PX4-Avoidance
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PX4
Px4 Avoidance Local Planner Testing on Hardware
Hii, I am facing tf error while excuating avoidance.launch file. I have generated avoidance.launch file as specified in Px4/Avoidance github page.
and avoidance.launch file is as like:
<!-- Launch MavROS -->
<group ns="$(arg ns)">
<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
<!-- Need to change the config file to get the tf topic and get local position in terms of local origin -->
<arg name="config_yaml" value="$(find local_planner)/resource/px4_config.yaml" />
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
</include>
</group>
<!-- Launch cameras -->
< node pkg="tf" type="static_transform_publisher" name="tf_camera" required="true" args="0.3 0.32 -0.11 0 0 0 fcu camera_link 100"/>
<include file="$(find local_planner)/launch/rs_depthcloud.launch">
<arg name="required" value="true"/>
<!-- launch node to throttle depth images for logging -->
<node name="drop_camera_depth" pkg="topic_tools" type="drop" output="screen"
args="/camera/depth/image_rect_raw 29 30">
</node>
<node name="drop_camera_ir" pkg="topic_tools" type="drop" output="screen"
args="/camera/infra1/image_rect_raw 29 30">
</node>
<node name="dynparam" pkg="dynamic_reconfigure" type="dynparam" args="load local_planner_node /home/harish/catkin_ws/src/avoidance/local_planner/cfg/vehicle.yaml" />
<!-- Launch avoidance -->
<env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/resource/custom_rosconsole.conf"/>
<arg name="pointcloud_topics" default="[/camera/depth/points]"/>
<node name="local_planner_node" pkg="local_planner" type="local_planner_node" output="screen" required="true" >
<param name="goal_x_param" value="0" />
<param name="goal_y_param" value="0"/>
<param name="goal_z_param" value="4" />
<rosparam param="pointcloud_topics" subst_value="True">$(arg pointcloud_topics)</rosparam>
</node>
<!-- set or toggle rqt parameters -->
<node name="rqt_param_toggle" pkg="local_planner" type="rqt_param_toggle.sh" />
px4_config.yaml:
# Common configuration for PX4 autopilot # node: # startup_px4_usb_quirk: true # --- system plugins --- #sys_status & sys_time connection options conn: heartbeat_rate: 1.0 # send hertbeat rate in Hertz timeout: 10.0 # hertbeat timeout in seconds timesync_rate: 10.0 # TIMESYNC rate in Hertz (feature disabled if 0.0) system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0)
# sys_status sys: min_voltage: 10.0 # diagnostics min voltage disable_diag: false # disable all sys_status diagnostics, except heartbeat
# sys_time time: time_ref_source: "fcu" # time_reference source timesync_mode: MAVLINK timesync_avg_alpha: 0.6 # timesync averaging factor
# --- mavros plugins (alphabetical order) ---
# 3dr_radio tdr_radio: low_rssi: 40 # raw rssi lower level for diagnostics
# actuator_control # None
# command cmd: use_comp_id_system_control: false # quirk for some old FCUs
# dummy # None
# ftp # None
# global_position global_position: frame_id: "map" # origin frame child_frame_id: "base_link" # body-fixed frame rot_covariance: 99999.0 # covariance for attitude? gps_uere: 1.0 # User Equivalent Range Error (UERE) of GPS sensor (m) use_relative_alt: true # use relative altitude for local coordinates tf: send: true # send TF? frame_id: "map" # TF frame_id global_frame_id: "earth" # TF earth frame_id child_frame_id: "base_link" # TF child_frame_id
# imu_pub imu: frame_id: "base_link" # need find actual values linear_acceleration_stdev: 0.0003 angular_velocity_stdev: 0.0003490659 // 0.02 degrees orientation_stdev: 1.0 magnetic_stdev: 0.0
# local_position local_position: frame_id: "map" tf: send: true frame_id: "map" child_frame_id: "base_link" send_fcu: true
# param # None, used for FCU params
# rc_io # None
# safety_area safety_area: p1: {x: 1.0, y: 1.0, z: 1.0} p2: {x: -1.0, y: -1.0, z: -1.0}
# setpoint_accel setpoint_accel: send_force: false
# setpoint_attitude setpoint_attitude: reverse_thrust: false # allow reversed thrust use_quaternion: false # enable PoseStamped topic subscriber tf: listen: false # enable tf listener (disable topic subscribers) frame_id: "map" child_frame_id: "target_attitude" rate_limit: 50.0
setpoint_raw: thrust_scaling: 1.0 # used in setpoint_raw attitude callback. # Note: PX4 expects normalized thrust values between 0 and 1, which means that # the scaling needs to be unitary and the inputs should be 0..1 as well.
