PX4
[Bug] REQUIRED process [sitl-1] has died!
Describe the bug
Install the lastest MAVROS and PX4-autopilot in Ubuntu 18.04 (python 2.7)
I placed the PX4-autopliot under root, instead of any worksapce.
When running roslaunch px4 mavros_posix_sitl.launch
get error like this "=REQUIRED process [sitl-1] has died!"
How to reproduce
ridley2@ridley2-Alienware-Aurora-R12:~/PX4-Autopilot$ roslaunch px4 mavros_posix_sitl.launch
... logging to /home/ridley2/.ros/log/83d21e16-2010-11ee-b02d-cc6b1e18f8d5/roslaunch-ridley2-Alienware-Aurora-R12-20823.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.
SUMMARY
CLEAR PARAMETERS
- /mavros/
PARAMETERS
- /gazebo/enable_ros_network: True
- /mavros/camera/frame_id: base_link
- /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/horizontal_fov_ratio: 1.0
- /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/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
- /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: 0.0003490659 // 0...
- /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/landing_target/camera/fov_x: 2.0071286398
- /mavros/landing_target/camera/fov_y: 2.0071286398
- /mavros/landing_target/image/height: 480
- /mavros/landing_target/image/width: 640
- /mavros/landing_target/land_target_type: VISION_FIDUCIAL
- /mavros/landing_target/listen_lt: False
- /mavros/landing_target/mav_frame: LOCAL_NED
- /mavros/landing_target/target_size/x: 0.3
- /mavros/landing_target/target_size/y: 0.3
- /mavros/landing_target/tf/child_frame_id: camera_center
- /mavros/landing_target/tf/frame_id: landing_target
- /mavros/landing_target/tf/listen: False
- /mavros/landing_target/tf/rate_limit: 10.0
- /mavros/landing_target/tf/send: True
- /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/mission/use_mission_item_int: True
- /mavros/mocap/use_pose: True
- /mavros/mocap/use_tf: False
- /mavros/mount/debounce_s: 4.0
- /mavros/mount/err_threshold_deg: 10.0
- /mavros/mount/negate_measured_pitch: False
- /mavros/mount/negate_measured_roll: False
- /mavros/mount/negate_measured_yaw: False
- /mavros/odometry/fcu/odom_child_id_des: base_link
- /mavros/odometry/fcu/odom_parent_id_des: map
- /mavros/plugin_blacklist: ['safety_area', '...
- /mavros/plugin_whitelist: []
- /mavros/px4flow/frame_id: px4flow
- /mavros/px4flow/ranger_fov: 0.118682
- /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: False
- /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: odom
- /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: odom
- /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: odom
- /mavros/wheel_odometry/tf/send: False
- /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
- /rosdistro: melodic
- /rosversion: 1.14.13
- /use_sim_time: True
NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) mavros (mavros/mavros_node) sitl (px4/px4) vehicle_spawn_ridley2_Alienware_Aurora_R12_20823_4706267373789824166 (gazebo_ros/spawn_model)
ROS_MASTER_URI=http://localhost:11311
process[sitl-1]: started with pid [20854] process[gazebo-2]: started with pid [20855] process[gazebo_gui-3]: started with pid [20860] process[vehicle_spawn_ridley2_Alienware_Aurora_R12_20823_4706267373789824166-4]: started with pid [20865] process[mavros-5]: started with pid [20866] -----------------------------------------------------------------------------REQUIRED process [sitl-1] has died! process has died [pid 20854, exit code 255, cmd /home/ridley2/PX4-Autopilot/build/px4_sitl_default/bin/px4 /home/ridley2/PX4-Autopilot/build/px4_sitl_default/etc -s etc/init.d-posix/rcS __name:=sitl __log:=/home/ridley2/.ros/log/83d21e16-2010-11ee-b02d-cc6b1e18f8d5/sitl-1.log]. log file: /home/ridley2/.ros/log/83d21e16-2010-11ee-b02d-cc6b1e18f8d5/sitl-1*.log Initiating shutdown!
[mavros-5] killing on exit
[vehicle_spawn_ridley2_Alienware_Aurora_R12_20823_4706267373789824166-4] killing on exit
Traceback (most recent call last):
File "/opt/ros/melodic/lib/gazebo_ros/spawn_model", line 20, in
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/client.py", line 52, in
attrs = map(str, node.attributes.keys())
File "/usr/lib/python2.7/xml/dom/minidom.py", line 498, in keys
import roslib.stacks # noqa: F401, I100
File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/stacks.py", line 45, in
To Reproduce
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
ref
cd <PX4-Autopilot_clone>
DONT_RUN=1 make px4_sitl_default gazebo-classic
source ~/catkin_ws/devel/setup.bash # (optional)
source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic
roslaunch px4 posix_sitl.launch
Expected behavior
It should roslaunch successfully without error. It should publish mavros and iris (a drone model) in the gazebo world.
Screenshot / Media
No response
Flight Log
no log
Software Version
Ubuntu 18.04
Flight controller
None
Vehicle type
None
How are the different components wired up (including port information)
No response
Additional context
Thank you very much for your help ^^ No response
I realised the error for PX4 SITL originates from line 324 to 334 of the file "platforms/posix/src/px4/common/main.cpp", from commit 2110eae25d32ef102c5e44f2590fd7f9d65fc44d:
if (test_data_path != "") {
const std::string required_test_data_path = "./test_data";
if (!dir_exists(required_test_data_path)) {
ret = symlink(test_data_path.c_str(), required_test_data_path.c_str());
if (ret != PX4_OK) {
return ret;
}
}
}
For some reason, the test_data_path is not empty when spawning a PX4 SITL instance. As a result, the return code will not be PX4_OK and it will return -1, ending the program.
For me this happened when I moved the PX4-Autopilot directory somewhere else and recompiled it in the new place. The folder ~/.ros/test_data is a symbolic link to PX4-Autopilot/test_data which doesn't get updated after recompiling. I just updated the link and things worked again.
@nikhil-sethi I have the same problem when I moved the directory,so how to updated the link?
@newawesom
You can use the ln command (in linux) to update the symbolic link from the source directory (~/.ros/test_data) to the target directory (wherever your new test data folder is).
ln -s <target_directory> <source_directory>
you may also have to use -f flag to force the update if the link already exists.
@newawesom You can use the
lncommand (in linux) to update the symbolic link from the source directory (~/.ros/test_data) to the target directory (wherever your new test data folder is).ln -s <target_directory> <source_directory>you may also have to use
-fflag to force the update if the link already exists.
@nikhil-sethi Thanks for reply!Acutually,I deleted test_data directory in PX4-Autopilot and it worked after recompiling.
@newawesom You can use the
lncommand (in linux) to update the symbolic link from the source directory (~/.ros/test_data) to the target directory (wherever your new test data folder is).ln -s <target_directory> <source_directory>you may also have to use
-fflag to force the update if the link already exists.@nikhil-sethi Thanks for reply!Acutually,I deleted test_data directory in PX4-Autopilot and it worked after recompiling.
Worked for me~
