Closed iamrajee closed 2 years ago
iamrajee
commented
2 years ago When I tried with slam, then also it does not works: Terminal 1: roslaunch rtabmap_drone_example gazebo.launch Terminal 2: roslaunch rtabmap_drone_example slam.launch Terminal 3: roslaunch rtabmap_drone_example rviz.launch Terminal 4: rosrun rtabmap_drone_example offboard
See this video, where I describe the issue. Any lead on what might be causing this issue would be of great help, thank you.
matlabbe
commented
2 years ago Here is my log on px4 terminal, it seems the flight software version is different. The EKF on your side is also not initialized.
[ INFO] [1639074645.906335780, 2.179000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1639074645.906392478, 2.179000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1639074645.906424167, 2.179000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1639074645.906462046, 2.179000000]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1639074645.906490792, 2.179000000]: VER: 1.1: Flight software: 010c03ff (2e8918da66000000)
[ INFO] [1639074645.906522457, 2.179000000]: VER: 1.1: Middleware software: 010c03ff (2e8918da66000000)
[ INFO] [1639074645.906548027, 2.179000000]: VER: 1.1: OS software: 050b00ff (bf660cba2af81f05)
[ INFO] [1639074645.906574252, 2.179000000]: VER: 1.1: Board hardware: 00000001
[ INFO] [1639074645.906596910, 2.179000000]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1639074645.906620395, 2.179000000]: VER: 1.1: UID: 4954414c44494e4f
INFO [ecl/EKF] 4080000: EKF aligned, (baro hgt, IMU buf: 21, OBS buf: 15)
[ INFO] [1639074648.021382750, 4.291000000]: IMU: Attitude quaternion IMU detected!
INFO [ecl/EKF] 4148000: EKF aligned, (baro hgt, IMU buf: 21, OBS buf: 15)
INFO [ecl/EKF] 7080000: EKF aligned, (baro hgt, IMU buf: 21, OBS buf: 15)
INFO [ecl/EKF] 7084000: EKF aligned, (baro hgt, IMU buf: 21, OBS buf: 15)
INFO [ecl/EKF] 7084000: EKF aligned, (baro hgt, IMU buf: 21, OBS buf: 15)
INFO [ecl/EKF] 7088000: EKF aligned, (baro hgt, IMU buf: 21, OBS buf: 15)
[ INFO] [1639074654.927322356, 11.171000000]: HP: requesting home position
INFO [gyro_calibration] gyro 0 (1310988) updating calibration, [-0.0009, 0.0226, 0.0011] -> [0.0000, 0.0002, -0.0001] 11.8°C
INFO [gyro_calibration] gyro 1 (1310996) updating calibration, [-0.0009, 0.0231, 0.0012] -> [0.0000, 0.0002, -0.0001] 11.8°C
INFO [gyro_calibration] gyro 2 (1311004) updating calibration, [-0.0009, 0.0231, 0.0012] -> [0.0000, 0.0002, -0.0001] 11.8°C
INFO [ekf2] 1 - resetting IMU bias
INFO [ekf2] 2 - resetting IMU bias
INFO [ekf2] 0 - resetting IMU bias
INFO [ekf2] 4 - resetting IMU bias
INFO [ekf2] 5 - resetting IMU bias
INFO [ekf2] 3 - resetting IMU bias
[ INFO] [1639074659.968311303, 16.170000000]: GF: mission received
[ INFO] [1639074659.969410314, 16.172000000]: RP: mission received
[ INFO] [1639074659.969475302, 16.172000000]: WP: mission received
[ INFO] [1639074664.988477632, 21.172000000]: HP: requesting home positionWhat is your commit version of PX4-Autopilot version? Here is mine:
git log
commit 2e8918da66af37922ededee1cc2d2efffec4cfb2 (HEAD, tag: v1.12.3, origin/stable, origin/beta)
Author: Daniel Agar <daniel@agar.ca>
Date: Mon Sep 6 11:52:58 2021 -0400
boards: cubepilot_cubeorange only start ADSB mavlink if console not present
- cubepilot_cubeorange_test has the console enabled (used for test rack and bench debugging)@matlabbe Thank you for your response, yes you're are right problem seems to be with a version mismatch. So I created a new workspace as per your instruction(thanks again for adding detailed instructions in Readme), and I could run it successfully.
I'm unable to take off the drone in the given gazebo world. Although, when I tried with the default gazebo simulation, it does take off.
