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robin-shaun / XTDrone

UAV Simulation Platform based on PX4, ROS and Gazebo
MIT License
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开启风插件失败 #79

Open LChen-99 opened 1 year ago

LChen-99 commented 1 year ago

我在indoor1.world中加入了下面这个

base_link 1 0 0 0 1 0 4.0 0 0 0 0 0 0 world_wind

然后gazebo就报错了 [INFO] [1681302260.387756, 0.000000]: Calling service /gazebo/spawn_sdf_model [ INFO] [1681302260.393789246]: waitForService: Service [/gazebo/set_physics_properties] is now available. gzserver: /usr/include/boost/smart_ptr/shared_ptr.hpp:734: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = gazebo::event::Connection; typename boost::detail::sp_member_access::type = gazebo::event::Connection]: Assertion `px != 0' failed. Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details [ERROR] [1681302261.614085, 0.000000]: Spawn service failed. Exiting. Aborted (core dumped) [gazebo-1] process has died [pid 102629, exit code 134, cmd /home/luochen/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -e ode /home/luochen/PX4_Firmware/Tools/sitl_gazebo/worlds/indoor1.world name:=gazebo log:=/home/luochen/.ros/log/45318b32-d92b-11ed-bcdd-d5d4b190bca3/gazebo-1.log]. log file: /home/luochen/.ros/log/45318b32-d92b-11ed-bcdd-d5d4b190bca3/gazebo-1.log [iris_0/iris_0_spawn-4] process has died [pid 102657, exit code 1, cmd /home/luochen/catkin_ws/devel/lib/gazebo_ros/spawn_model -sdf -param model_description -model iris_0 -x 0 -y -4.5 -z 1 -R 0 -P 0 -Y 1.570796 name:=iris_0_spawn log:=/home/luochen/.ros/log/45318b32-d92b-11ed-bcdd-d5d4b190bca3/iris_0-iris_0_spawn-4.log]. log file: /home/luochen/.ros/log/45318b32-d92b-11ed-bcdd-d5d4b190bca3/iris_0-iris_0_spawn-4*.log

LChen-99 commented 1 year ago
base_link 1 0 0 0 1 0 4.0 0 0 0 0 0 0 world_wind
LChen-99 commented 1 year ago

文档说是加这个libWindPlugin.so，但是我根本没找到这个动态库

andy-zhuo-02 commented 1 year ago

你好，正如教程里面提及的，"libWindPlugin.so"为Gazebo9自带动态共享库，而不是PX4生成的，一般该文件就在环境变量GAZEBO_PLUGIN_PATH的路径中。

如果你想要找寻该文件，可以在根目录下搜索该文件名进行查找。以我的环境为例子，这个动态库处于/usr/lib/x86_64-linux-gnu/gazebo-11/plugins下。（注：我使用的是gazebo11，但是gazebo9是类似的，这并不影响）

LChen-99 commented 1 year ago

你好，正如教程里面提及的，"libWindPlugin.so"为Gazebo9自带动态共享库，而不是PX4生成的，一般该文件就在环境变量GAZEBO_PLUGIN_PATH的路径中。

如果你想要找寻该文件，可以在根目录下搜索该文件名进行查找。以我的环境为例子，这个动态库处于/usr/lib/x86_64-linux-gnu/gazebo-11/plugins下。（注：我使用的是gazebo11，但是gazebo9是类似的，这并不影响）

你好，我成功加入了风插件，但是好像没用产生作用。无人机飞行没有受到影响

LChen-99 commented 1 year ago

你好，正如教程里面提及的，"libWindPlugin.so"为Gazebo9自带动态共享库，而不是PX4生成的，一般该文件就在环境变量GAZEBO_PLUGIN_PATH的路径中。 如果你想要找寻该文件，可以在根目录下搜索该文件名进行查找。以我的环境为例子，这个动态库处于/usr/lib/x86_64-linux-gnu/gazebo-11/plugins下。（注：我使用的是gazebo11，但是gazebo9是类似的，这并不影响）

