Closed Frukan closed 1 year ago
This is only bug and feature tracker, please use it to report bugs or request features.
I am trying to connect to Pixhawk with Raspberry Pi4 through MAVROS but I get the following error.
Mavros: ?1.16.0? ROS: ?Noetic? Raspbian: ?Buster?
[X] ArduPilot [ ] PX4
Version: ?3.7.1?
... logging to /home/pi/.ros/log/217e45ca-3512-11ee-857b-dca632a87dc3/roslaunch-raspberrypi-8569.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://raspberrypi:41125/ SUMMARY ======== CLEAR PARAMETERS * /mavros/ PARAMETERS * /mavros/cmd/use_comp_id_system_control: False * /mavros/conn/heartbeat_mav_type: ONBOARD_CONTROLLER * /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/rangefinder_pub/field_of_view: 0.0 * /mavros/distance_sensor/rangefinder_pub/frame_id: lidar * /mavros/distance_sensor/rangefinder_pub/id: 0 * /mavros/distance_sensor/rangefinder_pub/send_tf: False * /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0 * /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0 * /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1 * /mavros/distance_sensor/rangefinder_sub/id: 1 * /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270 * /mavros/distance_sensor/rangefinder_sub/subscriber: True * /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_id: 4 * /mavros/fake_gps/gps_rate: 5.0 * /mavros/fake_gps/horiz_accuracy: 0.5 * /mavros/fake_gps/mocap_transform: False * /mavros/fake_gps/mocap_withcovariance: False * /mavros/fake_gps/satellites_visible: 6 * /mavros/fake_gps/speed_accuracy: 0.0 * /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_hil_gps: True * /mavros/fake_gps/use_mocap: True * /mavros/fake_gps/use_vision: False * /mavros/fake_gps/vert_accuracy: 0.5 * /mavros/fcu_protocol: v2.0 * /mavros/fcu_url: /dev/ttyACM0:57600 * /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/guided_target/tf/child_frame_id: target_position * /mavros/guided_target/tf/frame_id: map * /mavros/guided_target/tf/listen: False * /mavros/guided_target/tf/rate_limit: 50.0 * /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/mount/debounce_s: 4.0 * /mavros/mount/err_threshold_deg: 10.0 * /mavros/mount/negate_measured_pitch: False * /mavros/mount/negate_measured_roll: False * /mavros/mount/negate_measured_yaw: False * /mavros/odometry/estimator_type: 3 * /mavros/odometry/frame_tf/desired_frame: ned * /mavros/plugin_blacklist: ['actuator_contro... * /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: False * /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: map * /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: map * /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: map * /mavros/wheel_odometry/tf/send: True * /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: 1.16.0 NODES / mavros (mavros/mavros_node) auto-starting new master process[master]: started with pid [8578] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 217e45ca-3512-11ee-857b-dca632a87dc3 process[rosout-1]: started with pid [8589] started core service [/rosout] process[mavros-2]: started with pid [8597] [ INFO] [1691406257.299201875]: FCU URL: /dev/ttyACM0:57600 [ INFO] [1691406257.340832321]: serial0: device: /dev/ttyACM0 @ 57600 bps [ INFO] [1691406257.350892324]: GCS bridge disabled [ INFO] [1691406257.506987977]: Plugin 3dr_radio loaded [ INFO] [1691406257.525966490]: Plugin 3dr_radio initialized [ INFO] [1691406257.526914335]: Plugin actuator_control blacklisted [ INFO] [1691406257.644795666]: Plugin adsb loaded [ INFO] [1691406257.690202011]: Plugin adsb initialized [ INFO] [1691406257.691785593]: Plugin altitude blacklisted [ INFO] [1691406257.697969234]: Plugin cam_imu_sync loaded [ INFO] [1691406257.713717900]: Plugin cam_imu_sync initialized [ INFO] [1691406257.718734383]: Plugin camera loaded [ INFO] [1691406257.727149990]: Plugin camera initialized [ INFO] [1691406257.730700743]: Plugin cellular_status loaded [ INFO] [1691406257.758588082]: Plugin cellular_status initialized [ INFO] [1691406257.764840630]: Plugin command loaded [ INFO] [1691406257.890426573]: Plugin command initialized [ INFO] [1691406257.894271102]: Plugin companion_process_status loaded [ INFO] [1691406257.925805156]: Plugin companion_process_status initialized [ INFO] [1691406257.926597336]: Plugin debug_value blacklisted [ INFO] [1691406257.929979923]: Plugin distance_sensor loaded mavros_node: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:109: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = float; int Size = 4; int MatrixOrArrayOptions = 0]: Assertion `(internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (15)) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed. ================================================================================REQUIRED process [mavros-2] has died! process has died [pid 8597, exit code -6, cmd /home/pi/ros_catkin_ws/devel/lib/mavros/mavros_node __name:=mavros __log:=/home/pi/.ros/log/217e45ca-3512-11ee-857b-dca632a87dc3/mavros-2.log]. log file: /home/pi/.ros/log/217e45ca-3512-11ee-857b-dca632a87dc3/mavros-2*.log Initiating shutdown! ================================================================================ [mavros-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
Blacklisting odom plugin in apm_config.yaml at catkin_ws/src/mavros/launch worked for me.
This is only bug and feature tracker, please use it to report bugs or request features.
Issue details
I am trying to connect to Pixhawk with Raspberry Pi4 through MAVROS but I get the following error.
MAVROS version and platform
Mavros: ?1.16.0? ROS: ?Noetic? Raspbian: ?Buster?
Autopilot type and version
[X] ArduPilot [ ] PX4
Version: ?3.7.1?
Node logs