matlabbe / rtabmap_drone_example Goto Github PK
View Code? Open in Web Editor NEWExample of using move_base with mavros/px4 and rtabmap visual SLAM
License: BSD 3-Clause "New" or "Revised" License
rtabmap_drone_example's People
Contributors
Stargazers
Watchers
Forkers
a4aleem aiegoo haquebd ryan354 alienshengzi junereo ppapadak presunshine developer-mayuan leelaser kokoory daviesss kimhunhui alexandrebarral pequi-mecanico-home flying-robots-2023 fucyuanrtabmap_drone_example's Issues
rtabmap/rtabmap-viz process has died
Hi, I am new to ROS, I don't fully understand PX4 and rtabmap packages but what I was able to successfully build rtabmap and rtabmap_ros and with also install PX4 and mavros/mavlink. Additionally, I was able to do the commands in the dockerfile
gazebo.launch was successful but when I try to run slam.launch it says rtabmap/rtabmap-viz process has died with exit code -6
rviz.launch crashes if Rtabmap_rivz is opened.
I am using ubuntu focal fossa, ROS1 noetic
building Rtabmap, from source using catkin_make
Everything works as usual but while Rtabmp rviz view windows is opened ,and I try to open the rviz.launch file form the rtabmap_drone_example it opens with black screen and then crashes immidiately.
What I have done so for?
I have removed, purged rivz, both system wide and rviz-noeitc
I have followed instructions somewhere to install full desktop of noetic , I did that
Fist open Rviz and then Rtabmap
open rviz with rosrun rviz rviz and open config file.
I don't have any luck yet, any help is appreciated. Thanks.
Resource not found: mavlink_sitl_gazebo
Hello, I am running the first roslaunch command - roslaunch rtabmap_drone_example gazebo.launch and keep ending up with this error.
""
[FATAL] [1658240838.019638411]: Package[mavlink_sitl_gazebo] does not have a path
[ERROR] [1658240838.019993, 0.000000]: Spawn service failed. Exiting.
[spawn_model-5] process has died [pid 5953, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -urdf -param /robot_description -model drone -x 0 -y 0 -z 0.01 -Y -1.5 __name:=spawn_model __log:=/home/dinesh/.ros/log/e3b850cc-076e-11ed-90ba-00155d0364f5/spawn_model-5.log].
log file: /home/dinesh/.ros/log/e3b850cc-076e-11ed-90ba-00155d0364f5/spawn_model-5*.log
""
It's missing the mavlink_sitl_gazebo file. I have mavlink installed in the catkin_ws/src folder and was wondering what else I can do. Any help would be appreciated.
Generating the custom world
Hi
How do I generate my own simulation world? I have an iPad Pro Lidar. Is it okay to use the PLY file from the rtabmap iPad app to generate the map and then export it in the gazebo for use with a ground robot simulation e.g a turtlebot ? What steps do I need to follow? Can you please explain? Thanks
unable to launch the gazebo getting strange error
ERROR [param] Parameter SYS_RESTART_TYPE not found.
ERROR [px4] Startup script returned with return value: 32512
================================================================================REQUIRED process [sitl-4] has died!
process has died [pid 17592, exit code 255, cmd /home/drint/catkin_ws/devel/lib/px4/px4 /home/drint/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/etc -s /home/drint/catkin_ws/src/rtabmap_drone_example/config/rcS __name:=sitl __log:=/home/drint/.ros/log/67870f2a-4602-11ed-946c-49a8ecd629da/sitl-4.log].
log file: /home/drint/.ros/log/67870f2a-4602-11ed-946c-49a8ecd629da/sitl-4*.log
Initiating shutdown!
i am just trying to folllow github tutorial
where does the joystick command come from?
I was looking at the project and wondering what the joystick controller really does, but the launch file simply launches a node from joy and teleop_twist_joy, so I guess there is a keys assignment somewhere else.
Unable to take off
I'm unable to take off the drone in the given gazebo world. Although, when I tried with the default gazebo simulation, it does take off.
Drone does take off this way
Terminal1: roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557"
Terminal2: roslaunch px4 posix_sitl.launch
Terminal3: rosrun rtabmap_drone_example offboard
But, doesn't take off this way:
Terminal 1: roslaunch rtabmap_drone_example gazebo.launch
Terminal 2: rosrun rtabmap_drone_example offboard
What could be the potential reason for this behaviour? Could it be because of the version miss-match of PX4/ mavros? I'm running this simulation on noetic.