你好，我成功加入了风插件，但是好像没用产生作用。无人机飞行没有受到影响

也没有找到和风相关的话题

andy-zhuo-02 commented 1 year ago

你可以尝试在launch文件中将gazebo config下的verbose标签打开以查看更多信息。可能会有一条关于风插件的err信息提示你是否需要设置一些参数

andy-zhuo-02 commented 1 year ago

注意，当您修改之后，建议可以采用QGC令飞机旋停的方式来检测场景中是否有风，检测无人机旋停的姿态即可

LChen-99 commented 1 year ago

你可以尝试在launch文件中将gazebo config下的verbose标签打开以查看更多信息。可能会有一条关于风插件的err信息提示你是否需要设置一些参数

您好,我打开了verbose这是终端的信息,我并没有看到和风插件相关的 [Msg] Loading world file [/home/luochen/PX4_Firmware/Tools/sitl_gazebo/worlds/indoor1_wind.world] [INFO] [1681738541.824912, 0.000000]: Calling service /gazebo/spawn_sdf_model [ INFO] [1681738541.834935381]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1681738541.895163, 1814.801000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name iris_0 [ERROR] [1681738541.896206, 1814.801000]: Spawn service failed. Exiting. [ INFO] [1681738541.901278483, 1814.805000000]: Physics dynamic reconfigure ready. 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] [1681738542.262027808, 1814.889000000]: Camera Plugin: The 'robotNamespace' param was empty [ INFO] [1681738542.262528579, 1814.889000000]: Camera Plugin: The 'robotNamespace' param was empty [ INFO] [1681738542.264648502, 1814.889000000]: Camera Plugin (ns = iris_0) , set to "iris_0" [ INFO] [1681738542.264692706, 1814.889000000]: Camera Plugin (ns = iris_0) , set to "iris_0" [ INFO] [1681738542.268829294, 1814.889000000]: Camera Plugin: The 'robotNamespace' param was empty [ INFO] [1681738542.269032388, 1814.889000000]: Camera Plugin: The 'robotNamespace' param was empty [ INFO] [1681738542.270164016, 1814.889000000]: Camera Plugin (ns = iris_0) , set to "iris_0" [ INFO] [1681738542.271016486, 1814.889000000]: Camera Plugin (ns = iris_0) , set to "iris_0" [Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported. [Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported. [ WARN] [1681738542.275636880, 1814.889000000]: missing , set to default: /iris_0/ [ INFO] [1681738542.275685453, 1814.889000000]: set to: /iris_0/imu_gazebo [ INFO] [1681738542.275698889, 1814.889000000]: set to: imu_link_stereo [ INFO] [1681738542.275731912, 1814.889000000]: set to: 500 [ INFO] [1681738542.275749855, 1814.889000000]: set to: 0 [ INFO] [1681738542.275797693, 1814.889000000]: set to: 0 0 0 [ INFO] [1681738542.275909554, 1814.889000000]: set to: 0 -0 0 [Msg] Connecting to PX4 SITL using TCP [Msg] Lockstep is enabled [Msg] Speed factor set to: 1 [Msg] Using MAVLink protocol v2.0 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/2023-04-17/13_35_42.ulg INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network) INFO [px4] Startup script returned successfully [ INFO] [1681738542.597654416, 1815.057000000]: udp0: Remote address: 127.0.0.1:34580 [ INFO] [1681738542.597761863, 1815.057000000]: IMU: High resolution IMU detected! [ INFO] [1681738542.629630230, 1815.089000000]: FCU: [logger] file:./log/2023-04-17/13_35_42.ulg [Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported. [Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported. [Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported. [Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported. [Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported. [Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported. [iris_0/iris_0_spawn-4] process has died [pid 1048575, exit code 1, cmd /home/luochen/catkin_ws/devel/lib/gazebo_ros/spawn_model -sdf -param model_description -model iris_0 -x 0 -y -4.5 -z 1 -R 0 -P 0 -Y 1.570796 name:=iris_0_spawn log:=/home/luochen/.ros/log/23707e24-da8c-11ed-8d0d-395337c18d5a/iris_0-iris_0_spawn-4.log]. log file: /home/luochen/.ros/log/23707e24-da8c-11ed-8d0d-395337c18d5a/iris_0-iris_0_spawn-4*.log INFO [mavlink] partner IP: 127.0.0.1 [ INFO] [1681738543.581725931, 1816.037000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1681738543.582567819, 1816.037000000]: IMU: High resolution IMU detected! INFO [ecl/EKF] 1776000: EKF aligned, (baro height, IMU buf: 22, OBS buf: 14) INFO [ecl/EKF] 1776000: reset position to last known position INFO [ecl/EKF] 1776000: reset velocity to zero [ERROR] [1681738544.387648240, 1816.841000000]: ODOM: Ex: Could not find a connection between 'iris_0/base_link' and 'base_link_frd' because they are not part of the same tree.Tf has two or more unconnected trees. [ INFO] [1681738544.391623632, 1816.845000000]: IMU: Attitude quaternion IMU detected! [ INFO] [1681738544.585264900, 1817.037000000]: GF: Using MISSION_ITEM_INT [ INFO] [1681738544.585418736, 1817.037000000]: RP: Using MISSION_ITEM_INT [ INFO] [1681738544.585465258, 1817.037000000]: WP: Using MISSION_ITEM_INT [ INFO] [1681738544.585520138, 1817.037000000]: VER: 1.1: Capabilities 0x000000000000e4ef [ INFO] [1681738544.585561182, 1817.037000000]: VER: 1.1: Flight software: 010b0080 (746b3124ab000000) [ INFO] [1681738544.585589894, 1817.037000000]: VER: 1.1: Middleware software: 010b0080 (746b3124ab000000) [ INFO] [1681738544.585618304, 1817.037000000]: VER: 1.1: OS software: 050f00ff (ec417d7466666801) [ INFO] [1681738544.585652132, 1817.037000000]: VER: 1.1: Board hardware: 00000001 [ INFO] [1681738544.585676769, 1817.037000000]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1681738544.585701997, 1817.037000000]: VER: 1.1: UID: 4954414c44494e4f [ WARN] [1681738544.588032038, 1817.041000000]: CMD: Unexpected command 520, result 0

