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robin-shaun / XTDrone

UAV Simulation Platform based on PX4, ROS and Gazebo
MIT License
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三维激光SLAM无法加载传感器数据 #50

Closed mengchaoheng closed 1 year ago

mengchaoheng commented 1 year ago

A-LOAM算法已经按照官网跑通，但在三维激光SLAM一节，做好全部准备工作后，运行

roslaunch aloam_velodyne aloam_velodyne_HDL_32.launch

rviz没有传感器数据，只有相机，但错误如下图 Ubuntu 18 xtdrone-2022-11-06-17-08-34

mengchaoheng commented 1 year ago

@robin-shaun

robin-shaun commented 1 year ago

贴一下终端的报错信息

mengchaoheng commented 1 year ago

roslaunch_px4_outdoor1.txt

mengchaoheng commented 1 year ago

roslaunch_aloam_velodyne_aloam_velodyne_HDL_32.txt

mengchaoheng commented 1 year ago

vim打开上面两个终端输出文件 @robin-shaun

robin-shaun commented 1 year ago

没有报错，可能是点云数据没有发布，检查一下激光雷达插件是不是编译好了 image

mengchaoheng commented 1 year ago

没有报错，可能是点云数据没有发布，检查一下激光雷达插件是不是编译好了

image

我确定是编译好了，但还不清楚为什么没加载上，而且整个电脑没有同名文件了，所以不存在加载了其他sdf文件或者插件的问题。我再探索一下。刚刚把剩余的其他仿真全都跑了，收获良多，感谢你们团队，做了出色的工作，看得出来你们把整个无人系统仿真研究得很透彻，国内需要更多你们这样的团队！

mengchaoheng commented 1 year ago

在GazeboRosVelodyneLaser.cpp文件打印调试发现，GazeboRosVelodyneLaser::Load函数运行了，但GazeboRosVelodyneLaser::ConnectCb()没运行，GazeboRosVelodyneLaser::OnScan也没运行。 这里：

  // Advertise publisher with a custom callback queue
  if (topic_name_ != "") {
    ros::AdvertiseOptions ao = ros::AdvertiseOptions::create<sensor_msgs::PointCloud2>(
        topic_name_, 1,
        boost::bind(&GazeboRosVelodyneLaser::ConnectCb, this),
        boost::bind(&GazeboRosVelodyneLaser::ConnectCb, this),
        ros::VoidPtr(), &laser_queue_);
    pub_ = nh_->advertise(ao);
  }

是不是有问题？bind两个一样的函数。

mengchaoheng commented 1 year ago

这两行

mengchaoheng commented 1 year ago

@robin-shaun

mengchaoheng commented 1 year ago

Gazebo的ROS插件gazebo_ros_laser.cpp是可以运行OnScan的。我利用二维激光打印调试过。这里修改后的laser插件注释很少，有条件可以注释清楚为什么这么改就好了。谢谢老师！

mengchaoheng commented 1 year ago

没有人遇到同样的问题吗？GazeboRosVelodyneLaser::Load函数运行了，但GazeboRosVelodyneLaser::ConnectCb()没有运行

robin-shaun commented 1 year ago

我知道这个问题出在哪儿了，发布的话题名是/iris_0/velodyne_points，aloam里订阅的话题名velodyne_points。之前三维激光雷达插件一直有问题，导致前缀的iris加不上，只能用于单机仿真，后来改好了，不过aloam代码这里忘改了，目前已更新。

mengchaoheng commented 1 year ago

更新后依然有问题，我使用opencv 4.2，这个应该没影响吧？原工程的测试都可以跑，仿真中rviz就是没数据。@robin-shaun

mengchaoheng commented 1 year ago

解决了，原来这个outdoor1.launch文件里：

<group ns="iris_0">

<arg name="vehicle" value="iris"/>

<arg name="sdf" value="iris_3d_gpu_lidar"/>

这三个名字这么讲究，为什么搞这么复杂呢？

 <!-- 3d_gpu_lidar_0 -->
     <group ns="iris_0">
        <!-- MAVROS and vehicle configs -->
            <arg name="ID" value="0"/>
            <arg name="ID_in_group" value="0"/>
            <arg name="fcu_url" default="udp://:24540@localhost:34580"/>
        <!-- PX4 SITL and vehicle spawn -->
        <include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
            <arg name="x" value="0"/>
            <arg name="y" value="0"/>
            <arg name="z" value="1"/>
            <arg name="R" value="0"/>
            <arg name="P" value="0"/>
            <arg name="Y" value="0"/>
            <arg name="vehicle" value="iris"/>
            <arg name="sdf" value="iris_3d_gpu_lidar"/>
mengchaoheng commented 1 year ago

