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robin-shaun / XTDrone

UAV Simulation Platform based on PX4, ROS and Gazebo
MIT License
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VIO无法收到双目相机的数据 #48

Closed Rainlv closed 1 year ago

Rainlv commented 1 year ago

系统：WSL2-Ubuntu18

gazebo版本： image

VINS-Fusion 官方DEMO已跑通

XTDrone键盘控制也没问题...

飞控EKF已按照教程设置为视觉定位：

    # GPS used
    #param set EKF2_AID_MASK 1
    # Vision used and GPS denied
    param set EKF2_AID_MASK 24

    # Barometer used for hight measurement
    #param set EKF2_HGT_MODE 0
    # Barometer denied and vision used for hight measurement
    param set EKF2_HGT_MODE 3

运行记录如下：

❯ roslaunch px4 indoor1.launch

... logging to /home/i/.ros/log/43386a1a-59c6-11ed-a997-00155df5312e/roslaunch-PC-i-5072.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://PC-i:46361/

SUMMARY
========

CLEAR PARAMETERS
 * /iris_0/mavros/

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /iris_0/mavros/camera/frame_id: base_link
 * /iris_0/mavros/cmd/use_comp_id_system_control: False
 * /iris_0/mavros/conn/heartbeat_rate: 1.0
 * /iris_0/mavros/conn/system_time_rate: 1.0
 * /iris_0/mavros/conn/timeout: 10.0
 * /iris_0/mavros/conn/timesync_rate: 10.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /iris_0/mavros/distance_sensor/laser_1_sub/id: 3
 * /iris_0/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/laser_1_sub/subscriber: True
 * /iris_0/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /iris_0/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /iris_0/mavros/distance_sensor/lidarlite_pub/id: 1
 * /iris_0/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /iris_0/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /iris_0/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /iris_0/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /iris_0/mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
 * /iris_0/mavros/distance_sensor/sonar_1_sub/id: 2
 * /iris_0/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /iris_0/mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /iris_0/mavros/fake_gps/eph: 2.0
 * /iris_0/mavros/fake_gps/epv: 2.0
 * /iris_0/mavros/fake_gps/fix_type: 3
 * /iris_0/mavros/fake_gps/geo_origin/alt: 408.0
 * /iris_0/mavros/fake_gps/geo_origin/lat: 47.3667
 * /iris_0/mavros/fake_gps/geo_origin/lon: 8.55
 * /iris_0/mavros/fake_gps/gps_rate: 5.0
 * /iris_0/mavros/fake_gps/mocap_transform: True
 * /iris_0/mavros/fake_gps/satellites_visible: 5
 * /iris_0/mavros/fake_gps/tf/child_frame_id: fix
 * /iris_0/mavros/fake_gps/tf/frame_id: map
 * /iris_0/mavros/fake_gps/tf/listen: False
 * /iris_0/mavros/fake_gps/tf/rate_limit: 10.0
 * /iris_0/mavros/fake_gps/tf/send: False
 * /iris_0/mavros/fake_gps/use_mocap: True
 * /iris_0/mavros/fake_gps/use_vision: False
 * /iris_0/mavros/fcu_protocol: v2.0
 * /iris_0/mavros/fcu_url: udp://:24540@loca...
 * /iris_0/mavros/gcs_url:
 * /iris_0/mavros/global_position/child_frame_id: base_link
 * /iris_0/mavros/global_position/frame_id: map
 * /iris_0/mavros/global_position/gps_uere: 1.0
 * /iris_0/mavros/global_position/rot_covariance: 99999.0
 * /iris_0/mavros/global_position/tf/child_frame_id: base_link
 * /iris_0/mavros/global_position/tf/frame_id: map
 * /iris_0/mavros/global_position/tf/global_frame_id: earth
 * /iris_0/mavros/global_position/tf/send: False
 * /iris_0/mavros/global_position/use_relative_alt: True
 * /iris_0/mavros/image/frame_id: px4flow
 * /iris_0/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /iris_0/mavros/imu/frame_id: base_link
 * /iris_0/mavros/imu/linear_acceleration_stdev: 0.0003
 * /iris_0/mavros/imu/magnetic_stdev: 0.0
 * /iris_0/mavros/imu/orientation_stdev: 1.0
 * /iris_0/mavros/landing_target/camera/fov_x: 2.0071286398
 * /iris_0/mavros/landing_target/camera/fov_y: 2.0071286398
 * /iris_0/mavros/landing_target/image/height: 480
 * /iris_0/mavros/landing_target/image/width: 640
 * /iris_0/mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /iris_0/mavros/landing_target/listen_lt: False
