robin-shaun / xtdrone Goto Github PK
View Code? Open in Web Editor NEWUAV Simulation Platform based on PX4, ROS and Gazebo
License: MIT License
UAV Simulation Platform based on PX4, ROS and Gazebo
License: MIT License
gazebo的版本是9,运行roslaunch px4 indoor1.launch后,gazebo弹出,但是黑屏,之后意外关闭,终端出现以下信息:
[gazebo_gui-3] process has died [pid 18863, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/j/.ros/log/9080dbae-afe9-11ec-9ce2-08d23e6b72d6/gazebo_gui-3.log].
log file: /home/j/.ros/log/9080dbae-afe9-11ec-9ce2-08d23e6b72d6/gazebo_gui-3*.log
这是啥原因呢
sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp:633:11: error: ‘class gazebo::GimbalControllerPlugin’ has no member named ‘yawPub’; did you mean ‘yawPid’?
633 | this->yawPub->Publish(m);
| ^~~~~~
| yawPid
ninja: build stopped: subcommand failed.
FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-build /home/chc/PX4-Autopilot/build/px4_sitl_default/external/Stamp/sitl_gazebo/sitl_gazebo-build
cd /home/chc/PX4-Autopilot/build/px4_sitl_default/build_gazebo && /usr/bin/cmake --build /home/chc/PX4-Autopilot/build/px4_sitl_default/build_gazebo -- -j 5
ninja: build stopped: subcommand failed.
make: *** [Makefile:235:px4_sitl] 错误 1
Hi every body
I am trying to run "Target Detection and Tracking" simulation and was following user manual.
all thing seam be true but in simulation the robot has a unstable state and also in terminal i receive this error:
[ERROR] [1622446206.213580231, 2638.188000000]: FCU: Onboard controller lost
what is wrong?
another question is that the camera view has very lag! is it for my system performance?
thanks for you
6架无人机仿真有一到两架MAVROS与SITL通信失败,请问可能是什么原因?
I got some problems when I run ‘roslaunch px4 mavros_posix_sitl.launch’. It can be executed with no error and turn up the world and iris in gazebo correctly but cannot connect to the QGC.
terminal message under 'roslaunch px4 mavros_posix_sitl.launch'
`quantumy@quantumy:~/catkin_wss/mavros_offboard_ws$ roslaunch px4 mavros_posix_sitl.launch
... logging to /home/quantumy/.ros/log/bd0c116c-e08f-11ec-b423-a1f798d135f7/roslaunch-quantumy-53056.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://quantumy:38523/
CLEAR PARAMETERS
PARAMETERS
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
sitl (px4/px4)
vehicle_spawn_quantumy_53056_6905434312799540180 (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [53079]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to bd0c116c-e08f-11ec-b423-a1f798d135f7
process[rosout-1]: started with pid [53104]
started core service [/rosout]
process[sitl-2]: started with pid [53112]
INFO [px4] Creating symlink /home/quantumy/PX4-Firmware/ROMFS/px4fmu_common -> /home/quantumy/.ros/etc
| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /| |
| | / /^\ \ ___ |
_| / / |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [53124]
process[gazebo_gui-4]: started with pid [53134]
INFO [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
process[vehicle_spawn_quantumy_53056_6905434312799540180-5]: started with pid [53145]
SYS_AUTOCONFIG: curr: 0 -> new: 1
process[mavros-6]: started with pid [53151]
I suppose that I configure the mavros correctly by ‘roslaunch mavros px4.launch fcu_url:=“udp://:[email protected]:14557”’ and I also have the correct source in the ~/.bashrc
source /opt/ros/noetic/setup.bash source ~/catkin_wss/catkin_ws_XTDrone/devel/setup.bash source ~/PX4-Firmware/Tools/setup_gazebo.bash ~/PX4-Firmware ~/PX4-Firmware/build/posix_sitl_default export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Firmware export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Firmware/Tools/sitl_gazebo
I can also execute ‘make px4_sitl_default gazebo’ correctly with QGC auto-connected.
Could you please give some advice? I really appreciate any help you can provide.
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
我想请问一下是摄像头没有tf坐标吗。还是我哪里配置有问题。我发现没有坐标变换,没有办法去做vins
老师您好,我想在最新的px4上使用本项目,看到项目文档还是旧版本的px4, 想问既然没有时间办法维护,为何不直接推送到px4官方?
I am trying to replicate this work using Airsim.
I didn't know how to take the imu values from airsim. So, can I use imu from MAVROS instead of Gazebo?
#imu_topic: "/iris_0/imu_gazebo"
imu_topic: "/mavros/imu/data"
I am really new to drones was following the xt-drone manual for ros. It seems the site is not working for yolo installation. I would to use your library with multiple drones for multiple object tracking.After checking it seems the file has been moved to control. Any hint or help is greatly appreciated.
https://www.yuque.com/xtdrone/manual_en/target_detection_tracking
cp -r ~/XTDrone/sensing/object_detection_and_tracking/YOLO/* ~/catkin_ws/src/
老师,我看我们的项目中的起飞过程都是键盘控制的,直接把这个过程写进飞控代码中可以吗?怎么实现呢?
Resource not found: The following package was not found in : mavlink_sitl_gazebo
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/j/catkin_ws/src
ROS path [2]=/opt/ros/melodic/share
ROS path [3]=/home/j/catkin_ws/src/PX4_Firmware
ROS path [4]=/home/j/PX4_Firmware/Tools/sitl_gazebo
The traceback for the exception was written to the log file
此为运行roslaunch px4 indoor1.launch的报错指令,请问是啥原因
gdutelc@gdutelc:~/PX4_Firmware$ make px4_sitl_default gazebo
-- PX4 version: v1.11.0-beta1
-- PX4 config file: /home/gdutelc/PX4_Firmware/boards/px4/sitl/default.cmake
-- PX4 config: px4_sitl_default
-- PX4 platform: posix
-- PX4 lockstep: enabled
-- cmake build type: RelWithDebInfo
-- The CXX compiler identification is GNU 9.3.0
-- The C compiler identification is GNU 9.3.0
-- The ASM compiler identification is GNU
-- Found assembler: /usr/bin/cc
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Building for code coverage
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- build type is RelWithDebInfo
-- PX4 ECL: Very lightweight Estimation & Control Library v1.9.0-rc1-255-g47624a0
-- Configuring done
-- Generating done
-- Build files have been written to: /home/gdutelc/PX4_Firmware/build/px4_sitl_default
[0/740] git submodule src/drivers/gps/devices
[2/740] git submodule src/lib/ecl
[8/740] git submodule mavlink/include/mavlink/v2.0
[9/740] git submodule Tools/sitl_gazebo
[18/740] Performing configure step for 'sitl_gazebo'
-- install-prefix: /usr/local
-- The C compiler identification is GNU 9.3.0
-- The CXX compiler identification is GNU 9.3.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Performing Test COMPILER_SUPPORTS_CXX17
-- Performing Test COMPILER_SUPPORTS_CXX17 - Success
-- Performing Test COMPILER_SUPPORTS_CXX14
-- Performing Test COMPILER_SUPPORTS_CXX14 - Success
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Using C++17 compiler
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.58") found components: system thread filesystem
CMake Warning (dev) at /opt/cmake-3.22.0-linux-x86_64/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
The package name passed to `find_package_handle_standard_args` (PkgConfig)
does not match the name of the calling package (gazebo). This can lead to
problems in calling code that expects `find_package` result variables
(e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
/opt/cmake-3.22.0-linux-x86_64/share/cmake-3.22/Modules/FindPkgConfig.cmake:99 (find_package_handle_standard_args)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:72 (include)
CMakeLists.txt:32 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- Checking for module 'bullet>=2.82'
-- Found bullet, version 2.88
-- Found ccd: /usr/include (found suitable version "2.0", minimum required is "2.0")
-- Found fcl: /usr/include (found suitable version "0.5.0", minimum required is "0.3.2")
-- Found assimp: /usr/include (found version "5.0.0")
-- Found DART: /usr/include (Required is at least version "6.6") found components: dart
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.40.0") found components: thread system filesystem program_options regex iostreams date_time
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.6.1")
-- Looking for ignition-math6 -- found version 6.9.2
-- Searching for dependencies of ignition-math6
-- Looking for OGRE...
-- OGRE_PREFIX_WATCH changed.