而且飞机飞起来后无法悬停，貌似位置数据不对

mengchaoheng commented 1 year ago

飞机无法悬停

https://user-images.githubusercontent.com/43166007/222934649-ef0a7170-cde6-460f-93ab-48f2e0c59a22.mov

https://user-images.githubusercontent.com/43166007/222934659-6260a113-8f4e-41bc-bff5-8be563586d7e.mov

mengchaoheng commented 1 year ago 
parallels@ubuntu-linux-20-04-desktop:~/PX4_Firmware$ roslaunch px4 outdoor1.launch
... logging to /home/parallels/.ros/log/c1108b3e-baec-11ed-a907-e38adb452dd6/roslaunch-ubuntu-linux-20-04-desktop-191436.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://ubuntu-linux-20-04-desktop:46113/

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/mount/debounce_s: 4.0
 * /iris_0/mavros/mount/err_threshold_deg: 10.0
 * /iris_0/mavros/mount/negate_measured_pitch: False
 * /iris_0/mavros/mount/negate_measured_roll: False
 * /iris_0/mavros/mount/negate_measured_yaw: 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: False
 * /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: noetic
 * /rosversion: 1.15.15
 * /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 [191452]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c1108b3e-baec-11ed-a907-e38adb452dd6
process[rosout-1]: started with pid [191469]
started core service [/rosout]
process[gazebo-2]: started with pid [191480]
process[gazebo_gui-3]: started with pid [191483]
process[iris_0/sitl_0-4]: started with pid [191497]
INFO  [px4] Creating symlink /home/parallels/PX4_Firmware/ROMFS/px4fmu_common -> /home/parallels/.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 [191506]
process[iris_0/mavros-6]: started with pid [191516]
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] Loaded: eeprom/parameters_10016
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] [1677976153.761263197]: FCU URL: udp://:24540@localhost:34580
[ INFO] [1677976153.762439199]: udp0: Bind address: 0.0.0.0:24540
[ INFO] [1677976153.762514660]: udp0: Remote address: 127.0.0.1:34580
[ INFO] [1677976153.762565495]: GCS bridge disabled
[ INFO] [1677976153.767655226]: Plugin 3dr_radio loaded
[ INFO] [1677976153.768182662]: Plugin 3dr_radio initialized
[ INFO] [1677976153.768237247]: Plugin actuator_control loaded
[ INFO] [1677976153.768904272]: Plugin actuator_control initialized
[ INFO] [1677976153.771089395]: Plugin adsb loaded
[ INFO] [1677976153.771811588]: Plugin adsb initialized
[ INFO] [1677976153.771877674]: Plugin altitude loaded
[ INFO] [1677976153.772112600]: Plugin altitude initialized
[ INFO] [1677976153.772166268]: Plugin cam_imu_sync loaded
[ INFO] [1677976153.772318191]: Plugin cam_imu_sync initialized
[ INFO] [1677976153.772371526]: Plugin camera loaded
[ INFO] [1677976153.772524032]: Plugin camera initialized
[ INFO] [1677976153.772578034]: Plugin cellular_status loaded
[ INFO] [1677976153.773091428]: Plugin cellular_status initialized
[ INFO] [1677976153.773152263]: Plugin command loaded
[ INFO] [1677976153.774568774]: Plugin command initialized
[ INFO] [1677976153.774638985]: Plugin companion_process_status loaded
[ INFO] [1677976153.775156713]: Plugin companion_process_status initialized
[ INFO] [1677976153.775214798]: Plugin debug_value loaded
[ INFO] [1677976153.776333840]: Plugin debug_value initialized
[ INFO] [1677976153.776371174]: Plugin distance_sensor blacklisted
[ INFO] [1677976153.776422176]: Plugin esc_status loaded
[ INFO] [1677976153.776690853]: Plugin esc_status initialized
[ INFO] [1677976153.776746272]: Plugin esc_telemetry loaded
[ INFO] [1677976153.776895819]: Plugin esc_telemetry initialized
[ INFO] [1677976153.776971322]: Plugin fake_gps loaded
[ INFO] [1677976153.780238568]: Plugin fake_gps initialized
[ INFO] [1677976153.780328113]: Plugin ftp loaded
[ INFO] [1677976153.781781875]: Plugin ftp initialized
[ INFO] [1677976153.781870129]: Plugin geofence loaded
[ INFO] [1677976153.782686951]: Plugin geofence initialized
[ INFO] [1677976153.782775287]: Plugin global_position loaded
[ INFO] [1677976153.786389672]: Plugin global_position initialized
[ INFO] [1677976153.786494050]: Plugin gps_input loaded
[ INFO] [1677976153.787107407]: Plugin gps_input initialized
[ INFO] [1677976153.788143237]: Plugin gps_rtk loaded
[ INFO] [1677976153.789020603]: Plugin gps_rtk initialized
[ INFO] [1677976153.789116065]: Plugin gps_status loaded
[ INFO] [1677976153.789697461]: Plugin gps_status initialized
[ INFO] [1677976153.789790423]: Plugin guided_target loaded
[ INFO] [1677976153.791161015]: Plugin guided_target initialized
[ INFO] [1677976153.791303479]: Plugin hil loaded
[ INFO] [1677976153.794561892]: Plugin hil initialized
[ INFO] [1677976153.794654312]: Plugin home_position loaded
[ INFO] [1677976153.795498968]: Plugin home_position initialized
[ INFO] [1677976153.795598264]: Plugin imu loaded
[ INFO] [1677976153.797261617]: Plugin imu initialized
[ INFO] [1677976153.797330203]: Plugin landing_target loaded
[ INFO] [1677976153.800483028]: Plugin landing_target initialized
[ INFO] [1677976153.800571157]: Plugin local_position loaded
[ INFO] [1677976153.802049212]: Plugin local_position initialized
[ INFO] [1677976153.802121548]: Plugin log_transfer loaded
[ INFO] [1677976153.802883534]: Plugin log_transfer initialized