# setpoint_position setpoint_position: tf: listen: false # enable tf listener (disable topic subscribers) frame_id: "map" child_frame_id: "target_position" rate_limit: 50.0 mav_frame: LOCAL_NED
# setpoint_velocity setpoint_velocity: mav_frame: LOCAL_NED
# vfr_hud # None
# waypoint mission: pull_after_gcs: true # update mission if gcs updates
# --- mavros extras plugins (same order) ---
# adsb # None
# debug_value # None
# distance_sensor # Currently available orientations: # Check http://wiki.ros.org/mavros/Enumerations ## distance_sensor: hrlv_ez4_pub: id: 0 frame_id: "hrlv_ez4_sonar" orientation: PITCH_270 # RPY:{0.0, 270.0, 0.0} - downward-facing field_of_view: 0.0 # XXX TODO send_tf: true sensor_position: {x: 0.0, y: 0.0, z: -0.1} lidarlite_pub: id: 1 frame_id: "lidarlite_laser" orientation: PITCH_270 field_of_view: 0.0 # XXX TODO send_tf: true sensor_position: {x: 0.0, y: 0.0, z: -0.1} sonar_1_sub: subscriber: true id: 2 orientation: PITCH_270 laser_1_sub: subscriber: true id: 3 orientation: PITCH_270
# image_pub image: frame_id: "px4flow"
# fake_gps fake_gps: # select data source use_mocap: true # ~mocap/pose mocap_transform: true # ~mocap/tf instead of pose use_vision: false # ~vision (pose) # origin (default: Zürich) geo_origin: lat: 47.3667 # latitude [degrees] lon: 8.5500 # longitude [degrees] alt: 408.0 # altitude (height over the WGS-84 ellipsoid) [meters] eph: 2.0 epv: 2.0 satellites_visible: 5 # virtual number of visible satellites fix_type: 3 # type of GPS fix (default: 3D) tf: listen: false send: false # send TF? frame_id: "map" # TF frame_id child_frame_id: "fix" # TF child_frame_id rate_limit: 10.0 # TF rate gps_rate: 5.0 # GPS data publishing rate
# landing_target landing_target: listen_lt: false mav_frame: "LOCAL_NED" land_target_type: "VISION_FIDUCIAL" image: width: 640 # [pixels] height: 480 camera: fov_x: 2.0071286398 # default: 115 [degrees] fov_y: 2.0071286398 tf: send: true listen: false frame_id: "landing_target" child_frame_id: "camera_center" rate_limit: 10.0 target_size: {x: 0.3, y: 0.3}
# mocap_pose_estimate mocap: # select mocap source use_tf: false # ~mocap/tf use_pose: true # ~mocap/pose
# odom odometry: fcu: odom_parent_id_des: "map" # desired parent frame rotation of the FCU's odometry odom_child_id_des: "base_link" # desired child frame rotation of the FCU's odometry
# px4flow px4flow: frame_id: "px4flow" ranger_fov: 0.118682 # 6.8 degrees at 5 meters, 31 degrees at 1 meter ranger_min_range: 0.3 # meters ranger_max_range: 5.0 # meters
# vision_pose_estimate vision_pose: tf: listen: true # enable tf listener (disable topic subscribers) frame_id: "odom" child_frame_id: "vision_estimate" rate_limit: 10.0
# vision_speed_estimate vision_speed: listen_twist: true # enable listen to twist topic, else listen to vec3d topic twist_cov: true # enable listen to twist with covariance topic
# vibration vibration: frame_id: "base_link"
# wheel_odometry wheel_odometry: count: 2 # number of wheels to compute odometry use_rpm: false # use wheel's RPM instead of cumulative distance to compute odometry wheel0: {x: 0.0, y: -0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m) wheel1: {x: 0.0, y: 0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m) send_raw: true # send wheel's RPM and cumulative distance (~/wheel_odometry/rpm, ~/wheel_odometry/distance) send_twist: false # send geometry_msgs/TwistWithCovarianceStamped instead of nav_msgs/Odometry frame_id: "odom" # origin frame child_frame_id: "base_link" # body-fixed frame vel_error: 0.1 # wheel velocity measurement error 1-std (m/s) tf: send: false frame_id: "odom" child_frame_id: "base_link"
# vim:set ts=2 sw=2 et:
On terminal error is:
