yangy-98
commented
2 years ago and in gazebo, the drone wobbles in and around the starting point.
Open yangy-98 opened 2 years ago
yangy-98
commented
2 years ago and in gazebo, the drone wobbles in and around the starting point.
yangy-98
commented
2 years ago @mzahana I really need help, please
calmelo
commented
2 years ago Hello, when I run the command:
roslaunch px4_fast_planner px4_fast_planner.launchthe terminal shows:
... logging to /home/njust/.ros/log/eb340e2c-9220-11ec-b2ca-f8633f2ed425/roslaunch-nuc-17513.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. WARN: unrecognized 'param' tag in <include> tag WARN: unrecognized 'param' tag in <include> tag WARN: unrecognized 'param' tag in <include> tag WARN: unrecognized 'param' tag in <include> tag WARN: unrecognized 'param' tag in <include> tag WARN: unrecognized 'param' tag in <include> tag started roslaunch server http://nuc:44437/ SUMMARY ======== CLEAR PARAMETERS * /mavros/ PARAMETERS * /camera_pose_publisher/child_frame: camera_link * /camera_pose_publisher/parent_frame: world * /camera_pose_publisher/pose_topic: camera/pose * /fast_planner_node/bspline/limit_acc: 2.5 * /fast_planner_node/bspline/limit_ratio: 1.1 * /fast_planner_node/bspline/limit_vel: 1.0 * /fast_planner_node/fsm/act_map: False * /fast_planner_node/fsm/flight_type: 1 * /fast_planner_node/fsm/thresh_no_replan: 2.0 * /fast_planner_node/fsm/thresh_replan: 0.5 * /fast_planner_node/fsm/waypoint0_x: 19.0 * /fast_planner_node/fsm/waypoint0_y: 0.0 * /fast_planner_node/fsm/waypoint0_z: 1.0 * /fast_planner_node/fsm/waypoint1_x: 0.0 * /fast_planner_node/fsm/waypoint1_y: 10.0 * /fast_planner_node/fsm/waypoint1_z: 1.0 * /fast_planner_node/fsm/waypoint2_x: -19.0 * /fast_planner_node/fsm/waypoint2_y: 0.0 * /fast_planner_node/fsm/waypoint2_z: 1.0 * /fast_planner_node/fsm/waypoint_num: 2 * /fast_planner_node/heading_planner/half_vert_num: 3 * /fast_planner_node/heading_planner/lambda1: 2.0 * /fast_planner_node/heading_planner/lambda2: 1.0 * /fast_planner_node/heading_planner/max_yaw_rate: 1.04719753333 * /fast_planner_node/heading_planner/w: 10.0 * /fast_planner_node/heading_planner/yaw_diff: 0.0872664611111 * /fast_planner_node/manager/clearance_threshold: 0.2 * /fast_planner_node/manager/control_points_distance: 0.3 * /fast_planner_node/manager/dynamic_environment: 0 * /fast_planner_node/manager/local_segment_length: 7.0 * /fast_planner_node/manager/max_acc: 2.5 * /fast_planner_node/manager/max_jerk: 4.0 * /fast_planner_node/manager/max_vel: 1.0 * /fast_planner_node/manager/use_geometric_path: False * /fast_planner_node/manager/use_kinodynamic_path: False * /fast_planner_node/manager/use_optimization: True * /fast_planner_node/manager/use_topo_path: True * /fast_planner_node/optimization/algorithm1: 15 * /fast_planner_node/optimization/algorithm2: 11 * /fast_planner_node/optimization/dist0: 0.4 * /fast_planner_node/optimization/dist1: 0.0 * /fast_planner_node/optimization/lambda1: 10.0 * /fast_planner_node/optimization/lambda2: 5.0 * /fast_planner_node/optimization/lambda3: 0.0 * /fast_planner_node/optimization/lambda4: 0.001 * /fast_planner_node/optimization/lambda5: 1.5 * /fast_planner_node/optimization/lambda6: 10.0 * /fast_planner_node/optimization/lambda7: 20.0 * /fast_planner_node/optimization/max_acc: 2.5 * /fast_planner_node/optimization/max_iteration_num1: 2 * /fast_planner_node/optimization/max_iteration_num2: 300 * /fast_planner_node/optimization/max_iteration_time1: 0.0001 * /fast_planner_node/optimization/max_iteration_time2: 0.005 * /fast_planner_node/optimization/max_vel: 1.0 * /fast_planner_node/optimization/order: 3 * /fast_planner_node/planner_node/planner: 2 * /fast_planner_node/sdf_map/cx: 320.5 * /fast_planner_node/sdf_map/cy: 240.5 * /fast_planner_node/sdf_map/depth_filter_margin: 2 * /fast_planner_node/sdf_map/depth_filter_maxdist: 7 * /fast_planner_node/sdf_map/depth_filter_mindist: 0.2 * /fast_planner_node/sdf_map/depth_filter_tolerance: 0.15 * /fast_planner_node/sdf_map/esdf_slice_height: 0.3 * /fast_planner_node/sdf_map/frame_id: world * /fast_planner_node/sdf_map/fx: 343.496367536 * /fast_planner_node/sdf_map/fy: 343.496367536 * /fast_planner_node/sdf_map/ground_height: -1.0 * /fast_planner_node/sdf_map/k_depth_scaling_factor: 1000.0 * /fast_planner_node/sdf_map/local_bound_inflate: 0.5 * /fast_planner_node/sdf_map/local_map_margin: 50 * /fast_planner_node/sdf_map/local_update_range_x: 5.5 * /fast_planner_node/sdf_map/local_update_range_y: 5.5 * /fast_planner_node/sdf_map/local_update_range_z: 4.5 * /fast_planner_node/sdf_map/map_size_x: 40.0 * /fast_planner_node/sdf_map/map_size_y: 40.0 * /fast_planner_node/sdf_map/map_size_z: 5.0 * /fast_planner_node/sdf_map/max_ray_length: 4.5 * /fast_planner_node/sdf_map/min_ray_length: 0.5 * /fast_planner_node/sdf_map/obstacles_inflation: 0.099 * /fast_planner_node/sdf_map/p_hit: 0.65 * /fast_planner_node/sdf_map/p_max: 0.9 * /fast_planner_node/sdf_map/p_min: 0.12 * /fast_planner_node/sdf_map/p_miss: 0.35 * /fast_planner_node/sdf_map/p_occ: 0.8 * /fast_planner_node/sdf_map/pose_type: 1 * /fast_planner_node/sdf_map/resolution: 0.1 * /fast_planner_node/sdf_map/show_esdf_time: False * /fast_planner_node/sdf_map/show_occ_time: False * /fast_planner_node/sdf_map/skip_pixel: 2 * /fast_planner_node/sdf_map/use_depth_filter: True * /fast_planner_node/sdf_map/virtual_ceil_height: 3.0 * /fast_planner_node/sdf_map/visualization_truncate_height: 2.5 * /fast_planner_node/topo_prm/clearance: 0.3 * /fast_planner_node/topo_prm/max_raw_path2: 25 * /fast_planner_node/topo_prm/max_raw_path: 300 * /fast_planner_node/topo_prm/max_sample_num: 2000 * /fast_planner_node/topo_prm/max_sample_time: 0.005 * /fast_planner_node/topo_prm/parallel_shortcut: True * /fast_planner_node/topo_prm/ratio_to_short: 5.5 * /fast_planner_node/topo_prm/reserve_num: 6 * /fast_planner_node/topo_prm/sample_inflate_x: 1.0 * /fast_planner_node/topo_prm/sample_inflate_y: 5.5 * /fast_planner_node/topo_prm/sample_inflate_z: 1.0 * /fast_planner_node/topo_prm/short_cut_num: 1 * /gazebo/enable_ros_network: True * /geometric_controller/Kp_x: 6.0 * /geometric_controller/Kp_y: 6.0 * /geometric_controller/Kp_z: 10.0 * /geometric_controller/Kv_x: 1.5 * /geometric_controller/Kv_y: 1.5 * /geometric_controller/Kv_z: 3.5 * /geometric_controller/ctrl_mode: 2 * /geometric_controller/enable_gazebo_state: True * /geometric_controller/enable_sim: True * /geometric_controller/init_pos_x: 0.0 * /geometric_controller/init_pos_y: 0.0 * /geometric_controller/init_pos_z: 1.0 * /geometric_controller/mav_name: iris * /geometric_controller/max_acc: 2.5 * /geometric_controller/velocity_yaw: False * /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/id: 2 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270 * /mavros/distance_sensor/sonar_1_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_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: True * /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: melodic * /rosversion: 1.14.12 * /traj_msg_converter/fast_planner_traj_topic: planning/ref_traj * /traj_msg_converter/traj_pub_topic: command/trajectory * /traj_server/traj_server/time_forward: 1.5 * /use_sim_time: True * /waypoint_generator/waypoint_type: manual-lonely-way... NODES / camera_pose_publisher (px4_fast_planner/camera_pose_publisher.py) fast_planner_node (plan_manage/fast_planner_node) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) geometric_controller (geometric_controller/geometric_controller_node) mavros (mavros/mavros_node) rqt_reconfigure (rqt_reconfigure/rqt_reconfigure) rvizvisualisation (rviz/rviz) sitl (px4/px4) tf_camera (tf/static_transform_publisher) traj_msg_converter (px4_fast_planner/trajectory_msg_converter.py) traj_server (plan_manage/traj_server) vehicle_spawn_nuc_17513_8915702001176790362 (gazebo_ros/spawn_model) waypoint_generator (waypoint_generator/waypoint_generator) world_map_linker (tf/static_transform_publisher) auto-starting new master process[master]: started with pid [17523] ROS_MASTER_URI=http://localhost:11311 setting /run_id to eb340e2c-9220-11ec-b2ca-f8633f2ed425 process[rosout-1]: started with pid [17534] started core service [/rosout] process[world_map_linker-2]: started with pid [17542] process[tf_camera-3]: started with pid [17543] process[sitl-4]: started with pid [17554] INFO [px4] Creating symlink /home/njust/Firmware/ROMFS/px4fmu_common -> /home/njust/.ros/etc 0 WARNING: setRealtimeSched failed (not run as root?) ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0 process[gazebo-5]: started with pid [17572] process[gazebo_gui-6]: started with pid [17581] process[vehicle_spawn_nuc_17513_8915702001176790362-7]: started with pid [17590] process[mavros-8]: started with pid [17593] INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes INFO [simulator] Waiting for simulator to connect on TCP port 4560 process[fast_planner_node-9]: started with pid [17606] process[traj_server-10]: started with pid [17614] process[waypoint_generator-11]: started with pid [17617] process[geometric_controller-12]: started with pid [17622] process[rqt_reconfigure-13]: started with pid [17627] process[camera_pose_publisher-14]: started with pid [17629] process[traj_msg_converter-15]: started with pid [17635] process[rvizvisualisation-16]: started with pid [17637] [ INFO] [1645343063.946551459]: FCU URL: udp://:14540@localhost:14557 [ INFO] [1645343063.955107417]: udp0: Bind address: 0.0.0.0:14540 [ INFO] [1645343063.955237708]: udp0: Remote address: 127.0.0.1:14557 [ INFO] [1645343063.955322683]: GCS bridge disabled [ INFO] [1645343063.978374732]: Plugin 3dr_radio loaded [ INFO] [1645343063.983463471]: Plugin 3dr_radio initialized [ INFO] [1645343063.984487249]: Plugin actuator_control loaded [ INFO] [1645343063.990217028]: Plugin actuator_control initialized [ INFO] [1645343063.994984539]: Plugin adsb loaded [ INFO] [1645343064.042044571]: Plugin adsb initialized [ INFO] [1645343064.042206435]: Plugin altitude loaded [ INFO] [1645343064.050109989]: Plugin altitude initialized [ INFO] [1645343064.050250040]: Plugin cam_imu_sync loaded [ INFO] [1645343064.051451386]: Plugin cam_imu_sync initialized [ INFO] [1645343064.051579030]: Plugin camera loaded [ INFO] [1645343064.058256564]: Plugin camera initialized [ INFO] [1645343064.058408618]: Plugin command loaded [ INFO] [1645343064.084802218]: Plugin command initialized [ INFO] [1645343064.084947568]: Plugin companion_process_status loaded [ INFO] [1645343064.103412163]: Plugin companion_process_status initialized [ INFO] [1645343064.103553717]: Plugin debug_value loaded [ INFO] [1645343064.136040285]: Plugin debug_value initialized [ INFO] [1645343064.136110433]: Plugin distance_sensor blacklisted [ INFO] [1645343064.136230449]: Plugin esc_status loaded [ INFO] [1645343064.146330145]: Plugin esc_status initialized [ INFO] [1645343064.146472963]: Plugin esc_telemetry loaded [ INFO] [1645343064.147130778]: Plugin esc_telemetry initialized [ INFO] [1645343064.147274474]: Plugin fake_gps loaded [ INFO] [1645343064.231376028]: Plugin fake_gps initialized [ INFO] [1645343064.231514153]: Plugin ftp loaded hit: 0.619039 miss: -0.619039 min log: -1.99243 max: 2.19722 thresh log: 1.38629 [ INFO] [1645343064.275973382]: Plugin ftp initialized [ INFO] [1645343064.276111703]: Plugin geofence loaded [ INFO] [1645343064.287538938]: Plugin geofence initialized [ INFO] [1645343064.287688403]: Plugin global_position loaded [ INFO] [1645343064.361019951]: Plugin global_position initialized [ INFO] [1645343064.361146509]: Plugin gps_input loaded [ INFO] [1645343064.364639737]: Plugin gps_input initialized [ INFO] [1645343064.364820175]: Plugin gps_rtk loaded [ INFO] [1645343064.367707213]: Plugin gps_rtk initialized [ INFO] [1645343064.367899555]: Plugin gps_status loaded [ INFO] [1645343064.377333917]: Plugin gps_status initialized [ INFO] [1645343064.377554218]: Plugin hil