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MAVLink to ROS gateway with proxy for Ground Control Station
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PX4 SITL connects and disconnects #1645

Closed gssammy closed 2 years ago

gssammy commented 3 years ago

Issue details

running roslaunch px4 mavros_posix_sitl.launch vehicle:=iris_rplidar keeps connecting and disconnecting from px4.

MAVROS version and platform

Mavros: 1.10.0 ROS: noetic Ubuntu: 20.04 PX4: 1.12.3 Mavlink: release/noetic/mavlink/2021.10.10-1

Autopilot type and version

[ ] ArduPilot [x] PX4

Version: 1.12.3

Node logs

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 408.0
 * /mavros/fake_gps/geo_origin/lat: 47.3667
 * /mavros/fake_gps/geo_origin/lon: 8.55
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: True
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: udp://:14540@loca...
 * /mavros/gcs_url: 
 * /mavros/global_position/child_frame_id: base_link
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/gps_uere: 1.0
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/landing_target/camera/fov_x: 2.0071286398
 * /mavros/landing_target/camera/fov_y: 2.0071286398
 * /mavros/landing_target/image/height: 480
 * /mavros/landing_target/image/width: 640
 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /mavros/landing_target/listen_lt: False
 * /mavros/landing_target/mav_frame: LOCAL_NED
 * /mavros/landing_target/target_size/x: 0.3
 * /mavros/landing_target/target_size/y: 0.3
 * /mavros/landing_target/tf/child_frame_id: camera_center
 * /mavros/landing_target/tf/frame_id: landing_target
 * /mavros/landing_target/tf/listen: False
 * /mavros/landing_target/tf/rate_limit: 10.0
 * /mavros/landing_target/tf/send: True
 * /mavros/local_position/frame_id: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mission/use_mission_item_int: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/fcu/odom_child_id_des: base_link
 * /mavros/odometry/fcu/odom_parent_id_des: map
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_thrust: False
 * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /mavros/setpoint_attitude/tf/frame_id: map
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /mavros/setpoint_attitude/use_quaternion: False
 * /mavros/setpoint_position/mav_frame: LOCAL_NED
 * /mavros/setpoint_position/tf/child_frame_id: target_position
 * /mavros/setpoint_position/tf/frame_id: map
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/setpoint_raw/thrust_scaling: 1.0
 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /mavros/startup_px4_usb_quirk: True
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/time/timesync_mode: MAVLINK
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: odom
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: True
 * /mavros/vision_speed/twist_cov: True
 * /mavros/wheel_odometry/child_frame_id: base_link
 * /mavros/wheel_odometry/count: 2
 * /mavros/wheel_odometry/frame_id: odom
 * /mavros/wheel_odometry/send_raw: True
 * /mavros/wheel_odometry/send_twist: False
 * /mavros/wheel_odometry/tf/child_frame_id: base_link
 * /mavros/wheel_odometry/tf/frame_id: odom
 * /mavros/wheel_odometry/tf/send: False
 * /mavros/wheel_odometry/use_rpm: False
 * /mavros/wheel_odometry/vel_error: 0.1
 * /mavros/wheel_odometry/wheel0/radius: 0.05
 * /mavros/wheel_odometry/wheel0/x: 0.0
 * /mavros/wheel_odometry/wheel0/y: -0.15
 * /mavros/wheel_odometry/wheel1/radius: 0.05
 * /mavros/wheel_odometry/wheel1/x: 0.0
 * /mavros/wheel_odometry/wheel1/y: 0.15
 * /rosdistro: noetic
 * /rosversion: 1.15.13
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    mavros (mavros/mavros_node)
    sitl (px4/px4)
    vehicle_spawn_george_pensa_52099_7814686024673209735 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [52107]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 51bcf4a8-41ac-11ec-b8f8-9d546cd699a9
process[rosout-1]: started with pid [52119]
started core service [/rosout]
process[sitl-2]: started with pid [52128]
INFO  [px4] Creating symlink /home/george/px4/PX4-Autopilot/build/px4_sitl_default/etc -> /home/george/.ros/etc