... logging to /home/harish/.ros/log/1242e822-27b5-11ea-8d5b-98fa9b867e40/roslaunch-harish-18350.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/loader.py:412: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details. data = yaml.load(text) started roslaunch server http://harish:42093/ SUMMARY ========
CLEAR PARAMETERS
- /mavros/
PARAMETERS
- /camera/realsense2_camera/accel_fps: 0
- /camera/realsense2_camera/accel_frame_id: camera_accel_frame
- /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
- /camera/realsense2_camera/align_depth: False
- /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
- /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
- /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
- /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
- /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
- /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
- /camera/realsense2_camera/allow_no_texture_points: False
- /camera/realsense2_camera/base_frame_id: camera_link
- /camera/realsense2_camera/calib_odom_file:
- /camera/realsense2_camera/clip_distance: -1.0
- /camera/realsense2_camera/color_fps: 15
- /camera/realsense2_camera/color_frame_id: camera_color_frame
- /camera/realsense2_camera/color_height: 480
- /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
- /camera/realsense2_camera/color_width: 640
- /camera/realsense2_camera/depth_fps: 30
- /camera/realsense2_camera/depth_frame_id: camera_depth_frame
- /camera/realsense2_camera/depth_height: 480
- /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
- /camera/realsense2_camera/depth_width: 640
- /camera/realsense2_camera/device_type:
- /camera/realsense2_camera/enable_accel: True
- /camera/realsense2_camera/enable_color: False
- /camera/realsense2_camera/enable_depth: True
- /camera/realsense2_camera/enable_fisheye1: True
- /camera/realsense2_camera/enable_fisheye2: True
- /camera/realsense2_camera/enable_fisheye: True
- /camera/realsense2_camera/enable_gyro: True
- /camera/realsense2_camera/enable_infra1: True
- /camera/realsense2_camera/enable_infra2: False
- /camera/realsense2_camera/enable_pointcloud: False
- /camera/realsense2_camera/enable_sync: False
- /camera/realsense2_camera/filters:
- /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
- /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
- /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
- /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
- /camera/realsense2_camera/fisheye_fps: 30
- /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
- /camera/realsense2_camera/fisheye_height: 0
- /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
- /camera/realsense2_camera/fisheye_width: 0
- /camera/realsense2_camera/gyro_fps: 0
- /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
- /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
- /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
- /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
- /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
- /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
- /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
- /camera/realsense2_camera/infra_fps: 15
- /camera/realsense2_camera/infra_height: 480
- /camera/realsense2_camera/infra_width: 640
- /camera/realsense2_camera/initial_reset: False
- /camera/realsense2_camera/json_file_path: /home/harish/catk...