 * /iris_0/mavros/landing_target/mav_frame: LOCAL_NED
 * /iris_0/mavros/landing_target/target_size/x: 0.3
 * /iris_0/mavros/landing_target/target_size/y: 0.3
 * /iris_0/mavros/landing_target/tf/child_frame_id: camera_center
 * /iris_0/mavros/landing_target/tf/frame_id: landing_target
 * /iris_0/mavros/landing_target/tf/listen: False
 * /iris_0/mavros/landing_target/tf/rate_limit: 10.0
 * /iris_0/mavros/landing_target/tf/send: True
 * /iris_0/mavros/local_position/frame_id: map
 * /iris_0/mavros/local_position/tf/child_frame_id: base_link
 * /iris_0/mavros/local_position/tf/frame_id: map
 * /iris_0/mavros/local_position/tf/send: False
 * /iris_0/mavros/local_position/tf/send_fcu: False
 * /iris_0/mavros/mission/pull_after_gcs: True
 * /iris_0/mavros/mission/use_mission_item_int: True
 * /iris_0/mavros/mocap/use_pose: True
 * /iris_0/mavros/mocap/use_tf: False
 * /iris_0/mavros/odometry/fcu/odom_child_id_des: base_link
 * /iris_0/mavros/odometry/fcu/odom_parent_id_des: map
 * /iris_0/mavros/plugin_blacklist: ['safety_area', '...
 * /iris_0/mavros/plugin_whitelist: []
 * /iris_0/mavros/px4flow/frame_id: px4flow
 * /iris_0/mavros/px4flow/ranger_fov: 0.118682
 * /iris_0/mavros/px4flow/ranger_max_range: 5.0
 * /iris_0/mavros/px4flow/ranger_min_range: 0.3
 * /iris_0/mavros/safety_area/p1/x: 1.0
 * /iris_0/mavros/safety_area/p1/y: 1.0
 * /iris_0/mavros/safety_area/p1/z: 1.0
 * /iris_0/mavros/safety_area/p2/x: -1.0
 * /iris_0/mavros/safety_area/p2/y: -1.0
 * /iris_0/mavros/safety_area/p2/z: -1.0
 * /iris_0/mavros/setpoint_accel/send_force: False
 * /iris_0/mavros/setpoint_attitude/reverse_thrust: False
 * /iris_0/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /iris_0/mavros/setpoint_attitude/tf/frame_id: map
 * /iris_0/mavros/setpoint_attitude/tf/listen: False
 * /iris_0/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /iris_0/mavros/setpoint_attitude/use_quaternion: False
 * /iris_0/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /iris_0/mavros/setpoint_position/tf/child_frame_id: target_position
 * /iris_0/mavros/setpoint_position/tf/frame_id: map
 * /iris_0/mavros/setpoint_position/tf/listen: False
 * /iris_0/mavros/setpoint_position/tf/rate_limit: 50.0
 * /iris_0/mavros/setpoint_raw/thrust_scaling: 1.0
 * /iris_0/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /iris_0/mavros/startup_px4_usb_quirk: True
 * /iris_0/mavros/sys/disable_diag: False
 * /iris_0/mavros/sys/min_voltage: 10.0
 * /iris_0/mavros/target_component_id: 1
 * /iris_0/mavros/target_system_id: 1
 * /iris_0/mavros/tdr_radio/low_rssi: 40
 * /iris_0/mavros/time/time_ref_source: fcu
 * /iris_0/mavros/time/timesync_avg_alpha: 0.6
 * /iris_0/mavros/time/timesync_mode: MAVLINK
 * /iris_0/mavros/vibration/frame_id: base_link
 * /iris_0/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /iris_0/mavros/vision_pose/tf/frame_id: odom
 * /iris_0/mavros/vision_pose/tf/listen: False
 * /iris_0/mavros/vision_pose/tf/rate_limit: 10.0
 * /iris_0/mavros/vision_speed/listen_twist: True
 * /iris_0/mavros/vision_speed/twist_cov: True
 * /iris_0/mavros/wheel_odometry/child_frame_id: base_link
 * /iris_0/mavros/wheel_odometry/count: 2
 * /iris_0/mavros/wheel_odometry/frame_id: odom
 * /iris_0/mavros/wheel_odometry/send_raw: True
 * /iris_0/mavros/wheel_odometry/send_twist: False
 * /iris_0/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /iris_0/mavros/wheel_odometry/tf/frame_id: odom
 * /iris_0/mavros/wheel_odometry/tf/send: False
 * /iris_0/mavros/wheel_odometry/use_rpm: False
 * /iris_0/mavros/wheel_odometry/vel_error: 0.1
 * /iris_0/mavros/wheel_odometry/wheel0/radius: 0.05
 * /iris_0/mavros/wheel_odometry/wheel0/x: 0.0
 * /iris_0/mavros/wheel_odometry/wheel0/y: -0.15
 * /iris_0/mavros/wheel_odometry/wheel1/radius: 0.05
 * /iris_0/mavros/wheel_odometry/wheel1/x: 0.0
 * /iris_0/mavros/wheel_odometry/wheel1/y: 0.15
 * /iris_0/model_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
  /iris_0/
    iris_0_spawn (gazebo_ros/spawn_model)
    mavros (mavros/mavros_node)
    sitl_0 (px4/px4)

