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ROS based mav fleet control for swarming

License: BSD 3-Clause "New" or "Revised" License

CMake 6.30% C++ 93.70%

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seunghwan17 shiyuendeavour mavrikant wayne-xixi mohit505git goofyweng lsy512 rrajnidhi ashleyhutcherson ajit-m crosslore bolinchou pamoreno gitshitou ramtinjavan123 qqsskk kaijun101 p5cao gritrini

mavros_swarm's Issues

catkin build formation_control Not working

I keep getting this error when I try to catkin build..

``build] Found '9' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 7.3 seconds ]
Starting >>> catkin_simple
Finished <<< catkin_simple [ 3.1 seconds ]
Starting >>> eigen_catkin
Finished <<< eigen_catkin [ 3.2 seconds ]
Starting >>> formation_control

Errors << formation_control:cmake /home/eeex/Eba_ws/logs/formation_control/build.cmake.000.log
CMake Error at /home/eeex/Eba_ws/devel/share/catkin_simple/cmake/catkin_simple-extras.cmake:38 (find_package):
By not providing "Findmavros_msgs.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"mavros_msgs", but CMake did not find one.

Could not find a package configuration file provided by "mavros_msgs" with
any of the following names:

mavros_msgsConfig.cmake
mavros_msgs-config.cmake

Add the installation prefix of "mavros_msgs" to CMAKE_PREFIX_PATH or set
"mavros_msgs_DIR" to a directory containing one of the above files. If
"mavros_msgs" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
CMakeLists.txt:7 (catkin_simple)

Does this project support ardupilot?

Hi,
I am using Pixhawk 2.4.8 with firmware apmrover, it is compiled from ardupilot. This project is very good. I have installed mavros. Will ardupilot will be supported? Or , should I use px4 autopilot firmware?
Thank you.

ERROR [simulator_mavlink] poll timeout 0, 22

I am trying to run the swarm sim but I have the following error and warnings:

[ INFO] [1690323780.799220870, 6.004000000]: Setting to Offboard
WARN [mavlink] SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame 0
WARN [mavlink] SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame 0
WARN [mavlink] SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame 0
ERROR [simulator_mavlink] poll timeout 0, 22
ERROR [simulator_mavlink] poll timeout 0, 22
ERROR [simulator_mavlink] poll timeout 0, 22
poll timeout

Gazebo does show up but the three drones does not take off. It shows a lot of warnings on invalid coordinate frame 0. After setting the mode to Offboard, it starts to have errors of poll timeout. I pull the latest repo from PX4 as well as mavlink/mavros and compile from source. I am not sure what the problem is here.

Dangerous behaviros in automatic disarming / rearming

This will rearm the vehicle in case of a failure

mavros_swarm/formation_control/src/single_vehicle.cpp

Lines 37 to 42 in d3cc323

    
               * @todo Dangerous behaviros in  automatic disarming / rearming 
        
               * @body This will rearm the vehicle in case of a failure 
        
               */ 
        
               arm_cmd_.request.value = true; 
        
               offb_set_mode_.request.custom_mode = "OFFBOARD"; 
        
               if( current_state_.mode != "OFFBOARD" && (ros::Time::now() - last_request_ > ros::Duration(5.0))){

This issue was generated by todo based on a `@todo` comment in `d3cc323` when #6 was merged. cc @Jaeyoung-Lim.

ERROR in config: Unable to download URL [https://github.com/Jaeyoung-Lim/mavros_swarm/dependencies.rosinstall]: HTTP Error 404: Not Found

i tried to install mavros_swarm from https://github.com/Jaeyoung-Lim/mavros_swarm but i am unableto as i clone after this i am unable to rosinistall the dependencies to here are the details:

:/catkin_ws/src$ git clone https://github.com/Jaeyoung-Lim/mavros_swarm.git
Cloning into 'mavros_swarm'...
remote: Enumerating objects: 4, done.
remote: Counting objects: 100% (4/4), done.
remote: Compressing objects: 100% (4/4), done.
remote: Total 351 (delta 1), reused 0 (delta 0), pack-reused 347
Receiving objects: 100% (351/351), 2.63 MiB | 152.00 KiB/s, done.
Resolving deltas: 100% (218/218), done.
Checking connectivity... done.
cd catkin_ws
cactus@cactus-Inspiron-5559:/catkin_ws$ catkin build
Profile: default
Extending: [cached] /opt/ros/kinetic
Workspace: /home/cactus/catkin_ws
Build Space: [exists] /home/cactus/catkin_ws/build
Devel Space: [exists] /home/cactus/catkin_ws/devel
Install Space: [unused] /home/cactus/catkin_ws/install
Log Space: [exists] /home/cactus/catkin_ws/logs
Source Space: [exists] /home/cactus/catkin_ws/src
DESTDIR: [unused] None
Devel Space Layout: linked
Install Space Layout: None
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
Whitelisted Packages: None
Blacklisted Packages: None
Workspace configuration appears valid.

[build] Found '16' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> beginner
Starting >>> final_year_project
Starting >>> gazebo_dev
Starting >>> gazebo_msgs
Finished <<< final_year_project [ 0.2 seconds ]
Starting >>> mavlink
Finished <<< beginner [ 0.2 seconds ]
Starting >>> mavros_msgs
Finished <<< gazebo_dev [ 0.2 seconds ]
Finished <<< mavlink [ 1.6 seconds ]
Finished <<< gazebo_msgs [ 2.2 seconds ]
Starting >>> libmavconn
Finished <<< libmavconn [ 0.3 seconds ]
Starting >>> gazebo_plugins
Starting >>> gazebo_ros
Finished <<< mavros_msgs [ 3.2 seconds ]
Starting >>> mavros
Finished <<< gazebo_ros [ 1.7 seconds ]
Finished <<< mavros [ 2.5 seconds ]
Starting >>> gazebo_ros_control
Starting >>> formation_control
Starting >>> mavros_extras
Finished <<< gazebo_plugins [ 2.7 seconds ]
Finished <<< gazebo_ros_control [ 0.2 seconds ]
Finished <<< mavros_extras [ 1.2 seconds ]
Starting >>> test_mavros

Errors << formation_control:cmake /home/cactus/catkin_ws/logs/formation_control/build.cmake.000.log
CMake Error at /home/cactus/catkin_ws/src/mavros_swarm/formation_control/CMakeLists.txt:6 (find_package):
By not providing "Findcatkin_simple.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"catkin_simple", but CMake did not find one.

Could not find a package configuration file provided by "catkin_simple"
with any of the following names:

catkin_simpleConfig.cmake
catkin_simple-config.cmake

Add the installation prefix of "catkin_simple" to CMAKE_PREFIX_PATH or set
"catkin_simple_DIR" to a directory containing one of the above files. If
"catkin_simple" provides a separate development package or SDK, be sure it
has been installed.
~/catkin_ws$ wstool init . ./mavros_swarm/dependencies.rosinstall
Using initial elements from: ./mavros_swarm/dependencies.rosinstall
ERROR in config: Is not a local file, nor a valid URL [./mavros_swarm/dependencies.rosinstall] : unknown url type: ./mavros_swarm/dependencies.rosinstall
/catkin_ws/src$ wstool merge mavros_swarm.rosinatall
/usr/lib/python2.7/dist-packages/wstool/config_yaml.py:74: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
yamldata = yaml.load(stream)
ERROR in config: Is not a local file, nor a valid URL [mavros_swarm.rosinatall] : unknown url type: mavros_swarm.rosinatall
cactus@cactus-Inspiron-5559:/catkin_ws/src$ wget https://github.com/Jaeyoung-Lim/mavros_swarm.rosinstall
--2019-12-31 21:21:15-- https://github.com/Jaeyoung-Lim/mavros_swarm.rosinstall
Resolving github.com (github.com)... 140.82.114.4
Connecting to github.com (github.com)|140.82.114.4|:443... connected.
HTTP request sent, awaiting response... 404 Not Found
2019-12-31 21:21:19 ERROR 404: Not Found.

Problems about drones hovering and change formation

Hello,
I can run the sitl_multiuav_swarm.launch file successfully. However, most of the time, there will be one or more drones that cannot hover in the predefined position. The drones will just go straight up and keep flying upward. I don't know why.
The following is what I got after using roslaunch formation_control sitl_multiuav_swarm.launch

weng@ubuntu:~/Firmware$ roslaunch formation_control sitl_multiuav_swarm.launch
... logging to /home/weng/.ros/log/87736c96-6cf4-11ea-8796-5c93a29bd885/roslaunch-ubuntu-12555.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://ubuntu:45721/

