:=false",in other way,when the odometry:=/$UAV_NAMESPACE/uav/cartographer/odometry_filtered_acc,my uav cannot stay at the same altitude .when the odometry:=mavros/global_position/local,my uav can stay at the designated altitude. I do not know why the odometry effec my uav take off. I know this package (uav_frontier_exploration_3d) is not managed by you.I try to contact with Ana Batinovic,but I am not find her emails.so I will be appreciated if you could help me with this problem.

lmark1 commented 3 years ago

Hello again!

Where are you spawning your UAV? The Cartographer SLAM system does not work well in empty worlds. Please clone and build larics_gazebo_worlds in your Catkin workspace and spawn the UAV in the following way:

roslaunch ardupilot_gazebo kopterworx.launch use_sim_time:=true enable_velodyne:=true max_range:=20 
world:=$(rospack find larics_gazebo_worlds)/worlds/simple_slam.world tf_prefix:="$UAV_NAMESPACE/map"

Please see the intended way of launching Cartographer with UAVs in sitl_kopterworx_carto/session.yml.

xiecuijuan commented 3 years ago

Hello again!

Where are you spawning your UAV? The Cartographer SLAM system does not work well in empty worlds. Please clone and build larics_gazebo_worlds in your Catkin workspace and spawn the UAV in the following way:

roslaunch ardupilot_gazebo kopterworx.launch use_sim_time:=true enable_velodyne:=true max_range:=20 
world:=$(rospack find larics_gazebo_worlds)/worlds/simple_slam.world tf_prefix:="$UAV_NAMESPACE/map"

Please see the intended way of launching Cartographer with UAVs in sitl_kopterworx_carto/session.yml. but when I clone larics_gazebo_worlds to my workspace and build it,there are some error about octomap undefined reference.

xiecuijuan commented 3 years ago

Hello again!

Where are you spawning your UAV? The Cartographer SLAM system does not work well in empty worlds. Please clone and build larics_gazebo_worlds in your Catkin workspace and spawn the UAV in the following way:

roslaunch ardupilot_gazebo kopterworx.launch use_sim_time:=true enable_velodyne:=true max_range:=20 
world:=$(rospack find larics_gazebo_worlds)/worlds/simple_slam.world tf_prefix:="$UAV_NAMESPACE/map"

Please see the intended way of launching Cartographer with UAVs in sitl_kopterworx_carto/session.yml.

Hello,sir. this problem has been solved.hahaha. think agein your reply.