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
Info: found model autostart file as SYS_AUTOSTART=1012
INFO  [param] selected parameter default file eeprom/parameters_1012
process[gazebo-3]: started with pid [52144]
INFO  [parameters] BSON document size 559 bytes, decoded 559 bytes
[param] Loaded: eeprom/parameters_1012
process[gazebo_gui-4]: started with pid [52155]
process[vehicle_spawn_george_pensa_52099_7814686024673209735-5]: started with pid [52167]
process[mavros-6]: started with pid [52178]
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
PX4 SIM HOST: localhost
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1636496891.518988132]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1636496891.521238438]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1636496891.521355525]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1636496891.521503475]: GCS bridge disabled
[ INFO] [1636496891.534065909]: Plugin 3dr_radio loaded
[ INFO] [1636496891.535463300]: Plugin 3dr_radio initialized
[ INFO] [1636496891.535563858]: Plugin actuator_control loaded
[ INFO] [1636496891.538130560]: Plugin actuator_control initialized
[ INFO] [1636496891.541267676]: Plugin adsb loaded
[ INFO] [1636496891.544082909]: Plugin adsb initialized
[ INFO] [1636496891.544189282]: Plugin altitude loaded
[ INFO] [1636496891.545000364]: Plugin altitude initialized
[ INFO] [1636496891.545068407]: Plugin cam_imu_sync loaded
[ INFO] [1636496891.545566555]: Plugin cam_imu_sync initialized
[ INFO] [1636496891.545638323]: Plugin command loaded
[ INFO] [1636496891.551567813]: Plugin command initialized
[ INFO] [1636496891.551698034]: Plugin companion_process_status loaded
[ INFO] [1636496891.553843832]: Plugin companion_process_status initialized
[ INFO] [1636496891.553977184]: Plugin debug_value loaded
[ INFO] [1636496891.558793960]: Plugin debug_value initialized
[ INFO] [1636496891.558869660]: Plugin distance_sensor blacklisted
[ INFO] [1636496891.558969547]: Plugin esc_status loaded
[ INFO] [1636496891.560356104]: Plugin esc_status initialized
[ INFO] [1636496891.560490615]: Plugin esc_telemetry loaded
[ INFO] [1636496891.561181211]: Plugin esc_telemetry initialized
[ INFO] [1636496891.561308132]: Plugin fake_gps loaded
[ INFO] [1636496891.576462591]: Plugin fake_gps initialized
[ INFO] [1636496891.576618181]: Plugin ftp loaded
[ INFO] [1636496891.582813240]: Plugin ftp initialized
[ INFO] [1636496891.582959496]: Plugin geofence loaded
[ INFO] [1636496891.586563565]: Plugin geofence initialized
[ INFO] [1636496891.586664010]: Plugin global_position loaded
[ INFO] [1636496891.601781838]: Plugin global_position initialized
[ INFO] [1636496891.601879893]: Plugin gps_input loaded
[ INFO] [1636496891.604181329]: Plugin gps_input initialized
[ INFO] [1636496891.604263715]: Plugin gps_rtk loaded
[ INFO] [1636496891.606566007]: Plugin gps_rtk initialized
[ INFO] [1636496891.606694146]: Plugin gps_status loaded
[ INFO] [1636496891.608146230]: Plugin gps_status initialized
[ INFO] [1636496891.608271034]: Plugin hil loaded
[ INFO] [1636496891.616591963]: Plugin hil initialized
[ INFO] [1636496891.616732584]: Plugin home_position loaded
[ INFO] [1636496891.619009108]: Plugin home_position initialized
[ INFO] [1636496891.619142598]: Plugin imu loaded
[ INFO] [1636496891.624897066]: Plugin imu initialized
[ INFO] [1636496891.624998401]: Plugin landing_target loaded
[ INFO] [1636496891.634047460]: Plugin landing_target initialized
[ INFO] [1636496891.634141638]: Plugin local_position loaded
[ INFO] [1636496891.638286977]: Plugin local_position initialized
[ INFO] [1636496891.638375365]: Plugin log_transfer loaded
[ INFO] [1636496891.640496615]: Plugin log_transfer initialized
[ INFO] [1636496891.640587161]: Plugin mag_calibration_status loaded
[ INFO] [1636496891.641290011]: Plugin mag_calibration_status initialized
[ INFO] [1636496891.641378287]: Plugin manual_control loaded
[ INFO] [1636496891.643225143]: Plugin manual_control initialized
[ INFO] [1636496891.643311613]: Plugin mocap_pose_estimate loaded
[ INFO] [1636496891.645988949]: Plugin mocap_pose_estimate initialized