-- Checking for module 'OGRE'
-- Found OGRE, version 1.9.0
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
-- Looking for ignition-math6 -- found version 6.9.2
-- Looking for ignition-transport8 -- found version 8.2.1
-- Searching for dependencies of ignition-transport8
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found suitable version "3.6.1", minimum required is "3")
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
-- Found libzmq , version 4.3.2
-- Found ZeroMQ: TRUE (Required is at least version "4")
-- Checking for module 'uuid'
-- Found uuid, version 2.34.0
-- Found UUID: TRUE
-- Looking for ignition-msgs5 -- found version 5.8.1
-- Searching for dependencies of ignition-msgs5
-- Looking for ignition-math6 -- found version 6.9.2
-- Checking for module 'tinyxml2'
-- Found tinyxml2, version 6.2.0
-- Looking for ignition-msgs5 -- found version 5.8.1
-- Looking for ignition-common3 -- found version 3.14.0
-- Searching for dependencies of ignition-common3
-- Looking for dlfcn.h - found
-- Looking for libdl - found
-- Found DL: TRUE
-- Searching for <ignition-common3> component [graphics]
-- Looking for ignition-common3-graphics -- found version 3.14.0
-- Searching for dependencies of ignition-common3-graphics
-- Looking for ignition-math6 -- found version 6.9.2
-- Looking for ignition-fuel_tools4 -- found version 4.4.0
-- Searching for dependencies of ignition-fuel_tools4
-- Found CURL: /usr/lib/x86_64-linux-gnu/libcurl.so (found version "7.68.0")
-- Checking for module 'jsoncpp'
-- Found jsoncpp, version 1.7.4
-- Found JSONCPP: TRUE
-- Checking for module 'yaml-0.1'
-- Found yaml-0.1, version 0.2.2
-- Found YAML: TRUE
-- Checking for module 'libzip'
-- Found libzip, version 1.5.1
-- Found ZIP: TRUE
-- Looking for ignition-common3 -- found version 3.14.0
-- Looking for ignition-math6 -- found version 6.9.2
-- Looking for ignition-msgs5 -- found version 5.8.1
CMake Error at CMakeLists.txt:34 (find_program):
Could not find px4 using the following names:
-- Configuring incomplete, errors occurred!
See also "/home/gdutelc/PX4_Firmware/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeOutput.log".
See also "/home/gdutelc/PX4_Firmware/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeError.log".
[175/740] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/ulog_stream.cpp.o
FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-configure /home/gdutelc/PX4_Firmware/build/px4_sitl_default/external/Stamp/sitl_gazebo/sitl_gazebo-configure
cd /home/gdutelc/PX4_Firmware/build/px4_sitl_default/build_gazebo && /opt/cmake-3.22.0-linux-x86_64/bin/cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DSEND_VISION_ESTIMATION_DATA=ON -GNinja /home/gdutelc/PX4_Firmware/Tools/sitl_gazebo && /opt/cmake-3.22.0-linux-x86_64/bin/cmake -E touch /home/gdutelc/PX4_Firmware/build/px4_sitl_default/external/Stamp/sitl_gazebo/sitl_gazebo-configure
[189/740] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/ulog_stream.cpp.o
ninja: build stopped: subcommand failed.
make: *** [Makefile:200:px4_sitl_default] 错误 1
这里显示我遇到个cmake文件不完整的问题,但是并没有告诉我少了什么
以下是我的尝试
从github和gitee下载它
尝试过make clean
ubuntu 20.04
我使用的ros如下:
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.15.9
precision_landing.py文件里面
写的是tfstamped = tfBuffer.lookup_transform('tag_'+vehicle_id, 'map', rospy.Time(0))
坐标系取反了
应该是
tfstamped = tfBuffer.lookup_transform('map', 'tag_'+vehicle_id, rospy.Time(0))
往前走直线的时候看不出
一转弯你们的就挂了
赶紧改了把别浪费更多人时间
~/XTDrone/motion_planning/2d/launch/2d_motion_planning.launch文件的行
<arg name="motion_planning" default="/home/mch/XTDrone/motion_planning/2d/"/>
应改为
<arg name="motion_planning" default="/home/mch/XTDrone/motion_planning/2d"/>
而不仅仅是改名字
RLException: while processing /home/sjtu402/PX4_Tools/Firmware/launch/single_vehicle_spawn_xtd.launch:
Invalid tag: Cannot load command parameter [model_description]: no such command [['xmlstarlet', 'ed', '-d', '//plugin[@name="mavlink_interface"]/mavlink_tcp_port', '-s', '//plugin[@name="mavlink_interface"]', '-t', 'elem', '-n', 'mavlink_tcp_port', '-v', '4560', '/home/sjtu402/PX4_Tools/Firmware/Tools/sitl_gazebo/models/solo_stereo_camera/solo_stereo_camera.sdf']].
Param xml is
The traceback for the exception was written to the log file
老师,请问这种错误怎么解决
老师,这套程序有cpp程序的版本吗
Hello, I tried to run a tutorial, "2D Laser SLAM Simulation" with PX4 firmware v1.11.0-beta1. "roslaunch px4 indoor3.launch" has been executed followed by "roslaunch laser_scan_matcher matcher.launch" in another terminal. I got this error message.
[ WARN] [1589863460.597277470, 2451.336000000]: Skipping scan
[ WARN] [1589863461.607689665, 2452.344000000]: Could not get initial transform from base to laser frame, "iris_0/laser" passed to lookupTransform argument source_frame does not exist.
Nothing appeared in rviz (no expected result as a picture in the tutorial). LaserScan shown status error as "For frame [iris_0/laser]: Frame [iris_0/laser] does not exist" and TF shown warning as "For frame [iris_0/laser]: Frame [iris_0/laser] does not exist".
I really appreciate your help!
[gazebo-2] process has died [pid 3850, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/zdk/PX4_Firmware/Tools/sitl_gazebo/worlds/indoor1.world __name:=gazebo __log:=/home/zdk/.ros/log/01fcf3ec-53b1-11ed-bc97-d8bbc19da8dd/gazebo-2.log].
log file: /home/zdk/.ros/log/01fcf3ec-53b1-11ed-bc97-d8bbc19da8dd/gazebo-2*.log
Aborted (core dumped)
[gazebo_gui-3] process has died [pid 3852, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/zdk/.ros/log/01fcf3ec-53b1-11ed-bc97-d8bbc19da8dd/gazebo_gui-3.log].
log file: /home/zdk/.ros/log/01fcf3ec-53b1-11ed-bc97-d8bbc19da8dd/gazebo_gui-3*.log
我运行make px4_sitl_default gazebo出现了以下错误:
CMake Error at CMakeLists.txt:32 (find_package):
By not providing "Findgazebo.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "gazebo", but
CMake did not find one.
Could not find a package configuration file provided by "gazebo" with any
of the following names:
gazeboConfig.cmake
gazebo-config.cmake
Add the installation prefix of "gazebo" to CMAKE_PREFIX_PATH or set
"gazebo_DIR" to a directory containing one of the above files. If "gazebo"
provides a separate development package or SDK, be sure it has been
installed.
不好意思請問一下 當我在執行多無人機編隊的仿真時,啟用multirotor_keyboard_control.py這個檔案時,
執行 bash multi_vehicle_communication.sh的終端機會報下列錯誤:
請問該如何解決 ?