Here is output/error of gazebo.launch(terminal1):
... logging to /home/rajendra/.ros/log/366b5ef6-550c-11ec-b2d5-15a442893f81/roslaunch-u20-384705.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://u20:36799/
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /gazebo/enable_ros_network: True
* /mavros/cmd/use_comp_id_system_control: False
* /mavros/conn/heartbeat_rate: 1.0
* /mavros/conn/system_time_rate: 1.0
* /mavros/conn/timeout: 10.0
* /mavros/conn/timesync_rate: 10.0
* /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/laser_1_sub/id: 3
* /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /mavros/distance_sensor/laser_1_sub/subscriber: True
* /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /mavros/distance_sensor/lidarlite_pub/id: 1
* /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /mavros/distance_sensor/lidarlite_pub/send_tf: True
* /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/sonar_1_sub/id: 2
* /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /mavros/distance_sensor/sonar_1_sub/subscriber: True
* /mavros/fake_gps/eph: 2.0
* /mavros/fake_gps/epv: 2.0
* /mavros/fake_gps/fix_type: 3
* /mavros/fake_gps/geo_origin/alt: 408.0
* /mavros/fake_gps/geo_origin/lat: 47.3667
* /mavros/fake_gps/geo_origin/lon: 8.55
* /mavros/fake_gps/gps_rate: 5.0
* /mavros/fake_gps/mocap_transform: True
* /mavros/fake_gps/satellites_visible: 5
* /mavros/fake_gps/tf/child_frame_id: fix
* /mavros/fake_gps/tf/frame_id: map
* /mavros/fake_gps/tf/listen: False
* /mavros/fake_gps/tf/rate_limit: 10.0
* /mavros/fake_gps/tf/send: False
* /mavros/fake_gps/use_mocap: True
* /mavros/fake_gps/use_vision: False
* /mavros/fcu_protocol: v2.0
* /mavros/fcu_url: udp://:14540@loca...
* /mavros/gcs_url:
* /mavros/global_position/child_frame_id: base_link
* /mavros/global_position/frame_id: map
* /mavros/global_position/gps_uere: 1.0
* /mavros/global_position/rot_covariance: 99999.0
* /mavros/global_position/tf/child_frame_id: base_link
* /mavros/global_position/tf/frame_id: map
* /mavros/global_position/tf/global_frame_id: earth
* /mavros/global_position/tf/send: False
* /mavros/global_position/use_relative_alt: True
* /mavros/image/frame_id: px4flow
* /mavros/imu/angular_velocity_stdev: 0.000349065850398...
* /mavros/imu/frame_id: base_link
* /mavros/imu/linear_acceleration_stdev: 0.0003
* /mavros/imu/magnetic_stdev: 0.0
* /mavros/imu/orientation_stdev: 1.0
* /mavros/local_position/frame_id: map
* /mavros/local_position/tf/child_frame_id: base_link
* /mavros/local_position/tf/frame_id: map
* /mavros/local_position/tf/send: False
* /mavros/local_position/tf/send_fcu: False
* /mavros/mission/pull_after_gcs: True
* /mavros/mocap/use_pose: True
* /mavros/mocap/use_tf: False
* /mavros/odometry/in/child_frame_id: base_link
* /mavros/odometry/in/frame_id: odom
* /mavros/odometry/in/frame_tf/body_frame_orientation: flu
* /mavros/odometry/in/frame_tf/local_frame: local_origin_ned
* /mavros/odometry/out/frame_tf/body_frame_orientation: frd
* /mavros/odometry/out/frame_tf/local_frame: vision_ned
* /mavros/plugin_blacklist: ['safety_area', '...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.11868238913561441
* /mavros/px4flow/ranger_max_range: 5.0
* /mavros/px4flow/ranger_min_range: 0.3
* /mavros/safety_area/p1/x: 1.0
* /mavros/safety_area/p1/y: 1.0
* /mavros/safety_area/p1/z: 1.0
* /mavros/safety_area/p2/x: -1.0
* /mavros/safety_area/p2/y: -1.0
* /mavros/safety_area/p2/z: -1.0
* /mavros/setpoint_accel/send_force: False
* /mavros/setpoint_attitude/reverse_thrust: False
* /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /mavros/setpoint_attitude/tf/frame_id: map
* /mavros/setpoint_attitude/tf/listen: False
* /mavros/setpoint_attitude/tf/rate_limit: 50.0