[ INFO] [1677976153.802955704]: Plugin mag_calibration_status loaded
[ INFO] [1677976153.803267799]: Plugin mag_calibration_status initialized
[ INFO] [1677976153.803338843]: Plugin manual_control loaded
[ INFO] [1677976153.804010993]: Plugin manual_control initialized
[ INFO] [1677976153.804078287]: Plugin mocap_pose_estimate loaded
[ INFO] [1677976153.804879733]: Plugin mocap_pose_estimate initialized
[ INFO] [1677976153.804955778]: Plugin mount_control loaded
[ WARN] [1677976153.806214366]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1677976153.806369622]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1677976153.806492168]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1677976153.806822097]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1677976153.806934893]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1677976153.806990770]: Plugin mount_control initialized
[ INFO] [1677976153.807080899]: Plugin nav_controller_output loaded
[ INFO] [1677976153.807274406]: Plugin nav_controller_output initialized
[ INFO] [1677976153.807345700]: Plugin obstacle_distance loaded
[ INFO] [1677976153.808075810]: Plugin obstacle_distance initialized
[ INFO] [1677976153.808152688]: Plugin odom loaded
[ INFO] [1677976153.809132391]: Plugin odom initialized
[ INFO] [1677976153.809208686]: Plugin onboard_computer_status loaded
[ INFO] [1677976153.809758998]: Plugin onboard_computer_status initialized
[ INFO] [1677976153.809832084]: Plugin param loaded
[ INFO] [1677976153.810499901]: Plugin param initialized
[ INFO] [1677976153.810567403]: Plugin play_tune loaded
[ INFO] [1677976153.811098131]: Plugin play_tune initialized
[ INFO] [1677976153.811155133]: Plugin px4flow loaded
[ INFO] [1677976153.815278120]: Plugin px4flow initialized
[ INFO] [1677976153.815382790]: Plugin rallypoint loaded
[ INFO] [1677976153.816142235]: Plugin rallypoint initialized
[ INFO] [1677976153.816186862]: Plugin rangefinder blacklisted
[ INFO] [1677976153.816262240]: Plugin rc_io loaded
[ INFO] [1677976153.817095562]: Plugin rc_io initialized
[ INFO] [1677976153.817148814]: Plugin safety_area blacklisted
[ INFO] [1677976153.817235567]: Plugin setpoint_accel loaded
[ INFO] [1677976153.817957428]: Plugin setpoint_accel initialized
[ INFO] [1677976153.818565492]: Plugin setpoint_attitude loaded
[ INFO] [1677976153.821581812]: Plugin setpoint_attitude initialized
[ INFO] [1677976153.821698275]: Plugin setpoint_position loaded
[ INFO] [1677976153.825423413]: Plugin setpoint_position initialized
[ INFO] [1677976153.825551835]: Plugin setpoint_raw loaded
[ INFO] [1677976153.827479948]: Plugin setpoint_raw initialized
[ INFO] [1677976153.827639621]: Plugin setpoint_trajectory loaded
[ INFO] [1677976153.829025255]: Plugin setpoint_trajectory initialized
[ INFO] [1677976153.829111717]: Plugin setpoint_velocity loaded
[ INFO] [1677976153.830597605]: Plugin setpoint_velocity initialized
[ INFO] [1677976153.830700443]: Plugin sys_status loaded
[ INFO] [1677976153.835034979]: Plugin sys_status initialized
[ INFO] [1677976153.835107606]: Plugin sys_time loaded
[ INFO] [1677976153.837068762]: TM: Timesync mode: MAVLINK
[ INFO] [1677976153.837441235]: TM: Not publishing sim time
[ INFO] [1677976153.837932670]: Plugin sys_time initialized
[ INFO] [1677976153.837987922]: Plugin terrain loaded
[ INFO] [1677976153.838189262]: Plugin terrain initialized
[ INFO] [1677976153.838262223]: Plugin trajectory loaded
[ INFO] [1677976153.840819527]: Plugin trajectory initialized
[ INFO] [1677976153.840888821]: Plugin tunnel loaded
[ INFO] [1677976153.842276789]: Plugin tunnel initialized
[ INFO] [1677976153.842335416]: Plugin vfr_hud loaded
[ INFO] [1677976153.842633094]: Plugin vfr_hud initialized
[ INFO] [1677976153.842700097]: Plugin vibration blacklisted
[ INFO] [1677976153.842801309]: Plugin vision_pose_estimate loaded
[ INFO] [1677976153.844675670]: Plugin vision_pose_estimate initialized
[ INFO] [1677976153.844764007]: Plugin vision_speed_estimate loaded
[ INFO] [1677976153.845599621]: Plugin vision_speed_estimate initialized
[ INFO] [1677976153.845677499]: Plugin waypoint loaded
[ INFO] [1677976153.846778331]: Plugin waypoint initialized
[ INFO] [1677976153.846824750]: Plugin wheel_odometry blacklisted
[ INFO] [1677976153.846888919]: Plugin wind_estimation loaded
[ INFO] [1677976153.847058759]: Plugin wind_estimation initialized
[ INFO] [1677976153.847150429]: Built-in SIMD instructions: ARM NEON
[ INFO] [1677976153.847183055]: Built-in MAVLink package version: 2022.12.30
[ INFO] [1677976153.847215139]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1677976153.847252682]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1677976153.907664, 0.000000]: Loading model XML from ros parameter model_description
[ INFO] [1677976153.908863179]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1677976153.909426992]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1677976153.910800, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1677976153.939134304]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1677976153.940174051]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
^C[iris_0/mavros-6] killing on exit