[ERROR] [1658131676.966918, 29.630000]: bad callback: <bound method Communication.cmd_vel_flu_callback of <main.Communication instance at 0x7f9c2f80a0>>
Traceback (most recent call last):
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "multirotor_communication.py", line 112, in cmd_vel_flu_callback
self.hover_state_transition(msg.linear.x, msg.linear.y, msg.linear.z, msg.angular.z)
File "multirotor_communication.py", line 146, in hover_state_transition
self.hover()
File "multirotor_communication.py", line 195, in hover
self.target_motion = self.construct_target(x=self.current_position.x,y=self.current_position.y,z=self.current_position.z,yaw=self.current_yaw)
AttributeError: 'NoneType' object has no attribute 'x'
[ERROR] [1658131676.967896, 29.632000]: bad callback: <bound method Communication.cmd_vel_flu_callback of <main.Communication instance at 0x7fa9e09780>>
Traceback (most recent call last):
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "multirotor_communication.py", line 112, in cmd_vel_flu_callback
self.hover_state_transition(msg.linear.x, msg.linear.y, msg.linear.z, msg.angular.z)
File "multirotor_communication.py", line 146, in hover_state_transition
self.hover()
File "multirotor_communication.py", line 195, in hover
self.target_motion = self.construct_target(x=self.current_position.x,y=self.current_position.y,z=self.current_position.z,yaw=self.current_yaw)
AttributeError: 'NoneType' object has no attribute 'x'
[ERROR] [1658131676.972427, 29.632000]: bad callback: <bound method Communication.cmd_vel_flu_callback of <main.Communication instance at 0x7f782bda50>>
Traceback (most recent call last):
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "multirotor_communication.py", line 112, in cmd_vel_flu_callback
self.hover_state_transition(msg.linear.x, msg.linear.y, msg.linear.z, msg.angular.z)
File "multirotor_communication.py", line 146, in hover_state_transition
self.hover()
File "multirotor_communication.py", line 195, in hover
self.target_motion = self.construct_target(x=self.current_position.x,y=self.current_position.y,z=self.current_position.z,yaw=self.current_yaw)
AttributeError: 'NoneType' object has no attribute 'x'
[ERROR] [1658131676.974050, 29.632000]: bad callback: <bound method Communication.cmd_vel_flu_callback of <main.Communication instance at 0x7fb1b680a0>>
Traceback (most recent call last):
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "multirotor_communication.py", line 112, in cmd_vel_flu_callback
self.hover_state_transition(msg.linear.x, msg.linear.y, msg.linear.z, msg.angular.z)
File "multirotor_communication.py", line 146, in hover_state_transition
self.hover()
File "multirotor_communication.py", line 195, in hover
self.target_motion = self.construct_target(x=self.current_position.x,y=self.current_position.y,z=self.current_position.z,yaw=self.current_yaw)
AttributeError: 'NoneType' object has no attribute 'x'
[ERROR] [1658131676.970412, 29.632000]: bad callback: <bound method Communication.cmd_vel_flu_callback of <main.Communication instance at 0x7f8db19c30>>
Traceback (most recent call last):
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "multirotor_communication.py", line 112, in cmd_vel_flu_callback
self.hover_state_transition(msg.linear.x, msg.linear.y, msg.linear.z, msg.angular.z)
File "multirotor_communication.py", line 146, in hover_state_transition
self.hover()
File "multirotor_communication.py", line 195, in hover
self.target_motion = self.construct_target(x=self.current_position.x,y=self.current_position.y,z=self.current_position.z,yaw=self.current_yaw)
AttributeError: 'NoneType' object has no attribute 'x'
[ERROR] [1658131676.976495, 29.632000]: bad callback: <bound method Communication.cmd_vel_flu_callback of <main.Communication instance at 0x7f917cc9b0>>
Traceback (most recent call last):
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "multirotor_communication.py", line 112, in cmd_vel_flu_callback
self.hover_state_transition(msg.linear.x, msg.linear.y, msg.linear.z, msg.angular.z)
File "multirotor_communication.py", line 146, in hover_state_transition
self.hover()
File "multirotor_communication.py", line 195, in hover
self.target_motion = self.construct_target(x=self.current_position.x,y=self.current_position.y,z=self.current_position.z,yaw=self.current_yaw)
AttributeError: 'NoneType' object has no attribute 'x'
您好,我在按照教程执行到:make px4_sitl_default gazebo时,查看错误日志出现报错:cannot find -lpthreads,我本想改成-lpthread 可找不到在哪个CMakeLists.txt中修改,请问这个问题怎么解决比较合适?
这错误排查了我好久……
正常ROS自己装的gazebo打开urdf模型是好的,但我按教程删除了gazebo_ros包编译了你们的之后就打开urdf模型出错了
[robot_1/spawn_urdf-8] process has died [pid 25248, exit code 1, cmd /home/cui/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model -urdf -model robot_1 -x -3.5 -y 3.5 -z 0.0 -Y 0.0 -param robot_description __name:=spawn_urdf __log:=/home/cui/.ros/log/5ce78aa0-54e8-11ed-abd5-0013ef5f1159/robot_1-spawn_urdf-8.log].
from tf.transformations import quaternion_from_euler
from tf.transformations import quaternion_from_euler
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/init.py", line 30, in
from tf.transformations import quaternion_from_euler
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/init.py", line 30, in
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/init.py", line 30, in
from tf.transformations import quaternion_from_euler
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/init.py", line 30, in
from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException
from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/init.py", line 38, in
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/init.py", line 38, in
from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/init.py", line 38, in
from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException
from tf2_py import *
from tf2_py import *
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/init.py", line 38, in
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_py/init.py", line 38, in
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_py/init.py", line 38, in
from tf2_py import *
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_py/init.py", line 38, in
from ._tf2 import *
from ._tf2 import *
ImportError: dynamic module does not define module export function (PyInit__tf2)
ImportError: dynamic module does not define module export function (PyInit__tf2)
系统:WSL2-Ubuntu18
VINS-Fusion 官方DEMO已跑通
XTDrone键盘控制也没问题...
飞控EKF已按照教程设置为视觉定位:
# GPS used
#param set EKF2_AID_MASK 1
# Vision used and GPS denied
param set EKF2_AID_MASK 24
# Barometer used for hight measurement
#param set EKF2_HGT_MODE 0
# Barometer denied and vision used for hight measurement
param set EKF2_HGT_MODE 3
运行记录如下:
❯ roslaunch px4 indoor1.launch
... logging to /home/i/.ros/log/43386a1a-59c6-11ed-a997-00155df5312e/roslaunch-PC-i-5072.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://PC-i:46361/
SUMMARY
========
CLEAR PARAMETERS
* /iris_0/mavros/
PARAMETERS
* /gazebo/enable_ros_network: True
* /iris_0/mavros/camera/frame_id: base_link
* /iris_0/mavros/cmd/use_comp_id_system_control: False
* /iris_0/mavros/conn/heartbeat_rate: 1.0
* /iris_0/mavros/conn/system_time_rate: 1.0
* /iris_0/mavros/conn/timeout: 10.0
* /iris_0/mavros/conn/timesync_rate: 10.0
* /iris_0/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /iris_0/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /iris_0/mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /iris_0/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /iris_0/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /iris_0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /iris_0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /iris_0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /iris_0/mavros/distance_sensor/laser_1_sub/id: 3
* /iris_0/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /iris_0/mavros/distance_sensor/laser_1_sub/subscriber: True
* /iris_0/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /iris_0/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /iris_0/mavros/distance_sensor/lidarlite_pub/id: 1
* /iris_0/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /iris_0/mavros/distance_sensor/lidarlite_pub/send_tf: True
* /iris_0/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /iris_0/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /iris_0/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /iris_0/mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
* /iris_0/mavros/distance_sensor/sonar_1_sub/id: 2
* /iris_0/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /iris_0/mavros/distance_sensor/sonar_1_sub/subscriber: True
* /iris_0/mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
* /iris_0/mavros/fake_gps/eph: 2.0
* /iris_0/mavros/fake_gps/epv: 2.0
* /iris_0/mavros/fake_gps/fix_type: 3
* /iris_0/mavros/fake_gps/geo_origin/alt: 408.0
* /iris_0/mavros/fake_gps/geo_origin/lat: 47.3667
* /iris_0/mavros/fake_gps/geo_origin/lon: 8.55
* /iris_0/mavros/fake_gps/gps_rate: 5.0
* /iris_0/mavros/fake_gps/mocap_transform: True
* /iris_0/mavros/fake_gps/satellites_visible: 5
* /iris_0/mavros/fake_gps/tf/child_frame_id: fix
* /iris_0/mavros/fake_gps/tf/frame_id: map
* /iris_0/mavros/fake_gps/tf/listen: False
* /iris_0/mavros/fake_gps/tf/rate_limit: 10.0
* /iris_0/mavros/fake_gps/tf/send: False
* /iris_0/mavros/fake_gps/use_mocap: True
* /iris_0/mavros/fake_gps/use_vision: False
* /iris_0/mavros/fcu_protocol: v2.0
* /iris_0/mavros/fcu_url: udp://:24540@loca...