* /mavros/setpoint_attitude/use_quaternion: False
* /mavros/setpoint_position/mav_frame: LOCAL_NED
* /mavros/setpoint_position/tf/child_frame_id: target_position
* /mavros/setpoint_position/tf/frame_id: map
* /mavros/setpoint_position/tf/listen: False
* /mavros/setpoint_position/tf/rate_limit: 50.0
* /mavros/setpoint_raw/thrust_scaling: 1.0
* /mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /mavros/startup_px4_usb_quirk: True
* /mavros/sys/disable_diag: False
* /mavros/sys/min_voltage: 10.0
* /mavros/target_component_id: 1
* /mavros/target_system_id: 1
* /mavros/tdr_radio/low_rssi: 40
* /mavros/time/time_ref_source: fcu
* /mavros/time/timesync_avg_alpha: 0.6
* /mavros/time/timesync_mode: MAVLINK
* /mavros/vibration/frame_id: base_link
* /mavros/vision_pose/tf/child_frame_id: vision_estimate
* /mavros/vision_pose/tf/frame_id: map
* /mavros/vision_pose/tf/listen: False
* /mavros/vision_pose/tf/rate_limit: 10.0
* /mavros/vision_speed/listen_twist: True
* /mavros/vision_speed/twist_cov: True
* /mavros/wheel_odometry/child_frame_id: base_link
* /mavros/wheel_odometry/count: 2
* /mavros/wheel_odometry/frame_id: map
* /mavros/wheel_odometry/send_raw: True
* /mavros/wheel_odometry/send_twist: False
* /mavros/wheel_odometry/tf/child_frame_id: base_link
* /mavros/wheel_odometry/tf/frame_id: map
* /mavros/wheel_odometry/tf/send: True
* /mavros/wheel_odometry/use_rpm: False
* /mavros/wheel_odometry/vel_error: 0.1
* /mavros/wheel_odometry/wheel0/radius: 0.05
* /mavros/wheel_odometry/wheel0/x: 0.0
* /mavros/wheel_odometry/wheel0/y: -0.15
* /mavros/wheel_odometry/wheel1/radius: 0.05
* /mavros/wheel_odometry/wheel1/x: 0.0
* /mavros/wheel_odometry/wheel1/y: 0.15
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 30.0
* /rosdistro: noetic
* /rosversion: 1.15.13
* /use_sim_time: True
NODES
/
base_link_imu (tf/static_transform_publisher)
base_link_rotor0 (tf/static_transform_publisher)
base_link_rotor1 (tf/static_transform_publisher)
base_link_rotor2 (tf/static_transform_publisher)
base_link_rotor3 (tf/static_transform_publisher)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
sitl (px4/px4)
spawn_model (gazebo_ros/spawn_model)
ROS_MASTER_URI=http://localhost:11311
process[gazebo-1]: started with pid [384750]
process[gazebo_gui-2]: started with pid [384754]
process[sitl-3]: started with pid [384765]
Creating symlink /home/rajendra/drone_ws/src/PX4-Autopilot/build/px4_sitl_default/etc -> /home/rajendra/.ros/etc
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh /home/rajendra/drone_ws/src/rtabmap_drone_example/config/rcS 0
process[spawn_model-4]: started with pid [384779]
Info: found model autostart file as SYS_AUTOSTART=1099
INFO [param] selected parameter default file eeprom/parameters_1099
INFO [parameters] BSON document size 444 bytes, decoded 444 bytes
[param] Loaded: eeprom/parameters_1099
process[robot_state_publisher-5]: started with pid [384800]
process[mavros-6]: started with pid [384834]
process[base_link_imu-7]: started with pid [384853]
process[base_link_rotor0-8]: started with pid [384863]
process[base_link_rotor1-9]: started with pid [384871]
process[base_link_rotor2-10]: started with pid [384882]
process[base_link_rotor3-11]: started with pid [384893]
[ WARN] [1638628422.105417484]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1638628422.257664484]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1638628422.260720893]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1638628422.260829221]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1638628422.260937709]: GCS bridge disabled
INFO [dataman] data manager file './dataman' size is 11798680 bytes
[ INFO] [1638628422.275169969]: Plugin 3dr_radio loaded
PX4 SIM HOST: localhost
[ INFO] [1638628422.277423367]: Plugin 3dr_radio initialized