- /camera/realsense2_camera/linear_accel_cov: 0.01
- /camera/realsense2_camera/odom_frame_id: camera_odom_frame
- /camera/realsense2_camera/pointcloud_texture_index: 0
- /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
- /camera/realsense2_camera/pose_frame_id: camera_pose_frame
- /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
- /camera/realsense2_camera/publish_odom_tf: True
- /camera/realsense2_camera/publish_tf: True
- /camera/realsense2_camera/rosbag_filename:
- /camera/realsense2_camera/serial_no: 828112071698
- /camera/realsense2_camera/tf_publish_rate: 0.0
- /camera/realsense2_camera/topic_odom_in: camera/odom_in
- /camera/realsense2_camera/unite_imu_method: none
- /camera/realsense2_camera/usb_port_id:
- /local_planner_node/goal_x_param: 0
- /local_planner_node/goal_y_param: 0
- /local_planner_node/goal_z_param: 4
- /local_planner_node/pointcloud_topics: ['/camera/depth/p...
- /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: /dev/ttyACM0:57600
- /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: True
- /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: True
- /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: True
- /mavros/local_position/tf/send_fcu: True
- /mavros/mission/pull_after_gcs: True
- /mavros/mocap/use_pose: True
- /mavros/mocap/use_tf: False
- /mavros/odometry/fcu/odom_child_id_des: base_link
- /mavros/odometry/fcu/odom_parent_id_des: fcu
- /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: 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: odom
- /mavros/vision_pose/tf/listen: True
- /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: 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
- /rosdistro: melodic
- /rosversion: 1.14.3
NODES /camera/ points_xyz_sw_registered (nodelet/nodelet) realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) / drop_camera_depth (topic_tools/drop) drop_camera_ir (topic_tools/drop) dynparam (dynamic_reconfigure/dynparam) local_planner_node (local_planner/local_planner_node) mavros (mavros/mavros_node) rqt_param_toggle (local_planner/rqt_param_toggle.sh) tf_camera (tf/static_transform_publisher)
auto-starting new master process[master]: started with pid [18360] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 1242e822-27b5-11ea-8d5b-98fa9b867e40
process[rosout-1]: started with pid [18371]
started core service [/rosout]
process[mavros-2]: started with pid [18379]
process[tf_camera-3]: started with pid [18380]
process[camera/realsense2_camera_manager-4]: started with pid [18381]
process[camera/realsense2_camera-5]: started with pid [18382]
process[camera/points_xyz_sw_registered-6]: started with pid [18393]
process[drop_camera_depth-7]: started with pid [18394]
process[drop_camera_ir-8]: started with pid [18401]
[ INFO] [1577346924.514470179]: Initializing nodelet with 12 worker threads.
process[dynparam-9]: started with pid [18413]
process[local_planner_node-10]: started with pid [18436]
process[rqt_param_toggle-11]: started with pid [18438]
[ INFO] [1577346924.544945826]: FCU URL: /dev/ttyACM0:57600
[ INFO] [1577346924.546952194]: serial0: device: /dev/ttyACM0 @ 57600 bps
[ INFO] [1577346924.547556988]: GCS bridge disabled
[ INFO] [1577346924.558686210]: Initializing nodelet with 12 worker threads.