SUMMARY
========

CLEAR PARAMETERS
 * /uav0/mavros/
 * /uav1/mavros/
 * /uav2/mavros/

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /uav0/mavros/cmd/use_comp_id_system_control: False
 * /uav0/mavros/conn/heartbeat_rate: 1.0
 * /uav0/mavros/conn/system_time_rate: 1.0
 * /uav0/mavros/conn/timeout: 10.0
 * /uav0/mavros/conn/timesync_rate: 10.0
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /uav0/mavros/distance_sensor/laser_1_sub/id: 3
 * /uav0/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /uav0/mavros/distance_sensor/laser_1_sub/subscriber: True
 * /uav0/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /uav0/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /uav0/mavros/distance_sensor/lidarlite_pub/id: 1
 * /uav0/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /uav0/mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /uav0/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /uav0/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /uav0/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /uav0/mavros/distance_sensor/sonar_1_sub/id: 2
 * /uav0/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /uav0/mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /uav0/mavros/fake_gps/eph: 2.0
 * /uav0/mavros/fake_gps/epv: 2.0
 * /uav0/mavros/fake_gps/fix_type: 3
 * /uav0/mavros/fake_gps/geo_origin/alt: 408.0
 * /uav0/mavros/fake_gps/geo_origin/lat: 47.3667
 * /uav0/mavros/fake_gps/geo_origin/lon: 8.55
 * /uav0/mavros/fake_gps/gps_rate: 5.0
 * /uav0/mavros/fake_gps/mocap_transform: True
 * /uav0/mavros/fake_gps/satellites_visible: 5
 * /uav0/mavros/fake_gps/tf/child_frame_id: fix
 * /uav0/mavros/fake_gps/tf/frame_id: map
 * /uav0/mavros/fake_gps/tf/listen: False
 * /uav0/mavros/fake_gps/tf/rate_limit: 10.0
 * /uav0/mavros/fake_gps/tf/send: False
 * /uav0/mavros/fake_gps/use_mocap: True
 * /uav0/mavros/fake_gps/use_vision: False
 * /uav0/mavros/fcu_protocol: v2.0
 * /uav0/mavros/fcu_url: udp://:14540@loca...
 * /uav0/mavros/gcs_url: 
 * /uav0/mavros/global_position/child_frame_id: base_link
 * /uav0/mavros/global_position/frame_id: map
 * /uav0/mavros/global_position/gps_uere: 1.0
 * /uav0/mavros/global_position/rot_covariance: 99999.0
 * /uav0/mavros/global_position/tf/child_frame_id: base_link
 * /uav0/mavros/global_position/tf/frame_id: map
 * /uav0/mavros/global_position/tf/global_frame_id: earth
 * /uav0/mavros/global_position/tf/send: False
 * /uav0/mavros/global_position/use_relative_alt: True
 * /uav0/mavros/image/frame_id: px4flow
 * /uav0/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /uav0/mavros/imu/frame_id: base_link
 * /uav0/mavros/imu/linear_acceleration_stdev: 0.0003
 * /uav0/mavros/imu/magnetic_stdev: 0.0
 * /uav0/mavros/imu/orientation_stdev: 1.0
 * /uav0/mavros/landing_target/camera/fov_x: 2.0071286398
 * /uav0/mavros/landing_target/camera/fov_y: 2.0071286398
 * /uav0/mavros/landing_target/image/height: 480
 * /uav0/mavros/landing_target/image/width: 640
 * /uav0/mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /uav0/mavros/landing_target/listen_lt: False
 * /uav0/mavros/landing_target/mav_frame: LOCAL_NED
 * /uav0/mavros/landing_target/target_size/x: 0.3
 * /uav0/mavros/landing_target/target_size/y: 0.3
 * /uav0/mavros/landing_target/tf/child_frame_id: camera_center
 * /uav0/mavros/landing_target/tf/frame_id: landing_target
 * /uav0/mavros/landing_target/tf/listen: False
 * /uav0/mavros/landing_target/tf/rate_limit: 10.0
 * /uav0/mavros/landing_target/tf/send: True
 * /uav0/mavros/local_position/frame_id: map
 * /uav0/mavros/local_position/tf/child_frame_id: base_link
 * /uav0/mavros/local_position/tf/frame_id: map
 * /uav0/mavros/local_position/tf/send: False
 * /uav0/mavros/local_position/tf/send_fcu: False
 * /uav0/mavros/mission/pull_after_gcs: True
 * /uav0/mavros/mocap/use_pose: True
 * /uav0/mavros/mocap/use_tf: False
 * /uav0/mavros/odometry/fcu/odom_child_id_des: base_link
 * /uav0/mavros/odometry/fcu/odom_parent_id_des: map
 * /uav0/mavros/plugin_blacklist: ['safety_area', '...
 * /uav0/mavros/plugin_whitelist: []
 * /uav0/mavros/px4flow/frame_id: px4flow
 * /uav0/mavros/px4flow/ranger_fov: 0.118682
 * /uav0/mavros/px4flow/ranger_max_range: 5.0
 * /uav0/mavros/px4flow/ranger_min_range: 0.3
 * /uav0/mavros/safety_area/p1/x: 1.0
 * /uav0/mavros/safety_area/p1/y: 1.0
 * /uav0/mavros/safety_area/p1/z: 1.0
 * /uav0/mavros/safety_area/p2/x: -1.0
 * /uav0/mavros/safety_area/p2/y: -1.0
 * /uav0/mavros/safety_area/p2/z: -1.0
 * /uav0/mavros/setpoint_accel/send_force: False
 * /uav0/mavros/setpoint_attitude/reverse_thrust: False
 * /uav0/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /uav0/mavros/setpoint_attitude/tf/frame_id: map
 * /uav0/mavros/setpoint_attitude/tf/listen: False
 * /uav0/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /uav0/mavros/setpoint_attitude/use_quaternion: False
 * /uav0/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /uav0/mavros/setpoint_position/tf/child_frame_id: target_position
 * /uav0/mavros/setpoint_position/tf/frame_id: map
 * /uav0/mavros/setpoint_position/tf/listen: False
 * /uav0/mavros/setpoint_position/tf/rate_limit: 50.0
 * /uav0/mavros/setpoint_raw/thrust_scaling: 1.0
 * /uav0/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /uav0/mavros/startup_px4_usb_quirk: True
 * /uav0/mavros/sys/disable_diag: False
 * /uav0/mavros/sys/min_voltage: 10.0
 * /uav0/mavros/target_component_id: 1
 * /uav0/mavros/target_system_id: 1
 * /uav0/mavros/tdr_radio/low_rssi: 40
 * /uav0/mavros/time/time_ref_source: fcu
 * /uav0/mavros/time/timesync_avg_alpha: 0.6
 * /uav0/mavros/time/timesync_mode: MAVLINK
 * /uav0/mavros/vibration/frame_id: base_link
 * /uav0/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /uav0/mavros/vision_pose/tf/frame_id: odom
 * /uav0/mavros/vision_pose/tf/listen: False
 * /uav0/mavros/vision_pose/tf/rate_limit: 10.0
 * /uav0/mavros/vision_speed/listen_twist: True
 * /uav0/mavros/vision_speed/twist_cov: True
 * /uav0/mavros/wheel_odometry/child_frame_id: base_link
 * /uav0/mavros/wheel_odometry/count: 2
 * /uav0/mavros/wheel_odometry/frame_id: odom
 * /uav0/mavros/wheel_odometry/send_raw: True
 * /uav0/mavros/wheel_odometry/send_twist: False
 * /uav0/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /uav0/mavros/wheel_odometry/tf/frame_id: odom
 * /uav0/mavros/wheel_odometry/tf/send: False
 * /uav0/mavros/wheel_odometry/use_rpm: False
 * /uav0/mavros/wheel_odometry/vel_error: 0.1
 * /uav0/mavros/wheel_odometry/wheel0/radius: 0.05
 * /uav0/mavros/wheel_odometry/wheel0/x: 0.0
 * /uav0/mavros/wheel_odometry/wheel0/y: -0.15
 * /uav0/mavros/wheel_odometry/wheel1/radius: 0.05
 * /uav0/mavros/wheel_odometry/wheel1/x: 0.0
 * /uav0/mavros/wheel_odometry/wheel1/y: 0.15
 * /uav0/rotors_description: <?xml version="1....
 * /uav1/mavros/cmd/use_comp_id_system_control: False
 * /uav1/mavros/conn/heartbeat_rate: 1.0
 * /uav1/mavros/conn/system_time_rate: 1.0
 * /uav1/mavros/conn/timeout: 10.0
 * /uav1/mavros/conn/timesync_rate: 10.0
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /uav1/mavros/distance_sensor/laser_1_sub/id: 3
 * /uav1/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /uav1/mavros/distance_sensor/laser_1_sub/subscriber: True
 * /uav1/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /uav1/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /uav1/mavros/distance_sensor/lidarlite_pub/id: 1
 * /uav1/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /uav1/mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /uav1/mavros/distance_sensor/sonar_1_sub/id: 2
 * /uav1/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /uav1/mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /uav1/mavros/fake_gps/eph: 2.0
 * /uav1/mavros/fake_gps/epv: 2.0
 * /uav1/mavros/fake_gps/fix_type: 3
 * /uav1/mavros/fake_gps/geo_origin/alt: 408.0
 * /uav1/mavros/fake_gps/geo_origin/lat: 47.3667
 * /uav1/mavros/fake_gps/geo_origin/lon: 8.55
 * /uav1/mavros/fake_gps/gps_rate: 5.0
 * /uav1/mavros/fake_gps/mocap_transform: True
 * /uav1/mavros/fake_gps/satellites_visible: 5
 * /uav1/mavros/fake_gps/tf/child_frame_id: fix
 * /uav1/mavros/fake_gps/tf/frame_id: map
 * /uav1/mavros/fake_gps/tf/listen: False
 * /uav1/mavros/fake_gps/tf/rate_limit: 10.0
 * /uav1/mavros/fake_gps/tf/send: False
 * /uav1/mavros/fake_gps/use_mocap: True
 * /uav1/mavros/fake_gps/use_vision: False
 * /uav1/mavros/fcu_protocol: v2.0
 * /uav1/mavros/fcu_url: udp://:14541@loca...
 * /uav1/mavros/gcs_url: 
 * /uav1/mavros/global_position/child_frame_id: base_link
 * /uav1/mavros/global_position/frame_id: map
 * /uav1/mavros/global_position/gps_uere: 1.0
 * /uav1/mavros/global_position/rot_covariance: 99999.0
 * /uav1/mavros/global_position/tf/child_frame_id: base_link
 * /uav1/mavros/global_position/tf/frame_id: map
 * /uav1/mavros/global_position/tf/global_frame_id: earth
 * /uav1/mavros/global_position/tf/send: False
 * /uav1/mavros/global_position/use_relative_alt: True
 * /uav1/mavros/image/frame_id: px4flow
 * /uav1/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /uav1/mavros/imu/frame_id: base_link
 * /uav1/mavros/imu/linear_acceleration_stdev: 0.0003
 * /uav1/mavros/imu/magnetic_stdev: 0.0
 * /uav1/mavros/imu/orientation_stdev: 1.0
 * /uav1/mavros/landing_target/camera/fov_x: 2.0071286398
 * /uav1/mavros/landing_target/camera/fov_y: 2.0071286398
 * /uav1/mavros/landing_target/image/height: 480
 * /uav1/mavros/landing_target/image/width: 640
 * /uav1/mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /uav1/mavros/landing_target/listen_lt: False
 * /uav1/mavros/landing_target/mav_frame: LOCAL_NED
 * /uav1/mavros/landing_target/target_size/x: 0.3
 * /uav1/mavros/landing_target/target_size/y: 0.3
 * /uav1/mavros/landing_target/tf/child_frame_id: camera_center
 * /uav1/mavros/landing_target/tf/frame_id: landing_target
 * /uav1/mavros/landing_target/tf/listen: False
 * /uav1/mavros/landing_target/tf/rate_limit: 10.0
 * /uav1/mavros/landing_target/tf/send: True
 * /uav1/mavros/local_position/frame_id: map
 * /uav1/mavros/local_position/tf/child_frame_id: base_link
 * /uav1/mavros/local_position/tf/frame_id: map
 * /uav1/mavros/local_position/tf/send: False