[ INFO] [1638628422.277542899]: Plugin actuator_control loaded
INFO [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1638628422.280957979]: Plugin actuator_control initialized
[ INFO] [1638628422.285139636]: Plugin adsb loaded
[ INFO] [1638628422.288022863]: Plugin adsb initialized
[ INFO] [1638628422.288141793]: Plugin altitude loaded
[ INFO] [1638628422.289217730]: Plugin altitude initialized
[ INFO] [1638628422.289311288]: Plugin cam_imu_sync loaded
[ INFO] [1638628422.290058866]: Plugin cam_imu_sync initialized
[ INFO] [1638628422.290135577]: Plugin command loaded
[ INFO] [1638628422.299517333]: Plugin command initialized
[ INFO] [1638628422.299648131]: Plugin companion_process_status loaded
[ INFO] [1638628422.303479130]: Plugin companion_process_status initialized
[ INFO] [1638628422.303600979]: Plugin debug_value loaded
[ INFO] [1638628422.310779868]: Plugin debug_value initialized
[ INFO] [1638628422.310815503]: Plugin distance_sensor blacklisted
[ INFO] [1638628422.310904629]: Plugin esc_status loaded
[ INFO] [1638628422.312477410]: Plugin esc_status initialized
[ INFO] [1638628422.312561676]: Plugin esc_telemetry loaded
[ INFO] [1638628422.313444798]: Plugin esc_telemetry initialized
[ INFO] [1638628422.313517673]: Plugin fake_gps loaded
[ INFO] [1638628422.330788146]: Plugin fake_gps initialized
[ INFO] [1638628422.330908327]: Plugin ftp loaded
[ INFO] [1638628422.339595283]: Plugin ftp initialized
[ INFO] [1638628422.339778834]: Plugin geofence loaded
[ INFO] [1638628422.341942339]: Plugin geofence initialized
[ INFO] [1638628422.342067561]: Plugin global_position loaded
[ INFO] [1638628422.353566661]: Plugin global_position initialized
[ INFO] [1638628422.353693727]: Plugin gps_input loaded
[ INFO] [1638628422.355893233]: Plugin gps_input initialized
[ INFO] [1638628422.355980251]: Plugin gps_rtk loaded
[ INFO] [1638628422.359061944]: Plugin gps_rtk initialized
[ INFO] [1638628422.359742799]: Plugin gps_status loaded
[ INFO] [1638628422.361862276]: Plugin gps_status initialized
[ INFO] [1638628422.361967952]: Plugin hil loaded
[ INFO] [1638628422.373920123]: Plugin hil initialized
[ INFO] [1638628422.374030340]: Plugin home_position loaded
[ INFO] [1638628422.380801325]: Plugin home_position initialized
[ INFO] [1638628422.380966182]: Plugin imu loaded
[ INFO] [1638628422.387956898]: Plugin imu initialized
[ INFO] [1638628422.388106196]: Plugin landing_target loaded
[ INFO] [1638628422.395321558]: Plugin landing_target initialized
[ INFO] [1638628422.395466964]: Plugin local_position loaded
[ INFO] [1638628422.418525163]: Plugin local_position initialized
[ INFO] [1638628422.418754747]: Plugin log_transfer loaded
[ INFO] [1638628422.422409852]: Plugin log_transfer initialized
[ INFO] [1638628422.422515691]: Plugin mag_calibration_status loaded
[ INFO] [1638628422.423666362]: Plugin mag_calibration_status initialized
[ INFO] [1638628422.423926224]: Plugin manual_control loaded
[ INFO] [1638628422.427510666]: Plugin manual_control initialized
[ INFO] [1638628422.427687536]: Plugin mocap_pose_estimate loaded
[ INFO] [1638628422.432325788]: Plugin mocap_pose_estimate initialized
[ INFO] [1638628422.432566789]: Plugin mount_control loaded
[ INFO] [1638628422.437214595]: Plugin mount_control initialized
[ INFO] [1638628422.437386094]: Plugin nav_controller_output loaded
[ INFO] [1638628422.437964185]: Plugin nav_controller_output initialized
[ INFO] [1638628422.438195785]: Plugin obstacle_distance loaded
[ INFO] [1638628422.441998728]: Plugin obstacle_distance initialized
[ INFO] [1638628422.442133407]: Plugin odom loaded
[ INFO] [1638628422.445948886]: Plugin odom initialized
[ INFO] [1638628422.446134909]: Plugin onboard_computer_status loaded