loaded [ INFO] [1645343064.424574080]: Plugin hil initialized [ INFO] [1645343064.424801264]: Plugin home_position loaded [ INFO] [1645343064.431830864]: Plugin home_position initialized [ INFO] [1645343064.432018631]: Plugin imu loaded [ INFO] [1645343064.462481289]: Plugin imu initialized [ INFO] [1645343064.462713493]: Plugin landing_target loaded [ INFO] [1645343064.501729157]: Plugin landing_target initialized [ INFO] [1645343064.501953049]: Plugin local_position loaded [ INFO] [1645343064.517622431]: Plugin local_position initialized [ INFO] [1645343064.517854420]: Plugin log_transfer loaded [ INFO] [1645343064.523282175]: Plugin log_transfer initialized [ INFO] [1645343064.523489691]: Plugin mag_calibration_status loaded [ INFO] [1645343064.525732422]: Plugin mag_calibration_status initialized [ INFO] [1645343064.525948884]: Plugin manual_control loaded [ INFO] [1645343064.531319328]: Plugin manual_control initialized [ INFO] [1645343064.531539073]: Plugin mocap_pose_estimate loaded [ INFO] [1645343064.540432768]: Plugin mocap_pose_estimate initialized [ INFO] [1645343064.540674830]: Plugin mount_control loaded [ INFO] [1645343064.550353969]: Plugin mount_control initialized [ INFO] [1645343064.550575753]: Plugin nav_controller_output loaded [ INFO] [1645343064.551361622]: Plugin nav_controller_output initialized [ INFO] [1645343064.551554976]: Plugin obstacle_distance loaded [ INFO] [1645343064.571132641]: Plugin obstacle_distance initialized [ INFO] [1645343064.571359873]: Plugin odom loaded [ INFO] [1645343064.586577449]: Plugin odom initialized [ INFO] [1645343064.586796156]: Plugin onboard_computer_status loaded [ INFO] [1645343064.590728491]: Plugin onboard_computer_status initialized [ INFO] [1645343064.590980306]: Plugin param loaded [ INFO] [1645343064.599312502]: Plugin param initialized [ INFO] [1645343064.599529226]: Plugin play_tune loaded [ INFO] [1645343064.604612170]: Plugin play_tune initialized [ INFO] [1645343064.604794776]: Plugin px4flow loaded [ INFO] [1645343064.636937334]: Plugin px4flow initialized [ INFO] [1645343064.637215023]: Plugin rallypoint loaded [ INFO] [1645343064.647518891]: Plugin rallypoint initialized [ INFO] [1645343064.647653341]: Plugin rangefinder blacklisted [ INFO] [1645343064.647835286]: Plugin rc_io loaded [ INFO] [1645343064.663854075]: Plugin rc_io initialized [ INFO] [1645343064.663990157]: Plugin safety_area blacklisted [ INFO] [1645343064.664160325]: Plugin setpoint_accel loaded [ INFO] [1645343064.677111085]: Plugin setpoint_accel initialized [ INFO] [1645343064.677364117]: Plugin setpoint_attitude loaded [ INFO] [1645343064.715683271]: Plugin setpoint_attitude initialized [ INFO] [1645343064.715868378]: Plugin setpoint_position loaded INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0 [ INFO] [1645343064.775354149]: Plugin setpoint_position initialized [ INFO] [1645343064.775593606]: Plugin setpoint_raw loaded [ INFO] [1645343064.798244861]: Plugin setpoint_raw initialized [ INFO] [1645343064.798478187]: Plugin setpoint_trajectory loaded [ INFO] [1645343064.811059500]: Plugin setpoint_trajectory initialized [ INFO] [1645343064.811288622]: Plugin setpoint_velocity loaded [ INFO] [1645343064.833605783]: Plugin setpoint_velocity initialized [ INFO] [1645343064.833861921]: Plugin sys_status loaded INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14570 remote port 14550 [ INFO] [1645343064.871425150]: Plugin sys_status initialized [ INFO] [1645343064.871643251]: Plugin sys_time loaded [ INFO] [1645343064.902398239]: TM: Timesync mode: MAVLINK [ INFO] [1645343064.903783475]: TM: Not publishing sim time [ INFO] [1645343064.908627434]: Plugin sys_time initialized [ INFO] [1645343064.908845589]: Plugin terrain loaded [ INFO] [1645343064.910758490]: Plugin terrain initialized [ INFO] [1645343064.910974435]: Plugin trajectory loaded INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540 [ INFO] [1645343064.938611232]: Plugin trajectory initialized [ INFO] [1645343064.939797177]: Plugin tunnel loaded [ INFO] [1645343064.950666329]: Plugin tunnel initialized [ INFO] [1645343064.950836057]: Plugin vfr_hud loaded [ INFO] [1645343064.954456116]: Plugin vfr_hud initialized [ INFO] [1645343064.954540368]: Plugin vibration blacklisted [ INFO] [1645343064.954665211]: Plugin vision_pose_estimate loaded [ INFO] [1645343065.003085655]: Plugin vision_pose_estimate initialized [ INFO] [1645343065.003334935]: Plugin vision_speed_estimate loaded [ INFO] [1645343065.029039283]: Plugin vision_speed_estimate initialized [ INFO] [1645343065.029300260]: Plugin waypoint loaded [ INFO] [1645343065.054604623]: Plugin waypoint initialized [ INFO] [1645343065.054767062]: Plugin wheel_odometry blacklisted [ INFO] [1645343065.054943486]: Plugin wind_estimation loaded [ INFO] [1645343065.058992475]: Plugin wind_estimation initialized [ INFO] [1645343065.059192993]: Autostarting mavlink via USB on PX4 [ INFO] [1645343065.059291293]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1645343065.059370978]: Built-in MAVLink package version: 2022.1.5 [ INFO] [1645343065.059469007]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta [ INFO] [1645343065.059556398]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1645343065.061561492]: Finished loading Gazebo ROS API Plugin. INFO [logger] logger started (mode=all) [ INFO] [1645343065.067812204]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: ./log/2022-02-20/07_44_25.ulg INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network) [ INFO] [1645343065.081118935]: udp0: Remote address: 127.0.0.1:14580 [ INFO] [1645343065.082116509]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1645343065.087612519]: FCU: [logger] file: ./log/2022-02-20/07_44_25.ulg INFO [px4] Startup script returned successfully pxh> INFO [mavlink] partner IP: 127.0.0.1 [ INFO] [1645343065.394119695]: Finished loading Gazebo ROS API Plugin. [ INFO] [1645343065.397274942]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [INFO] [1645343065.922150, 0.000000]: Loading model XML from file /home/njust/catkin_ws/src/px4_fast_planner/models/iris_depth_camera/iris_depth_camera.sdf [INFO] [1645343065.924323, 0.000000]: Waiting for service /gazebo/spawn_sdf_model [ INFO] [1645343066.097164311]: GF: Using MISSION_ITEM_INT [ INFO] [1645343066.097215339]: RP: Using MISSION_ITEM_INT [ INFO] [1645343066.097263950]: WP: Using MISSION_ITEM_INT [ INFO] [1645343066.097306055]: VER: 1.1: Capabilities 0x000000000000e4ef [ INFO] [1645343066.097348038]: VER: 1.1: Flight software: 010a0100 (e0f016c2b3000000) [ INFO] [1645343066.097376976]: VER: 1.1: Middleware software: 010a0100 (e0f016c2b3000000) [ INFO] [1645343066.097407808]: VER: 1.1: OS software: 050400ff (427238133be2b0ec) [ INFO] [1645343066.097440210]: VER: 1.1: Board hardware: 00000001 [ INFO] [1645343066.097544095]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1645343066.097568801]: VER: 1.1: UID: 4954414c44494e4f [ INFO] [1645343066.624257870]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1645343066.721117893]: Physics dynamic reconfigure ready. [INFO] [1645343066.830700, 0.000000]: Calling service /gazebo/spawn_sdf_model Warning [parser.cc:950] XML Element[vertical_fov], child of element[camera] not defined in SDF. Ignoring[vertical_fov]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element. [INFO] [1645343067.594226, 0.004000]: Spawn status: SpawnModel: Successfully spawned entity [vehicle_spawn_nuc_17513_8915702001176790362-7] process has finished cleanly log file: /home/njust/.ros/log/eb340e2c-9220-11ec-b2ca-f8633f2ed425/vehicle_spawn_nuc_17513_8915702001176790362-7*.log [ INFO] [1645343068.142457299, 0.004000000]: Camera Plugin: The 'robotNamespace' param did not exit [ INFO] [1645343068.147006163, 0.004000000]: Camera Plugin (ns = ) <tf_prefix_>, set to "" INFO [simulator] Simulator connected on TCP port 4560. [ INFO] [1645343068.722826320, 0.012000000]: Waiting for home pose... [ INFO] [1645343068.736453918, 0.024000000]: IMU: High resolution IMU detected! INFO [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14) INFO [ecl/EKF] 736000: EKF GPS checks passed (WGS-84 origin set) [ INFO] [1645343069.982568489, 0.940000000]: IMU: Attitude quaternion IMU detected! [ WARN] [1645343070.053717738, 1.004000000]: [Traj server]: ready. [FSM]: from INIT to WAIT_TARGET [ INFO] [1645343070.064806627, 1.012000000]: Home pose initialized to: position: x: 0.000184849 y: 0.00011755 z: 0.00167428 orientation: x: 0.0103552 y: -0.0116411 z: 0.0191484 w: -0.999695 [ INFO] [1645343070.633063041, 1.512000000]: Got pose! Drone Ready to be armed. state: WAIT_TARGET state: WAIT_TARGET state: WAIT_TARGET INFO [ecl/EKF] 5204000: EKF commencing GPS fusion [ INFO] [1645343078.569473274, 6.004000000]: Offboard enabled state: WAIT_TARGET state: WAIT_TARGET state: WAIT_TARGET state: WAIT_TARGET [ INFO] [1645343089.590134432, 12.012000000]: FCU: ARMED by Arm/Disarm component command [ INFO] [1645343089.591626496, 12.012000000]: Vehicle armed INFO [commander] Takeoff detected state: WAIT_TARGET [ INFO] [1645343089.748329352, 12.060000000]: FCU: Takeoff detected state: WAIT_TARGET state: WAIT_TARGET WARN [mavlink] IGN REQUEST LIST: Busy WARN [mavlink] IGN REQUEST LIST: Busy [ INFO] [1645343094.905536831, 15.000000000]: WP: mission received [ERROR] [1645343094.909636081, 15.004000000]: FCU: IGN REQUEST LIST: Busy [ERROR] [1645343094.969012656, 15.056000000]: FCU: IGN REQUEST LIST: Busy [ WARN] [1645343096.506352936, 16.000000000]: RP: timeout, retries left 2 [ WARN] [1645343096.506594236, 16.000000000]: GF: timeout, retries left 2 WARN [mavlink] IGN REQUEST LIST: Busy [ INFO] [1645343096.507159579, 16.000000000]: RP: mission received [ERROR] [1645343096.522541863, 16.000000000]: FCU: IGN REQUEST LIST: Busy state: WAIT_TARGET [ WARN] [1645343098.068787250, 17.000000000]: GF: timeout, retries left 1 [ INFO] [1645343098.069876863, 17.000000000]: GF: mission received state: WAIT_TARGET state: WAIT_TARGET state: WAIT_TARGET [rvizvisualisation-16] killing on exit [traj_msg_converter-15] killing on exit [camera_pose_publisher-14] killing on exit [rqt_reconfigure-13] killing on exit [geometric_controller-12] killing on exit [traj_server-10] killing on exit [fast_planner_node-9] killing on exit [mavros-8] killing on exit [gazebo_gui-6] killing on exit [waypoint_generator-11] killing on exit [gazebo-5] killing on exit Traceback (most recent call last): File "/home/njust/catkin_ws/src/px4_fast_planner/scripts/camera_pose_publisher.py", line 41, in <module> rate.sleep() File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/timer.py", line 103, in sleep sleep(self._remaining(curr_time)) File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/timer.py", line 165, in sleep raise rospy.exceptions.ROSInterruptException("ROS shutdown request") rospy.exceptions.ROSInterruptException: ROS shutdown request [sitl-4] killing on exit Exiting... pxh> Shutting down des manager [tf_camera-3] killing on exit [world_map_linker-2] killing on exit [gazebo_gui-6] escalating to SIGTERM [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete donethe errors:
Warning [parser.cc:950] XML Element[vertical_fov], child of element[camera] not defined in SDF. Ignoring[vertical_fov]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.and
WARN [mavlink] IGN REQUEST LIST: Busy WARN [mavlink] IGN REQUEST LIST: Busy [ INFO] [1645343094.905536831, 15.000000000]: WP: mission received [ERROR] [1645343094.909636081, 15.004000000]: FCU: IGN REQUEST LIST: Busy [ERROR] [1645343094.969012656, 15.056000000]: FCU: IGN REQUEST LIST: Busy [ WARN] [1645343096.506352936, 16.000000000]: RP: timeout, retries left 2 [ WARN] [1645343096.506594236, 16.000000000]: GF: timeout, retries left 2 WARN [mavlink] IGN REQUEST LIST: BusyI have no idea with these problems. How to solve it? I look forward to your reply. Thank you!