auto-starting new master
process[master]: started with pid [5094]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 43386a1a-59c6-11ed-a997-00155df5312e
process[rosout-1]: started with pid [5116]
started core service [/rosout]
process[gazebo-2]: started with pid [5124]
process[gazebo_gui-3]: started with pid [5128]
process[iris_0/sitl_0-4]: started with pid [5193]
INFO  [px4] Creating symlink /home/i/PX4_Firmware/ROMFS/px4fmu_common -> /home/i/.ros/sitl_iris_0/etc

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[iris_0/iris_0_spawn-5]: started with pid [5207]
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] Loaded: eeprom/parameters_10016
process[iris_0/mavros-6]: started with pid [5216]
ERROR [param] Parameter COM_CPU_MAX not found.
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1667294359.064611446]: FCU URL: udp://:24540@localhost:34580
[ INFO] [1667294359.066723358]: udp0: Bind address: 0.0.0.0:24540
[ INFO] [1667294359.066782111]: udp0: Remote address: 127.0.0.1:34580
[ INFO] [1667294359.066857601]: GCS bridge disabled
[ INFO] [1667294359.081819371]: Plugin 3dr_radio loaded
[ INFO] [1667294359.082780344]: Plugin 3dr_radio initialized
[ INFO] [1667294359.083002486]: Plugin actuator_control loaded
[ INFO] [1667294359.085407621]: Plugin actuator_control initialized
[ INFO] [1667294359.087258261]: Plugin adsb loaded
[ INFO] [1667294359.088746993]: Plugin adsb initialized
[ INFO] [1667294359.088835672]: Plugin altitude loaded
[ INFO] [1667294359.089467639]: Plugin altitude initialized
[ INFO] [1667294359.089530516]: Plugin cam_imu_sync loaded
[ INFO] [1667294359.089831105]: Plugin cam_imu_sync initialized
[ INFO] [1667294359.089890348]: Plugin camera loaded
[ INFO] [1667294359.090235994]: Plugin camera initialized
[ INFO] [1667294359.090347438]: Plugin command loaded
[ INFO] [1667294359.094173464]: Plugin command initialized
[ INFO] [1667294359.094280238]: Plugin companion_process_status loaded
[ INFO] [1667294359.095647667]: Plugin companion_process_status initialized
[ INFO] [1667294359.095769149]: Plugin debug_value loaded
[ INFO] [1667294359.097945790]: Plugin debug_value initialized
[ INFO] [1667294359.097985219]: Plugin distance_sensor blacklisted
[ INFO] [1667294359.098038985]: Plugin esc_status loaded
[ INFO] [1667294359.098593271]: Plugin esc_status initialized
[ INFO] [1667294359.098685690]: Plugin esc_telemetry loaded
[ INFO] [1667294359.099098401]: Plugin esc_telemetry initialized
[ INFO] [1667294359.099182100]: Plugin fake_gps loaded
[ INFO] [1667294359.105664167]: Plugin fake_gps initialized
[ INFO] [1667294359.105801610]: Plugin ftp loaded
[ INFO] [1667294359.108798863]: Plugin ftp initialized
[ INFO] [1667294359.108911647]: Plugin geofence loaded
[ INFO] [1667294359.110177502]: Plugin geofence initialized
[ INFO] [1667294359.110398165]: Plugin global_position loaded
[ INFO] [1667294359.117149708]: Plugin global_position initialized
[ INFO] [1667294359.117318708]: Plugin gps_input loaded
[ INFO] [1667294359.119012359]: Plugin gps_input initialized
[ INFO] [1667294359.119094919]: Plugin gps_rtk loaded
[ INFO] [1667294359.120224085]: Plugin gps_rtk initialized
[ INFO] [1667294359.120296090]: Plugin gps_status loaded
[ INFO] [1667294359.121277955]: Plugin gps_status initialized
[ INFO] [1667294359.121490898]: Plugin hil loaded
[ INFO] [1667294359.127430516]: Plugin hil initialized
[ INFO] [1667294359.127577690]: Plugin home_position loaded
[ INFO] [1667294359.129072415]: Plugin home_position initialized
[ INFO] [1667294359.129231265]: Plugin imu loaded
[ INFO] [1667294359.132635391]: Plugin imu initialized
[ INFO] [1667294359.132784959]: Plugin landing_target loaded
[ INFO] [1667294359.144832729]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1667294359.147197921]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1667294359.150905628]: Plugin landing_target initialized
[ INFO] [1667294359.151097777]: Plugin local_position loaded
[ INFO] [1667294359.160594889]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1667294359.160648377]: Plugin local_position initialized
[ INFO] [1667294359.160766082]: Plugin log_transfer loaded
[ INFO] [1667294359.164684804]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1667294359.166136095]: Plugin log_transfer initialized
[ INFO] [1667294359.166239593]: Plugin mag_calibration_status loaded
[ INFO] [1667294359.166942072]: Plugin mag_calibration_status initialized
[ INFO] [1667294359.167102091]: Plugin manual_control loaded
[ INFO] [1667294359.169785060]: Plugin manual_control initialized
[ INFO] [1667294359.169905607]: Plugin mocap_pose_estimate loaded
[ INFO] [1667294359.172528355]: Plugin mocap_pose_estimate initialized