* /iris_0/mavros/gcs_url:
* /iris_0/mavros/global_position/child_frame_id: base_link
* /iris_0/mavros/global_position/frame_id: map
* /iris_0/mavros/global_position/gps_uere: 1.0
* /iris_0/mavros/global_position/rot_covariance: 99999.0
* /iris_0/mavros/global_position/tf/child_frame_id: base_link
* /iris_0/mavros/global_position/tf/frame_id: map
* /iris_0/mavros/global_position/tf/global_frame_id: earth
* /iris_0/mavros/global_position/tf/send: False
* /iris_0/mavros/global_position/use_relative_alt: True
* /iris_0/mavros/image/frame_id: px4flow
* /iris_0/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
* /iris_0/mavros/imu/frame_id: base_link
* /iris_0/mavros/imu/linear_acceleration_stdev: 0.0003
* /iris_0/mavros/imu/magnetic_stdev: 0.0
* /iris_0/mavros/imu/orientation_stdev: 1.0
* /iris_0/mavros/landing_target/camera/fov_x: 2.0071286398
* /iris_0/mavros/landing_target/camera/fov_y: 2.0071286398
* /iris_0/mavros/landing_target/image/height: 480
* /iris_0/mavros/landing_target/image/width: 640
* /iris_0/mavros/landing_target/land_target_type: VISION_FIDUCIAL
* /iris_0/mavros/landing_target/listen_lt: False
* /iris_0/mavros/landing_target/mav_frame: LOCAL_NED
* /iris_0/mavros/landing_target/target_size/x: 0.3
* /iris_0/mavros/landing_target/target_size/y: 0.3
* /iris_0/mavros/landing_target/tf/child_frame_id: camera_center
* /iris_0/mavros/landing_target/tf/frame_id: landing_target
* /iris_0/mavros/landing_target/tf/listen: False
* /iris_0/mavros/landing_target/tf/rate_limit: 10.0
* /iris_0/mavros/landing_target/tf/send: True
* /iris_0/mavros/local_position/frame_id: map
* /iris_0/mavros/local_position/tf/child_frame_id: base_link
* /iris_0/mavros/local_position/tf/frame_id: map
* /iris_0/mavros/local_position/tf/send: False
* /iris_0/mavros/local_position/tf/send_fcu: False
* /iris_0/mavros/mission/pull_after_gcs: True
* /iris_0/mavros/mission/use_mission_item_int: True
* /iris_0/mavros/mocap/use_pose: True
* /iris_0/mavros/mocap/use_tf: False
* /iris_0/mavros/odometry/fcu/odom_child_id_des: base_link
* /iris_0/mavros/odometry/fcu/odom_parent_id_des: map
* /iris_0/mavros/plugin_blacklist: ['safety_area', '...
* /iris_0/mavros/plugin_whitelist: []
* /iris_0/mavros/px4flow/frame_id: px4flow
* /iris_0/mavros/px4flow/ranger_fov: 0.118682
* /iris_0/mavros/px4flow/ranger_max_range: 5.0
* /iris_0/mavros/px4flow/ranger_min_range: 0.3
* /iris_0/mavros/safety_area/p1/x: 1.0
* /iris_0/mavros/safety_area/p1/y: 1.0
* /iris_0/mavros/safety_area/p1/z: 1.0
* /iris_0/mavros/safety_area/p2/x: -1.0
* /iris_0/mavros/safety_area/p2/y: -1.0
* /iris_0/mavros/safety_area/p2/z: -1.0
* /iris_0/mavros/setpoint_accel/send_force: False
* /iris_0/mavros/setpoint_attitude/reverse_thrust: False
* /iris_0/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /iris_0/mavros/setpoint_attitude/tf/frame_id: map
* /iris_0/mavros/setpoint_attitude/tf/listen: False
* /iris_0/mavros/setpoint_attitude/tf/rate_limit: 50.0
* /iris_0/mavros/setpoint_attitude/use_quaternion: False
* /iris_0/mavros/setpoint_position/mav_frame: LOCAL_NED
* /iris_0/mavros/setpoint_position/tf/child_frame_id: target_position
* /iris_0/mavros/setpoint_position/tf/frame_id: map
* /iris_0/mavros/setpoint_position/tf/listen: False
* /iris_0/mavros/setpoint_position/tf/rate_limit: 50.0
* /iris_0/mavros/setpoint_raw/thrust_scaling: 1.0
* /iris_0/mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /iris_0/mavros/startup_px4_usb_quirk: True
* /iris_0/mavros/sys/disable_diag: False
* /iris_0/mavros/sys/min_voltage: 10.0
* /iris_0/mavros/target_component_id: 1
* /iris_0/mavros/target_system_id: 1
* /iris_0/mavros/tdr_radio/low_rssi: 40
* /iris_0/mavros/time/time_ref_source: fcu
* /iris_0/mavros/time/timesync_avg_alpha: 0.6
* /iris_0/mavros/time/timesync_mode: MAVLINK
* /iris_0/mavros/vibration/frame_id: base_link
* /iris_0/mavros/vision_pose/tf/child_frame_id: vision_estimate
* /iris_0/mavros/vision_pose/tf/frame_id: odom
* /iris_0/mavros/vision_pose/tf/listen: False
* /iris_0/mavros/vision_pose/tf/rate_limit: 10.0
* /iris_0/mavros/vision_speed/listen_twist: True
* /iris_0/mavros/vision_speed/twist_cov: True
* /iris_0/mavros/wheel_odometry/child_frame_id: base_link
* /iris_0/mavros/wheel_odometry/count: 2
* /iris_0/mavros/wheel_odometry/frame_id: odom
* /iris_0/mavros/wheel_odometry/send_raw: True
* /iris_0/mavros/wheel_odometry/send_twist: False
* /iris_0/mavros/wheel_odometry/tf/child_frame_id: base_link
* /iris_0/mavros/wheel_odometry/tf/frame_id: odom
* /iris_0/mavros/wheel_odometry/tf/send: False
* /iris_0/mavros/wheel_odometry/use_rpm: False
* /iris_0/mavros/wheel_odometry/vel_error: 0.1
* /iris_0/mavros/wheel_odometry/wheel0/radius: 0.05
* /iris_0/mavros/wheel_odometry/wheel0/x: 0.0
* /iris_0/mavros/wheel_odometry/wheel0/y: -0.15
* /iris_0/mavros/wheel_odometry/wheel1/radius: 0.05
* /iris_0/mavros/wheel_odometry/wheel1/x: 0.0
* /iris_0/mavros/wheel_odometry/wheel1/y: 0.15
* /iris_0/model_description: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.13
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
/iris_0/
iris_0_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_0 (px4/px4)
auto-starting new master
process[master]: started with pid [5094]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 43386a1a-59c6-11ed-a997-00155df5312e
process[rosout-1]: started with pid [5116]
started core service [/rosout]
process[gazebo-2]: started with pid [5124]
process[gazebo_gui-3]: started with pid [5128]
process[iris_0/sitl_0-4]: started with pid [5193]
INFO [px4] Creating symlink /home/i/PX4_Firmware/ROMFS/px4fmu_common -> /home/i/.ros/sitl_iris_0/etc
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[iris_0/iris_0_spawn-5]: started with pid [5207]
INFO [param] selected parameter default file eeprom/parameters_10016
[param] Loaded: eeprom/parameters_10016
process[iris_0/mavros-6]: started with pid [5216]
ERROR [param] Parameter COM_CPU_MAX not found.