Have you resolved the problem? I meet the problem too.
yangy-98
commented
2 years ago Hello, when I run the command:
roslaunch px4_fast_planner px4_fast_planner.launchthe terminal shows:... logging to /home/njust/.ros/log/eb340e2c-9220-11ec-b2ca-f8633f2ed425/roslaunch-nuc-17513.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. WARN: unrecognized 'param' tag in <include> tag WARN: unrecognized 'param' tag in <include> tag WARN: unrecognized 'param' tag in <include> tag WARN: unrecognized 'param' tag in <include> tag WARN: unrecognized 'param' tag in <include> tag WARN: unrecognized 'param' tag in <include> tag started roslaunch server http://nuc:44437/ SUMMARY ======== CLEAR PARAMETERS * /mavros/ PARAMETERS * /camera_pose_publisher/child_frame: camera_link * /camera_pose_publisher/parent_frame: world * /camera_pose_publisher/pose_topic: camera/pose * /fast_planner_node/bspline/limit_acc: 2.5 * /fast_planner_node/bspline/limit_ratio: 1.1 * /fast_planner_node/bspline/limit_vel: 1.0 * /fast_planner_node/fsm/act_map: False * /fast_planner_node/fsm/flight_type: 1 * /fast_planner_node/fsm/thresh_no_replan: 2.0 * /fast_planner_node/fsm/thresh_replan: 0.5 * /fast_planner_node/fsm/waypoint0_x: 19.0 * /fast_planner_node/fsm/waypoint0_y: 0.0 * /fast_planner_node/fsm/waypoint0_z: 1.0 * /fast_planner_node/fsm/waypoint1_x: 0.0 * /fast_planner_node/fsm/waypoint1_y: 10.0 * /fast_planner_node/fsm/waypoint1_z: 1.0 * /fast_planner_node/fsm/waypoint2_x: -19.0 * /fast_planner_node/fsm/waypoint2_y: 0.0 * /fast_planner_node/fsm/waypoint2_z: 1.0 * /fast_planner_node/fsm/waypoint_num: 2 * /fast_planner_node/heading_planner/half_vert_num: 3 * /fast_planner_node/heading_planner/lambda1: 2.0 * /fast_planner_node/heading_planner/lambda2: 1.0 * /fast_planner_node/heading_planner/max_yaw_rate: 1.04719753333 * /fast_planner_node/heading_planner/w: 10.0 * /fast_planner_node/heading_planner/yaw_diff: 0.0872664611111 * /fast_planner_node/manager/clearance_threshold: 0.2 * /fast_planner_node/manager/control_points_distance: 0.3 * /fast_planner_node/manager/dynamic_environment: 0 * /fast_planner_node/manager/local_segment_length: 7.0 * /fast_planner_node/manager/max_acc: 2.5 * /fast_planner_node/manager/max_jerk: 4.0 * /fast_planner_node/manager/max_vel: 1.0 * /fast_planner_node/manager/use_geometric_path: False * /fast_planner_node/manager/use_kinodynamic_path: False * /fast_planner_node/manager/use_optimization: True * /fast_planner_node/manager/use_topo_path: True * /fast_planner_node/optimization/algorithm1: 15 * /fast_planner_node/optimization/algorithm2: 11 * /fast_planner_node/optimization/dist0: 0.4 * /fast_planner_node/optimization/dist1: 0.0 * /fast_planner_node/optimization/lambda1: 10.0 * /fast_planner_node/optimization/lambda2: 5.0 * /fast_planner_node/optimization/lambda3: 0.0 * /fast_planner_node/optimization/lambda4: 0.001 * /fast_planner_node/optimization/lambda5: 1.5 * /fast_planner_node/optimization/lambda6: 10.0 * /fast_planner_node/optimization/lambda7: 20.0 * /fast_planner_node/optimization/max_acc: 2.5 * /fast_planner_node/optimization/max_iteration_num1: 2 * /fast_planner_node/optimization/max_iteration_num2: 300 * /fast_planner_node/optimization/max_iteration_time1: 0.0001 * /fast_planner_node/optimization/max_iteration_time2: 0.005 * /fast_planner_node/optimization/max_vel: 1.0 * /fast_planner_node/optimization/order: 3 * /fast_planner_node/planner_node/planner: 2 * /fast_planner_node/sdf_map/cx: 320.5 * /fast_planner_node/sdf_map/cy: 240.5 * /fast_planner_node/sdf_map/depth_filter_margin: 2 * /fast_planner_node/sdf_map/depth_filter_maxdist: 7 * /fast_planner_node/sdf_map/depth_filter_mindist: 0.2 * /fast_planner_node/sdf_map/depth_filter_tolerance: 0.15 * /fast_planner_node/sdf_map/esdf_slice_height: 0.3 * /fast_planner_node/sdf_map/frame_id: world * /fast_planner_node/sdf_map/fx: 343.496367536 * /fast_planner_node/sdf_map/fy: 343.496367536 * /fast_planner_node/sdf_map/ground_height: -1.0 * /fast_planner_node/sdf_map/k_depth_scaling_factor: 1000.0 * /fast_planner_node/sdf_map/local_bound_inflate: 0.5 * /fast_planner_node/sdf_map/local_map_margin: 50 * /fast_planner_node/sdf_map/local_update_range_x: 5.5 * /fast_planner_node/sdf_map/local_update_range_y: 5.5 * /fast_planner_node/sdf_map/local_update_range_z: 4.5 * /fast_planner_node/sdf_map/map_size_x: 40.0 * /fast_planner_node/sdf_map/map_size_y: 40.0 * /fast_planner_node/sdf_map/map_size_z: 5.0 * /fast_planner_node/sdf_map/max_ray_length: 4.5 * /fast_planner_node/sdf_map/min_ray_length: 0.5 * /fast_planner_node/sdf_map/obstacles_inflation: 0.099 * /fast_planner_node/sdf_map/p_hit: 0.65 * /fast_planner_node/sdf_map/p_max: 0.9 * /fast_planner_node/sdf_map/p_min: 0.12 * /fast_planner_node/sdf_map/p_miss: 0.35 * /fast_planner_node/sdf_map/p_occ: 0.8 * /fast_planner_node/sdf_map/pose_type: 1 * /fast_planner_node/sdf_map/resolution: 0.1 * /fast_planner_node/sdf_map/show_esdf_time: False * /fast_planner_node/sdf_map/show_occ_time: False * /fast_planner_node/sdf_map/skip_pixel: 2 * /fast_planner_node/sdf_map/use_depth_filter: True * /fast_planner_node/sdf_map/virtual_ceil_height: 3.0 * /fast_planner_node/sdf_map/visualization_truncate_height: 2.5 * /fast_planner_node/topo_prm/clearance: 0.3 * /fast_planner_node/topo_prm/max_raw_path2: 25 * /fast_planner_node/topo_prm/max_raw_path: 300 * /fast_planner_node/topo_prm/max_sample_num: 2000 * /fast_planner_node/topo_prm/max_sample_time: 0.005 * /fast_planner_node/topo_prm/parallel_shortcut: True * /fast_planner_node/topo_prm/ratio_to_short: 5.5 * /fast_planner_node/topo_prm/reserve_num: 6 * /fast_planner_node/topo_prm/sample_inflate_x: 1.0 * /fast_planner_node/topo_prm/sample_inflate_y: 5.5 * /fast_planner_node/topo_prm/sample_inflate_z: 1.0 * /fast_planner_node/topo_prm/short_cut_num: 1 * /gazebo/enable_ros_network: True * /geometric_controller/Kp_x: 6.0 * /geometric_controller/Kp_y: 6.0 * /geometric_controller/Kp_z: 10.0 * /geometric_controller/Kv_x: 1.5 * /geometric_controller/Kv_y: 1.5 * /geometric_controller/Kv_z: 3.5 * /geometric_controller/ctrl_mode: 2 * /geometric_controller/enable_gazebo_state: True * /geometric_controller/enable_sim: True * /geometric_controller/init_pos_x: 0.0 * /geometric_controller/init_pos_y: 0.0 * /geometric_controller/init_pos_z: 1.0 * /geometric_controller/mav_name: iris * /geometric_controller/max_acc: 2.5 * /geometric_controller/velocity_yaw: False * /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/id: 2 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270 * /mavros/distance_sensor/sonar_1_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_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: True * /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: melodic * /rosversion: 1.14.12 * /traj_msg_converter/fast_planner_traj_topic: planning/ref_traj * /traj_msg_converter/traj_pub_topic: command/trajectory * /traj_server/traj_server/time_forward: 1.5 * /use_sim_time: True * /waypoint_generator/waypoint_type: manual-lonely-way... NODES / camera_pose_publisher (px4_fast_planner/camera_pose_publisher.py) fast_planner_node (plan_manage/fast_planner_node) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) geometric_controller (geometric_controller/geometric_controller_node) mavros (mavros/mavros_node) rqt_reconfigure (rqt_reconfigure/rqt_reconfigure) rvizvisualisation (rviz/rviz) sitl (px4/px4) tf_camera (tf/static_transform_publisher) traj_msg_converter (px4_fast_planner/trajectory_msg_converter.py) traj_server (plan_manage/traj_server) vehicle_spawn_nuc_17513_8915702001176790362 (gazebo_ros/spawn_model) waypoint_generator (waypoint_generator/waypoint_generator) world_map_linker (tf/static_transform_publisher) auto-starting new master process[master]: started with pid [17523] ROS_MASTER_URI=http://localhost:11311 setting /run_id to eb340e2c-9220-11ec-b2ca-f8633f2ed425 process[rosout-1]: started with pid [17534] started core service [/rosout] process[world_map_linker-2]: started with pid [17542] process[tf_camera-3]: started with pid [17543] process[sitl-4]: started with pid [17554] INFO [px4] Creating symlink /home/njust/Firmware/ROMFS/px4fmu_common -> /home/njust/.ros/etc 0 WARNING: setRealtimeSched failed (not run as root?) ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0 process[gazebo-5]: started with pid [17572] process[gazebo_gui-6]: started with pid [17581] process[vehicle_spawn_nuc_17513_8915702001176790362-7]: started with pid [17590] process[mavros-8]: started with pid [17593] INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes INFO [simulator] Waiting for simulator to connect on TCP port 4560 process[fast_planner_node-9]: started with pid [17606] process[traj_server-10]: started with pid [17614] process[waypoint_generator-11]: started with pid [17617] process[geometric_controller-12]: started with pid [17622] process[rqt_reconfigure-13]: started with pid [17627] process[camera_pose_publisher-14]: started with pid [17629] process[traj_msg_converter-15]: started with pid [17635] process[rvizvisualisation-16]: started with pid [17637] [ INFO] [1645343063.946551459]: FCU URL: udp://:14540@localhost:14557 [ INFO] [1645343063.955107417]: udp0: Bind address: 0.0.0.0:14540 [ INFO] [1645343063.955237708]: udp0: Remote address: 127.0.0.1:14557 [ INFO] [1645343063.955322683]: GCS bridge disabled [ INFO] [1645343063.978374732]: Plugin 3dr_radio loaded [ INFO] [1645343063.983463471]: Plugin 3dr_radio initialized [ INFO] [1645343063.984487249]: Plugin actuator_control loaded [ INFO] [1645343063.990217028]: Plugin actuator_control initialized [ INFO] [1645343063.994984539]: Plugin adsb loaded [ INFO] [1645343064.042044571]: Plugin adsb initialized [ INFO] [1645343064.042206435]: Plugin altitude loaded [ INFO] [1645343064.050109989]: Plugin altitude initialized [ INFO] [1645343064.050250040]: Plugin cam_imu_sync loaded [ INFO] [1645343064.051451386]: Plugin cam_imu_sync initialized [ INFO] [1645343064.051579030]: Plugin camera loaded [ INFO] [1645343064.058256564]: Plugin camera initialized [ INFO] [1645343064.058408618]: Plugin command loaded [ INFO] [1645343064.084802218]: Plugin command initialized [ INFO] [1645343064.084947568]: Plugin companion_process_status loaded [ INFO] [1645343064.103412163]: Plugin companion_process_status initialized [ INFO] [1645343064.103553717]: Plugin debug_value loaded [ INFO] [1645343064.136040285]: Plugin debug_value initialized [ INFO] [1645343064.136110433]: Plugin distance_sensor blacklisted [ INFO] [1645343064.136230449]: Plugin esc_status loaded [ INFO] [1645343064.146330145]: Plugin esc_status initialized [ INFO] [1645343064.146472963]: Plugin esc_telemetry loaded [ INFO] [1645343064.147130778]: Plugin esc_telemetry initialized [ INFO] [1645343064.147274474]: Plugin fake_gps loaded [ INFO] [1645343064.231376028]: Plugin fake_gps initialized [ INFO] [1645343064.231514153]: Plugin ftp loaded hit: 0.619039 miss: -0.619039 min log: -1.99243 max: 2.19722 thresh log: 1.38629 [ INFO] [1645343064.275973382]: Plugin ftp initialized [ INFO] [1645343064.276111703]: Plugin geofence loaded [ INFO] [1645343064.287538938]: Plugin geofence initialized [ INFO] [1645343064.287688403]: Plugin global_position loaded [ INFO] [1645343064.361019951]: Plugin global_position initialized [ INFO] [1645343064.361146509]: Plugin gps_input loaded [ INFO] [1645343064.364639737]: Plugin gps_input initialized [ INFO] [1645343064.364820175]: Plugin gps_rtk loaded [ INFO] [1645343064.367707213]: Plugin gps_rtk initialized [ INFO] [1645343064.367899555]: Plugin gps_status loaded [ INFO] [1645343064.377333917]: Plugin gps_status initialized [ INFO] [1645343064.377554218]: Plugin hil loaded [ INFO] [1645343064.424574080]: Plugin hil initialized [ INFO] [1645343064.424801264]: Plugin home_position loaded [ INFO] [1645343064.431830864]: Plugin home_position initialized [ INFO] [1645343064.432018631]: Plugin imu loaded [ INFO] [1645343064.462481289]: Plugin imu initialized [ INFO] [1645343064.462713493]: Plugin landing_target loaded [ INFO] [1645343064.501729157]: Plugin landing_target