[ INFO] [1667294359.172646955]: Plugin mount_control loaded
[ INFO] [1667294359.174981631]: Plugin mount_control initialized
[ INFO] [1667294359.175095267]: Plugin nav_controller_output loaded
[ INFO] [1667294359.175478227]: Plugin nav_controller_output initialized
[ INFO] [1667294359.175559231]: Plugin obstacle_distance loaded
[ INFO] [1667294359.177383800]: Plugin obstacle_distance initialized
[ INFO] [1667294359.177488791]: Plugin odom loaded
[ INFO] [1667294359.179538038]: Plugin odom initialized
[ INFO] [1667294359.179632376]: Plugin onboard_computer_status loaded
[ INFO] [1667294359.181138475]: Plugin onboard_computer_status initialized
[ INFO] [1667294359.181400451]: Plugin param loaded
[ INFO] [1667294359.183075326]: Plugin param initialized
[ INFO] [1667294359.183160815]: Plugin play_tune loaded
[ INFO] [1667294359.184456337]: Plugin play_tune initialized
[ INFO] [1667294359.184542326]: Plugin px4flow loaded
[ INFO] [1667294359.189684784]: Plugin px4flow initialized
[ INFO] [1667294359.189893906]: Plugin rallypoint loaded
[ INFO] [1667294359.191553026]: Plugin rallypoint initialized
[ INFO] [1667294359.191598395]: Plugin rangefinder blacklisted
[ INFO] [1667294359.191754636]: Plugin rc_io loaded
[ INFO] [1667294359.193662117]: Plugin rc_io initialized
[ INFO] [1667294359.193702013]: Plugin safety_area blacklisted
[ INFO] [1667294359.193824479]: Plugin setpoint_accel loaded
[ INFO] [1667294359.195176920]: Plugin setpoint_accel initialized
[ INFO] [1667294359.195422472]: Plugin setpoint_attitude loaded
[ INFO] [1667294359.200252909]: Plugin setpoint_attitude initialized
[ INFO] [1667294359.200398865]: Plugin setpoint_position loaded
[ INFO] [1667294359.208777400]: Plugin setpoint_position initialized
[ INFO] [1667294359.208918274]: Plugin setpoint_raw loaded
[ INFO] [1667294359.214604508]: Plugin setpoint_raw initialized
[ INFO] [1667294359.214767399]: Plugin setpoint_trajectory loaded
[ INFO] [1667294359.217520762]: Plugin setpoint_trajectory initialized
[ INFO] [1667294359.217654727]: Plugin setpoint_velocity loaded
[ INFO] [1667294359.220858894]: Plugin setpoint_velocity initialized
[ INFO] [1667294359.221012716]: Plugin sys_status loaded
[ INFO] [1667294359.226702068]: Plugin sys_status initialized
[ INFO] [1667294359.226834674]: Plugin sys_time loaded
[ INFO] [1667294359.230122228]: TM: Timesync mode: MAVLINK
[ INFO] [1667294359.230378861]: TM: Not publishing sim time
[ INFO] [1667294359.231048277]: Plugin sys_time initialized
[ INFO] [1667294359.231173210]: Plugin terrain loaded
[ INFO] [1667294359.231496572]: Plugin terrain initialized
[ INFO] [1667294359.231583752]: Plugin trajectory loaded
[ INFO] [1667294359.233635273]: Plugin trajectory initialized
[ INFO] [1667294359.233698477]: Plugin tunnel loaded
[ INFO] [1667294359.234972731]: Plugin tunnel initialized
[ INFO] [1667294359.235056411]: Plugin vfr_hud loaded
[ INFO] [1667294359.235371883]: Plugin vfr_hud initialized
[ INFO] [1667294359.235427932]: Plugin vibration blacklisted
[ INFO] [1667294359.235513682]: Plugin vision_pose_estimate loaded
[ INFO] [1667294359.238823540]: Plugin vision_pose_estimate initialized
[ INFO] [1667294359.238906284]: Plugin vision_speed_estimate loaded
[ INFO] [1667294359.240583523]: Plugin vision_speed_estimate initialized
[ INFO] [1667294359.240704754]: Plugin waypoint loaded
[ INFO] [1667294359.243046797]: Plugin waypoint initialized
[ INFO] [1667294359.243106182]: Plugin wheel_odometry blacklisted
[ INFO] [1667294359.243236945]: Plugin wind_estimation loaded
[ INFO] [1667294359.243650732]: Plugin wind_estimation initialized
[ INFO] [1667294359.243794594]: Autostarting mavlink via USB on PX4
[ INFO] [1667294359.243849288]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1667294359.243890677]: Built-in MAVLink package version: 2022.8.8
[ INFO] [1667294359.243933752]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1667294359.243974653]: MAVROS started. MY ID 1.240, TARGET ID 1.1