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] [1667294359.064611446]: FCU URL: udp://:24540@localhost:34580
[ INFO] [1667294359.066723358]: udp0: Bind address: 0.0.0.0:24540
[ INFO] [1667294359.066782111]: udp0: Remote address: 127.0.0.1:34580
[ INFO] [1667294359.066857601]: GCS bridge disabled
[ INFO] [1667294359.081819371]: Plugin 3dr_radio loaded
[ INFO] [1667294359.082780344]: Plugin 3dr_radio initialized
[ INFO] [1667294359.083002486]: Plugin actuator_control loaded
[ INFO] [1667294359.085407621]: Plugin actuator_control initialized
[ INFO] [1667294359.087258261]: Plugin adsb loaded
[ INFO] [1667294359.088746993]: Plugin adsb initialized
[ INFO] [1667294359.088835672]: Plugin altitude loaded
[ INFO] [1667294359.089467639]: Plugin altitude initialized
[ INFO] [1667294359.089530516]: Plugin cam_imu_sync loaded
[ INFO] [1667294359.089831105]: Plugin cam_imu_sync initialized
[ INFO] [1667294359.089890348]: Plugin camera loaded
[ INFO] [1667294359.090235994]: Plugin camera initialized
[ INFO] [1667294359.090347438]: Plugin command loaded
[ INFO] [1667294359.094173464]: Plugin command initialized
[ INFO] [1667294359.094280238]: Plugin companion_process_status loaded
[ INFO] [1667294359.095647667]: Plugin companion_process_status initialized
[ INFO] [1667294359.095769149]: Plugin debug_value loaded
[ INFO] [1667294359.097945790]: Plugin debug_value initialized
[ INFO] [1667294359.097985219]: Plugin distance_sensor blacklisted
[ INFO] [1667294359.098038985]: Plugin esc_status loaded
[ INFO] [1667294359.098593271]: Plugin esc_status initialized
[ INFO] [1667294359.098685690]: Plugin esc_telemetry loaded
[ INFO] [1667294359.099098401]: Plugin esc_telemetry initialized
[ INFO] [1667294359.099182100]: Plugin fake_gps loaded
[ INFO] [1667294359.105664167]: Plugin fake_gps initialized
[ INFO] [1667294359.105801610]: Plugin ftp loaded
[ INFO] [1667294359.108798863]: Plugin ftp initialized
[ INFO] [1667294359.108911647]: Plugin geofence loaded
[ INFO] [1667294359.110177502]: Plugin geofence initialized
[ INFO] [1667294359.110398165]: Plugin global_position loaded
[ INFO] [1667294359.117149708]: Plugin global_position initialized
[ INFO] [1667294359.117318708]: Plugin gps_input loaded
[ INFO] [1667294359.119012359]: Plugin gps_input initialized
[ INFO] [1667294359.119094919]: Plugin gps_rtk loaded
[ INFO] [1667294359.120224085]: Plugin gps_rtk initialized
[ INFO] [1667294359.120296090]: Plugin gps_status loaded
[ INFO] [1667294359.121277955]: Plugin gps_status initialized
[ INFO] [1667294359.121490898]: Plugin hil loaded
[ INFO] [1667294359.127430516]: Plugin hil initialized
[ INFO] [1667294359.127577690]: Plugin home_position loaded
[ INFO] [1667294359.129072415]: Plugin home_position initialized
[ INFO] [1667294359.129231265]: Plugin imu loaded
[ INFO] [1667294359.132635391]: Plugin imu initialized
[ INFO] [1667294359.132784959]: Plugin landing_target loaded
[ INFO] [1667294359.144832729]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1667294359.147197921]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1667294359.150905628]: Plugin landing_target initialized
[ INFO] [1667294359.151097777]: Plugin local_position loaded
[ INFO] [1667294359.160594889]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1667294359.160648377]: Plugin local_position initialized
[ INFO] [1667294359.160766082]: Plugin log_transfer loaded
[ INFO] [1667294359.164684804]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1667294359.166136095]: Plugin log_transfer initialized
[ INFO] [1667294359.166239593]: Plugin mag_calibration_status loaded
[ INFO] [1667294359.166942072]: Plugin mag_calibration_status initialized
[ INFO] [1667294359.167102091]: Plugin manual_control loaded
[ INFO] [1667294359.169785060]: Plugin manual_control initialized
[ INFO] [1667294359.169905607]: Plugin mocap_pose_estimate loaded
[ INFO] [1667294359.172528355]: Plugin mocap_pose_estimate initialized
[ INFO] [1667294359.172646955]: Plugin mount_control loaded
[ INFO] [1667294359.174981631]: Plugin mount_control initialized
[ INFO] [1667294359.175095267]: Plugin nav_controller_output loaded
[ INFO] [1667294359.175478227]: Plugin nav_controller_output initialized
[ INFO] [1667294359.175559231]: Plugin obstacle_distance loaded
[ INFO] [1667294359.177383800]: Plugin obstacle_distance initialized
[ INFO] [1667294359.177488791]: Plugin odom loaded
[ INFO] [1667294359.179538038]: Plugin odom initialized
[ INFO] [1667294359.179632376]: Plugin onboard_computer_status loaded
[ INFO] [1667294359.181138475]: Plugin onboard_computer_status initialized
[ INFO] [1667294359.181400451]: Plugin param loaded
[ INFO] [1667294359.183075326]: Plugin param initialized
[ INFO] [1667294359.183160815]: Plugin play_tune loaded
[ INFO] [1667294359.184456337]: Plugin play_tune initialized
[ INFO] [1667294359.184542326]: Plugin px4flow loaded
[ INFO] [1667294359.189684784]: Plugin px4flow initialized
[ INFO] [1667294359.189893906]: Plugin rallypoint loaded
[ INFO] [1667294359.191553026]: Plugin rallypoint initialized
[ INFO] [1667294359.191598395]: Plugin rangefinder blacklisted
[ INFO] [1667294359.191754636]: Plugin rc_io loaded
[ INFO] [1667294359.193662117]: Plugin rc_io initialized
[ INFO] [1667294359.193702013]: Plugin safety_area blacklisted
[ INFO] [1667294359.193824479]: Plugin setpoint_accel loaded
[ INFO] [1667294359.195176920]: Plugin setpoint_accel initialized
[ INFO] [1667294359.195422472]: Plugin setpoint_attitude loaded
[ INFO] [1667294359.200252909]: Plugin setpoint_attitude initialized
[ INFO] [1667294359.200398865]: Plugin setpoint_position loaded
[ INFO] [1667294359.208777400]: Plugin setpoint_position initialized
[ INFO] [1667294359.208918274]: Plugin setpoint_raw loaded
[ INFO] [1667294359.214604508]: Plugin setpoint_raw initialized
[ INFO] [1667294359.214767399]: Plugin setpoint_trajectory loaded
[ INFO] [1667294359.217520762]: Plugin setpoint_trajectory initialized
[ INFO] [1667294359.217654727]: Plugin setpoint_velocity loaded
[ INFO] [1667294359.220858894]: Plugin setpoint_velocity initialized
[ INFO] [1667294359.221012716]: Plugin sys_status loaded
[ INFO] [1667294359.226702068]: Plugin sys_status initialized
[ INFO] [1667294359.226834674]: Plugin sys_time loaded
[ INFO] [1667294359.230122228]: TM: Timesync mode: MAVLINK
[ INFO] [1667294359.230378861]: TM: Not publishing sim time
[ INFO] [1667294359.231048277]: Plugin sys_time initialized
[ INFO] [1667294359.231173210]: Plugin terrain loaded
[ INFO] [1667294359.231496572]: Plugin terrain initialized
[ INFO] [1667294359.231583752]: Plugin trajectory loaded
[ INFO] [1667294359.233635273]: Plugin trajectory initialized
[ INFO] [1667294359.233698477]: Plugin tunnel loaded
[ INFO] [1667294359.234972731]: Plugin tunnel initialized
[ INFO] [1667294359.235056411]: Plugin vfr_hud loaded
[ INFO] [1667294359.235371883]: Plugin vfr_hud initialized
[ INFO] [1667294359.235427932]: Plugin vibration blacklisted
[ INFO] [1667294359.235513682]: Plugin vision_pose_estimate loaded
[ INFO] [1667294359.238823540]: Plugin vision_pose_estimate initialized
[ INFO] [1667294359.238906284]: Plugin vision_speed_estimate loaded
[ INFO] [1667294359.240583523]: Plugin vision_speed_estimate initialized
[ INFO] [1667294359.240704754]: Plugin waypoint loaded
[ INFO] [1667294359.243046797]: Plugin waypoint initialized
[ INFO] [1667294359.243106182]: Plugin wheel_odometry blacklisted
[ INFO] [1667294359.243236945]: Plugin wind_estimation loaded
[ INFO] [1667294359.243650732]: Plugin wind_estimation initialized
[ INFO] [1667294359.243794594]: Autostarting mavlink via USB on PX4
[ INFO] [1667294359.243849288]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1667294359.243890677]: Built-in MAVLink package version: 2022.8.8
[ INFO] [1667294359.243933752]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1667294359.243974653]: MAVROS started. MY ID 1.240, TARGET ID 1.1
Warning [parser.cc:950] XML Element[friction], child of element[collision] not defined in SDF. Ignoring[friction]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[friction], child of element[collision] not defined in SDF. Ignoring[friction]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[contact], child of element[collision] not defined in SDF. Ignoring[contact]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[contact], child of element[collision] not defined in SDF. Ignoring[contact]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[contact], child of element[collision] not defined in SDF. Ignoring[contact]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[contact], child of element[collision] not defined in SDF. Ignoring[contact]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[contact], child of element[collision] not defined in SDF. Ignoring[contact]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[contact], child of element[collision] not defined in SDF. Ignoring[contact]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[friction], child of element[collision] not defined in SDF. Ignoring[friction]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[contact], child of element[collision] not defined in SDF. Ignoring[contact]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[ INFO] [1667294359.435258148]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1667294359.449140863]: Physics dynamic reconfigure ready.