[ INFO] [1638628422.448432930]: Plugin onboard_computer_status initialized
[ INFO] [1638628422.448551262]: Plugin param loaded
[ INFO] [1638628422.451625838]: Plugin param initialized
[ INFO] [1638628422.451755832]: Plugin play_tune loaded
[ INFO] [1638628422.458206079]: Plugin play_tune initialized
[ INFO] [1638628422.458327051]: Plugin px4flow loaded
[ INFO] [1638628422.476383071]: Plugin px4flow initialized
[ INFO] [1638628422.476512622]: Plugin rallypoint loaded
[ INFO] [1638628422.483353681]: Plugin rallypoint initialized
[ INFO] [1638628422.483404434]: Plugin rangefinder blacklisted
[ INFO] [1638628422.483555006]: Plugin rc_io loaded
[ INFO] [1638628422.493277859]: Plugin rc_io initialized
[ INFO] [1638628422.493325017]: Plugin safety_area blacklisted
[ INFO] [1638628422.493452606]: Plugin setpoint_accel loaded
[ INFO] [1638628422.501517568]: Plugin setpoint_accel initialized
[ INFO] [1638628422.501654240]: Plugin setpoint_attitude loaded
[ INFO] [1638628422.519559226]: Plugin setpoint_attitude initialized
[ INFO] [1638628422.519673358]: Plugin setpoint_position loaded
[ INFO] [1638628422.532909062]: Plugin setpoint_position initialized
[ INFO] [1638628422.533014066]: Plugin setpoint_raw loaded
[ INFO] [1638628422.539241027]: Plugin setpoint_raw initialized
[ INFO] [1638628422.539369515]: Plugin setpoint_trajectory loaded
[ INFO] [1638628422.544434583]: Plugin setpoint_trajectory initialized
[ INFO] [1638628422.544622954]: Plugin setpoint_velocity loaded
[ INFO] [1638628422.550978511]: Plugin setpoint_velocity initialized
[ INFO] [1638628422.551138637]: Plugin sys_status loaded
[ INFO] [1638628422.558681242]: Plugin sys_status initialized
[ INFO] [1638628422.558807197]: Plugin sys_time loaded
[ INFO] [1638628422.562980808]: TM: Timesync mode: MAVLINK
[ INFO] [1638628422.563268815]: TM: Not publishing sim time
[ INFO] [1638628422.564143595]: Plugin sys_time initialized
[ INFO] [1638628422.564252396]: Plugin trajectory loaded
[ INFO] [1638628422.567969537]: Plugin trajectory initialized
[ INFO] [1638628422.568087443]: Plugin tunnel loaded
[ INFO] [1638628422.570088313]: Plugin tunnel initialized
[ INFO] [1638628422.570226485]: Plugin vfr_hud loaded
[ INFO] [1638628422.570641016]: Plugin vfr_hud initialized
[ INFO] [1638628422.570672014]: Plugin vibration blacklisted
[ INFO] [1638628422.570767074]: Plugin vision_pose_estimate loaded
[ INFO] [1638628422.576291223]: Plugin vision_pose_estimate initialized
[ INFO] [1638628422.576381910]: Plugin vision_speed_estimate loaded
[ INFO] [1638628422.578937928]: Plugin vision_speed_estimate initialized
[ INFO] [1638628422.579033603]: Plugin waypoint loaded
[ INFO] [1638628422.582246033]: Plugin waypoint initialized
[ INFO] [1638628422.582278742]: Plugin wheel_odometry blacklisted
[ INFO] [1638628422.582368611]: Plugin wind_estimation loaded
[ INFO] [1638628422.582889660]: Plugin wind_estimation initialized
[ INFO] [1638628422.582920897]: Autostarting mavlink via USB on PX4
[ INFO] [1638628422.582968028]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1638628422.583001307]: Built-in MAVLink package version: 2021.10.10
[ INFO] [1638628422.583041326]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1638628422.583075394]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1638628422.810858236]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1638628422.812031776]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1638628422.929369951]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1638628422.930317501]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1638628423.799665127]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1638628424.802669686, 0.001000000]: Physics dynamic reconfigure ready.