Warning [parser.cc:950] XML Element[friction], child of element[collision] not defined in SDF. Ignoring[friction]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[friction], child of element[collision] not defined in SDF. Ignoring[friction]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[contact], child of element[collision] not defined in SDF. Ignoring[contact]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[contact], child of element[collision] not defined in SDF. Ignoring[contact]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[contact], child of element[collision] not defined in SDF. Ignoring[contact]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[contact], child of element[collision] not defined in SDF. Ignoring[contact]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[contact], child of element[collision] not defined in SDF. Ignoring[contact]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[contact], child of element[collision] not defined in SDF. Ignoring[contact]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[friction], child of element[collision] not defined in SDF. Ignoring[friction]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[contact], child of element[collision] not defined in SDF. Ignoring[contact]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[ INFO] [1667294359.435258148]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1667294359.449140863]: Physics dynamic reconfigure ready.
[INFO] [1667294359.536306, 0.000000]: Loading model XML from ros parameter model_description
[INFO] [1667294359.544337, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[INFO] [1667294359.547759, 0.000000]: Calling service /gazebo/spawn_sdf_model
Warning [parser.cc:950] XML Element[parent], child of element[sensor] not defined in SDF. Ignoring[parent]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[ WARN] [1667294359.964843403, 1814.889000000]: missing <robotNamespace>, set to default: /iris_0/
[ INFO] [1667294359.964921345, 1814.889000000]: <topicName> set to: /iris_0/imu_gazebo
[ INFO] [1667294359.964960910, 1814.889000000]: <frameName> set to: imu_link_stereo
[ INFO] [1667294359.965006546, 1814.889000000]: <updateRateHZ> set to: 500
[ INFO] [1667294359.965047394, 1814.889000000]: <gaussianNoise> set to: 0
[ INFO] [1667294359.965117435, 1814.889000000]: <xyzOffset> set to: 0 0 0
[ INFO] [1667294359.965262063, 1814.889000000]: <rpyOffset> set to: 0 -0 0
[INFO] [1667294359.969220, 1814.889000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1667294359.977051652, 1814.889000000]: Bumper Plugin: The 'robotNamespace' param was empty
[ INFO] [1667294359.977158817, 1814.889000000]: bumper plugin missing <frameName>, defaults to world
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  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
[iris_0/iris_0_spawn-5] process has finished cleanly
log file: /home/i/.ros/log/43386a1a-59c6-11ed-a997-00155df5312e/iris_0-iris_0_spawn-5*.log
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 34580 remote port 24540
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] Opened full log file: ./log/2022-11-01/09_19_20.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
[ INFO] [1667294360.279628266, 1815.049000000]: udp0: Remote address: 127.0.0.1:34580
[ INFO] [1667294360.279845981, 1815.049000000]: IMU: High resolution IMU detected!
[ INFO] [1667294360.311843924, 1815.081000000]: FCU: [logger] file:./log/2022-11-01/09_19_20.ulg
INFO  [mavlink] partner IP: 127.0.0.1
[ INFO] [1667294361.263282980, 1816.029000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1667294361.264207996, 1816.029000000]: IMU: High resolution IMU detected!
INFO  [ecl/EKF] 1772000: EKF aligned, (baro height, IMU buf: 22, OBS buf: 14)
INFO  [ecl/EKF] 1772000: reset position to last known position
INFO  [ecl/EKF] 1772000: reset velocity to zero
[ INFO] [1667294362.076579354, 1816.841000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1667294362.264894331, 1817.029000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1667294362.264946435, 1817.029000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1667294362.264990476, 1817.029000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1667294362.265036480, 1817.029000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1667294362.265066776, 1817.029000000]: VER: 1.1: Flight software:     010b0000 (746b3124ab000000)
[ INFO] [1667294362.265101726, 1817.029000000]: VER: 1.1: Middleware software: 010b0000 (746b3124ab000000)
[ INFO] [1667294362.265132324, 1817.029000000]: VER: 1.1: OS software:         050a66ff (ec417d7466666801)
[ INFO] [1667294362.265173975, 1817.029000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1667294362.265202713, 1817.029000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1667294362.265241871, 1817.029000000]: VER: 1.1: UID:                 4954414c44494e4f
[ WARN] [1667294362.267973330, 1817.033000000]: CMD: Unexpected command 520, result 0
[ INFO] [1667294371.380943246, 1826.029000000]: HP: requesting home position
[ INFO] [1667294376.410561517, 1831.029000000]: RP: mission received
[ INFO] [1667294376.410768183, 1831.029000000]: WP: mission received
[ INFO] [1667294376.410921469, 1831.029000000]: GF: mission received
[ INFO] [1667294381.453842161, 1836.029000000]: HP: requesting home position