[INFO] [1667294359.536306, 0.000000]: Loading model XML from ros parameter model_description
[INFO] [1667294359.544337, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[INFO] [1667294359.547759, 0.000000]: Calling service /gazebo/spawn_sdf_model
Warning [parser.cc:950] XML Element[parent], child of element[sensor] not defined in SDF. Ignoring[parent]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[ WARN] [1667294359.964843403, 1814.889000000]: missing <robotNamespace>, set to default: /iris_0/
[ INFO] [1667294359.964921345, 1814.889000000]: <topicName> set to: /iris_0/imu_gazebo
[ INFO] [1667294359.964960910, 1814.889000000]: <frameName> set to: imu_link_stereo
[ INFO] [1667294359.965006546, 1814.889000000]: <updateRateHZ> set to: 500
[ INFO] [1667294359.965047394, 1814.889000000]: <gaussianNoise> set to: 0
[ INFO] [1667294359.965117435, 1814.889000000]: <xyzOffset> set to: 0 0 0
[ INFO] [1667294359.965262063, 1814.889000000]: <rpyOffset> set to: 0 -0 0
[INFO] [1667294359.969220, 1814.889000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1667294359.977051652, 1814.889000000]: Bumper Plugin: The 'robotNamespace' param was empty
[ INFO] [1667294359.977158817, 1814.889000000]: bumper plugin missing <frameName>, defaults to world
INFO [simulator] Simulator connected on TCP port 4560.
INFO [commander] LED: open /dev/led0 failed (22)
INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
[iris_0/iris_0_spawn-5] process has finished cleanly
log file: /home/i/.ros/log/43386a1a-59c6-11ed-a997-00155df5312e/iris_0-iris_0_spawn-5*.log
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 34580 remote port 24540
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] Opened full log file: ./log/2022-11-01/09_19_20.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
[ INFO] [1667294360.279628266, 1815.049000000]: udp0: Remote address: 127.0.0.1:34580
[ INFO] [1667294360.279845981, 1815.049000000]: IMU: High resolution IMU detected!
[ INFO] [1667294360.311843924, 1815.081000000]: FCU: [logger] file:./log/2022-11-01/09_19_20.ulg
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1667294361.263282980, 1816.029000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1667294361.264207996, 1816.029000000]: 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] [1667294362.076579354, 1816.841000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1667294362.264894331, 1817.029000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1667294362.264946435, 1817.029000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1667294362.264990476, 1817.029000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1667294362.265036480, 1817.029000000]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1667294362.265066776, 1817.029000000]: VER: 1.1: Flight software: 010b0000 (746b3124ab000000)
[ INFO] [1667294362.265101726, 1817.029000000]: VER: 1.1: Middleware software: 010b0000 (746b3124ab000000)
[ INFO] [1667294362.265132324, 1817.029000000]: VER: 1.1: OS software: 050a66ff (ec417d7466666801)
[ INFO] [1667294362.265173975, 1817.029000000]: VER: 1.1: Board hardware: 00000001
[ INFO] [1667294362.265202713, 1817.029000000]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1667294362.265241871, 1817.029000000]: VER: 1.1: UID: 4954414c44494e4f
[ WARN] [1667294362.267973330, 1817.033000000]: CMD: Unexpected command 520, result 0
[ INFO] [1667294371.380943246, 1826.029000000]: HP: requesting home position
[ INFO] [1667294376.410561517, 1831.029000000]: RP: mission received
[ INFO] [1667294376.410768183, 1831.029000000]: WP: mission received
[ INFO] [1667294376.410921469, 1831.029000000]: GF: mission received
[ INFO] [1667294381.453842161, 1836.029000000]: HP: requesting home position
运行上述命令启动gazebo后,运行rostopic list
结果如下:
❯ rostopic list
/clock
/diagnostics
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/performance_metrics
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo/set_model_states
/iris_0/benchmarker/collision
/iris_0/imu_gazebo
/iris_0/mavlink/from
/iris_0/mavlink/gcs_ip
/iris_0/mavlink/to
/iris_0/mavros/actuator_control
/iris_0/mavros/adsb/send
/iris_0/mavros/adsb/vehicle
/iris_0/mavros/altitude
/iris_0/mavros/battery
/iris_0/mavros/battery2
/iris_0/mavros/cam_imu_sync/cam_imu_stamp
/iris_0/mavros/camera/image_captured
/iris_0/mavros/companion_process/status
/iris_0/mavros/debug_value/debug
/iris_0/mavros/debug_value/debug_vector
/iris_0/mavros/debug_value/named_value_float
/iris_0/mavros/debug_value/named_value_int
/iris_0/mavros/debug_value/send
/iris_0/mavros/esc_info
/iris_0/mavros/esc_status
/iris_0/mavros/esc_telemetry
/iris_0/mavros/estimator_status
/iris_0/mavros/extended_state
/iris_0/mavros/fake_gps/mocap/tf
/iris_0/mavros/geofence/waypoints
/iris_0/mavros/global_position/compass_hdg
/iris_0/mavros/global_position/global
/iris_0/mavros/global_position/gp_lp_offset
/iris_0/mavros/global_position/gp_origin
/iris_0/mavros/global_position/home
/iris_0/mavros/global_position/local
/iris_0/mavros/global_position/raw/fix
/iris_0/mavros/global_position/raw/gps_vel
/iris_0/mavros/global_position/raw/satellites
/iris_0/mavros/global_position/rel_alt
/iris_0/mavros/global_position/set_gp_origin
/iris_0/mavros/gps_input/gps_input
/iris_0/mavros/gps_rtk/rtk_baseline
/iris_0/mavros/gps_rtk/send_rtcm
/iris_0/mavros/gpsstatus/gps1/raw
/iris_0/mavros/gpsstatus/gps1/rtk
/iris_0/mavros/gpsstatus/gps2/raw
/iris_0/mavros/gpsstatus/gps2/rtk
/iris_0/mavros/hil/actuator_controls
/iris_0/mavros/hil/controls
/iris_0/mavros/hil/gps
/iris_0/mavros/hil/imu_ned
/iris_0/mavros/hil/optical_flow
/iris_0/mavros/hil/rc_inputs
/iris_0/mavros/hil/state
/iris_0/mavros/home_position/home
/iris_0/mavros/home_position/set
/iris_0/mavros/imu/data
/iris_0/mavros/imu/data_raw
/iris_0/mavros/imu/diff_pressure
/iris_0/mavros/imu/mag
/iris_0/mavros/imu/static_pressure
/iris_0/mavros/imu/temperature_baro
/iris_0/mavros/imu/temperature_imu
/iris_0/mavros/landing_target/lt_marker
/iris_0/mavros/landing_target/pose
/iris_0/mavros/landing_target/pose_in
/iris_0/mavros/local_position/accel
/iris_0/mavros/local_position/odom
/iris_0/mavros/local_position/pose
/iris_0/mavros/local_position/pose_cov
/iris_0/mavros/local_position/velocity_body
/iris_0/mavros/local_position/velocity_body_cov
/iris_0/mavros/local_position/velocity_local
/iris_0/mavros/log_transfer/raw/log_data
/iris_0/mavros/log_transfer/raw/log_entry
/iris_0/mavros/mag_calibration/report
/iris_0/mavros/mag_calibration/status
/iris_0/mavros/manual_control/control
/iris_0/mavros/manual_control/send
/iris_0/mavros/mission/reached
/iris_0/mavros/mission/waypoints
/iris_0/mavros/mocap/pose
/iris_0/mavros/mount_control/command
/iris_0/mavros/mount_control/orientation
/iris_0/mavros/mount_control/status
/iris_0/mavros/nav_controller_output
/iris_0/mavros/obstacle/send
/iris_0/mavros/odometry/in
/iris_0/mavros/odometry/out
/iris_0/mavros/onboard_computer/status
/iris_0/mavros/param/param_value
/iris_0/mavros/play_tune
/iris_0/mavros/px4flow/ground_distance
/iris_0/mavros/px4flow/raw/optical_flow_rad
/iris_0/mavros/px4flow/raw/send
/iris_0/mavros/px4flow/temperature
/iris_0/mavros/radio_status
/iris_0/mavros/rallypoint/waypoints
/iris_0/mavros/rc/in
/iris_0/mavros/rc/out
/iris_0/mavros/rc/override
/iris_0/mavros/setpoint_accel/accel
/iris_0/mavros/setpoint_attitude/cmd_vel
/iris_0/mavros/setpoint_attitude/thrust
/iris_0/mavros/setpoint_position/global
/iris_0/mavros/setpoint_position/global_to_local
/iris_0/mavros/setpoint_position/local
/iris_0/mavros/setpoint_raw/attitude
/iris_0/mavros/setpoint_raw/global
/iris_0/mavros/setpoint_raw/local
/iris_0/mavros/setpoint_raw/target_attitude
/iris_0/mavros/setpoint_raw/target_global
/iris_0/mavros/setpoint_raw/target_local
/iris_0/mavros/setpoint_trajectory/desired
/iris_0/mavros/setpoint_trajectory/local
/iris_0/mavros/setpoint_velocity/cmd_vel
/iris_0/mavros/setpoint_velocity/cmd_vel_unstamped
/iris_0/mavros/state
/iris_0/mavros/statustext/recv
/iris_0/mavros/statustext/send
/iris_0/mavros/target_actuator_control
/iris_0/mavros/terrain/report
/iris_0/mavros/time_reference
/iris_0/mavros/timesync_status
/iris_0/mavros/trajectory/desired
/iris_0/mavros/trajectory/generated
/iris_0/mavros/trajectory/path
/iris_0/mavros/tunnel/in
/iris_0/mavros/tunnel/out
/iris_0/mavros/vfr_hud
/iris_0/mavros/vision_pose/pose
/iris_0/mavros/vision_pose/pose_cov
/iris_0/mavros/vision_speed/speed_twist_cov
/iris_0/mavros/wind_estimation
/rosout
/rosout_agg
/tf
/tf_static
可以发现并没有发布/iris_0/stereo_camera/left/image_raw
和/iris_0/stereo_camera/right/image_raw
话题数据
另外,在启动的gazebo中Insert
Tab中,也没有发现iris_stereo_camera
模型
但是在目录中是可以发现iris_stereo_camera
文件夹
运行输出如下:
❯ bash scripts/xtdrone_run_vio.sh
[ INFO] [1667294799.996004911]: init begins
... logging to /home/i/.ros/log/43386a1a-59c6-11ed-a997-00155df5312e/roslaunch-PC-i-5990.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.