 * /uav1/mavros/local_position/tf/send_fcu: False
 * /uav1/mavros/mission/pull_after_gcs: True
 * /uav1/mavros/mocap/use_pose: True
 * /uav1/mavros/mocap/use_tf: False
 * /uav1/mavros/odometry/fcu/odom_child_id_des: base_link
 * /uav1/mavros/odometry/fcu/odom_parent_id_des: map
 * /uav1/mavros/plugin_blacklist: ['safety_area', '...
 * /uav1/mavros/plugin_whitelist: []
 * /uav1/mavros/px4flow/frame_id: px4flow
 * /uav1/mavros/px4flow/ranger_fov: 0.118682
 * /uav1/mavros/px4flow/ranger_max_range: 5.0
 * /uav1/mavros/px4flow/ranger_min_range: 0.3
 * /uav1/mavros/safety_area/p1/x: 1.0
 * /uav1/mavros/safety_area/p1/y: 1.0
 * /uav1/mavros/safety_area/p1/z: 1.0
 * /uav1/mavros/safety_area/p2/x: -1.0
 * /uav1/mavros/safety_area/p2/y: -1.0
 * /uav1/mavros/safety_area/p2/z: -1.0
 * /uav1/mavros/setpoint_accel/send_force: False
 * /uav1/mavros/setpoint_attitude/reverse_thrust: False
 * /uav1/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /uav1/mavros/setpoint_attitude/tf/frame_id: map
 * /uav1/mavros/setpoint_attitude/tf/listen: False
 * /uav1/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /uav1/mavros/setpoint_attitude/use_quaternion: False
 * /uav1/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /uav1/mavros/setpoint_position/tf/child_frame_id: target_position
 * /uav1/mavros/setpoint_position/tf/frame_id: map
 * /uav1/mavros/setpoint_position/tf/listen: False
 * /uav1/mavros/setpoint_position/tf/rate_limit: 50.0
 * /uav1/mavros/setpoint_raw/thrust_scaling: 1.0
 * /uav1/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /uav1/mavros/startup_px4_usb_quirk: True
 * /uav1/mavros/sys/disable_diag: False
 * /uav1/mavros/sys/min_voltage: 10.0
 * /uav1/mavros/target_component_id: 1
 * /uav1/mavros/target_system_id: 2
 * /uav1/mavros/tdr_radio/low_rssi: 40
 * /uav1/mavros/time/time_ref_source: fcu
 * /uav1/mavros/time/timesync_avg_alpha: 0.6
 * /uav1/mavros/time/timesync_mode: MAVLINK
 * /uav1/mavros/vibration/frame_id: base_link
 * /uav1/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /uav1/mavros/vision_pose/tf/frame_id: odom
 * /uav1/mavros/vision_pose/tf/listen: False
 * /uav1/mavros/vision_pose/tf/rate_limit: 10.0
 * /uav1/mavros/vision_speed/listen_twist: True
 * /uav1/mavros/vision_speed/twist_cov: True
 * /uav1/mavros/wheel_odometry/child_frame_id: base_link
 * /uav1/mavros/wheel_odometry/count: 2
 * /uav1/mavros/wheel_odometry/frame_id: odom
 * /uav1/mavros/wheel_odometry/send_raw: True
 * /uav1/mavros/wheel_odometry/send_twist: False
 * /uav1/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /uav1/mavros/wheel_odometry/tf/frame_id: odom
 * /uav1/mavros/wheel_odometry/tf/send: False
 * /uav1/mavros/wheel_odometry/use_rpm: False
 * /uav1/mavros/wheel_odometry/vel_error: 0.1
 * /uav1/mavros/wheel_odometry/wheel0/radius: 0.05
 * /uav1/mavros/wheel_odometry/wheel0/x: 0.0
 * /uav1/mavros/wheel_odometry/wheel0/y: -0.15
 * /uav1/mavros/wheel_odometry/wheel1/radius: 0.05
 * /uav1/mavros/wheel_odometry/wheel1/x: 0.0
 * /uav1/mavros/wheel_odometry/wheel1/y: 0.15
 * /uav1/rotors_description: <?xml version="1....
 * /uav2/mavros/cmd/use_comp_id_system_control: False
 * /uav2/mavros/conn/heartbeat_rate: 1.0
 * /uav2/mavros/conn/system_time_rate: 1.0
 * /uav2/mavros/conn/timeout: 10.0
 * /uav2/mavros/conn/timesync_rate: 10.0
 * /uav2/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /uav2/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /uav2/mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /uav2/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /uav2/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /uav2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /uav2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /uav2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /uav2/mavros/distance_sensor/laser_1_sub/id: 3
 * /uav2/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /uav2/mavros/distance_sensor/laser_1_sub/subscriber: True
 * /uav2/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /uav2/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /uav2/mavros/distance_sensor/lidarlite_pub/id: 1
 * /uav2/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /uav2/mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /uav2/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /uav2/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /uav2/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /uav2/mavros/distance_sensor/sonar_1_sub/id: 2
 * /uav2/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /uav2/mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /uav2/mavros/fake_gps/eph: 2.0
 * /uav2/mavros/fake_gps/epv: 2.0
 * /uav2/mavros/fake_gps/fix_type: 3
 * /uav2/mavros/fake_gps/geo_origin/alt: 408.0
 * /uav2/mavros/fake_gps/geo_origin/lat: 47.3667
 * /uav2/mavros/fake_gps/geo_origin/lon: 8.55
 * /uav2/mavros/fake_gps/gps_rate: 5.0
 * /uav2/mavros/fake_gps/mocap_transform: True
 * /uav2/mavros/fake_gps/satellites_visible: 5
 * /uav2/mavros/fake_gps/tf/child_frame_id: fix
 * /uav2/mavros/fake_gps/tf/frame_id: map
 * /uav2/mavros/fake_gps/tf/listen: False
 * /uav2/mavros/fake_gps/tf/rate_limit: 10.0
 * /uav2/mavros/fake_gps/tf/send: False
 * /uav2/mavros/fake_gps/use_mocap: True
 * /uav2/mavros/fake_gps/use_vision: False
 * /uav2/mavros/fcu_protocol: v2.0
 * /uav2/mavros/fcu_url: udp://:14542@loca...
 * /uav2/mavros/gcs_url: 
 * /uav2/mavros/global_position/child_frame_id: base_link
 * /uav2/mavros/global_position/frame_id: map
 * /uav2/mavros/global_position/gps_uere: 1.0
 * /uav2/mavros/global_position/rot_covariance: 99999.0
 * /uav2/mavros/global_position/tf/child_frame_id: base_link
 * /uav2/mavros/global_position/tf/frame_id: map
 * /uav2/mavros/global_position/tf/global_frame_id: earth
 * /uav2/mavros/global_position/tf/send: False
 * /uav2/mavros/global_position/use_relative_alt: True
 * /uav2/mavros/image/frame_id: px4flow
 * /uav2/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /uav2/mavros/imu/frame_id: base_link
 * /uav2/mavros/imu/linear_acceleration_stdev: 0.0003
 * /uav2/mavros/imu/magnetic_stdev: 0.0
 * /uav2/mavros/imu/orientation_stdev: 1.0
 * /uav2/mavros/landing_target/camera/fov_x: 2.0071286398
 * /uav2/mavros/landing_target/camera/fov_y: 2.0071286398
 * /uav2/mavros/landing_target/image/height: 480
 * /uav2/mavros/landing_target/image/width: 640
 * /uav2/mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /uav2/mavros/landing_target/listen_lt: False
 * /uav2/mavros/landing_target/mav_frame: LOCAL_NED
 * /uav2/mavros/landing_target/target_size/x: 0.3
 * /uav2/mavros/landing_target/target_size/y: 0.3
 * /uav2/mavros/landing_target/tf/child_frame_id: camera_center
 * /uav2/mavros/landing_target/tf/frame_id: landing_target
 * /uav2/mavros/landing_target/tf/listen: False
 * /uav2/mavros/landing_target/tf/rate_limit: 10.0
 * /uav2/mavros/landing_target/tf/send: True
 * /uav2/mavros/local_position/frame_id: map
 * /uav2/mavros/local_position/tf/child_frame_id: base_link
 * /uav2/mavros/local_position/tf/frame_id: map
 * /uav2/mavros/local_position/tf/send: False
 * /uav2/mavros/local_position/tf/send_fcu: False
 * /uav2/mavros/mission/pull_after_gcs: True
 * /uav2/mavros/mocap/use_pose: True
 * /uav2/mavros/mocap/use_tf: False
 * /uav2/mavros/odometry/fcu/odom_child_id_des: base_link
 * /uav2/mavros/odometry/fcu/odom_parent_id_des: map
 * /uav2/mavros/plugin_blacklist: ['safety_area', '...
 * /uav2/mavros/plugin_whitelist: []
 * /uav2/mavros/px4flow/frame_id: px4flow
 * /uav2/mavros/px4flow/ranger_fov: 0.118682
 * /uav2/mavros/px4flow/ranger_max_range: 5.0
 * /uav2/mavros/px4flow/ranger_min_range: 0.3
 * /uav2/mavros/safety_area/p1/x: 1.0
 * /uav2/mavros/safety_area/p1/y: 1.0
 * /uav2/mavros/safety_area/p1/z: 1.0
 * /uav2/mavros/safety_area/p2/x: -1.0
 * /uav2/mavros/safety_area/p2/y: -1.0
 * /uav2/mavros/safety_area/p2/z: -1.0
 * /uav2/mavros/setpoint_accel/send_force: False
 * /uav2/mavros/setpoint_attitude/reverse_thrust: False
 * /uav2/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /uav2/mavros/setpoint_attitude/tf/frame_id: map
 * /uav2/mavros/setpoint_attitude/tf/listen: False
 * /uav2/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /uav2/mavros/setpoint_attitude/use_quaternion: False
 * /uav2/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /uav2/mavros/setpoint_position/tf/child_frame_id: target_position
 * /uav2/mavros/setpoint_position/tf/frame_id: map
 * /uav2/mavros/setpoint_position/tf/listen: False
 * /uav2/mavros/setpoint_position/tf/rate_limit: 50.0
 * /uav2/mavros/setpoint_raw/thrust_scaling: 1.0
 * /uav2/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /uav2/mavros/startup_px4_usb_quirk: True
 * /uav2/mavros/sys/disable_diag: False
 * /uav2/mavros/sys/min_voltage: 10.0
 * /uav2/mavros/target_component_id: 1
 * /uav2/mavros/target_system_id: 3
 * /uav2/mavros/tdr_radio/low_rssi: 40
 * /uav2/mavros/time/time_ref_source: fcu
 * /uav2/mavros/time/timesync_avg_alpha: 0.6
 * /uav2/mavros/time/timesync_mode: MAVLINK
 * /uav2/mavros/vibration/frame_id: base_link
 * /uav2/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /uav2/mavros/vision_pose/tf/frame_id: odom
 * /uav2/mavros/vision_pose/tf/listen: False
 * /uav2/mavros/vision_pose/tf/rate_limit: 10.0
 * /uav2/mavros/vision_speed/listen_twist: True
 * /uav2/mavros/vision_speed/twist_cov: True
 * /uav2/mavros/wheel_odometry/child_frame_id: base_link
 * /uav2/mavros/wheel_odometry/count: 2
 * /uav2/mavros/wheel_odometry/frame_id: odom
 * /uav2/mavros/wheel_odometry/send_raw: True
 * /uav2/mavros/wheel_odometry/send_twist: False
 * /uav2/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /uav2/mavros/wheel_odometry/tf/frame_id: odom
 * /uav2/mavros/wheel_odometry/tf/send: False
 * /uav2/mavros/wheel_odometry/use_rpm: False
 * /uav2/mavros/wheel_odometry/vel_error: 0.1
 * /uav2/mavros/wheel_odometry/wheel0/radius: 0.05
 * /uav2/mavros/wheel_odometry/wheel0/x: 0.0
 * /uav2/mavros/wheel_odometry/wheel0/y: -0.15
 * /uav2/mavros/wheel_odometry/wheel1/radius: 0.05
 * /uav2/mavros/wheel_odometry/wheel1/x: 0.0
 * /uav2/mavros/wheel_odometry/wheel1/y: 0.15
 * /uav2/rotors_description: <?xml version="1....
 * /use_sim_time: True