[ INFO] [1636496891.646135876]: Plugin mount_control loaded
[ INFO] [1636496891.649559119]: Plugin mount_control initialized
[ INFO] [1636496891.649777798]: Plugin nav_controller_output loaded
[ INFO] [1636496891.650994644]: Plugin nav_controller_output initialized
[ INFO] [1636496891.651135569]: Plugin obstacle_distance loaded
[ INFO] [1636496891.654864012]: Plugin obstacle_distance initialized
[ INFO] [1636496891.655005505]: Plugin odom loaded
[ INFO] [1636496891.659858790]: Plugin odom initialized
[ INFO] [1636496891.660033351]: Plugin onboard_computer_status loaded
[ INFO] [1636496891.661992278]: Plugin onboard_computer_status initialized
[ INFO] [1636496891.662140910]: Plugin param loaded
[ INFO] [1636496891.664293542]: Plugin param initialized
[ INFO] [1636496891.664409419]: Plugin play_tune loaded
[ INFO] [1636496891.666185809]: Plugin play_tune initialized
[ INFO] [1636496891.666320885]: Plugin px4flow loaded
[ INFO] [1636496891.672662786]: Plugin px4flow initialized
[ INFO] [1636496891.672838746]: Plugin rallypoint loaded
[ INFO] [1636496891.675738573]: Plugin rallypoint initialized
[ INFO] [1636496891.675836780]: Plugin rangefinder blacklisted
[ INFO] [1636496891.675962120]: Plugin rc_io loaded
[ INFO] [1636496891.679775432]: Plugin rc_io initialized
[ INFO] [1636496891.679835525]: Plugin safety_area blacklisted
[ INFO] [1636496891.679968681]: Plugin setpoint_accel loaded
[ INFO] [1636496891.682233931]: Plugin setpoint_accel initialized
[ INFO] [1636496891.682395503]: Plugin setpoint_attitude loaded
[ INFO] [1636496891.692099679]: Plugin setpoint_attitude initialized
[ INFO] [1636496891.692253536]: Plugin setpoint_position loaded
[ INFO] [1636496891.703314406]: Plugin setpoint_position initialized
[ INFO] [1636496891.703444053]: Plugin setpoint_raw loaded
[ INFO] [1636496891.711763538]: Plugin setpoint_raw initialized
[ INFO] [1636496891.711900873]: Plugin setpoint_trajectory loaded
[ INFO] [1636496891.716316969]: Plugin setpoint_trajectory initialized
[ INFO] [1636496891.716535587]: Plugin setpoint_velocity loaded
[ INFO] [1636496891.725197183]: Plugin setpoint_velocity initialized
[ INFO] [1636496891.725402954]: Plugin sys_status loaded
[ INFO] [1636496891.736417513]: Plugin sys_status initialized
[ INFO] [1636496891.736563621]: Plugin sys_time loaded
[ INFO] [1636496891.741283630]: TM: Timesync mode: MAVLINK
[ INFO] [1636496891.742045993]: TM: Publishing sim time
[ INFO] [1636496891.742912172]: Plugin sys_time initialized
[ INFO] [1636496891.743035532]: Plugin trajectory loaded
[ INFO] [1636496891.746675224]: Plugin trajectory initialized
[ INFO] [1636496891.746777124]: Plugin tunnel loaded
[ INFO] [1636496891.749682882]: Plugin tunnel initialized
[ INFO] [1636496891.749811064]: Plugin vfr_hud loaded
[ INFO] [1636496891.750343013]: Plugin vfr_hud initialized
[ INFO] [1636496891.750380569]: Plugin vibration blacklisted
[ INFO] [1636496891.750486168]: Plugin vision_pose_estimate loaded
[ INFO] [1636496891.755682935]: Plugin vision_pose_estimate initialized
[ INFO] [1636496891.755811320]: Plugin vision_speed_estimate loaded
[ INFO] [1636496891.759213747]: Plugin vision_speed_estimate initialized
[ INFO] [1636496891.759344079]: Plugin waypoint loaded
[ INFO] [1636496891.762925528]: Plugin waypoint initialized
[ INFO] [1636496891.762979412]: Plugin wheel_odometry blacklisted
[ INFO] [1636496891.763079858]: Plugin wind_estimation loaded
[ INFO] [1636496891.763560406]: Plugin wind_estimation initialized
[ INFO] [1636496891.763595528]: Autostarting mavlink via USB on PX4
[ INFO] [1636496891.763639401]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1636496891.763672851]: Built-in MAVLink package version: 2021.10.10
[ INFO] [1636496891.763714623]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1636496891.763748070]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1636496891.850733, 0.000000]: Loading model XML from file /home/george/px4/PX4-Autopilot/Tools/sitl_gazebo/models/iris_rplidar/iris_rplidar.sdf