运行上述命令启动gazebo后，运行rostopic list结果如下：

❯ rostopic list

/clock
/diagnostics
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/performance_metrics
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo/set_model_states
/iris_0/benchmarker/collision
/iris_0/imu_gazebo
/iris_0/mavlink/from
/iris_0/mavlink/gcs_ip
/iris_0/mavlink/to
/iris_0/mavros/actuator_control
/iris_0/mavros/adsb/send
/iris_0/mavros/adsb/vehicle
/iris_0/mavros/altitude
/iris_0/mavros/battery
/iris_0/mavros/battery2
/iris_0/mavros/cam_imu_sync/cam_imu_stamp
/iris_0/mavros/camera/image_captured
/iris_0/mavros/companion_process/status
/iris_0/mavros/debug_value/debug
/iris_0/mavros/debug_value/debug_vector
/iris_0/mavros/debug_value/named_value_float
/iris_0/mavros/debug_value/named_value_int
/iris_0/mavros/debug_value/send
/iris_0/mavros/esc_info
/iris_0/mavros/esc_status
/iris_0/mavros/esc_telemetry
/iris_0/mavros/estimator_status
/iris_0/mavros/extended_state
/iris_0/mavros/fake_gps/mocap/tf
/iris_0/mavros/geofence/waypoints
/iris_0/mavros/global_position/compass_hdg
/iris_0/mavros/global_position/global
/iris_0/mavros/global_position/gp_lp_offset
/iris_0/mavros/global_position/gp_origin
/iris_0/mavros/global_position/home
/iris_0/mavros/global_position/local
/iris_0/mavros/global_position/raw/fix
/iris_0/mavros/global_position/raw/gps_vel
/iris_0/mavros/global_position/raw/satellites
/iris_0/mavros/global_position/rel_alt
/iris_0/mavros/global_position/set_gp_origin
/iris_0/mavros/gps_input/gps_input
/iris_0/mavros/gps_rtk/rtk_baseline
/iris_0/mavros/gps_rtk/send_rtcm
/iris_0/mavros/gpsstatus/gps1/raw
/iris_0/mavros/gpsstatus/gps1/rtk
/iris_0/mavros/gpsstatus/gps2/raw
/iris_0/mavros/gpsstatus/gps2/rtk
/iris_0/mavros/hil/actuator_controls
/iris_0/mavros/hil/controls
/iris_0/mavros/hil/gps
/iris_0/mavros/hil/imu_ned
/iris_0/mavros/hil/optical_flow
/iris_0/mavros/hil/rc_inputs
/iris_0/mavros/hil/state
/iris_0/mavros/home_position/home
/iris_0/mavros/home_position/set
/iris_0/mavros/imu/data
/iris_0/mavros/imu/data_raw
/iris_0/mavros/imu/diff_pressure
/iris_0/mavros/imu/mag
/iris_0/mavros/imu/static_pressure
/iris_0/mavros/imu/temperature_baro
/iris_0/mavros/imu/temperature_imu
/iris_0/mavros/landing_target/lt_marker
/iris_0/mavros/landing_target/pose
/iris_0/mavros/landing_target/pose_in
/iris_0/mavros/local_position/accel
/iris_0/mavros/local_position/odom