NODES
  /uav1/
    iris_1_spawn (gazebo_ros/spawn_model)
    mavros (mavros/mavros_node)
    sitl_1 (px4/px4)
  /uav0/
    iris_0_spawn (gazebo_ros/spawn_model)
    mavros (mavros/mavros_node)
    sitl_0 (px4/px4)
  /uav2/
    iris_2_spawn (gazebo_ros/spawn_model)
    mavros (mavros/mavros_node)
    sitl_2 (px4/px4)
  /
    formation_control_node (formation_control/formation_control_node)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)

auto-starting new master
process[master]: started with pid [12574]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 87736c96-6cf4-11ea-8796-5c93a29bd885
process[rosout-1]: started with pid [12585]
started core service [/rosout]
process[formation_control_node-2]: started with pid [12593]
process[gazebo-3]: started with pid [12594]
process[gazebo_gui-4]: started with pid [12605]
process[uav0/sitl_0-5]: started with pid [12614]
INFO  [px4] Creating symlink /home/weng/Firmware/ROMFS/px4fmu_common -> /home/weng/.ros/sitl_iris_0/etc

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[uav0/iris_0_spawn-6]: started with pid [12631]
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] Loaded: eeprom/parameters_10016
process[uav0/mavros-7]: started with pid [12637]
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] [1584960811.861880823]: FCU URL: udp://:14540@localhost:14580
[ INFO] [1584960811.868410421]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1584960811.869849048]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1584960811.870775742]: GCS bridge disabled
[ INFO] [1584960811.966925238]: Plugin 3dr_radio loaded
[ INFO] [1584960811.976536234]: Plugin 3dr_radio initialized
[ INFO] [1584960811.976920403]: Plugin actuator_control loaded
[ INFO] [1584960811.982007930]: Plugin actuator_control initialized
[ INFO] [1584960812.002860420]: Plugin adsb loaded
[ INFO] [1584960812.017720716]: Plugin adsb initialized
[ INFO] [1584960812.018841101]: Plugin altitude loaded
[ INFO] [1584960812.021722263]: Plugin altitude initialized
[ INFO] [1584960812.023048450]: Plugin cam_imu_sync loaded
[ INFO] [1584960812.025212130]: Plugin cam_imu_sync initialized
[ INFO] [1584960812.028102409]: Plugin command loaded
[ INFO] [1584960812.045474666]: Plugin command initialized
[ INFO] [1584960812.046373359]: Plugin companion_process_status loaded
[ INFO] [1584960812.051730655]: Plugin companion_process_status initialized
[ INFO] [1584960812.052617718]: Plugin debug_value loaded
[ INFO] [1584960812.065930010]: Plugin debug_value initialized
[ INFO] [1584960812.066428257]: Plugin distance_sensor blacklisted
[ INFO] [1584960812.067079232]: Plugin fake_gps loaded
[ INFO] [1584960812.094130864]: Plugin fake_gps initialized
[ INFO] [1584960812.094614885]: Plugin ftp loaded
[ INFO] [1584960812.127629650]: Plugin ftp initialized
[ INFO] [1584960812.128056685]: Plugin global_position loaded
[ INFO] [1584960812.163617025]: Plugin global_position initialized
[ INFO] [1584960812.163992916]: Plugin gps_rtk loaded
[ INFO] [1584960812.169166092]: Plugin gps_rtk initialized
[ INFO] [1584960812.169575877]: Plugin hil loaded
INFO  [px4] Creating symlink /home/weng/Firmware/ROMFS/px4fmu_common -> /home/weng/.ros/sitl_iris_1/etc

[ INFO] [1584960812.195575207]: Plugin hil initialized
______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 1
[ INFO] [1584960812.195969173]: Plugin home_position loaded
process[uav1/sitl_1-8]: started with pid [12726]
process[uav1/iris_1_spawn-9]: started with pid [12743]
[ INFO] [1584960812.232686008]: Plugin home_position initialized
[ INFO] [1584960812.233218801]: Plugin imu loaded
process[uav1/mavros-10]: started with pid [12746]
INFO  [param] selected parameter default file eeprom/parameters_10016
[ INFO] [1584960812.269334887]: Plugin imu initialized
[ INFO] [1584960812.269719005]: Plugin landing_target loaded
[param] Loaded: eeprom/parameters_10016
[ INFO] [1584960812.345541239]: Plugin landing_target initialized
[ INFO] [1584960812.345863501]: Plugin local_position loaded
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4561
[ INFO] [1584960812.415250008]: Plugin local_position initialized
[ INFO] [1584960812.415533018]: Plugin log_transfer loaded
[ INFO] [1584960812.440177018]: Plugin log_transfer initialized
[ INFO] [1584960812.440487233]: Plugin manual_control loaded
[ INFO] [1584960812.455879785]: Plugin manual_control initialized
[ INFO] [1584960812.456158858]: Plugin mocap_pose_estimate loaded
[ INFO] [1584960812.471116407]: Plugin mocap_pose_estimate initialized
[ INFO] [1584960812.471371997]: Plugin mount_control loaded
[ INFO] [1584960812.483881203]: Plugin mount_control initialized
[ INFO] [1584960812.484140402]: Plugin obstacle_distance loaded
[ INFO] [1584960812.492258570]: Plugin obstacle_distance initialized
[ INFO] [1584960812.492537100]: Plugin odom loaded
[ INFO] [1584960812.532330769]: Plugin odom initialized
[ INFO] [1584960812.532612353]: Plugin onboard_computer_status loaded
[ INFO] [1584960812.559683950]: Plugin onboard_computer_status initialized
[ INFO] [1584960812.560092643]: Plugin param loaded
[ INFO] [1584960812.592380309]: Plugin param initialized
[ INFO] [1584960812.592639178]: Plugin px4flow loaded
[ INFO] [1584960812.664481409]: FCU URL: udp://:14541@localhost:14581
[ INFO] [1584960812.673309396]: udp0: Bind address: 0.0.0.0:14541
[ INFO] [1584960812.673522432]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1584960812.673766413]: Plugin px4flow initialized
[ INFO] [1584960812.673840343]: Plugin rangefinder blacklisted
[ INFO] [1584960812.673974998]: GCS bridge disabled
[ INFO] [1584960812.674136978]: Plugin rc_io loaded
[ INFO] [1584960812.708902626]: Plugin rc_io initialized
[ INFO] [1584960812.708989942]: Plugin safety_area blacklisted
[ INFO] [1584960812.709287623]: Plugin setpoint_accel loaded
[ INFO] [1584960812.710149140]: Plugin 3dr_radio loaded
[ INFO] [1584960812.748968827]: Plugin setpoint_accel initialized
[ INFO] [1584960812.749389220]: Plugin setpoint_attitude loaded
[ INFO] [1584960812.757180274]: Plugin 3dr_radio initialized
[ INFO] [1584960812.758033347]: Plugin actuator_control loaded
[ INFO] [1584960812.779705928]: Plugin actuator_control initialized
[ INFO] [1584960812.788846920]: Plugin adsb loaded
[ INFO] [1584960812.802379216]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1584960812.814764417]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1584960812.819956691]: Plugin setpoint_attitude initialized
[ INFO] [1584960812.820352919]: Plugin setpoint_position loaded
[ INFO] [1584960812.821916730]: Plugin adsb initialized
[ INFO] [1584960812.822353209]: Plugin altitude loaded
[ INFO] [1584960812.831100136]: Plugin altitude initialized
[ INFO] [1584960812.831475694]: Plugin cam_imu_sync loaded
[ INFO] [1584960812.833927522]: Plugin cam_imu_sync initialized
[ INFO] [1584960812.834362957]: Plugin command loaded
[ INFO] [1584960812.873686800]: Plugin command initialized
[ INFO] [1584960812.874046482]: Plugin companion_process_status loaded
[ INFO] [1584960812.893147479]: Plugin companion_process_status initialized
[ INFO] [1584960812.893517329]: Plugin debug_value loaded
[ INFO] [1584960812.943554304]: Plugin debug_value initialized
[ INFO] [1584960812.943623467]: Plugin distance_sensor blacklisted
[ INFO] [1584960812.943905857]: Plugin fake_gps loaded
[ INFO] [1584960812.944978194]: Plugin setpoint_position initialized
[ INFO] [1584960812.945289264]: Plugin setpoint_raw loaded
process[uav2/sitl_2-11]: started with pid [12806]
INFO  [px4] Creating symlink /home/weng/Firmware/ROMFS/px4fmu_common -> /home/weng/.ros/sitl_iris_2/etc