[INFO] [1636496891.852806, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1636496892.071873271]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1636496892.073294090]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1636496892.181057611]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1636496892.182106111]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1636496892.585400683]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1636496892.609905412, 0.008000000]: Physics dynamic reconfigure ready.
[INFO] [1636496892.757800, 0.152000]: Calling service /gazebo/spawn_sdf_model
Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: rplidar. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
[INFO] [1636496893.518411, 0.360000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1636496893.550475367, 0.360000000]: Laser Plugin: The 'robotNamespace' param did not exit
[ INFO] [1636496893.550563872, 0.360000000]: Starting GazeboRosLaser Plugin (ns = )
[ INFO] [1636496893.551301637, 0.360000000]: GPU Laser Plugin (ns = ) <tf_prefix_>, set to ""
[ INFO] [1636496893.551862346, 0.360000000]: LoadThread function completed
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [ekf2] starting instance 0, IMU:0 (1310988), MAG:0 (197388)
INFO  [ekf2] 0 - selected distance_sensor:0
INFO  [ekf2] starting instance 1, IMU:1 (1310996), MAG:0 (197388)
INFO  [ekf2] 1 - selected distance_sensor:0
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [ekf2] starting instance 2, IMU:2 (1311004), MAG:0 (197388)
INFO  [ekf2] 2 - selected distance_sensor:0
INFO  [ekf2] starting instance 3, IMU:0 (1310988), MAG:1 (197644)
INFO  [ekf2] 3 - selected distance_sensor:0
INFO  [ekf2] starting instance 4, IMU:1 (1310996), MAG:1 (197644)
INFO  [ekf2] 4 - selected distance_sensor:0
INFO  [ekf2] starting instance 5, IMU:2 (1311004), MAG:1 (197644)
INFO  [ekf2] 5 - selected distance_sensor:0
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2021-11-09/22_28_13.ulg
INFO  [logger] Opened full log file: ./log/2021-11-09/22_28_13.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
[ INFO] [1636496893.959610375, 0.616000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1636496893.959778337, 0.616000000]: IMU: High resolution IMU detected!
INFO  [px4] Startup script returned successfully
pxh> INFO  [mavlink] partner IP: 127.0.0.1
INFO  [mavlink] partner IP: 127.0.0.1
[vehicle_spawn_george_pensa_52099_7814686024673209735-5] process has finished cleanly
log file: /home/george/.ros/log/51bcf4a8-41ac-11ec-b8f8-9d546cd699a9/vehicle_spawn_george_pensa_52099_7814686024673209735-5*.log
INFO  [ecl/EKF] reset position to last known position
INFO  [ecl/EKF] reset velocity to zero
INFO  [ecl/EKF] reset position to last known position
INFO  INFO  [ecl/EKF] [ecl/EKF] reset velocity to zero
INFO  [ecl/EKF] reset position to last known position
INFO  [ecl/EKF] reset velocity to zero
reset position to last known position
INFO  [ecl/EKF] reset velocity to zero
INFO  [ecl/EKF] reset position to last known position
INFO  [ecl/EKF] reset velocity to zero
INFO  [ecl/EKF] reset position to last known position
INFO  [ecl/EKF] reset velocity to zero
[ INFO] [1636496894.920798430, 1.560000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
INFO  [ecl/EKF] GPS checks passed
INFO  [ecl/EKF] GPS checks passed
INFO  [ecl/EKF] GPS checks passed
INFO  [ecl/EKF] GPS checks passed
INFO  [ecl/EKF] GPS checks passed
INFO  [ecl/EKF] GPS checks passed
[ INFO] [1636496894.925409766, 1636496894.920485000]: HP: requesting home position
[ WARN] [1636496894.925666749, 1636496894.920485000]: CON: Lost connection, HEARTBEAT timed out.
[ INFO] [1636496894.926734814, 1636496894.920485000]: GF: mission received
[ INFO] [1636496894.927218053, 1636496894.920485000]: RP: mission received
[ INFO] [1636496894.927384343, 1636496894.920485000]: WP: mission received
[ INFO] [1636496894.936464620, 1.576000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1636496894.936559688, 1.576000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1636496894.936599491, 1.576000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1636496894.936653913, 1.576000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1636496894.936697038, 1.576000000]: VER: 1.1: Flight software:     010c0300 (2e8918da66000000)