/iris_0/mavros/local_position/pose
/iris_0/mavros/local_position/pose_cov
/iris_0/mavros/local_position/velocity_body
/iris_0/mavros/local_position/velocity_body_cov
/iris_0/mavros/local_position/velocity_local
/iris_0/mavros/log_transfer/raw/log_data
/iris_0/mavros/log_transfer/raw/log_entry
/iris_0/mavros/mag_calibration/report
/iris_0/mavros/mag_calibration/status
/iris_0/mavros/manual_control/control
/iris_0/mavros/manual_control/send
/iris_0/mavros/mission/reached
/iris_0/mavros/mission/waypoints
/iris_0/mavros/mocap/pose
/iris_0/mavros/mount_control/command
/iris_0/mavros/mount_control/orientation
/iris_0/mavros/mount_control/status
/iris_0/mavros/nav_controller_output
/iris_0/mavros/obstacle/send
/iris_0/mavros/odometry/in
/iris_0/mavros/odometry/out
/iris_0/mavros/onboard_computer/status
/iris_0/mavros/param/param_value
/iris_0/mavros/play_tune
/iris_0/mavros/px4flow/ground_distance
/iris_0/mavros/px4flow/raw/optical_flow_rad
/iris_0/mavros/px4flow/raw/send
/iris_0/mavros/px4flow/temperature
/iris_0/mavros/radio_status
/iris_0/mavros/rallypoint/waypoints
/iris_0/mavros/rc/in
/iris_0/mavros/rc/out
/iris_0/mavros/rc/override
/iris_0/mavros/setpoint_accel/accel
/iris_0/mavros/setpoint_attitude/cmd_vel
/iris_0/mavros/setpoint_attitude/thrust
/iris_0/mavros/setpoint_position/global
/iris_0/mavros/setpoint_position/global_to_local
/iris_0/mavros/setpoint_position/local
/iris_0/mavros/setpoint_raw/attitude
/iris_0/mavros/setpoint_raw/global
/iris_0/mavros/setpoint_raw/local
/iris_0/mavros/setpoint_raw/target_attitude
/iris_0/mavros/setpoint_raw/target_global
/iris_0/mavros/setpoint_raw/target_local
/iris_0/mavros/setpoint_trajectory/desired
/iris_0/mavros/setpoint_trajectory/local
/iris_0/mavros/setpoint_velocity/cmd_vel
/iris_0/mavros/setpoint_velocity/cmd_vel_unstamped
/iris_0/mavros/state
/iris_0/mavros/statustext/recv
/iris_0/mavros/statustext/send
/iris_0/mavros/target_actuator_control
/iris_0/mavros/terrain/report
/iris_0/mavros/time_reference
/iris_0/mavros/timesync_status
/iris_0/mavros/trajectory/desired
/iris_0/mavros/trajectory/generated
/iris_0/mavros/trajectory/path
/iris_0/mavros/tunnel/in
/iris_0/mavros/tunnel/out
/iris_0/mavros/vfr_hud
/iris_0/mavros/vision_pose/pose
/iris_0/mavros/vision_pose/pose_cov
/iris_0/mavros/vision_speed/speed_twist_cov
/iris_0/mavros/wind_estimation
/rosout
/rosout_agg
/tf
/tf_static