[ INFO] [1638628425.050944196, 0.001000000]: <initialOrientationAsReference> is unset, using default value of false to comply with REP 145 (world as orientation reference)
[ INFO] [1638628425.051000754, 0.001000000]: <robotNamespace> set to: //
[ INFO] [1638628425.051018364, 0.001000000]: <topicName> set to: body_imu/data_raw
[ INFO] [1638628425.051030433, 0.001000000]: <frameName> set to: imu_body_link
[ INFO] [1638628425.051052702, 0.001000000]: <updateRateHZ> set to: 100
[ INFO] [1638628425.051068107, 0.001000000]: <gaussianNoise> set to: 0.01
[ INFO] [1638628425.051088512, 0.001000000]: <xyzOffset> set to: 0 0 0
[ INFO] [1638628425.051116044, 0.001000000]: <rpyOffset> set to: 0 -0 0
INFO [simulator] Simulator connected on TCP port 4560.
[ INFO] [1638628425.170096198, 0.001000000]: Realsense Gazebo ROS plugin loading.
RealSensePlugin: The realsense_camera plugin is attach to model drone
INFO [commander] Mission #2 loaded, 4 WPs, curr: 0
INFO [commander] LED: open /dev/led0 failed (22)
INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO [init] setting PWM_AUX_OUT none
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
[ INFO] [1638628425.466389669, 0.178000000]: udp0: Remote address: 127.0.0.1:14580
[spawn_model-4] process has finished cleanly
log file: /home/rajendra/.ros/log/366b5ef6-550c-11ec-b2d5-15a442893f81/spawn_model-4*.log
[ INFO] [1638628425.474759173, 0.187000000]: IMU: High resolution IMU detected!
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2021-12-04/14_33_45.ulg
INFO [logger] Opened full log file: ./log/2021-12-04/14_33_45.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh> INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1638628426.460413924, 1.167000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1638628426.461249663, 1.167000000]: IMU: High resolution IMU detected!
[ INFO] [1638628427.575136414, 2.179000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1638628427.575302195, 2.179000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1638628427.575442728, 2.179000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1638628427.575642756, 2.179000000]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1638628427.575796512, 2.179000000]: VER: 1.1: Flight software: 010d0040 (c8c4066a19000000)
[ INFO] [1638628427.575933514, 2.180000000]: VER: 1.1: Middleware software: 010d0040 (c8c4066a19000000)
[ INFO] [1638628427.576122947, 2.180000000]: VER: 1.1: OS software: 050b00ff (ca1938fbcccc1a0a)
[ INFO] [1638628427.576247277, 2.180000000]: VER: 1.1: Board hardware: 00000001
[ INFO] [1638628427.576365489, 2.180000000]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1638628427.576492164, 2.180000000]: VER: 1.1: UID: 4954414c44494e4f
[ INFO] [1638628429.694821638, 4.291000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1638628436.630709733, 11.168000000]: HP: requesting home position
[ INFO] [1638628441.643323808, 16.167000000]: GF: mission received
[ INFO] [1638628441.643434864, 16.167000000]: RP: mission received
[ INFO] [1638628441.643584027, 16.167000000]: WP: item #0* F: C: 16 p: 5 0 0 0 x: 371982920 y: -805782330 z: 20
[ INFO] [1638628441.643666196, 16.167000000]: WP: item #1 F: C: 16 p: 5 0 0 0 x: 371982920 y: -805782330 z: 20
[ INFO] [1638628441.643737075, 16.167000000]: WP: item #2 F: C: 16 p: 5 0 0 0 x: 371987020 y: -805788120 z: 20
[ INFO] [1638628441.643813025, 16.167000000]: WP: item #3 F: C: 16 p: 5 0 0 0 x: 371982920 y: -805782330 z: 20
[ INFO] [1638628441.643837085, 16.167000000]: WP: mission received
[ INFO] [1638628446.655291117, 21.167000000]: HP: requesting home position
[ INFO] [1638628456.679353990, 31.167000000]: HP: requesting home position
[ INFO] [1638628466.717452998, 41.167000000]: HP: requesting home position
INFO [tone_alarm] notify negative
[ WARN] [1638628468.642238697, 43.082000000]: CMD: Unexpected command 176, result 1
INFO [commander] Failsafe mode activated