[ INFO] [1577346924.561534246]: Plugin 3dr_radio loaded
[ INFO] [1577346924.562804068]: Plugin 3dr_radio initialized
[ INFO] [1577346924.562979746]: Plugin actuator_control loaded
[ INFO] [1577346924.564899441]: Plugin actuator_control initialized
[ INFO] [1577346924.569143522]: Plugin adsb loaded
[ INFO] [1577346924.572209286]: Plugin adsb initialized
[ INFO] [1577346924.572350660]: Plugin altitude loaded
[ INFO] [1577346924.573166533]: Plugin altitude initialized
[ INFO] [1577346924.573271782]: Plugin cam_imu_sync loaded
[ INFO] [1577346924.574123494]: Plugin cam_imu_sync initialized
[ INFO] [1577346924.574270856]: Plugin command loaded
[ INFO] [1577346924.581222591]: Plugin command initialized
[ INFO] [1577346924.581347154]: Plugin companion_process_status loaded
[ INFO] [1577346924.583756983]: Plugin companion_process_status initialized
[ INFO] [1577346924.584012558]: Plugin debug_value loaded
[ INFO] [1577346924.588748641]: Plugin debug_value initialized
[ INFO] [1577346924.588782920]: Plugin distance_sensor blacklisted
[ INFO] [1577346924.588967020]: Plugin fake_gps loaded
[ INFO] [1577346924.600190864]: Plugin fake_gps initialized
[ INFO] [1577346924.600461156]: Plugin ftp loaded
[ INFO] [1577346924.605597226]: RealSense ROS v2.2.11
[ INFO] [1577346924.605664389]: Running with LibRealSense v2.31.0
[ INFO] [1577346924.617371201]: Plugin ftp initialized
[ INFO] [1577346924.617660905]: Plugin global_position loaded
[ INFO] [1577346924.632411066]: Plugin global_position initialized
[ INFO] [1577346924.632573362]: Plugin gps_rtk loaded
[ INFO] [1577346924.634399661]: Plugin gps_rtk initialized
[ INFO] [1577346924.634511389]: Plugin hil loaded
[ INFO] [1577346924.643201278]: Plugin hil initialized
[ INFO] [1577346924.643353879]: Plugin home_position loaded
[ INFO] [1577346924.645628253]: Plugin home_position initialized
[ INFO] [1577346924.645842258]: Plugin imu loaded
[ INFO] [1577346924.650840761]: Plugin imu initialized
[ INFO] [1577346924.651200067]: Plugin landing_target loaded
[ INFO] [1577346924.656928052]: Listen to landing_target transform landing_target -> camera_center
[ INFO] [1577346924.657089844]: Plugin landing_target initialized
[ INFO] [1577346924.657239452]: Plugin local_position loaded
[ INFO] [1577346924.660586573]: Plugin local_position initialized
[ INFO] [1577346924.660700401]: Plugin log_transfer loaded
[ INFO] [1577346924.662664766]: Plugin log_transfer initialized
[ INFO] [1577346924.662788070]: Plugin manual_control loaded
[ INFO] [1577346924.664674545]: Plugin manual_control initialized
[ INFO] [1577346924.664782021]: Plugin mocap_pose_estimate loaded
[ INFO] [1577346924.666636881]: Plugin mocap_pose_estimate initialized
[ INFO] [1577346924.666742671]: Plugin mount_control loaded
[ INFO] [1577346924.668617764]: Plugin mount_control initialized
[ INFO] [1577346924.668722518]: Plugin obstacle_distance loaded
[ INFO] [1577346924.670214867]: Plugin obstacle_distance initialized
[ INFO] [1577346924.670326257]: Plugin odom loaded
[ INFO] [1577346924.672558840]: Plugin odom initialized
[ INFO] [1577346924.672678258]: Plugin onboard_computer_status loaded
[ INFO] [1577346924.673997591]: Plugin onboard_computer_status initialized
[ INFO] [1577346924.674176216]: Plugin param loaded
[ INFO] [1577346924.676281756]: Plugin param initialized
[ INFO] [1577346924.676402205]: Plugin px4flow loaded