[ INFO] [1636496894.936717836, 1.576000000]: VER: 1.1: Middleware software: 010c0300 (2e8918da66000000)
[ INFO] [1636496894.936735215, 1.576000000]: VER: 1.1: OS software:         050b00ff (bf660cba2af81f05)
[ INFO] [1636496894.936755682, 1.576000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1636496894.936778334, 1.576000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1636496894.936803112, 1.576000000]: VER: 1.1: UID:                 4954414c44494e4f
[ INFO] [1636496894.936941127, 1.576000000]: IMU: High resolution IMU detected!
[ INFO] [1636496895.920298138, 2.560000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1636496895.927109305, 1636496895.920514000]: HP: requesting home position
[ WARN] [1636496895.927390628, 1636496895.920514000]: CON: Lost connection, HEARTBEAT timed out.
[ INFO] [1636496895.929298497, 1636496895.920514000]: GF: mission received
[ INFO] [1636496895.930253533, 1636496895.920514000]: RP: mission received
[ INFO] [1636496895.931143135, 2.568000000]: WP: mission received
[ INFO] [1636496895.935668384, 2.572000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1636496895.936213476, 2.572000000]: VER: 1.1: Flight software:     010c0300 (2e8918da66000000)
[ INFO] [1636496895.936693321, 2.572000000]: VER: 1.1: Middleware software: 010c0300 (2e8918da66000000)
[ INFO] [1636496895.937585707, 2.572000000]: VER: 1.1: OS software:         050b00ff (bf660cba2af81f05)
[ INFO] [1636496895.938017112, 2.572000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1636496895.938365585, 2.572000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1636496895.938580018, 2.572000000]: VER: 1.1: UID:                 4954414c44494e4f
[ INFO] [1636496895.938988658, 2.572000000]: IMU: High resolution IMU detected!
[ INFO] [1636496896.922341640, 3.560000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1636496896.930434719, 3.568000000]: HP: requesting home position
[ WARN] [1636496896.931031404, 3.568000000]: CON: Lost connection, HEARTBEAT timed out.
[ INFO] [1636496896.934132484, 3.568000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1636496896.934457237, 3.568000000]: VER: 1.1: Flight software:     010c0300 (2e8918da66000000)
[ INFO] [1636496896.934771487, 3.568000000]: VER: 1.1: Middleware software: 010c0300 (2e8918da66000000)
[ INFO] [1636496896.934970430, 3.568000000]: VER: 1.1: OS software:         050b00ff (bf660cba2af81f05)
[ INFO] [1636496896.935094821, 3.572000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1636496896.935167953, 3.572000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1636496896.935238823, 3.572000000]: VER: 1.1: UID:                 4954414c44494e4f
[ INFO] [1636496896.938580436, 3.576000000]: IMU: High resolution IMU detected!
[ INFO] [1636496897.923758045, 4.556000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1636496897.935223815, 1636496897.923878000]: HP: requesting home position
[ WARN] [1636496897.935613128, 1636496897.923878000]: CON: Lost connection, HEARTBEAT timed out.
[ INFO] [1636496897.940016134, 4.572000000]: GF: mission received
[ INFO] [1636496897.940784301, 4.572000000]: RP: mission received
[ INFO] [1636496897.941158670, 4.572000000]: WP: mission received
[ INFO] [1636496897.943792965, 4.576000000]: IMU: High resolution IMU detected!
[ INFO] [1636496897.945441801, 4.576000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1636496897.945638923, 4.576000000]: VER: 1.1: Flight software:     010c0300 (2e8918da66000000)
[ INFO] [1636496897.945769740, 4.576000000]: VER: 1.1: Middleware software: 010c0300 (2e8918da66000000)
[ INFO] [1636496897.945891551, 4.576000000]: VER: 1.1: OS software:         050b00ff (bf660cba2af81f05)
[ INFO] [1636496897.946056154, 4.576000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1636496897.946202844, 4.576000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1636496897.946328467, 4.576000000]: VER: 1.1: UID:                 4954414c44494e4f
INFO  [ecl/EKF] 4576000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