WARN [mc_pos_control] invalid setpoints
[ INFO] [1638628476.747530924, 51.167000000]: HP: requesting home position
[ WARN] [1638628478.811294420, 53.127000000]: CMD: Unexpected command 176, result 0
[ INFO] [1638628486.990499149, 61.167000000]: HP: requesting home position
[ WARN] [1638628489.005346539, 63.170000000]: CMD: Unexpected command 176, result 0
[ INFO] [1638628497.034404516, 71.167000000]: HP: requesting home position
[ WARN] [1638628499.085291457, 73.214000000]: CMD: Unexpected command 176, result 0
[ INFO] [1638628507.157299672, 81.167000000]: HP: requesting home position
[ WARN] [1638628509.245491307, 83.247000000]: CMD: Unexpected command 176, result 0
[ INFO] [1638628517.296543228, 91.167000000]: HP: requesting home position
[ WARN] [1638628519.424094646, 93.290000000]: CMD: Unexpected command 176, result 0
[ INFO] [1638628527.321916095, 101.167000000]: HP: requesting home position
[ WARN] [1638628529.502450871, 103.335000000]: CMD: Unexpected command 176, result 0
[ INFO] [1638628537.455140686, 111.168000000]: HP: requesting home position
[ WARN] [1638628539.664747504, 113.366000000]: CMD: Unexpected command 176, result 0
Below are my log
Log(Expand to see.)
rosrun mavros checkid
OK. I got messages from 1:1.
Received 5497 messages, from 1 addresses
sys:comp list of messages
Exception in thread Thread-5:
Traceback (most recent call last):
File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner
self.run()
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/timer.py", line 237, in run
self._callback(TimerEvent(last_expected, last_real, current_expected, current_real, last_duration))
File "/home/rajendra/drone_ws/src/mavros/mavros/scripts/checkid", line 82, in timer_cb
for address, messages in self.message_sources.iteritems():
AttributeError: 'dict' object has no attribute 'iteritems'
rostopic echo -n 1 /diagnostics
header:
seq: 86
stamp:
secs: 87
nsecs: 500000000
frame_id: ''
status:
level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "udp://:14540@localhost:14557"
values:
-
key: "Received packets:"
value: "28621"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "205"
-
key: "Tx sequence number:"
value: "0"
-
key: "Rx total bytes:"
value: "1769088"
-
key: "Tx total bytes:"
value: "101219"
-
key: "Rx speed:"
value: "21468.000000"
-
key: "Tx speed:"
value: "9987.000000"
-
level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "udp://:14540@localhost:14557"
values:key: "Satellites visible" value: "0"- key: "Fix type"
value: "0" - key: "EPH (m)"
value: "Unknown" - key: "EPV (m)"
value: "Unknown"
- key: "Fix type"
-
level: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "udp://:14540@localhost:14557"
values:key: "Heartbeats since startup" value: "87"- key: "Frequency (Hz)"
value: "1.047619" - key: "Vehicle type"
value: "Quadrotor" - key: "Autopilot type"
value: "PX4 Autopilot" - key: "Mode"
value: "MANUAL" - key: "System status"
value: "Standby"
- key: "Frequency (Hz)"
-
level: 2
name: "mavros: System"
message: "Sensor health"
hardware_id: "udp://:14540@localhost:14557"
values:key: "Sensor present" value: "0x1028002C"- key: "Sensor enabled"
value: "0x1021000C" - key: "Sensor health"
value: "0x102E000F" - key: "3D magnetometer"
value: "Ok" - key: "absolute pressure"
value: "Ok" - key: "rc receiver"
value: "Fail" - key: "AHRS subsystem health"
value: "Ok" - key: "pre-arm check status. Always healthy when armed"
value: "Ok" - key: "CPU Load (%)"
value: "14.0" - key: "Drop rate (%)"
value: "0.0" - key: "Errors comm"
value: "0" - key: "Errors count #1"
value: "0" - key: "Errors count #2"
value: "0" - key: "Errors count #3"
value: "0" - key: "Errors count #4"
value: "0"
- key: "Sensor enabled"
-
level: 0
name: "mavros: Battery"
message: "Normal"
hardware_id: "udp://:14540@localhost:14557"
values:key: "Voltage" value: "65.54"- key: "Current"
value: "-0.0" - key: "Remaining"
value: "-1.0"