可以发现并没有发布/iris_0/stereo_camera/left/image_raw和/iris_0/stereo_camera/right/image_raw话题数据

另外，在启动的gazebo中InsertTab中，也没有发现iris_stereo_camera模型 image

但是在目录中是可以发现iris_stereo_camera文件夹 image

启动vins节点后： image 发现并没有获取到数据

运行输出如下：

❯ bash scripts/xtdrone_run_vio.sh
[ INFO] [1667294799.996004911]: init begins
... logging to /home/i/.ros/log/43386a1a-59c6-11ed-a997-00155df5312e/roslaunch-PC-i-5990.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.

config_file: /home/i/catkin_ws/src/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_imu_config.yaml
USE_IMU: 1
IMU_TOPIC: /iris_0/imu_gazebo
result path ~/catkin_ws/vins_output/vio.csv
[ WARN] [1667294800.010580548]:  fix extrinsic param
camera number 2
[ INFO] [1667294800.011813010]: Synchronized sensors, fix time offset: 0
[ INFO] [1667294800.011872268]: ROW: 480 COL: 752
 exitrinsic cam 0
 0  0  1
-1  0  0
 0 -1  0
   0 0.12 -0.3
 exitrinsic cam 1
 0  0  1
-1  0  0
 0 -1  0
   0    0 -0.3
set g       0       0 9.81007
[ INFO] [1667294800.012140433]: reading paramerter of camera /home/i/catkin_ws/src/VINS-Fusion/config/xtdrone_sitl/cam0_pinhole_p1.yaml
[ INFO] [1667294800.013628707]: reading paramerter of camera /home/i/catkin_ws/src/VINS-Fusion/config/xtdrone_sitl/cam1_pinhole_p1.yaml
MULTIPLE_THREAD is 1
[ WARN] [1667294800.014195494]: waiting for image and imu...
started roslaunch server http://PC-i:43769/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    rvizvisualisation (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[rvizvisualisation-1]: started with pid [6033]
Rainlv commented 1 year ago

相关issue： #12， 当时好像并没有解决

robin-shaun commented 1 year ago

You should remove default gazebo models rm -r stereo_camera/ 3d_lidar/ 3d_gpu_lidar/ hokuyo_lidar/

Rainlv commented 1 year ago

thanks very much, it works!