andy-zhuo-02 commented 1 year ago

你可能弄混了一点：风速信息是以gazebo内部的topic类型发布的，而非ROS的消息发布，用rostopic是无法找到的。

首先，你可以通过（比如）在QGC中令无人机起飞并旋停，通过观察无人机的旋停姿态来确认当前场景内部有没有风； 其次，你可以通过在命令行中输入gz topic --list来查看发布的风速信息话题。

LChen-99 commented 1 year ago

你可能弄混了一点：风速信息是以gazebo内部的topic类型发布的，而非ROS的消息发布，用rostopic是无法找到的。

首先，你可以通过（比如）在QGC中令无人机起飞并旋停，通过观察无人机的旋停姿态来确认当前场景内部有没有风； 其次，你可以通过在命令行中输入gz topic --list来查看发布的风速信息话题。

您好，这是悬停时候的姿态，应该是没有风的。 orientation: x: -3.9238795157346366e-05 y: -5.5042287043711194e-05 z: 0.7072721693686018 w: 0.7069413510803392 下面是gz topic --list： /gazebo/default/wind只有这个跟风有关，但是这个话题是没有信息的

/gazebo/default/atmosphere /gazebo/default/cinder_block_wide/link/wrench /gazebo/default/coke_can/link/wrench /gazebo/default/diagnostics /gazebo/default/factory /gazebo/default/factory/light /gazebo/default/grey_tote/link/wrench /gazebo/default/gui /gazebo/default/gzclient_camera/cmd /gazebo/default/iris_0/baro /gazebo/default/iris_0/base_link/wrench /gazebo/default/iris_0/camera/link/irlock /gazebo/default/iris_0/gazebo/command/motor_speed /gazebo/default/iris_0/gps /gazebo/default/iris_0/groundtruth /gazebo/default/iris_0/imu /gazebo/default/iris_0/imu_gazebo/link/imu_sensor/imu /gazebo/default/iris_0/imu_gazebo/link/wrench /gazebo/default/iris_0/imu_link/wrench /gazebo/default/iris_0/joint_cmd /gazebo/default/iris_0/mag /gazebo/default/iris_0/px4flow/link/opticalFlow /gazebo/default/iris_0/rotor_0/wrench /gazebo/default/iris_0/rotor_1/wrench /gazebo/default/iris_0/rotor_2/wrench /gazebo/default/iris_0/rotor_3/wrench /gazebo/default/iris_0/stereo_camera/link/camera/images /gazebo/default/iris_0/stereo_camera/link/wrench /gazebo/default/iris_0/stereo_camera_down/link/camera/images /gazebo/default/iris_0/stereo_camera_down/link/wrench /gazebo/default/iris_0/vision_odom /gazebo/default/iris_0::imu_gazebo::link /gazebo/default/joint /gazebo/default/left/cmd /gazebo/default/light/modify /gazebo/default/log/control /gazebo/default/log/status /gazebo/default/model/info /gazebo/default/model/modify /gazebo/default/physics /gazebo/default/physics/contacts /gazebo/default/playback_control /gazebo/default/pose/info /gazebo/default/pose/local/info /gazebo/default/pose/modify /gazebo/default/request /gazebo/default/response /gazebo/default/right/cmd /gazebo/default/roads /gazebo/default/scene /gazebo/default/selection /gazebo/default/sensor /gazebo/default/skeleton_pose/info /gazebo/default/sky /gazebo/default/undo_redo /gazebo/default/user_camera/joy_pose /gazebo/default/user_camera/joy_twist /gazebo/default/user_camera/pose /gazebo/default/user_cmd /gazebo/default/user_cmd_stats /gazebo/default/visual /gazebo/default/wind /gazebo/default/world_control /gazebo/default/world_stats /gazebo/motor_failure_num /gazebo/performance_metrics /gazebo/server/control /gazebo/world/modify

然后这是我的world文件的前面部分，·我还是没找到哪里出了问题： <?xml version="1.0" ?>

base_link 0 1 0 1 1 0 0.1 0.1 0 5 8 1 1 1 0.2 0.2 0 0.2 0.2 0 2 2.5 0.5 world_wind
andy-zhuo-02 commented 1 year ago

请问你的PX4用的是什么版本？

LChen-99 commented 1 year ago

您好，是1.11版本的 746b3124ab (HEAD -> xtdrone/dev, tag: v1.11.0-beta1) HEAD@{0}: checkout: moving from master to xtdrone/dev

andy-zhuo-02 commented 1 year ago

直接使用windy.world也是没有风的状态吗

LChen-99 commented 1 year ago

直接使用windy.world也是没有风的状态吗

我的电脑上没有找到windy.world这个文件 不知道是怎么回事，这个文件是在哪里

andy-zhuo-02 commented 1 year ago

默认环境下，世界文件都应该处于路径 ~/PX4_Firmware/Tools/sitl_gazebo/worlds 下。你在进行launch文件的配置时，应该修改其中的world参数为你所需要的世界

wangqing-W commented 2 months ago

你可能弄混了一点：风速信息是以gazebo内部的topic类型发布的，而非ROS的消息发布，用rostopic是无法找到的。

首先，你可以通过（比如）在QGC中令无人机起飞并旋停，通过观察无人机的旋停姿态来确认当前场景内部有没有风； 其次，你可以通过在命令行中输入gz topic --list来查看发布的风速信息话题。

你好，我的环境是PX4v1.13.2 ,gazebo9。我是在indoor1.launch中将原来的word换成了windy.world，libgazebo_wind_plugin.so也在。但是rostopic list没有出现教程中的描述的/wind_xtdrone话题，运行gz topic --list有/gazebo/default/wind和/gazebo/default/world_wind这两个话题，但是gz topic好像没有发消息的功能。

wangqing-W commented 2 months ago

你可能弄混了一点：风速信息是以gazebo内部的topic类型发布的，而非ROS的消息发布，用rostopic是无法找到的。 首先，你可以通过（比如）在QGC中令无人机起飞并旋停，通过观察无人机的旋停姿态来确认当前场景内部有没有风； 其次，你可以通过在命令行中输入gz topic --list来查看发布的风速信息话题。

你好，我的环境是PX4v1.13.2 ,gazebo9。我是在indoor1.launch中将原来的word换成了windy.world，libgazebo_wind_plugin.so也在。但是rostopic list没有出现教程中的描述的/wind_xtdrone话题，运行gz topic --list有/gazebo/default/wind和/gazebo/default/world_wind这两个话题，但是gz topic好像没有发消息的功能。

