jaeyoung-lim / mavros_swarm Goto Github PK
View Code? Open in Web Editor NEWROS based mav fleet control for swarming
License: BSD 3-Clause "New" or "Revised" License
ROS based mav fleet control for swarming
License: BSD 3-Clause "New" or "Revised" License
Hi
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.
Implement boid controller for flocking behavior
mavros_swarm/formation_control/src/formation_control.cpp
Lines 59 to 64 in f61425c
@todo
comment in f61425c when #4 was merged. cc @Jaeyoung-Lim.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
comment in 670a25d when #11 was merged. cc @Jaeyoung-Lim.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!
Have you ever done some real-time experiments using this code? That is "mavros_swarm " code.
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)
Hi
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:
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.
Get rid of the formation states being updated automatically
mavros_swarm/formation_control/src/formation_control.cpp
Lines 42 to 47 in d3cc323
@todo
comment in d3cc323 when #6 was merged. cc @Jaeyoung-Lim.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!
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.
Currently this results in a segfault
mavros_swarm/formation_control/src/single_vehicle.cpp
Lines 66 to 71 in d3cc323
@todo
comment in d3cc323 when #6 was merged. cc @Jaeyoung-Lim.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
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.
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
comment in d3cc323 when #6 was merged. cc @Jaeyoung-Lim.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
comment in d3cc323 when #6 was merged. cc @Jaeyoung-Lim.A declarative, efficient, and flexible JavaScript library for building user interfaces.
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