[ INFO] [1636496898.431850135, 5.064000000]: IMU: Attitude quaternion IMU detected!
INFO  [ecl/EKF] 4644000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO  [ecl/EKF] 4648000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO  [ecl/EKF] 4648000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO  [ecl/EKF] 4652000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO  [ecl/EKF] 4652000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
[ INFO] [1636496898.929015824, 5.560000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1636496898.933781613, 1636496898.928834000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1636496898.934846156, 1636496898.928834000]: HP: requesting home position
[ WARN] [1636496898.934948828, 1636496898.928834000]: CON: Lost connection, HEARTBEAT timed out.
[ INFO] [1636496898.935081202, 1636496898.928834000]: GF: mission received
[ INFO] [1636496898.935214370, 1636496898.928834000]: RP: mission received
[ INFO] [1636496898.935309129, 1636496898.928834000]: WP: mission received
[ INFO] [1636496898.936763175, 5.568000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1636496898.936913867, 5.568000000]: VER: 1.1: Flight software:     010c0300 (2e8918da66000000)
[ INFO] [1636496898.936960267, 5.568000000]: VER: 1.1: Middleware software: 010c0300 (2e8918da66000000)
[ INFO] [1636496898.937011662, 5.568000000]: VER: 1.1: OS software:         050b00ff (bf660cba2af81f05)
[ INFO] [1636496898.937074556, 5.568000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1636496898.937121609, 5.568000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1636496898.937178756, 5.568000000]: VER: 1.1: UID:                 4954414c44494e4f
[ INFO] [1636496898.946589601, 5.576000000]: IMU: High resolution IMU detected!
[ INFO] [1636496898.953602292, 5.584000000]: IMU: Attitude quaternion IMU detected!
INFO  [ecl/EKF] reset position to GPS
INFO  [ecl/EKF] reset position to GPS
INFO  [ecl/EKF] reset velocity to GPS
INFO  [ecl/EKF] starting GPS fusion
INFO  [ecl/EKF] reset velocity to GPS
INFO  [ecl/EKF] starting GPS fusion
INFO  [ecl/EKF] reset position to GPS
INFO  [ecl/EKF] reset velocity to GPS
INFO  [ecl/EKF] starting GPS fusion
INFO  [ecl/EKF] reset position to GPS
INFO  [ecl/EKF] reset velocity to GPS
INFO  [ecl/EKF] starting GPS fusion
INFO  [ecl/EKF] reset position to GPSINFO  [ecl/EKF] reset position to GPS
INFO  
[ecl/EKF] reset velocity to GPS
INFO  [ecl/EKF] starting GPS fusion
INFO  [ecl/EKF] reset velocity to GPS
INFO  [ecl/EKF] starting GPS fusion
[ INFO] [1636496899.933109563, 6.560000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1636496899.939548946, 1636496899.933039000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1636496899.940678314, 1636496899.933039000]: HP: requesting home position
[ WARN] [1636496899.941159898, 1636496899.933039000]: CON: Lost connection, HEARTBEAT timed out.
[ INFO] [1636496899.941463660, 6.568000000]: GF: mission received
[ INFO] [1636496899.942237879, 6.568000000]: RP: mission received
[ INFO] [1636496899.942642525, 6.568000000]: WP: mission received
[ INFO] [1636496899.944559948, 6.568000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1636496899.944871163, 6.568000000]: VER: 1.1: Flight software:     010c0300 (2e8918da66000000)
[ INFO] [1636496899.945473805, 6.572000000]: VER: 1.1: Middleware software: 010c0300 (2e8918da66000000)
[ INFO] [1636496899.945526198, 6.572000000]: VER: 1.1: OS software:         050b00ff (bf660cba2af81f05)
[ INFO] [1636496899.945554184, 6.572000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1636496899.945579496, 6.572000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1636496899.945606102, 6.572000000]: VER: 1.1: UID:                 4954414c44494e4f
[ INFO] [1636496899.949328787, 6.576000000]: IMU: High resolution IMU detected!
[ INFO] [1636496899.956972032, 6.584000000]: IMU: Attitude quaternion IMU detected!
INFO  [tone_alarm] home set
INFO  [tone_alarm] notify negative