[ INFO] [1677975897.138123881]: Plugin waypoint loaded
[ INFO] [1677975897.140332687]: Plugin waypoint initialized
[ INFO] [1677975897.140380023]: Plugin wheel_odometry blacklisted
[ INFO] [1677975897.140460735]: Plugin wind_estimation loaded
[ INFO] [1677975897.140716079]: Plugin wind_estimation initialized
[ INFO] [1677975897.140805458]: Built-in SIMD instructions: ARM NEON
[ INFO] [1677975897.140822501]: Built-in MAVLink package version: 2022.12.30
[ INFO] [1677975897.140831876]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1677975897.140844877]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1677975897.167077042]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1677975897.167906162]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1677975897.180819694]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1677975897.181793737]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1677975897.269753, 0.000000]: Loading model XML from ros parameter model_description
[INFO] [1677975897.273472, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[ INFO] [1677975897.138123881]: Plugin waypoint loaded
[ INFO] [1677975897.140332687]: Plugin waypoint initialized
[ INFO] [1677975897.140380023]: Plugin wheel_odometry blacklisted
[ INFO] [1677975897.140460735]: Plugin wind_estimation loaded
[ INFO] [1677975897.140716079]: Plugin wind_estimation initialized
[ INFO] [1677975897.140805458]: Built-in SIMD instructions: ARM NEON
[ INFO] [1677975897.140822501]: Built-in MAVLink package version: 2022.12.30
[ INFO] [1677975897.140831876]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1677975897.140844877]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1677975897.167077042]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1677975897.167906162]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1677975897.180819694]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1677975897.181793737]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1677975897.269753, 0.000000]: Loading model XML from ros parameter model_description
[INFO] [1677975897.273472, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. 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[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.