Drone does take off this way
Terminal1: roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557" Terminal2: roslaunch px4 posix_sitl.launch Terminal3: rosrun rtabmap_drone_example offboard
But, doesn't take off this way:
Terminal 1: roslaunch rtabmap_drone_example gazebo.launch Terminal 2: rosrun rtabmap_drone_example offboard
What could be the potential reason for this behaviour? Could it be because of the version miss-match of PX4/ mavros? I'm running this simulation on noetic.
Here is output/error of gazebo.launch(terminal1):
Below are my log
Log(Expand to see.)
# rosrun mavros checkid OK. I got messages from 1:1. --- Received 5497 messages, from 1 addresses sys:comp list of messages Exception in thread Thread-5: Traceback (most recent call last): File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner self.run() File "/opt/ros/noetic/lib/python3/dist-packages/rospy/timer.py", line 237, in run self._callback(TimerEvent(last_expected, last_real, current_expected, current_real, last_duration)) File "/home/rajendra/drone_ws/src/mavros/mavros/scripts/checkid", line 82, in timer_cb for address, messages in self.message_sources.iteritems(): AttributeError: 'dict' object has no attribute 'iteritems' # rostopic echo -n 1 /diagnostics header: seq: 86 stamp: secs: 87 nsecs: 500000000 frame_id: '' status: - level: 0 name: "mavros: FCU connection" message: "connected" hardware_id: "udp://:14540@localhost:14557" values: - key: "Received packets:" value: "28621" - key: "Dropped packets:" value: "0" - key: "Buffer overruns:" value: "0" - key: "Parse errors:" value: "0" - key: "Rx sequence number:" value: "205" - key: "Tx sequence number:" value: "0" - key: "Rx total bytes:" value: "1769088" - key: "Tx total bytes:" value: "101219" - key: "Rx speed:" value: "21468.000000" - key: "Tx speed:" value: "9987.000000" - level: 2 name: "mavros: GPS" message: "No satellites" hardware_id: "udp://:14540@localhost:14557" values: - key: "Satellites visible" value: "0" - key: "Fix type" value: "0" - key: "EPH (m)" value: "Unknown" - key: "EPV (m)" value: "Unknown" - level: 0 name: "mavros: Heartbeat" message: "Normal" hardware_id: "udp://:14540@localhost:14557" values: - key: "Heartbeats since startup" value: "87" - key: "Frequency (Hz)" value: "1.047619" - key: "Vehicle type" value: "Quadrotor" - key: "Autopilot type" value: "PX4 Autopilot" - key: "Mode" value: "MANUAL" - key: "System status" value: "Standby" - level: 2 name: "mavros: System" message: "Sensor health" hardware_id: "udp://:14540@localhost:14557" values: - key: "Sensor present" value: "0x1028002C" - key: "Sensor enabled" value: "0x1021000C" - key: "Sensor health" value: "0x102E000F" - key: "3D magnetometer" value: "Ok" - key: "absolute pressure" value: "Ok" - key: "rc receiver" value: "Fail" - key: "AHRS subsystem health" value: "Ok" - key: "pre-arm check status. Always healthy when armed" value: "Ok" - key: "CPU Load (%)" value: "14.0" - key: "Drop rate (%)" value: "0.0" - key: "Errors comm" value: "0" - key: "Errors count #1" value: "0" - key: "Errors count #2" value: "0" - key: "Errors count #3" value: "0" - key: "Errors count #4" value: "0" - level: 0 name: "mavros: Battery" message: "Normal" hardware_id: "udp://:14540@localhost:14557" values: - key: "Voltage" value: "65.54" - key: "Current" value: "-0.0" - key: "Remaining" value: "-1.0" - level: 0 name: "mavros: Time Sync" message: "Normal" hardware_id: "udp://:14540@localhost:14557" values: - key: "Timesyncs since startup" value: "873" - key: "Frequency (Hz)" value: "10.000000" - key: "Last RTT (ms)" value: "0.000000" - key: "Mean RTT (ms)" value: "0.130584" - key: "Last remote time (s)" value: "87.396000000" - key: "Estimated time offset (s)" value: "0.004228993" # rostopic echo /mavros/state (Before running offboard) header: seq: 44 stamp: secs: 44 nsecs: 170000000 frame_id: '' connected: True armed: False guided: False manual_input: True mode: "MANUAL" system_status: 3 # rostopic echo /mavros/state (After running offboard) header: seq: 217 stamp: secs: 217 nsecs: 171000000 frame_id: '' connected: True armed: False guided: True manual_input: False mode: "AUTO.LAND" system_status: 3