[ INFO] [1636496900.935533309, 7.560000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1636496900.941520447, 1636496900.935437000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1636496900.942139329, 1636496900.935437000]: HP: requesting home position
[ WARN] [1636496900.942958803, 1636496900.935437000]: CON: Lost connection, HEARTBEAT timed out.
[ INFO] [1636496900.947364477, 7.568000000]: GF: mission received
[ INFO] [1636496900.948122458, 7.568000000]: RP: mission received
[ INFO] [1636496900.948648694, 7.568000000]: WP: mission received
[ INFO] [1636496900.948995840, 7.572000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1636496900.949202049, 7.572000000]: VER: 1.1: Flight software:     010c0300 (2e8918da66000000)
[ INFO] [1636496900.949367812, 7.572000000]: VER: 1.1: Middleware software: 010c0300 (2e8918da66000000)
[ INFO] [1636496900.949587251, 7.572000000]: VER: 1.1: OS software:         050b00ff (bf660cba2af81f05)
[ INFO] [1636496900.949762687, 7.572000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1636496900.950210306, 7.572000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1636496900.950308551, 7.572000000]: VER: 1.1: UID:                 4954414c44494e4f
[ INFO] [1636496900.952686129, 7.576000000]: IMU: High resolution IMU detected!
[ INFO] [1636496900.960181744, 7.584000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1636496901.939093519, 8.556000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1636496901.948089091, 1636496901.938952000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1636496901.948460264, 1636496901.938952000]: HP: requesting home position
[ WARN] [1636496901.948773100, 1636496901.938952000]: CON: Lost connection, HEARTBEAT timed out.
[ INFO] [1636496901.949994706, 1636496901.938952000]: RP: mission received
[ INFO] [1636496901.950633686, 1636496901.938952000]: WP: mission received
[ INFO] [1636496901.953667558, 8.572000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1636496901.953962140, 8.572000000]: VER: 1.1: Flight software:     010c0300 (2e8918da66000000)
[ INFO] [1636496901.954087301, 8.572000000]: VER: 1.1: Middleware software: 010c0300 (2e8918da66000000)
[ INFO] [1636496901.954149789, 8.572000000]: VER: 1.1: OS software:         050b00ff (bf660cba2af81f05)
[ INFO] [1636496901.954203803, 8.572000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1636496901.954255225, 8.572000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1636496901.954420937, 8.572000000]: VER: 1.1: UID:                 4954414c44494e4f
[ INFO] [1636496901.954892379, 8.572000000]: IMU: High resolution IMU detected!
[ INFO] [1636496901.963231896, 8.584000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1636496902.943157791, 9.560000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1636496902.948962330, 1636496902.942948000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1636496902.949506547, 1636496902.942948000]: HP: requesting home position
[ WARN] [1636496902.949906922, 1636496902.942948000]: CON: Lost connection, HEARTBEAT timed out.
[ INFO] [1636496902.950654528, 1636496902.942948000]: GF: mission received
[ INFO] [1636496902.951119845, 9.568000000]: RP: mission received
[ INFO] [1636496902.951307470, 9.568000000]: WP: mission received
[ INFO] [1636496902.952735941, 9.568000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1636496902.952823705, 9.568000000]: VER: 1.1: Flight software:     010c0300 (2e8918da66000000)
[ INFO] [1636496902.952867972, 9.568000000]: VER: 1.1: Middleware software: 010c0300 (2e8918da66000000)
[ INFO] [1636496902.952904512, 9.568000000]: VER: 1.1: OS software:         050b00ff (bf660cba2af81f05)
[ INFO] [1636496902.952947914, 9.568000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1636496902.952983359, 9.568000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1636496902.953022350, 9.568000000]: VER: 1.1: UID:                 4954414c44494e4f
[ INFO] [1636496902.959254049, 9.576000000]: IMU: High resolution IMU detected!
[ INFO] [1636496902.967541702, 9.584000000]: IMU: Attitude quaternion IMU detected!
[mavros-6] killing on exit
[gazebo-3] killing on exit
[gazebo_gui-4] killing on exit
[sitl-2] killing on exit