config_file: /home/i/catkin_ws/src/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_imu_config.yaml
USE_IMU: 1
IMU_TOPIC: /iris_0/imu_gazebo
result path ~/catkin_ws/vins_output/vio.csv
[ WARN] [1667294800.010580548]: fix extrinsic param
camera number 2
[ INFO] [1667294800.011813010]: Synchronized sensors, fix time offset: 0
[ INFO] [1667294800.011872268]: ROW: 480 COL: 752
exitrinsic cam 0
0 0 1
-1 0 0
0 -1 0
0 0.12 -0.3
exitrinsic cam 1
0 0 1
-1 0 0
0 -1 0
0 0 -0.3
set g 0 0 9.81007
[ INFO] [1667294800.012140433]: reading paramerter of camera /home/i/catkin_ws/src/VINS-Fusion/config/xtdrone_sitl/cam0_pinhole_p1.yaml
[ INFO] [1667294800.013628707]: reading paramerter of camera /home/i/catkin_ws/src/VINS-Fusion/config/xtdrone_sitl/cam1_pinhole_p1.yaml
MULTIPLE_THREAD is 1
[ WARN] [1667294800.014195494]: waiting for image and imu...
started roslaunch server http://PC-i:43769/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.13
NODES
/
rvizvisualisation (rviz/rviz)
ROS_MASTER_URI=http://localhost:11311
process[rvizvisualisation-1]: started with pid [6033]
GAZEBO_PLUGIN_PATH :/home/asus/PX4_Firmware/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/asus/PX4_Firmware//Tools/sitl_gazebo/models
LD_LIBRARY_PATH /home/asus/catkin_ws/devel/lib:/opt/ros/noetic/lib:/home/asus/PX4_Firmware/build/px4_sitl_default/build_gazebo
GAZEBO_PLUGIN_PATH:/home/j/catkin_ws/src/PX4_Firmware/butld/px4_sttl_default/bu
ild gazebo
GAZEBO_MODEL_PATH :/home/j/catkin ws/src/PX4 Firmware//Tools/sitl_ gazebo/models
LD_LIBRARY_PATH/home/j/catkin_ws/devel/lib:/opt/ros/melodic/lib:/home/j/catkin
ws/src/PX4_Firmware/build/px4_sitl_default/butld_gazebo
这是我弄完bashrc之后,在终端上面出现的,这个可以解决吗?是什么原因呀
请问xtdrone有提供重设无人机的位姿、速度的rostopic或rosservice或gazebo plugin吗?以及有无碰撞检测功能(就是在和环境障碍物或别的智能体碰撞后能接收到True或者False的rostopic或rosservice或gazebo plugin)
could not find px4_tracking.launch anywhere
nor in ~/catkin_ws/src/darknet_ros/darknet_ros/launch
neither in
XTDrone/sensing/object_detection_and_tracking/darknet_ros/darknet_ros/launch
In the file, line 119 to line 129:
target_raw_pose.position.x = -y
target_raw_pose.position.y = x
target_raw_pose.position.z = z
target_raw_pose.velocity.x = -vy
target_raw_pose.velocity.y = vx
target_raw_pose.velocity.z = vz
target_raw_pose.acceleration_or_force.x = afx
target_raw_pose.acceleration_or_force.y = afy
target_raw_pose.acceleration_or_force.z = afz
It's clear that the function do a coordinate frame transform here. But this transform lets MAV do a different behaviours in the Gazebo simulation, it's actually running at RFU coordinate frame. If we don't do the transform here, then the mav in the simulation is running at a right FLU coordinate frame.
环境配置均按照“仿真平台基础配置”这篇文章进行的。已经完成的步骤如下:
1、已安装ROS melodic。
2、已安装gazebo,但这一步还未进行“我们对Gazebo的ROS插件进行了修改,因此需要源码编译”。
3、已安装MAVROS。
进行到第4步“PX4配置”时,下载了您在语雀上提供的可以直接编译的固件,当我切换到“~/PX4_Firmware”目录下,执行“make px4_sitl_default gazebo”命令,报错如下
尝试了执行一下“make clean”和“make distclean”命令之后重新执行“make px4_sitl_default gazebo”命令,仍无效果。
我看了初步协同仿真,但是感觉看不明白。VRX平台有点陌生,网上资料也很少
肖老师好,请问现在可以将Multi-UAV-Task-Assignment-Benchmark这个项目里用到的3种任务分配算法放在XTDrone这个平台进行仿真模拟吗?
如果可以的话,支持调用matlab编写的其他任务分配算法吗?(比如CBBA:Consensus Based Bundle Algorithm)
A-LOAM算法已经按照官网跑通,但在三维激光SLAM一节,做好全部准备工作后,运行
roslaunch aloam_velodyne aloam_velodyne_HDL_32.launch
Dear, first of all it is a great job was done here. I read your papers, it is very helpful and I hope you continue developing this work. I have only one suggestion in order to share, contribute, and discuss: I suggest adding comments for your code and some discussion, in addition a block diagram for different parts of code and the communication (including ros topics etc...). This should help many researchers and may be used by different universities. Thank you again.
[0/6] Performing configure step for 'sitl_gazebo'
-- install-prefix: /usr/local
-- Using C++17 compiler
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.58") found components: system thread filesystem
CMake Warning (dev) at /usr/local/share/cmake-3.18/Modules/FindPackageHandleStandardArgs.cmake:273 (message):
The package name passed to find_package_handle_standard_args
(PkgConfig)
does not match the name of the calling package (gazebo). This can lead to
problems in calling code that expects find_package
result variables
(e.g., _FOUND
) to follow a certain pattern.
Call Stack (most recent call first):
/usr/local/share/cmake-3.18/Modules/FindPkgConfig.cmake:59 (find_package_handle_standard_args)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:30 (include)
CMakeLists.txt:32 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.40.0") found components: thread system filesystem program_options regex iostreams date_time
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.6.1")
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0")
-- Looking for OGRE...
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found suitable version "3.6.1", minimum required is "2.3.0")
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
-- Found libzmq , version 4.3.2
-- Checking for module 'uuid'
-- Found uuid, version 2.34.0
CMake Error at CMakeLists.txt:34 (find_program):
Could not find px4 using the following names:
-- Configuring incomplete, errors occurred!
See also "/home/asus/PX4_Firmware/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeOutput.log".
See also "/home/asus/PX4_Firmware/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeError.log".