[ INFO] [1577346924.679928150]: Plugin px4flow initialized
[ INFO] [1577346924.679965126]: Plugin rangefinder blacklisted
[ INFO] [1577346924.680138322]: Plugin rc_io loaded
[ INFO] [1577346924.682052037]: Plugin rc_io initialized
[ INFO] [1577346924.682083711]: Plugin safety_area blacklisted
[ INFO] [1577346924.682208498]: Plugin setpoint_accel loaded
[ INFO] [1577346924.684503456]: Plugin setpoint_accel initialized
[ INFO] [1577346924.684787879]: Plugin setpoint_attitude loaded
[ INFO] [1577346924.690420606]: Plugin setpoint_attitude initialized
[ INFO] [1577346924.690577813]: Plugin setpoint_position loaded
[ INFO] [1577346924.698083233]: Plugin setpoint_position initialized
[ INFO] [1577346924.698234787]: Plugin setpoint_raw loaded
[ INFO] [1577346924.702910992]: Plugin setpoint_raw initialized
[ INFO] [1577346924.703061019]: Plugin setpoint_trajectory loaded
[ INFO] [1577346924.708061344]: Plugin setpoint_trajectory initialized
[ INFO] [1577346924.708290662]: Plugin setpoint_velocity loaded
[ INFO] [1577346924.715037542]: Plugin setpoint_velocity initialized
[ INFO] [1577346924.715267611]: Plugin sys_status loaded
[ INFO] [1577346924.722105307]: Plugin sys_status initialized
[ INFO] [1577346924.722232830]: Plugin sys_time loaded
[ INFO] [1577346924.724745483]: TM: Timesync mode: MAVLINK
[ INFO] [1577346924.725300518]: Plugin sys_time initialized
[ INFO] [1577346924.725376762]: Plugin trajectory loaded
[ INFO] [1577346924.727858465]: Plugin trajectory initialized
[ INFO] [1577346924.727939364]: Plugin vfr_hud loaded
[ INFO] [1577346924.728258541]: Plugin vfr_hud initialized
[ INFO] [1577346924.728275305]: Plugin vibration blacklisted
[ INFO] [1577346924.728343690]: Plugin vision_pose_estimate loaded
[ INFO] [1577346924.729887094]: Listen to vision transform odom -> vision_estimate
[ INFO] [1577346924.729982542]: Plugin vision_pose_estimate initialized
[ INFO] [1577346924.730063471]: Plugin vision_speed_estimate loaded
[ INFO] [1577346924.731990215]: Plugin vision_speed_estimate initialized
[ INFO] [1577346924.732106346]: Plugin waypoint loaded
[ INFO] [1577346924.734886334]: Plugin waypoint initialized
[ INFO] [1577346924.734913593]: Plugin wheel_odometry blacklisted
[ INFO] [1577346924.734997047]: Plugin wind_estimation loaded
[ INFO] [1577346924.735412175]: Plugin wind_estimation initialized
[ INFO] [1577346924.735444672]: Autostarting mavlink via USB on PX4
[ INFO] [1577346924.735529686]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1577346924.735545682]: Built-in MAVLink package version: 2019.12.12
[ INFO] [1577346924.735560955]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1577346924.735572155]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1577346924.763000945]: IMU: High resolution IMU detected!
[ INFO] [1577346924.763591534]: IMU: Attitude quaternion IMU detected!
[ERROR] [1577346924.767061104]: ODOM: Ex: "fcu" passed to lookupTransform argument target_frame does not exist.
/opt/ros/melodic/lib/dynamic_reconfigure/dynparam:162: YAMLLoadWarning: calling yaml.load_all() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
for doc in yaml.load_all(f.read()):
[ERROR] [1577346925.013551344]: FCU: Onboard controller lost
[ INFO] [1577346925.103517519]: FCU: Onboard controller regained
[ INFO] [1577346925.147087977]:
[ INFO] [1577346925.151386900]: Device with serial number 828112071698 was found.