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 2
[ INFO] [1584960813.042047535]: Plugin setpoint_raw initialized
[ INFO] [1584960813.042380773]: Plugin setpoint_trajectory loaded
[ INFO] [1584960813.053066189]: Finished loading Gazebo ROS API Plugin.
process[uav2/iris_2_spawn-12]: started with pid [12832]
[ INFO] [1584960813.063015060]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] Loaded: eeprom/parameters_10016
process[uav2/mavros-13]: started with pid [12850]
[ INFO] [1584960813.142659444]: Plugin fake_gps initialized
[ INFO] [1584960813.143097233]: Plugin ftp loaded
[ INFO] [1584960813.145885453]: Plugin setpoint_trajectory initialized
[ INFO] [1584960813.146206906]: Plugin setpoint_velocity loaded
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4562
[ INFO] [1584960813.307667737]: Plugin setpoint_velocity initialized
[ INFO] [1584960813.308238690]: Plugin sys_status loaded
[ INFO] [1584960813.338906956]: Plugin ftp initialized
[ INFO] [1584960813.339205186]: Plugin global_position loaded
[ INFO] [1584960813.504882600]: Plugin sys_status initialized
[ INFO] [1584960813.505236293]: Plugin sys_time loaded
[ INFO] [1584960813.620750014]: TM: Timesync mode: MAVLINK
[ INFO] [1584960813.631128559]: Plugin sys_time initialized
[ INFO] [1584960813.631425194]: Plugin trajectory loaded
[ INFO] [1584960813.640141368]: Plugin global_position initialized
[ INFO] [1584960813.640403866]: Plugin gps_rtk loaded
[ INFO] [1584960813.681727465]: Plugin gps_rtk initialized
[ INFO] [1584960813.682017925]: Plugin hil loaded
[ INFO] [1584960813.746417503]: Plugin trajectory initialized
[ INFO] [1584960813.746746616]: Plugin vfr_hud loaded
[ INFO] [1584960813.758054420]: Plugin vfr_hud initialized
[ INFO] [1584960813.758141018]: Plugin vibration blacklisted
[ INFO] [1584960813.758404958]: Plugin vision_pose_estimate loaded
[ INFO] [1584960813.814714627]: FCU URL: udp://:14542@localhost:14582
[ INFO] [1584960813.840413687]: udp0: Bind address: 0.0.0.0:14542
[ INFO] [1584960813.840657049]: udp0: Remote address: 127.0.0.1:14582
[ INFO] [1584960813.841787850]: GCS bridge disabled
[ INFO] [1584960813.966960300]: Plugin vision_pose_estimate initialized
[ INFO] [1584960813.967445496]: Plugin vision_speed_estimate loaded
[ INFO] [1584960813.982935365]: Plugin hil initialized
[ INFO] [1584960813.983237145]: Plugin home_position loaded
[ INFO] [1584960814.022268297]: Plugin 3dr_radio loaded
[ INFO] [1584960814.054695646]: Plugin 3dr_radio initialized
[ INFO] [1584960814.055557055]: Plugin actuator_control loaded
[ INFO] [1584960814.083270208]: Plugin home_position initialized
[ INFO] [1584960814.083723165]: Plugin imu loaded
[ INFO] [1584960814.091983689]: Plugin actuator_control initialized
[ INFO] [1584960814.104554489]: Plugin adsb loaded
[ INFO] [1584960814.116962250]: Plugin vision_speed_estimate initialized
[ INFO] [1584960814.117371489]: Plugin waypoint loaded
[ INFO] [1584960814.154401369]: Plugin adsb initialized
[ INFO] [1584960814.154897406]: Plugin altitude loaded
[ INFO] [1584960814.166619925]: Plugin altitude initialized
[ INFO] [1584960814.167101707]: Plugin cam_imu_sync loaded
[ INFO] [1584960814.174217166]: Plugin waypoint initialized
[ INFO] [1584960814.174331607]: Plugin wheel_odometry blacklisted
[ INFO] [1584960814.174645213]: Plugin wind_estimation loaded
[ INFO] [1584960814.178137643]: Plugin cam_imu_sync initialized
[ INFO] [1584960814.178780544]: Plugin command loaded
[ INFO] [1584960814.185352125]: Plugin wind_estimation initialized
[ INFO] [1584960814.185481245]: Autostarting mavlink via USB on PX4
[ INFO] [1584960814.185736733]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1584960814.185816458]: Built-in MAVLink package version: 2019.12.12
[ INFO] [1584960814.185878096]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1584960814.185930212]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1584960814.208570170]: Plugin imu initialized
[ INFO] [1584960814.208834018]: Plugin landing_target loaded
[ INFO] [1584960814.299589462]: Plugin command initialized
[ INFO] [1584960814.299851023]: Plugin companion_process_status loaded
[ INFO] [1584960814.378036103]: Plugin companion_process_status initialized
[ INFO] [1584960814.378280290]: Plugin debug_value loaded
[ INFO] [1584960814.510469887]: Plugin debug_value initialized
[ INFO] [1584960814.510652259]: Plugin distance_sensor blacklisted
[ INFO] [1584960814.511025853]: Plugin fake_gps loaded
[ INFO] [1584960814.567662340]: Plugin landing_target initialized
[ INFO] [1584960814.568141099]: Plugin local_position loaded
[ INFO] [1584960814.599443604]: Plugin local_position initialized
[ INFO] [1584960814.599993061]: Plugin log_transfer loaded
[ INFO] [1584960814.605464153]: Plugin fake_gps initialized
[ INFO] [1584960814.605810423]: Plugin ftp loaded
[ INFO] [1584960814.611733693]: Plugin log_transfer initialized
[ INFO] [1584960814.612203933]: Plugin manual_control loaded
[ INFO] [1584960814.646008959]: Plugin manual_control initialized
[ INFO] [1584960814.646456111]: Plugin mocap_pose_estimate loaded
[INFO] [1584960814.710661, 0.000000]: Loading model XML from ros parameter rotors_description
[ INFO] [1584960814.719184451]: Plugin mocap_pose_estimate initialized
[ INFO] [1584960814.719582369]: Plugin mount_control loaded
[ INFO] [1584960814.740505535]: Plugin ftp initialized
[ INFO] [1584960814.741021290]: Plugin global_position loaded
[ INFO] [1584960814.748856007]: Plugin mount_control initialized
[ INFO] [1584960814.749289922]: Plugin obstacle_distance loaded
[INFO] [1584960814.759128, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1584960814.761400932]: Plugin obstacle_distance initialized
[ INFO] [1584960814.761798233]: Plugin odom loaded
[INFO] [1584960814.781486, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1584960814.800611251]: Plugin odom initialized
[ INFO] [1584960814.800987433]: Plugin onboard_computer_status loaded
[ INFO] [1584960814.839509780]: Plugin onboard_computer_status initialized
[ INFO] [1584960814.839984842]: Plugin param loaded
[ INFO] [1584960814.879878659]: Plugin param initialized
[ INFO] [1584960814.880159639]: Plugin px4flow loaded
[ INFO] [1584960814.948439426]: Plugin global_position initialized
[ INFO] [1584960814.948729216]: Plugin gps_rtk loaded
[INFO] [1584960814.950746, 0.000000]: Loading model XML from ros parameter rotors_description
[ INFO] [1584960814.972680293]: Plugin px4flow initialized
[ INFO] [1584960814.972767909]: Plugin rangefinder blacklisted
[ INFO] [1584960814.973265834]: Plugin rc_io loaded
[ INFO] [1584960814.989396572]: Plugin gps_rtk initialized
[ INFO] [1584960814.989727778]: Plugin hil loaded
[ INFO] [1584960815.017757679]: Plugin rc_io initialized
[ INFO] [1584960815.017837180]: Plugin safety_area blacklisted
[ INFO] [1584960815.018079625]: Plugin setpoint_accel loaded
[ INFO] [1584960815.032718399]: Plugin setpoint_accel initialized
[ INFO] [1584960815.033194176]: Plugin setpoint_attitude loaded
[INFO] [1584960815.045984, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1584960815.057540, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1584960815.126657, 0.004000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1584960815.174152143]: Plugin setpoint_attitude initialized
[ INFO] [1584960815.174732583]: Plugin setpoint_position loaded
[ INFO] [1584960815.206758491]: Plugin hil initialized
[ INFO] [1584960815.207043521]: Plugin home_position loaded
[ INFO] [1584960815.235246862]: Plugin home_position initialized
[ INFO] [1584960815.235656010]: Plugin imu loaded
[ INFO] [1584960815.256303902]: Plugin imu initialized
[ INFO] [1584960815.256542785]: Plugin landing_target loaded
[ INFO] [1584960815.264934452]: Plugin setpoint_position initialized
[ INFO] [1584960815.265293095]: Plugin setpoint_raw loaded
[ INFO] [1584960815.289284600]: Plugin setpoint_raw initialized
[ INFO] [1584960815.289960815]: Plugin setpoint_trajectory loaded
INFO  [simulator] Simulator connected on TCP port 4560.
[ INFO] [1584960815.303595944]: Plugin landing_target initialized
[ INFO] [1584960815.304197454]: Plugin local_position loaded
[ INFO] [1584960815.307037815]: Plugin setpoint_trajectory initialized
[ INFO] [1584960815.307366890]: Plugin setpoint_velocity loaded
[ INFO] [1584960815.324531887, 0.012000000]: Plugin local_position initialized