  <visual name='actor_visual'>
    <geometry>
      <mesh>
        <uri>walk.dae</uri>
        <scale>1 1 1</scale>
      </mesh>
    </geometry>
    <pose frame=''>0 0 0 0 -0 0</pose>
  </visual>
  <visual name='actor_visual'>
    <geometry>
      <mesh>
        <uri>walk.dae</uri>
        <scale>1 1 1</scale>
      </mesh>
    </geometry>
    <pose frame=''>0 0 0 0 -0 0</pose>
  </visual>
  <visual name='actor_visual'>
    <geometry>
      <mesh>
        <uri>walk.dae</uri>
        <scale>1 1 1</scale>
      </mesh>
    </geometry>
    <pose frame=''>0 0 0 0 -0 0</pose>
  </visual>
</link>

[ INFO] [1677976035.389111010]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1677976035.403319787]: Physics dynamic reconfigure ready.
[INFO] [1677976035.654465, 1752.228000]: 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.
[ INFO] [1677976037.513588796, 1752.380000000]: 3d_laser Plugin: The 'robotNamespace' param was empty
[ INFO] [1677976037.513652048, 1752.380000000]: Velodyne laser plugin missing <min_range>, defaults to 0
[ INFO] [1677976037.513694508, 1752.380000000]: Velodyne laser plugin missing <max_range>, defaults to infinity
[ INFO] [1677976037.513717551, 1752.380000000]: Velodyne laser plugin missing <min_intensity>, defaults to no clipping
[ INFO] [1677976037.514312908, 1752.380000000]: Velodyne Laser Plugin (ns = iris_0)  <tf_prefix_>, set to "iris_0"
[ INFO] [1677976037.515168067, 1752.380000000]: Velodyne laser plugin ready, 32 lasers
[INFO] [1677976037.861906, 1752.380000]: Spawn status: SpawnModel: Successfully spawned entity
[ WARN] [1677976037.878476015, 1752.380000000]: missing <robotNamespace>, set to default: /iris_0/
[ INFO] [1677976037.878520517, 1752.380000000]: <topicName> set to: /iris_0/imu_gazebo
[ INFO] [1677976037.878531559, 1752.380000000]: <frameName> set to: imu_link_stereo
[ INFO] [1677976037.878623980, 1752.380000000]: <updateRateHZ> set to: 500
[ INFO] [1677976037.878669481, 1752.380000000]: <gaussianNoise> set to: 0
[ INFO] [1677976037.878737192, 1752.380000000]: <xyzOffset> set to: 0 0 0
[ INFO] [1677976037.878848322, 1752.380000000]: <rpyOffset> set to: 0 -0 0
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
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/2023-03-05/00_27_18.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
[ INFO] [1677976038.170777285, 1752.556000000]: udp0: Remote address: 127.0.0.1:34580
[ INFO] [1677976038.170936542, 1752.556000000]: IMU: High resolution IMU detected!
INFO  [px4] Startup script returned successfully
[ INFO] [1677976038.219753785, 1752.584000000]: FCU: [logger] file:./log/2023-03-05/00_27_18.ulg
INFO  [mavlink] partner IP: 127.0.0.1
[iris_0/iris_0_spawn-5] process has finished cleanly
log file: /home/parallels/.ros/log/79739ec4-baec-11ed-a907-e38adb452dd6/iris_0-iris_0_spawn-5*.log
[ INFO] [1677976039.280070450, 1753.532000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1677976039.281069532, 1753.532000000]: 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] [1677976040.092020838, 1754.332000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1677976040.281863957, 1754.420000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1677976040.281908875, 1754.420000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1677976040.281926459, 1754.420000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1677976040.281947044, 1754.420000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1677976040.281962294, 1754.420000000]: VER: 1.1: Flight software:     010b0000 (592dad196a000000)
[ INFO] [1677976040.281975711, 1754.420000000]: VER: 1.1: Middleware software: 010b0000 (592dad196a000000)
[ INFO] [1677976040.281988004, 1754.420000000]: VER: 1.1: OS software:         050f00ff (ec417d7466666801)
[ INFO] [1677976040.281999337, 1754.420000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1677976040.282010921, 1754.420000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1677976040.282022505, 1754.420000000]: VER: 1.1: UID:                 4954414c44494e4f
[ WARN] [1677976040.287650855, 1754.420000000]: CMD: Unexpected command 520, result 0
[ INFO] [1677976049.767178905, 1763.532000000]: HP: requesting home position
[ INFO] [1677976054.913291547, 1768.532000000]: GF: mission received
[ INFO] [1677976054.913401843, 1768.532000000]: WP: mission received
[ INFO] [1677976054.913466096, 1768.532000000]: RP: mission received
[ INFO] [1677976060.034087197, 1773.536000000]: HP: requesting home position
[ INFO] [1677976070.441403249, 1783.532000000]: HP: requesting home position
[ INFO] [1677976080.884917463, 1793.532000000]: HP: requesting home position
mengchaoheng commented 1 year ago

起飞后无法悬停是什么原因呢？@robin-shaun