initialized [ INFO] [1645343064.501953049]: Plugin local_position loaded [ INFO] [1645343064.517622431]: Plugin local_position initialized [ INFO] [1645343064.517854420]: Plugin log_transfer loaded [ INFO] [1645343064.523282175]: Plugin log_transfer initialized [ INFO] [1645343064.523489691]: Plugin mag_calibration_status loaded [ INFO] [1645343064.525732422]: Plugin mag_calibration_status initialized [ INFO] [1645343064.525948884]: Plugin manual_control loaded [ INFO] [1645343064.531319328]: Plugin manual_control initialized [ INFO] [1645343064.531539073]: Plugin mocap_pose_estimate loaded [ INFO] [1645343064.540432768]: Plugin mocap_pose_estimate initialized [ INFO] [1645343064.540674830]: Plugin mount_control loaded [ INFO] [1645343064.550353969]: Plugin mount_control initialized [ INFO] [1645343064.550575753]: Plugin nav_controller_output loaded [ INFO] [1645343064.551361622]: Plugin nav_controller_output initialized [ INFO] [1645343064.551554976]: Plugin obstacle_distance loaded [ INFO] [1645343064.571132641]: Plugin obstacle_distance initialized [ INFO] [1645343064.571359873]: Plugin odom loaded [ INFO] [1645343064.586577449]: Plugin odom initialized [ INFO] [1645343064.586796156]: Plugin onboard_computer_status loaded [ INFO] [1645343064.590728491]: Plugin onboard_computer_status initialized [ INFO] [1645343064.590980306]: Plugin param loaded [ INFO] [1645343064.599312502]: Plugin param initialized [ INFO] [1645343064.599529226]: Plugin play_tune loaded [ INFO] [1645343064.604612170]: Plugin play_tune initialized [ INFO] [1645343064.604794776]: Plugin px4flow loaded [ INFO] [1645343064.636937334]: Plugin px4flow initialized [ INFO] [1645343064.637215023]: Plugin rallypoint loaded [ INFO] [1645343064.647518891]: Plugin rallypoint initialized [ INFO] [1645343064.647653341]: Plugin rangefinder blacklisted [ INFO] [1645343064.647835286]: Plugin rc_io loaded [ INFO] [1645343064.663854075]: Plugin rc_io initialized [ INFO] [1645343064.663990157]: Plugin safety_area blacklisted [ INFO] [1645343064.664160325]: Plugin setpoint_accel loaded [ INFO] [1645343064.677111085]: Plugin setpoint_accel initialized [ INFO] [1645343064.677364117]: Plugin setpoint_attitude loaded [ INFO] [1645343064.715683271]: Plugin setpoint_attitude initialized [ INFO] [1645343064.715868378]: Plugin setpoint_position loaded INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0 [ INFO] [1645343064.775354149]: Plugin setpoint_position initialized [ INFO] [1645343064.775593606]: Plugin setpoint_raw loaded [ INFO] [1645343064.798244861]: Plugin setpoint_raw initialized [ INFO] [1645343064.798478187]: Plugin setpoint_trajectory loaded [ INFO] [1645343064.811059500]: Plugin setpoint_trajectory initialized [ INFO] [1645343064.811288622]: Plugin setpoint_velocity loaded [ INFO] [1645343064.833605783]: Plugin setpoint_velocity initialized [ INFO] [1645343064.833861921]: Plugin sys_status loaded INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14570 remote port 14550 [ INFO] [1645343064.871425150]: Plugin sys_status initialized [ INFO] [1645343064.871643251]: Plugin sys_time loaded [ INFO] [1645343064.902398239]: TM: Timesync mode: MAVLINK [ INFO] [1645343064.903783475]: TM: Not publishing sim time [ INFO] [1645343064.908627434]: Plugin sys_time initialized [ INFO] [1645343064.908845589]: Plugin terrain loaded [ INFO] [1645343064.910758490]: Plugin terrain initialized [ INFO] [1645343064.910974435]: Plugin trajectory loaded INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540 [ INFO] [1645343064.938611232]: Plugin trajectory initialized [ INFO] [1645343064.939797177]: Plugin tunnel loaded [ INFO] [1645343064.950666329]: Plugin tunnel initialized [ INFO] [1645343064.950836057]: Plugin vfr_hud loaded [ INFO] [1645343064.954456116]: Plugin vfr_hud initialized [ INFO] [1645343064.954540368]: Plugin vibration blacklisted [ INFO] [1645343064.954665211]: Plugin vision_pose_estimate loaded [ INFO] [1645343065.003085655]: Plugin vision_pose_estimate initialized [ INFO] [1645343065.003334935]: Plugin vision_speed_estimate loaded [ INFO] [1645343065.029039283]: Plugin vision_speed_estimate initialized [ INFO] [1645343065.029300260]: Plugin waypoint loaded [ INFO] [1645343065.054604623]: Plugin waypoint initialized [ INFO] [1645343065.054767062]: Plugin wheel_odometry blacklisted [ INFO] [1645343065.054943486]: Plugin wind_estimation loaded [ INFO] [1645343065.058992475]: Plugin wind_estimation initialized [ INFO] [1645343065.059192993]: Autostarting mavlink via USB on PX4 [ INFO] [1645343065.059291293]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1645343065.059370978]: Built-in MAVLink package version: 2022.1.5 [ INFO] [1645343065.059469007]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta [ INFO] [1645343065.059556398]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1645343065.061561492]: Finished loading Gazebo ROS API Plugin. INFO [logger] logger started (mode=all) [ INFO] [1645343065.067812204]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: ./log/2022-02-20/07_44_25.ulg INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network) [ INFO] [1645343065.081118935]: udp0: Remote address: 127.0.0.1:14580 [ INFO] [1645343065.082116509]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1645343065.087612519]: FCU: [logger] file: ./log/2022-02-20/07_44_25.ulg INFO [px4] Startup script returned successfully pxh> INFO [mavlink] partner IP: 127.0.0.1 [ INFO] [1645343065.394119695]: Finished loading Gazebo ROS API Plugin. [ INFO] [1645343065.397274942]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [INFO] [1645343065.922150, 0.000000]: Loading model XML from file /home/njust/catkin_ws/src/px4_fast_planner/models/iris_depth_camera/iris_depth_camera.sdf [INFO] [1645343065.924323, 0.000000]: Waiting for service /gazebo/spawn_sdf_model [ INFO] [1645343066.097164311]: GF: Using MISSION_ITEM_INT [ INFO] [1645343066.097215339]: RP: Using MISSION_ITEM_INT [ INFO] [1645343066.097263950]: WP: Using MISSION_ITEM_INT [ INFO] [1645343066.097306055]: VER: 1.1: Capabilities 0x000000000000e4ef [ INFO] [1645343066.097348038]: VER: 1.1: Flight software: 010a0100 (e0f016c2b3000000) [ INFO] [1645343066.097376976]: VER: 1.1: Middleware software: 010a0100 (e0f016c2b3000000) [ INFO] [1645343066.097407808]: VER: 1.1: OS software: 050400ff (427238133be2b0ec) [ INFO] [1645343066.097440210]: VER: 1.1: Board hardware: 00000001 [ INFO] [1645343066.097544095]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1645343066.097568801]: VER: 1.1: UID: 4954414c44494e4f [ INFO] [1645343066.624257870]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1645343066.721117893]: Physics dynamic reconfigure ready. [INFO] [1645343066.830700, 0.000000]: Calling service /gazebo/spawn_sdf_model Warning [parser.cc:950] XML Element[vertical_fov], child of element[camera] not defined in SDF. Ignoring[vertical_fov]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element. [INFO] [1645343067.594226, 0.004000]: Spawn status: SpawnModel: Successfully spawned entity [vehicle_spawn_nuc_17513_8915702001176790362-7] process has finished cleanly log file: /home/njust/.ros/log/eb340e2c-9220-11ec-b2ca-f8633f2ed425/vehicle_spawn_nuc_17513_8915702001176790362-7*.log [ INFO] [1645343068.142457299, 0.004000000]: Camera Plugin: The 'robotNamespace' param did not exit [ INFO] [1645343068.147006163, 0.004000000]: Camera Plugin (ns = ) <tf_prefix_>, set to "" INFO [simulator] Simulator connected on TCP port 4560. [ INFO] [1645343068.722826320, 0.012000000]: Waiting for home pose... [ INFO] [1645343068.736453918, 0.024000000]: IMU: High resolution IMU detected! INFO [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14) INFO [ecl/EKF] 736000: EKF GPS checks passed (WGS-84 origin set) [ INFO] [1645343069.982568489, 0.940000000]: IMU: Attitude quaternion IMU detected! [ WARN] [1645343070.053717738, 1.004000000]: [Traj server]: ready. [FSM]: from INIT to WAIT_TARGET [ INFO] [1645343070.064806627, 1.012000000]: Home pose initialized to: position: x: 0.000184849 y: 0.00011755 z: 0.00167428 orientation: x: 0.0103552 y: -0.0116411 z: 0.0191484 w: -0.999695 [ INFO] [1645343070.633063041, 1.512000000]: Got pose! Drone Ready to be armed. state: WAIT_TARGET state: WAIT_TARGET state: WAIT_TARGET INFO [ecl/EKF] 5204000: EKF commencing GPS fusion [ INFO] [1645343078.569473274, 6.004000000]: Offboard enabled state: WAIT_TARGET state: WAIT_TARGET state: WAIT_TARGET state: WAIT_TARGET [ INFO] [1645343089.590134432, 12.012000000]: FCU: ARMED by Arm/Disarm component command [ INFO] [1645343089.591626496, 12.012000000]: Vehicle armed INFO [commander] Takeoff detected state: WAIT_TARGET [ INFO] [1645343089.748329352, 12.060000000]: FCU: Takeoff detected state: WAIT_TARGET state: WAIT_TARGET WARN [mavlink] IGN REQUEST LIST: Busy WARN [mavlink] IGN REQUEST LIST: Busy [ INFO] [1645343094.905536831, 15.000000000]: WP: mission received [ERROR] [1645343094.909636081, 15.004000000]: FCU: IGN REQUEST LIST: Busy [ERROR] [1645343094.969012656, 15.056000000]: FCU: IGN REQUEST LIST: Busy [ WARN] [1645343096.506352936, 16.000000000]: RP: timeout, retries left 2 [ WARN] [1645343096.506594236, 16.000000000]: GF: timeout, retries left 2 WARN [mavlink] IGN REQUEST LIST: Busy [ INFO] [1645343096.507159579, 16.000000000]: RP: mission received [ERROR] [1645343096.522541863, 16.000000000]: FCU: IGN REQUEST LIST: Busy state: WAIT_TARGET [ WARN] [1645343098.068787250, 17.000000000]: GF: timeout, retries left 1 [ INFO] [1645343098.069876863, 17.000000000]: GF: mission received state: WAIT_TARGET state: WAIT_TARGET state: WAIT_TARGET [rvizvisualisation-16] killing on exit [traj_msg_converter-15] killing on exit [camera_pose_publisher-14] killing on exit [rqt_reconfigure-13] killing on exit [geometric_controller-12] killing on exit [traj_server-10] killing on exit [fast_planner_node-9] killing on exit [mavros-8] killing on exit [gazebo_gui-6] killing on exit [waypoint_generator-11] killing on exit [gazebo-5] killing on exit Traceback (most recent call last): File "/home/njust/catkin_ws/src/px4_fast_planner/scripts/camera_pose_publisher.py", line 41, in <module> rate.sleep() File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/timer.py", line 103, in sleep sleep(self._remaining(curr_time)) File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/timer.py", line 165, in sleep raise rospy.exceptions.ROSInterruptException("ROS shutdown request") rospy.exceptions.ROSInterruptException: ROS shutdown request [sitl-4] killing on exit Exiting... pxh> Shutting down des manager [tf_camera-3] killing on exit [world_map_linker-2] killing on exit [gazebo_gui-6] escalating to SIGTERM [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete donethe errors:
Warning [parser.cc:950] XML Element[vertical_fov], child of element[camera] not defined in SDF. Ignoring[vertical_fov]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.andWARN [mavlink] IGN REQUEST LIST: Busy WARN [mavlink] IGN REQUEST LIST: Busy [ INFO] [1645343094.905536831, 15.000000000]: WP: mission received [ERROR] [1645343094.909636081, 15.004000000]: FCU: IGN REQUEST LIST: Busy [ERROR] [1645343094.969012656, 15.056000000]: FCU: IGN REQUEST LIST: Busy [ WARN] [1645343096.506352936, 16.000000000]: RP: timeout, retries left 2 [ WARN] [1645343096.506594236, 16.000000000]: GF: timeout, retries left 2 WARN [mavlink] IGN REQUEST LIST: BusyI have no idea with these problems. How to solve it? I look forward to your reply. Thank you!
Have you resolved the problem? I meet the problem too.
I'm sorry, I haven't solved the problem.
Cavalletta98
commented
1 year ago Have someone solved it?
Bugday001
commented
1 year ago
Hello, when I run the command:
roslaunch px4_fast_planner px4_fast_planner.launchthe terminal shows:
the errors:
Warning [parser.cc:950] XML Element[vertical_fov], child of element[camera] not defined in SDF. Ignoring[vertical_fov]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.and
I have no idea with these problems. How to solve it? I look forward to your reply. Thank you!