我更改了windy.world里的参数发现风的插件是在起作用，没有/wind_xtdrone的原因可能是：[Err] [Plugin.hh:212] Failed to load plugin libgazebo_ros_wind_plugin_xtdrone.so: libgazebo_ros_wind_plugin_xtdrone.so: cannot open shared object file: No such file or directory 我发现我的整个目录里没有libgazebo_ros_wind_plugin_xtdrone.so这个文件，但是libgazebo_wind_plugin.so是有的。

wangqing-W commented 2 months ago

你可能弄混了一点：风速信息是以gazebo内部的topic类型发布的，而非ROS的消息发布，用rostopic是无法找到的。 首先，你可以通过（比如）在QGC中令无人机起飞并旋停，通过观察无人机的旋停姿态来确认当前场景内部有没有风； 其次，你可以通过在命令行中输入gz topic --list来查看发布的风速信息话题。

你好，我的环境是PX4v1.13.2 ,gazebo9。我是在indoor1.launch中将原来的word换成了windy.world，libgazebo_wind_plugin.so也在。但是rostopic list没有出现教程中的描述的/wind_xtdrone话题，运行gz topic --list有/gazebo/default/wind和/gazebo/default/world_wind这两个话题，但是gz topic好像没有发消息的功能。

我更改了windy.world里的参数发现风的插件是在起作用，没有/wind_xtdrone的原因可能是：[Err] [Plugin.hh:212] Failed to load plugin libgazebo_ros_wind_plugin_xtdrone.so: libgazebo_ros_wind_plugin_xtdrone.so: cannot open shared object file: No such file or directory 我发现我的整个目录里没有libgazebo_ros_wind_plugin_xtdrone.so这个文件，但是libgazebo_wind_plugin.so是有的。

“# If BUILD_ROS_PLUGINS set to ON, build plugins that have ROS dependencies

Current plugins that can be used with ROS interface: gazebo_motor_failure_plugin, gazebo_ros_wind_plugin_xtdrone

if (BUILD_ROS_PLUGINS) add_library(gazebo_motor_failure_plugin SHARED src/gazebo_motor_failure_plugin.cpp) target_link_libraries(gazebo_motor_failure_plugin ${GAZEBO_libraries} ${roscpp_LIBRARIES}) list(APPEND plugins gazebo_motor_failure_plugin) message(STATUS "adding gazebo_motor_failure_plugin to build")

include_directories( include ${geometry_msgs_INCLUDE_DIRS} ${sensor_msgs_INCLUDE_DIRS} )

target_link_libraries(gazebo_motor_failure_plugin ${catkin_LIBRARIES} ${roscpp_LIBRARIES} ${GAZEBO_libraries} )

# add_library(gazebo_ros_wind_plugin_xtdrone SHARED src/gazebo_ros_wind_plugin_xtdrone.cpp)
# target_link_libraries(gazebo_ros_wind_plugin_xtdrone ${GAZEBO_libraries} ${roscpp_LIBRARIES})
# list(APPEND plugins gazebo_ros_wind_plugin_xtdrone)
# message(STATUS "adding gazebo_ros_wind_plugin_xtdrone to build")

# include_directories(

include

${std_msgs_INCLUDE_DIRS}

${geometry_msgs_INCLUDE_DIRS}

)

target_link_libraries(gazebo_ros_wind_plugin_xtdrone

${catkin_LIBRARIES}

${roscpp_LIBRARIES}

${GAZEBO_libraries}

)

endif() ”CmakeList中的这段代码有一点问题，我的BUILD_ROS_PLUGINS标志位一直是开着的“option(BUILD_ROS_PLUGINS "Enable building ROS dependent plugins" ON)”，但是它貌似没有进入这个if,我把它提到外面就生效了，最后插件放到indoor1.launch可以生效。

08

可以看到rostopic list 有/wind_xtdrone出现，然后就可以用rostopic pub /wind_xtdrone geometry_msgs/Twist "linear: x: 7.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0" 发现是有效的。