[ INFO] [1584960815.324997774, 0.012000000]: Plugin log_transfer loaded
[ INFO] [1584960815.330747270, 0.016000000]: Plugin setpoint_velocity initialized
[ INFO] [1584960815.331393487, 0.016000000]: Plugin sys_status loaded
[ INFO] [1584960815.337159992, 0.024000000]: Plugin log_transfer initialized
[ INFO] [1584960815.337484906, 0.024000000]: Plugin manual_control loaded
[ INFO] [1584960815.339591399, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [commander] Mission #3 loaded, 6 WPs, curr: 0
[ INFO] [1584960815.361701738, 0.040000000]: Plugin manual_control initialized
[ INFO] [1584960815.362089671, 0.040000000]: Plugin mocap_pose_estimate loaded
[ INFO] [1584960815.387897058, 0.064000000]: Plugin mocap_pose_estimate initialized
[ INFO] [1584960815.388100624, 0.064000000]: Plugin mount_control loaded
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
[ INFO] [1584960815.412033222, 0.088000000]: Plugin mount_control initialized
[ INFO] [1584960815.412292149, 0.088000000]: Plugin obstacle_distance loaded
[ INFO] [1584960815.433508624, 0.104000000]: Plugin obstacle_distance initialized
[ INFO] [1584960815.433966185, 0.104000000]: Plugin odom loaded
[INFO] [1584960815.453934, 0.000000]: Loading model XML from ros parameter rotors_description
[ INFO] [1584960815.462293015, 0.132000000]: Plugin sys_status initialized
[ INFO] [1584960815.462723508, 0.132000000]: Plugin sys_time loaded
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
[ INFO] [1584960815.486918366, 0.156000000]: Plugin odom initialized
[ INFO] [1584960815.487185453, 0.156000000]: Plugin onboard_computer_status loaded
[INFO] [1584960815.491286, 0.160000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1584960815.495902365, 0.168000000]: Plugin onboard_computer_status initialized
[ INFO] [1584960815.496305736, 0.168000000]: Plugin param loaded
[ INFO] [1584960815.501772079, 0.172000000]: TM: Timesync mode: MAVLINK
[ INFO] [1584960815.505767840, 0.176000000]: Plugin sys_time initialized
[ INFO] [1584960815.506011681, 0.176000000]: Plugin trajectory loaded
[ INFO] [1584960815.517193478, 0.184000000]: Plugin param initialized
[ INFO] [1584960815.517481286, 0.184000000]: Plugin px4flow loaded
[INFO] [1584960815.520595, 0.184000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1584960815.535859994, 0.184000000]: Plugin trajectory initialized
[ INFO] [1584960815.536183062, 0.184000000]: Plugin vfr_hud loaded
[ INFO] [1584960815.537967273, 0.184000000]: Plugin vfr_hud initialized
[ INFO] [1584960815.538076375, 0.184000000]: Plugin vibration blacklisted
[ INFO] [1584960815.538332173, 0.184000000]: Plugin vision_pose_estimate loaded
[ INFO] [1584960815.549694553, 0.184000000]: Plugin px4flow initialized
[ INFO] [1584960815.549907670, 0.184000000]: Plugin rangefinder blacklisted
[ INFO] [1584960815.550315771, 0.184000000]: Plugin rc_io loaded
[ INFO] [1584960815.563602530, 0.184000000]: Plugin rc_io initialized
[ INFO] [1584960815.563686886, 0.184000000]: Plugin safety_area blacklisted
[ INFO] [1584960815.563959023, 0.184000000]: Plugin setpoint_accel loaded
[ INFO] [1584960815.565215323, 0.184000000]: Plugin vision_pose_estimate initialized
[ INFO] [1584960815.565502616, 0.184000000]: Plugin vision_speed_estimate loaded
[ INFO] [1584960815.571993516, 0.184000000]: Plugin setpoint_accel initialized
[ INFO] [1584960815.572557481, 0.184000000]: Plugin setpoint_attitude loaded
[ INFO] [1584960815.575168588, 0.184000000]: Plugin vision_speed_estimate initialized
[ INFO] [1584960815.575509384, 0.184000000]: Plugin waypoint loaded
[ INFO] [1584960815.590318611, 0.184000000]: Plugin waypoint initialized
[ INFO] [1584960815.590414990, 0.184000000]: Plugin wheel_odometry blacklisted
[ INFO] [1584960815.590680914, 0.184000000]: Plugin wind_estimation loaded
[ INFO] [1584960815.592782653, 0.184000000]: Plugin wind_estimation initialized
[ INFO] [1584960815.593269392, 0.184000000]: Autostarting mavlink via USB on PX4
[ INFO] [1584960815.593538863, 0.184000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1584960815.593599938, 0.184000000]: Built-in MAVLink package version: 2019.12.12
[ INFO] [1584960815.593656963, 0.184000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1584960815.593707984, 0.184000000]: MAVROS started. MY ID 1.240, TARGET ID 2.1
[ INFO] [1584960815.600964172, 0.184000000]: Plugin setpoint_attitude initialized
[ INFO] [1584960815.601423214, 0.184000000]: Plugin setpoint_position loaded
[ INFO] [1584960815.625149891, 0.184000000]: Plugin setpoint_position initialized
[ INFO] [1584960815.625431175, 0.184000000]: Plugin setpoint_raw loaded
[ INFO] [1584960815.645277203, 0.184000000]: Plugin setpoint_raw initialized
[ INFO] [1584960815.645551745, 0.184000000]: Plugin setpoint_trajectory loaded
[ INFO] [1584960815.652251243, 0.184000000]: Plugin setpoint_trajectory initialized
[ INFO] [1584960815.652510410, 0.184000000]: Plugin setpoint_velocity loaded
[ INFO] [1584960815.660266698, 0.184000000]: Plugin setpoint_velocity initialized
[ INFO] [1584960815.660809077, 0.184000000]: Plugin sys_status loaded
[ INFO] [1584960815.676578299, 0.184000000]: Plugin sys_status initialized
[ INFO] [1584960815.676882889, 0.184000000]: Plugin sys_time loaded
[ INFO] [1584960815.683189467, 0.184000000]: TM: Timesync mode: MAVLINK
[ INFO] [1584960815.685241727, 0.184000000]: Plugin sys_time initialized
[ INFO] [1584960815.685790801, 0.184000000]: Plugin trajectory loaded
[ INFO] [1584960815.697018544, 0.184000000]: Plugin trajectory initialized
[ INFO] [1584960815.697317228, 0.184000000]: Plugin vfr_hud loaded
[ INFO] [1584960815.698558598, 0.184000000]: Plugin vfr_hud initialized
[ INFO] [1584960815.698639098, 0.184000000]: Plugin vibration blacklisted
[ INFO] [1584960815.698855515, 0.184000000]: Plugin vision_pose_estimate loaded
[INFO] [1584960815.705936, 0.184000]: Spawn status: SpawnModel: Successfully spawned entity
INFO  [simulator] Simulator connected on TCP port 4561.
[ INFO] [1584960815.736141153, 0.204000000]: Plugin vision_pose_estimate initialized
[ INFO] [1584960815.736441629, 0.204000000]: Plugin vision_speed_estimate loaded
[ INFO] [1584960815.746453703, 0.212000000]: Physics dynamic reconfigure ready.
[ INFO] [1584960815.750343977, 0.216000000]: Plugin vision_speed_estimate initialized
[ INFO] [1584960815.750695548, 0.216000000]: Plugin waypoint loaded
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [commander] Mission #2 loaded, 9 WPs, curr: 0
[ INFO] [1584960815.764536651, 0.232000000]: Plugin waypoint initialized
[ INFO] [1584960815.764615160, 0.232000000]: Plugin wheel_odometry blacklisted
[ INFO] [1584960815.764877410, 0.232000000]: Plugin wind_estimation loaded
[ INFO] [1584960815.766204562, 0.232000000]: Plugin wind_estimation initialized
[ INFO] [1584960815.766299617, 0.232000000]: Autostarting mavlink via USB on PX4
[ INFO] [1584960815.766505548, 0.232000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1584960815.766560347, 0.232000000]: Built-in MAVLink package version: 2019.12.12
[ INFO] [1584960815.766602490, 0.232000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1584960815.766640642, 0.232000000]: MAVROS started. MY ID 1.240, TARGET ID 3.1
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] Opened full log file: ./log/2020-03-23/10_53_35.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
[ INFO] [1584960815.839694991, 0.304000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1584960815.840104267, 0.304000000]: FCU: [logger] file:./log/2020-03-23/10_53_35.ulg
[ INFO] [1584960815.841908556, 0.304000000]: IMU: High resolution IMU detected!
INFO  [px4] Startup script returned successfully
INFO  [mavlink] partner IP: 127.0.0.1
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18571 remote port 14550
[uav0/iris_0_spawn-6] process has finished cleanly
log file: /home/weng/.ros/log/87736c96-6cf4-11ea-8796-5c93a29bd885/uav0-iris_0_spawn-6*.log
[INFO] [1584960816.016116, 0.380000]: Spawn status: SpawnModel: Successfully spawned entity
INFO  [simulator] Simulator connected on TCP port 4562.
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14581 remote port 14541
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14281 remote port 14031