PX4 Exiting...
pxh> Exiting NOW.

Diagnostics

ostopic echo -n1 /diagnostics
header: 
  seq: 33
  stamp: 
    secs: 32
    nsecs: 396000000
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "udp://:14540@localhost:14557"
    values: 
      - 
        key: "Received packets:"
        value: "31112"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "96"
      - 
        key: "Tx sequence number:"
        value: "0"
      - 
        key: "Rx total bytes:"
        value: "1428533"
      - 
        key: "Tx total bytes:"
        value: "24280"
      - 
        key: "Rx speed:"
        value: "49527.000000"
      - 
        key: "Tx speed:"
        value: "801.000000"
  - 
    level: 0
    name: "mavros: GPS"
    message: "3D fix"
    hardware_id: "udp://:14540@localhost:14557"
    values: 
      - 
        key: "Satellites visible"
        value: "10"
      - 
        key: "Fix type"
        value: "3"
      - 
        key: "EPH (m)"
        value: "0.00"
      - 
        key: "EPV (m)"
        value: "0.00"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "udp://:14540@localhost:14557"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "32"
      - 
        key: "Frequency (Hz)"
        value: "0.990806"
      - 
        key: "Vehicle type"
        value: "Quadrotor"
      - 
        key: "Autopilot type"
        value: "PX4 Autopilot"
      - 
        key: "Mode"
        value: "AUTO.LOITER"
      - 
        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: "0x102E002F"
      - 
        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: "32.0"
      - 
        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: "16.20"
      - 
        key: "Current"
        value: "-1.0"
      - 
        key: "Remaining"
        value: "100.0"
  - 
    level: 1
    name: "mavros: Time Sync"
    message: "Frequency too high."
    hardware_id: "udp://:14540@localhost:14557"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "351"
      - 
        key: "Frequency (Hz)"
        value: "11.097031"
      - 
        key: "Last RTT (ms)"
        value: "0.000000"
      - 
        key: "Mean RTT (ms)"
        value: "10593357788.294748"
      - 
        key: "Last remote time (s)"
        value: "32.116000000"
      - 
        key: "Estimated time offset (s)"
        value: "242310757.597530842"
---

Check ID

rosrun mavros checkid
OK. I got messages from 1:1.

---
Received 66 messages, from 2 addresses
sys:comp   list of messages
Exception in thread Thread-6:
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/george/rosws/src/pensa/third_party/mavros/mavros/scripts/checkid", line 82, in timer_cb
    for address, messages in self.message_sources.iteritems():
AttributeError: 'dict' object has no attribute 'iteritems'
gssammy commented 2 years ago

this was solved here: https://github.com/mavlink/mavros/issues/1629#issuecomment-977245214