roslaunch hover_swarm.launch
... logging to /home/yons/.ros/log/ace29c00-4b0f-11eb-98c4-001b21a4a103/roslaunch-yons-desktop-14270.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.
NODES
/
crazyswarm_server (crazyswarm/crazyswarm_server)
crazyswarm_teleop (crazyswarm/crazyswarm_teleop)
joy (joy/joy_node)
rviz (rviz/rviz)
auto-starting new master
process[master]: started with pid [14289]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to ace29c00-4b0f-11eb-98c4-001b21a4a103
process[rosout-1]: started with pid [14300]
started core service [/rosout]
process[crazyswarm_server-2]: started with pid [14307]
process[joy-3]: started with pid [14308]
process[crazyswarmteleop-4]: started with pid [14309]
process[rviz-5]: started with pid [14315]
[ INFO] [1609381626.840798973]: Wait for services...
[ INFO] [1609381626.841271417]: waitForService: Service [/emergency] has not been advertised, waiting...
[ INFO] [1609381626.869404809]: All CFs are ready!
[ INFO] [1609381626.869757057]: All CFs are ready!1111222
[ INFO] [1609381626.874226909]: All CFs are ready!11122233331
ch: 1
[ INFO] [1609381626.882188894]: waitForService: Service [/emergency] is now available.
[ INFO] [1609381626.883110431]: Manager ready.
[ WARN] [1609381626.904305917]: Couldn't set gain on joystick force feedback: Bad file descriptor
[ INFO] [1609381626.904753549]: Opened joystick: /dev/input/js3. deadzone: 0.050000.
terminate called after throwing an instance of 'std::runtime_error'
what(): timeout
[crazyswarm_server-2] process has died [pid 14307, exit code -6, cmd /home/yons/usc_swarm/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server __name:=crazyswarm_server __log:=/home/yons/.ros/log/ace29c00-4b0f-11eb-98c4-001b21a4a103/crazyswarm_server-2.log].
log file: /home/yons/.ros/log/ace29c00-4b0f-11eb-98c4-001b21a4a103/crazyswarm_server-2*.log
请问这个如何解决， url 我确定设置的一致，按照文档来的 hover_vicon.launch 文件如下
<?xml version="1.0"?>
world_frame: "/world"
# Logging configuration (Use enable_logging to actually enable logging)
genericLogTopics: ["log1"]
genericLogTopicFrequencies: [10]
genericLogTopic_log1_Variables: ["stateEstimate.x", "ctrltarget.x"]
# firmware parameters for all drones (use crazyflieTypes.yaml to set per type, or
# allCrazyflies.yaml to set per drone)
firmwareParams:
commander:
enHighLevel: 1
stabilizer:
estimator: 2 # 1: complementary, 2: kalman
controller: 2 # 1: PID, 2: mellinger
ring:
effect: 16 # 6: double spinner, 7: solid color, 16: packetRate
solidBlue: 255 # if set to solid color
solidGreen: 0 # if set to solid color
solidRed: 0 # if set to solid color
headlightEnable: 0
locSrv:
extPosStdDev: 1e-3
extQuatStdDev: 0.5e-1
kalman:
pNAcc_xy: 1.0
pNAcc_z: 2.0
# tracking
motion_capture_type: "vicon" # one of none,vicon,optitrack,qualisys,vrpn
object_tracking_type: "libobjecttracker" # one of motionCapture,libobjecttracker
send_position_only: False # set to False to send position+orientation; set to True to send position only
vicon_host_name: "192.168.1.100:801"
# optitrack_host_name: "optitrack"
# qualisys_host_name: "10.0.5.219"
# qualisys_base_port: 22222
# vrpn_host_name: "vicon"
save_point_clouds: ~/pointCloud.ot
print_latency: False
write_csvs: False
force_no_cache: False
enable_parameters: True
enable_logging: True
wangyeyeyey
commented
3 years ago
roslaunch hover_swarm.launch ... logging to /home/yons/.ros/log/ace29c00-4b0f-11eb-98c4-001b21a4a103/roslaunch-yons-desktop-14270.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://yons-desktop:42639/
SUMMARY
PARAMETERS
NODES / crazyswarm_server (crazyswarm/crazyswarm_server) crazyswarm_teleop (crazyswarm/crazyswarm_teleop) joy (joy/joy_node) rviz (rviz/rviz)
auto-starting new master process[master]: started with pid [14289] ROS_MASTER_URI=http://localhost:11311
setting /run_id to ace29c00-4b0f-11eb-98c4-001b21a4a103 process[rosout-1]: started with pid [14300] started core service [/rosout] process[crazyswarm_server-2]: started with pid [14307] process[joy-3]: started with pid [14308] process[crazyswarmteleop-4]: started with pid [14309] process[rviz-5]: started with pid [14315] [ INFO] [1609381626.840798973]: Wait for services... [ INFO] [1609381626.841271417]: waitForService: Service [/emergency] has not been advertised, waiting... [ INFO] [1609381626.869404809]: All CFs are ready! [ INFO] [1609381626.869757057]: All CFs are ready!1111222 [ INFO] [1609381626.874226909]: All CFs are ready!11122233331 ch: 1 [ INFO] [1609381626.882188894]: waitForService: Service [/emergency] is now available. [ INFO] [1609381626.883110431]: Manager ready. [ WARN] [1609381626.904305917]: Couldn't set gain on joystick force feedback: Bad file descriptor [ INFO] [1609381626.904753549]: Opened joystick: /dev/input/js3. deadzone: 0.050000. terminate called after throwing an instance of 'std::runtime_error' what(): timeout [crazyswarm_server-2] process has died [pid 14307, exit code -6, cmd /home/yons/usc_swarm/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server __name:=crazyswarm_server __log:=/home/yons/.ros/log/ace29c00-4b0f-11eb-98c4-001b21a4a103/crazyswarm_server-2.log]. log file: /home/yons/.ros/log/ace29c00-4b0f-11eb-98c4-001b21a4a103/crazyswarm_server-2*.log 请问这个如何解决， url 我确定设置的一致，按照文档来的 hover_vicon.launch 文件如下 <?xml version="1.0"?>