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] Opened full log file: ./log/2020-03-23/10_53_36.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
[ INFO] [1584960816.133499180, 0.484000000]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1584960816.133977510, 0.488000000]: FCU: [logger] file:./log/2020-03-23/10_53_36.ulg
INFO  [px4] Startup script returned successfully
[ INFO] [1584960816.135020821, 0.488000000]: IMU: High resolution IMU detected!
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 18572 remote port 14550
INFO  [mavlink] partner IP: 127.0.0.1
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14582 remote port 14542
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14282 remote port 14032
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] Opened full log file: ./log/2020-03-23/10_53_36.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
[ INFO] [1584960816.342042221, 0.692000000]: udp0: Remote address: 127.0.0.1:14582
[uav2/iris_2_spawn-12] process has finished cleanly
log file: /home/weng/.ros/log/87736c96-6cf4-11ea-8796-5c93a29bd885/uav2-iris_2_spawn-12*.log
[ INFO] [1584960816.355009176, 0.704000000]: FCU: [logger] file:./log/2020-03-23/10_53_36.ulg
INFO  [px4] Startup script returned successfully
INFO  [mavlink] partner IP: 127.0.0.1
[uav1/iris_1_spawn-9] process has finished cleanly
log file: /home/weng/.ros/log/87736c96-6cf4-11ea-8796-5c93a29bd885/uav1-iris_1_spawn-9*.log
INFO  [ecl/EKF] 644000: GPS checks passed (WGS-84 origin set)
INFO  [ecl/EKF] 648000: GPS checks passed (WGS-84 origin set)
[ INFO] [1584960816.893124668, 1.240000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1584960816.896593374, 1.244000000]: IMU: High resolution IMU detected!
[ INFO] [1584960817.044925785, 1.388000000]: IMU: High resolution IMU detected!
[ INFO] [1584960817.196622833, 1.436000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1584960817.315799630, 1.448000000]: IMU: High resolution IMU detected!
[ INFO] [1584960817.538671361, 1.652000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1584960817.550678363, 1.664000000]: 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] [1584960817.873626448, 1.960000000]: IMU: Attitude quaternion IMU detected!
INFO  [ecl/EKF] 1460000: GPS checks passed (WGS-84 origin set)
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
[ INFO] [1584960818.084507502, 2.152000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1584960818.190258572, 2.240000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1584960818.190382402, 2.240000000]: VER: 1.1: Flight software:     010b0080 (1e5784609f000000)
[ INFO] [1584960818.190461372, 2.240000000]: VER: 1.1: Middleware software: 010b0080 (1e5784609f000000)
[ INFO] [1584960818.190515817, 2.240000000]: VER: 1.1: OS software:         050300ff (befe53e7f1ed557b)
[ INFO] [1584960818.190567626, 2.240000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1584960818.190613152, 2.240000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1584960818.190650248, 2.240000000]: VER: 1.1: UID:                 4954414c44494e4f
INFO  [ecl/EKF] 1868000: EKF aligned, (baro height, IMU buf: 22, OBS buf: 14)
INFO  [ecl/EKF] 1868000: reset position to last known position
INFO  [ecl/EKF] 1868000: reset velocity to zero
[ INFO] [1584960818.406396743, 2.432000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1584960818.430152612, 2.444000000]: VER: 2.1: Capabilities         0x000000000000e4ef
[ INFO] [1584960818.430281986, 2.444000000]: VER: 2.1: Flight software:     010b0080 (1e5784609f000000)
[ INFO] [1584960818.430371376, 2.444000000]: VER: 2.1: Middleware software: 010b0080 (1e5784609f000000)
[ INFO] [1584960818.430434578, 2.444000000]: VER: 2.1: OS software:         050300ff (befe53e7f1ed557b)
[ INFO] [1584960818.430487905, 2.444000000]: VER: 2.1: Board hardware:      00000001
[ INFO] [1584960818.430537795, 2.444000000]: VER: 2.1: VID/PID:             0000:0000
[ INFO] [1584960818.430583970, 2.444000000]: VER: 2.1: UID:                 4954414c44494e50
[ INFO] [1584960818.670504345, 2.660000000]: VER: 3.1: Capabilities         0x000000000000e4ef
[ INFO] [1584960818.670598984, 2.660000000]: VER: 3.1: Flight software:     010b0080 (1e5784609f000000)
[ INFO] [1584960818.670651441, 2.660000000]: VER: 3.1: Middleware software: 010b0080 (1e5784609f000000)
[ INFO] [1584960818.670698442, 2.660000000]: VER: 3.1: OS software:         050300ff (befe53e7f1ed557b)
[ INFO] [1584960818.670750885, 2.660000000]: VER: 3.1: Board hardware:      00000001
[ INFO] [1584960818.670790837, 2.660000000]: VER: 3.1: VID/PID:             0000:0000
[ INFO] [1584960818.670843002, 2.660000000]: VER: 3.1: UID:                 4954414c44494e51
INFO  [ecl/EKF] 5192000: reset position to GPS
INFO  [ecl/EKF] 5192000: reset velocity to GPS
INFO  [ecl/EKF] 5192000: commencing GPS fusion
INFO  [ecl/EKF] 5188000: reset position to GPS
INFO  [ecl/EKF] 5188000: reset velocity to GPS
INFO  [ecl/EKF] 5188000: commencing GPS fusion
[ INFO] [1584960823.522024684, 6.004000000]: Setting to Offboard
[ INFO] [1584960823.529844844, 6.008000000]: Setting to Offboard
[ INFO] [1584960823.537594062, 6.012000000]: Setting to Offboard
WARN  [mc_pos_control] Offboard activation failed with error: Activation Failed
WARN  [mc_pos_control] Position-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Altitude-Ctrl activation failed with error: Activation Failed
INFO  [ecl/EKF] 6000000: reset position to GPS
INFO  [ecl/EKF] 6000000: reset velocity to GPS
INFO  [ecl/EKF] 6000000: commencing GPS fusion
[ INFO] [1584960831.705995813, 12.016000000]: FCU: ARMED by Arm/Disarm component command
[ INFO] [1584960831.706261805, 12.016000000]: Vehicle armed
[ INFO] [1584960831.723376161, 12.024000000]: Vehicle armed
[ INFO] [1584960831.741142331, 12.040000000]: Vehicle armed
INFO  [commander] Takeoff detected
INFO  [commander] Takeoff detected
[ INFO] [1584960833.392621829, 13.272000000]: FCU: Takeoff detected
INFO  [commander] Takeoff detected
[ INFO] [1584960836.667186480, 16.240000000]: WP: item #0* F:2 C:178 p: 1.000000 30.000000 -1.000000 0.000000 x: 0.000000 y: 0.000000 z: 0.000000
[ INFO] [1584960836.668511218, 16.240000000]: WP: item #1  F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397743 y: 8.545609 z: 1.500000
[ INFO] [1584960836.671096684, 16.240000000]: WP: item #2  F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397743 y: 8.545543 z: 1.500000
[ INFO] [1584960836.672486411, 16.244000000]: WP: item #3  F:3 C: 19 p: 15.000000 0.000000 50.000000 0.000000 x: 47.397671 y: 8.545604 z: 1.500000
[ INFO] [1584960836.673341068, 16.244000000]: WP: item #4  F:2 C: 20 p: 0.000000 0.000000 0.000000 0.000000 x: 0.000000 y: 0.000000 z: 0.000000
[ INFO] [1584960836.674236490, 16.244000000]: WP: item #5  F:2 C: 20 p: 0.000000 0.000000 0.000000 0.000000 x: 0.000000 y: 0.000000 z: 0.000000
[ INFO] [1584960836.674480788, 16.244000000]: WP: mission received
[ INFO] [1584960836.889527056, 16.440000000]: WP: item #0* F:2 C:178 p: 1.000000 50.000000 -1.000000 0.000000 x: 0.000000 y: 0.000000 z: 0.000000
[ INFO] [1584960836.890063355, 16.440000000]: WP: item #1  F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397743 y: 8.545609 z: 1.500000
[ INFO] [1584960836.890455987, 16.440000000]: WP: item #2  F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397743 y: 8.545543 z: 1.500000
[ INFO] [1584960836.890776501, 16.440000000]: WP: item #3  F:3 C: 19 p: 15.000000 0.000000 50.000000 0.000000 x: 47.397671 y: 8.545604 z: 2.000000
[ INFO] [1584960836.891335752, 16.440000000]: WP: item #4  F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397701 y: 8.545671 z: 1.500000
[ INFO] [1584960836.891947821, 16.440000000]: WP: item #5  F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397758 y: 8.545679 z: 1.500000
[ INFO] [1584960836.892774984, 16.440000000]: WP: item #6  F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397789 y: 8.545609 z: 1.500000
[ INFO] [1584960836.893491991, 16.440000000]: WP: item #7  F:3 C: 21 p: 0.000000 0.000000 0.000000 nan x: 47.397743 y: 8.545609 z: 0.000000
[ INFO] [1584960836.894002204, 16.444000000]: WP: item #8  F:2 C: 20 p: 0.000000 0.000000 0.000000 0.000000 x: 0.000000 y: 0.000000 z: 0.000000
[ INFO] [1584960836.894261868, 16.444000000]: WP: mission received
[ INFO] [1584960837.122235337, 16.652000000]: WP: mission received