[1/6] Generating ../../logs
FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-configure
cd /home/asus/PX4_Firmware/build/px4_sitl_default/build_gazebo && /usr/local/bin/cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DSEND_VISION_ESTIMATION_DATA=ON -GNinja /home/asus/PX4_Firmware/Tools/sitl_gazebo && /usr/local/bin/cmake -E touch /home/asus/PX4_Firmware/build/px4_sitl_default/external/Stamp/sitl_gazebo/sitl_gazebo-configure
ninja: build stopped: subcommand failed.
make: *** [Makefile:200:px4_sitl_default] 错误 1
[ WARN] [1649764707.350161174, 243.640000000]: CMD: Unexpected command 176, result 1
WARN [commander] Failsafe enabled: no RC
WARN [navigator] Global position failure: fixed bank loiter
[ INFO] [1649764709.151677323, 245.440000000]: FCU: ARMED by Arm/Disarm component command
[ INFO] [1649764709.152816390, 245.440000000]: WP: reached #0
[ INFO] [1649764709.187624420, 245.474000000]: WP: reached #0
[ERROR] [1649764709.203981522, 245.492000000]: FCU: Failsafe enabled: no RC
[ INFO] [1649764709.252494950, 245.540000000]: FCU: Failsafe mode activated
[ INFO] [1649764709.296888714, 245.584000000]: WP: reached #0
[ERROR] [1649764709.303688324, 245.592000000]: FCU: Global position failure: fixed bank loiter
这是运行键盘控制飞行器时发生的错误,我z轴的速度都增加到5以上了,gazebo里的固定翼飞行器旋翼转了一会儿就停下来了,没飞起来
Thank you for your work in the ROS.
I had read the md, and it show me that it can work in Kinetic and Melodic. Could i use the project in the noetic? And do i need to fix something in the XTDrone?
Thank you.
肖老师,我打算做陆空无人机,想对您那个ris_realsense_camera sdf模型加四个地面轮子,但修改后gazebo就加载不出修改后的无人机模型了,想问您那个sdf模型是如何建立的?
我是个小白,对建图和路径规划都不太懂,看了不少典型例子.包括PX4的avoidance例子,APM的octomap-planner和ETHZ团队的voxblox-ros等等,还看了用于路径规划的fast-planner和mpl_ros,请问能基于你这个仿真器平台做PX4的视觉自主避障开发么?
Hi Robin,
Thank you for your fantastic work and I wanna verify my algorithm on the XTDrone platform. I've checked the multirotor_communication.py carefully. I suppose that the communication node subscribes to the linear velocity and pose, and publishes the setpoint. Can I control my model via publishing angular velocity and thrust? Could you please give some advice? I appreciate any help you can provide.
Hi, I've followed the https://www.yuque.com/xtdrone/manual_en to install XTDrone with PX4 in a fresh Ubuntu 18.04 install, with ROS Melodic.
I had to change the PX4_Firmware references to the new PX4-Autopilot default name in the copy steps (https://www.yuque.com/xtdrone/manual_en/basic_config_1.11#2qN28).
I didn't download the models.zip as it requires a Yuque account, but the manual says it should download them when executing.
PX4 runs Ok with gazebo when running make px4_sitl gazebo but doesn't compile when I copy the modified gazebo_gimbal_controller_plugin.cpp. It throws the next errors:
`
/home/foo/PX4-Autopilot/Tools/sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp: In constructor ‘gazebo::GimbalControllerPlugin::GimbalControllerPlugin()’:
/home/foo/PX4-Autopilot/Tools/sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp:102:9: error: ‘class gazebo::GimbalControllerPlugin’ has no member named ‘lastImuYaw’
this->lastImuYaw = 0;
^~~~~~~~~~
/home/foo/PX4-Autopilot/Tools/sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp: In member function ‘virtual void gazebo::GimbalControllerPlugin::Init()’:
/home/foo/PX4-Autopilot/Tools/sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp:397:87: error: ‘ImuCallback’ is not a member of ‘gazebo::GimbalControllerPlugin’
imuSub = node->Subscribe("~/" + model->GetName() + "/imu", &GimbalControllerPlugin::ImuCallback, this);
^~~~~~~~~~~
/home/foo/PX4-Autopilot/Tools/sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp: At global scope:
/home/foo/PX4-Autopilot/Tools/sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp:402:42: error: variable or field ‘ImuCallback’ declared void
void GimbalControllerPlugin::ImuCallback(ImuPtr& imu_message)
^~~~~~
/home/foo/PX4-Autopilot/Tools/sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp:402:42: error: ‘ImuPtr’ was not declared in this scope
/home/foo/PX4-Autopilot/Tools/sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp:402:50: error: ‘imu_message’ was not declared in this scope
void GimbalControllerPlugin::ImuCallback(ImuPtr& imu_message)
^~~~~~~~~~~
/home/foo/PX4-Autopilot/Tools/sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp: In member function ‘void gazebo::GimbalControllerPlugin::OnUpdate()’:
/home/foo/PX4-Autopilot/Tools/sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp:477:31: error: ‘class gazebo::GimbalControllerPlugin’ has no member named ‘lastImuYaw’
this->yawCommand += this->lastImuYaw;
^~~~~~~~~~
At global scope:
cc1plus: warning: unrecognized command line option ‘-Wno-address-of-packed-member’
ninja: build stopped: subcommand failed.
FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-build
cd /home/foo/PX4-Autopilot/build/px4_sitl_default/build_gazebo && /usr/bin/cmake --build /home/foo/PX4-Autopilot/build/px4_sitl_default/build_gazebo -- -j2
ninja: build stopped: subcommand failed.
Makefile:217: recipe for target 'px4_sitl_default' failed
make: *** [px4_sitl_default] Error 1
`
Due to this error I restore the original file and try to execute the custom XTDrone launch files, but I get the following errors.
roslaunch px4 indoor1.launch
...
Warning [parser.cc:950] XML Element[contact], child of element[collision] not defined in SDF. Ignoring[contact]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[bounce], child of element[collision] not defined in SDF. Ignoring[bounce]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:950] XML Element[friction], child of element[collision] not defined in SDF. Ignoring[friction]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[ INFO] [1607554328.840287734]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1607554328.870219292]: Physics dynamic reconfigure ready.
[INFO] [1607554328.885633, 0.000000]: Loading model XML from file /home/foo/PX4-Autopilot/Tools/sitl_gazebo/models/iris_stereo_camera/iris_stereo_camera.sdf
[INFO] [1607554328.897723, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[INFO] [1607554328.902918, 0.000000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1607554328.915104, 1814.801000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name iris_0
[ERROR] [1607554328.916445, 1814.801000]: Spawn service failed. Exiting.
Warning [parser.cc:950] XML Element[parent], child of element[sensor] not defined in SDF. Ignoring[parent]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[vehicle_spawn_foo_4964_5305119535928211108-5] process has died [pid 5020, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -sdf -file /home/foo/PX4-Autopilot/Tools/sitl_gazebo/models/iris_stereo_camera/iris_stereo_camera.sdf -model iris_0 -x 0 -y 7.5 -z 1 -R 0 -P 0 -Y 0 __name:=vehicle_spawn_foo_4964_5305119535928211108 __log:=/home/foo/.ros/log/29d1f0a8-3a71-11eb-90cf-5254002085db/vehicle_spawn_foo_4964_5305119535928211108-5.log].
log file: /home/foo/.ros/log/29d1f0a8-3a71-11eb-90cf-5254002085db/vehicle_spawn_foo_4964_5305119535928211108-5*.log
[ INFO] [1607554329.433231180, 1814.869000000]: Camera Plugin: The 'robotNamespace' param was empty
[ INFO] [1607554329.433478758, 1814.869000000]: Camera Plugin: The 'robotNamespace' param was empty
[ INFO] [1607554329.435768017, 1814.869000000]: Camera Plugin (ns = iris_0) <tf_prefix_>, set to "iris_0"
[ INFO] [1607554329.436079956, 1814.869000000]: Camera Plugin (ns = iris_0) <tf_prefix_>, set to "iris_0"
[ WARN] [1607554329.443008672, 1814.869000000]: missing , set to default: /iris_0/
[ INFO] [1607554329.443051924, 1814.869000000]: set to: /iris_0/imu_gazebo
[ INFO] [1607554329.443063386, 1814.869000000]: set to: imu_link_stereo
[ INFO] [1607554329.443088563, 1814.869000000]: set to: 500
[ INFO] [1607554329.443102359, 1814.869000000]: set to: 0
[ INFO] [1607554329.443123179, 1814.869000000]: set to: 0 0 0
[ INFO] [1607554329.443149619, 1814.869000000]: set to: 0 -0 0
Segmentation fault (core dumped)
[gazebo-3] process has died [pid 4994, exit code 139, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/foo/PX4-Autopilot/Tools/sitl_gazebo/worlds/indoor1.world __name:=gazebo __log:=/home/foo/.ros/log/29d1f0a8-3a71-11eb-90cf-5254002085db/gazebo-3.log].
log file: /home/foo/.ros/log/29d1f0a8-3a71-11eb-90cf-5254002085db/gazebo-3*.log
`
I would like to know if you have any info that can help me solve this errors, thanks!
Have you guys tested the setup for GPS denied environments?
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