- key: "Current"
-
level: 0
name: "mavros: Time Sync"
message: "Normal"
hardware_id: "udp://:14540@localhost:14557"
values:key: "Timesyncs since startup" value: "873"- key: "Frequency (Hz)"
value: "10.000000" - key: "Last RTT (ms)"
value: "0.000000" - key: "Mean RTT (ms)"
value: "0.130584" - key: "Last remote time (s)"
value: "87.396000000" - key: "Estimated time offset (s)"
value: "0.004228993"
- key: "Frequency (Hz)"
rostopic echo /mavros/state (Before running offboard)
header:
seq: 44
stamp:
secs: 44
nsecs: 170000000
frame_id: ''
connected: True
armed: False
guided: False
manual_input: True
mode: "MANUAL"
system_status: 3
rostopic echo /mavros/state (After running offboard)
header:
seq: 217
stamp:
secs: 217
nsecs: 171000000
frame_id: ''
connected: True
armed: False
guided: True
manual_input: False
mode: "AUTO.LAND"
system_status: 3
Cannot spawn vehicle
Hello, I carefully followed your instructions, but running the 1st launch file roslaunch mavros_nav_2d gazebo.launch, the vehicle will not spawn, and i get the following message:
Resource not found: The following package was not found in <arg default="$(find mavlink_sitl_gazebo)/worlds/empty.world" name="world"/>: mavlink_sitl_gazebo
I think my system is looking for mavlink_sitl_gazebo instead of posix_sitl_default. I am unsure of how to resolve this. Also, is it really necessary to use PX4 1.8.2? Why?
Thank you
TF tree breaking in real drone
Hi, trying to apply this example to a real drone, but I'm finding that the fact of run mavros, make a TF map to base_link wich conflicts and with the rtabmap TF tree, map>odom>base_link and no map is published, I find a reference to this issue here.
I think mavros brakes the REP105 convention, what have not many sense. But I'm not a expert.
Thanks!
is this using gps?
DWA planner failed to produce path.
Hello, matlabbe
Thank you for both the RTAB-Map and this drone project.
After several testing, I found that when in localization mode, the drone can not avoid unknown obstacle which is not appear in 2D occupancy grid map(means that the obstacle is not appear in mapping mode).
I think the goal_cost probably is < 0 and it kept appear this information repeatedly until rotate_recovery behavior.
[WARN] DWA planner failed to produce path.
[DEBUG] The dwa local planner failed to find a valid plan, cost functions discarded all candidates. This can mean there is an obstacle too close to the robot.
But when in mapping mode, the drone can avoid obstacles. Maybe this is global planner working, because 2D occupancy map is changing, than global path changes afterward to avoid obstacle.
I'm not sure is local planner working?
I referring some articles 1 2 to dynamically turn some parameters like
base_local_planner_params.yaml
sim_time
path_distance_bias
goal_distance_bias
occdist_scale
costmap_common_params.yaml
footprint
robot_radius
inflation_radius
local_costmap_params.yaml
width
height
But, it seems doesn't work as well.
I apologize for bothering you.
Thank you in advance.
Wondering where is the room model from.
Hi,
This is a great project for testing drone-slam in the simulated room world.
This is not the program issue, but I'm wondering where is the room model from.
Is the room model from scanned real world?
Could you teach how to make or get the room model? Any article hints are fine.
I'll really appreciate that. Thank you.
using vins fusion slam
@matlabbe
Hello, I am trying to use vio with vins fusion and mapping with rtabmap using this good code.
I downloaded the rtabmap source and set vinsFusion=On to complete the installation. But can you tell me the launch file to use this vins fusion as odom?
I made settings related to vins and odometry in arg, but it doesn't work
Python Update
Using python 3.8
rotor_tf script
#!/usr/bin/env python
->
#!/usr/bin/env python3
not sure if it's worth changing in this repo
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.