There are some warings in the outcome about offboard, positoin and altitude-trl activation failed.

WARN  [mc_pos_control] Offboard activation failed with error: Activation Failed
WARN  [mc_pos_control] Position-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Altitude-Ctrl activation failed with error: Activation Failed

Also, if I want to change the formation of the drones (like making 3 drones line up), what should I do?

Thanks!

Assign arbitrary name spaces

We need to be able to assign arbitrary name spaces

mavros_swarm/formation_control/src/formation_control.cpp

Lines 19 to 24 in d3cc323

    
               * @todo Assign arbitrary name spaces 
        
               * @body We need to be able to assign arbitrary name spaces 
        
               */ 
        
               vehicle_vector_.emplace_back(nh_, nh_private_, "uav" + std::to_string(i+1)); 
        
             }

This issue was generated by todo based on a `@todo` comment in `d3cc323` when #6 was merged. cc @Jaeyoung-Lim.

Resource not found: px4

Hi Jaeyoung Lim,
I m getting this error as ' Resouce not found: px4' and its path. Could you pls help me How I can fix this error and be able to launch the simulation properly? I m using ubuntu 18.04 and ROS melodic version.

WARN [mavlink] SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame 0

l have a obstacle in the process of marvros_swarm. (Ubuntu 18.04, ROS-Melodic)

First of all, l added paths to ~/.bashrc as follows:

source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
source ~/PX4-Autopilot/Tools/setup_gazebo.bash /PX4-Autopilot /PX4-Autopilot/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/PX4-Autopilot
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/PX4-Autopilot/Tools/sitl_gazebo
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-9/plugins

After that, I typed it in the terminal.

cd ~/catkin_ws
wstool init src
wstool merge -t src src/mavros_swarm/dependencies.rosinstall
wstool update -t src -j4
catkin build formation_control
roslaunch formation_control sitl_multiuav_swarm.launch

It was possible to check that three drones are on the Gazebo program when running, but the warning kept popping up.

WARN [mavlink] SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame 0
WARN [mavlink] SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame 0
WARN [mavlink] SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame 0
WARN [mavlink] SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame 0
WARN [mavlink] SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame 0

l think.. i need to modify the coordinate settings in PX4-Autopilot..?

I don’t know what I should do. I need your help.

Implement boid controller

Implement boid controller for flocking behavior

mavros_swarm/formation_control/src/formation_control.cpp

Lines 59 to 64 in f61425c

    
             * @todo Implement boid controller 
        
             * @body Implement boid controller for flocking behavior 
        
             */ 
        
             UpdateVrbVertexStates();

This issue was generated by todo based on a `@todo` comment in `f61425c` when #4 was merged. cc @Jaeyoung-Lim.

Subscribe to mavstate for mode swtiching

Vehicle doesnt arm as the offboard mode is not observed

mavros_swarm/formation_control/src/single_vehicle.cpp

Lines 22 to 27 in 670a25d

    
             * @todo Subscribe to mavstate for mode swtiching  
        
             * @body Vehicle doesnt arm as the offboard mode is not observed 
        
             */ 
        
             arming_client_ = nh_.serviceClient<mavros_msgs::CommandBool>("/"+vehicle_name_+"/mavros/cmd/arming"); 
        
             set_mode_client_ = nh_.serviceClient<mavros_msgs::SetMode>("/"+vehicle_name_+"/mavros/set_mode"); 
        
           }

This issue was generated by todo based on a `@todo` comment in `670a25d` when #11 was merged. cc @Jaeyoung-Lim.

Fix segfault

Currently this results in a segfault

mavros_swarm/formation_control/src/single_vehicle.cpp

Lines 66 to 71 in d3cc323

    
             * @todo Fix segfault 
        
             * @body Currently this results in a segfault 
        
             */ 
        
             mavros_msgs::PositionTarget msg; 
        
             msg.header.stamp = ros::Time::now();

This issue was generated by todo based on a `@todo` comment in `d3cc323` when #6 was merged. cc @Jaeyoung-Lim.

Get formation reference from a proper interface

Get rid of the formation states being updated automatically

mavros_swarm/formation_control/src/formation_control.cpp

Lines 42 to 47 in d3cc323

    
               * @todo Get formation reference from a proper interface 
        
               * @body Get rid of the formation states being updated automatically 
        
               */ 
        
             Eigen::Matrix4d Qx; 
        
             Eigen::Vector4d d_formation_att;

This issue was generated by todo based on a `@todo` comment in `d3cc323` when #6 was merged. cc @Jaeyoung-Lim.

Problem about running roslaunch formation_control sitl_multiuav_swarm.launch

i have problem on running roslaunch formation_control sitl_multiuav_swarm.launch
i've done sourcing but still can't run this

this is what it shows:
... logging to /home/ashley/.ros/log/4bc3c1c0-7a26-11ea-aaa4-a402b9cd65c2/roslaunch-ashley-UX305CA-2500.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Resource not found: px4
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/ashley/catkin_ws/src
ROS path [2]=/opt/ros/melodic/share
The traceback for the exception was written to the log file

Have you ever done some real-time experiments using this code?

Have you ever done some real-time experiments using this code? That is "mavros_swarm " code.

wstool init and merge

Hello, I followed the readme instrutions and clone the package. And i used wstool wstool init . ./mavros_swarm/dependencies.rosinstall and i got this error: Error:There already is a workspace config file .rosinstall at ".". Use wstool install/modify. So i changed the wstool merge wstool merge . ./mavros_swarm/dependencies.rosinstall Then i got this error Error: Too many arguments. wstool merge [URI] [OPTIONS]

Could you help me to fix it?
Thank you!

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	* @todo Dangerous behaviros in automatic disarming / rearming
	* @body This will rearm the vehicle in case of a failure
	*/
	arm_cmd_.request.value = true;
	offb_set_mode_.request.custom_mode = "OFFBOARD";
	if( current_state_.mode != "OFFBOARD" && (ros::Time::now() - last_request_ > ros::Duration(5.0))){

	* @todo Assign arbitrary name spaces
	* @body We need to be able to assign arbitrary name spaces
	*/
	vehicle_vector_.emplace_back(nh_, nh_private_, "uav" + std::to_string(i+1));
	}

	* @todo Implement boid controller
	* @body Implement boid controller for flocking behavior
	*/

	UpdateVrbVertexStates();

	* @todo Subscribe to mavstate for mode swtiching
	* @body Vehicle doesnt arm as the offboard mode is not observed
	*/
	arming_client_ = nh_.serviceClient<mavros_msgs::CommandBool>("/"+vehicle_name_+"/mavros/cmd/arming");
	set_mode_client_ = nh_.serviceClient<mavros_msgs::SetMode>("/"+vehicle_name_+"/mavros/set_mode");
	}

	* @todo Fix segfault
	* @body Currently this results in a segfault
	*/

	mavros_msgs::PositionTarget msg;
	msg.header.stamp = ros::Time::now();

	* @todo Get formation reference from a proper interface
	* @body Get rid of the formation states being updated automatically
	*/

	Eigen::Matrix4d Qx;
	Eigen::Vector4d d_formation_att;

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mavros_swarm's Issues

This issue was generated by todo based on a @todo comment in d3cc323 when #6 was merged. cc @Jaeyoung-Lim.

This issue was generated by todo based on a @todo comment in d3cc323 when #6 was merged. cc @Jaeyoung-Lim.

After that, I typed it in the terminal.

cd ~/catkin_ws wstool init src wstool merge -t src src/mavros_swarm/dependencies.rosinstall wstool update -t src -j4 catkin build formation_control roslaunch formation_control sitl_multiuav_swarm.launch

This issue was generated by todo based on a @todo comment in f61425c when #4 was merged. cc @Jaeyoung-Lim.

This issue was generated by todo based on a @todo comment in 670a25d when #11 was merged. cc @Jaeyoung-Lim.

This issue was generated by todo based on a @todo comment in d3cc323 when #6 was merged. cc @Jaeyoung-Lim.

This issue was generated by todo based on a @todo comment in d3cc323 when #6 was merged. cc @Jaeyoung-Lim.

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This issue was generated by todo based on a `@todo` comment in `d3cc323` when #6 was merged. cc @Jaeyoung-Lim.

This issue was generated by todo based on a `@todo` comment in `d3cc323` when #6 was merged. cc @Jaeyoung-Lim.

cd ~/catkin_ws
wstool init src
wstool merge -t src src/mavros_swarm/dependencies.rosinstall
wstool update -t src -j4
catkin build formation_control
roslaunch formation_control sitl_multiuav_swarm.launch

This issue was generated by todo based on a `@todo` comment in `f61425c` when #4 was merged. cc @Jaeyoung-Lim.

This issue was generated by todo based on a `@todo` comment in `670a25d` when #11 was merged. cc @Jaeyoung-Lim.

This issue was generated by todo based on a `@todo` comment in `d3cc323` when #6 was merged. cc @Jaeyoung-Lim.

This issue was generated by todo based on a `@todo` comment in `d3cc323` when #6 was merged. cc @Jaeyoung-Lim.