[ INFO] [1577346925.151431830]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/video4linux/video1 was found. [ INFO] [1577346925.151470731]: Device with name Intel RealSense D435 was found. [ INFO] [1577346925.154064619]: Device with port number 2-3 was found. [ INFO] [1577346925.158442828]: getParameters... [ INFO] [1577346925.255751411]: setupDevice... [ INFO] [1577346925.583076877]: JSON file is loaded! (/home/harish/catkin_ws/src/avoidance/local_planner/resource/stereo_calib.json) [ INFO] [1577346925.583168571]: ROS Node Namespace: camera [ INFO] [1577346925.583203468]: Device Name: Intel RealSense D435 [ INFO] [1577346925.583231066]: Device Serial No: 828112071698 [ INFO] [1577346925.583253138]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/video4linux/video1 [ INFO] [1577346925.583278469]: Device FW version: 05.12.01.00 [ INFO] [1577346925.583302140]: Device Product ID: 0x0B07 [ INFO] [1577346925.583323373]: Enable PointCloud: Off [ INFO] [1577346925.583344463]: Align Depth: Off [ INFO] [1577346925.583366250]: Sync Mode: Off [ INFO] [1577346925.583764588]: Device Sensors: [ INFO] [1577346925.584079218]: Stereo Module was found. [ INFO] [1577346925.584163305]: RGB Camera was found. [ INFO] [1577346925.584238731]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1577346925.584273009]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1577346925.584296199]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1577346925.584323372]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1577346925.584348325]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1577346925.584376729]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1577346925.584673862]: num_filters: 0 [ INFO] [1577346925.584706837]: Setting Dynamic reconfig parameters. [ INFO] [1577346925.659204248]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1577346925.674390633]: IMU: High resolution IMU detected! [ INFO] [1577346925.674840066]: IMU: Attitude quaternion IMU detected! [ INFO] [1577346925.696261236]: Done Setting Dynamic reconfig parameters. [ INFO] [1577346925.704069166]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1577346925.704686111]: infra1 stream is enabled - width: 640, height: 480, fps: 15, Format: Y8 [ INFO] [1577346925.704752148]: setupPublishers... [ INFO] [1577346925.709553441]: Expected frequency for depth = 30.00000 [ INFO] [1577346925.739673126]: Expected frequency for infra1 = 15.00000 [dynparam-9] process has finished cleanly log file: /home/harish/.ros/log/1242e822-27b5-11ea-8d5b-98fa9b867e40/dynparam-9*.log [ INFO] [1577346925.751834788]: setupStreams... [ INFO] [1577346925.752460083]: insert Depth to Stereo Module [ INFO] [1577346925.752582366]: insert Infrared to Stereo Module [ INFO] [1577346925.759764582]: SELECTED BASE:Depth, 0 [ INFO] [1577346925.771029644]: RealSense Node Is Up! [ERROR] [1577346925.783024708]: ODOM: Ex: Could not find a connection between 'fcu' and 'map_ned' because they are not part of the same tree.Tf has two or more unconnected trees. advertised as /camera/infra1/image_rect_raw_drop advertised as /camera/depth/image_rect_raw_drop [ INFO] [1577346926.663375544]: VER: 1.1: Capabilities 0x000000000000e4ef [ INFO] [1577346926.663466182]: VER: 1.1: Flight software: 010902ff (106905871d000000) [ INFO] [1577346926.663525961]: VER: 1.1: Middleware software: 010902ff (106905871d000000) [ INFO] [1577346926.663575567]: VER: 1.1: OS software: 071c00ff (423371c7d4012e72) [ INFO] [1577346926.663621916]: VER: 1.1: Board hardware: 00000011 [ INFO] [1577346926.663660062]: VER: 1.1: VID/PID: 26ac:0011 [ INFO] [1577346926.663696865]: VER: 1.1: UID: 3036510b31353833 [ WARN] [1577346926.667518655]: CMD: Unexpected command 520, result 0 [ERROR] [1577346926.805901849]: ODOM: Ex: Could not find a connection between 'fcu' and 'map_ned' because they are not part of the same tree.Tf has two or more unconnected trees. [rqt_param_toggle-11] process has finished cleanly log file: /home/harish/.ros/log/1242e822-27b5-11ea-8d5b-98fa9b867e40/rqt_param_toggle-11*.log [ERROR] [1577346927.566279760]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1577346927.571395632]: TF Buffer: could not retrieve requested transform from buffer, unregistered
Rqt_graph:
and tf_view_frames: frames.pdf
I think I am facing errors of tf frames mismatched. Help me get rid of this errors.
Please take the time to post your question in a readable and understandable fashion.
I cannot follow your post. If you want other people to invest time into helping you debug your problem, it helps a lot if you ask concisely and in a easy-to-read post.
If you put the px4 config in a comment block, it should get rid of the awkward formatting. Same for the console output. You can edit your post and we'll try to understand your issue
Hi @nicovanduijn, Sorry for awkward formatting, now I updated my issue.
@harishmore05 I think your problem is the px4 config. Look at the one in this repo for guidance. e.g your map frame should be called local_origin
@baumanta Is this the only way to run the package? I have changed map to local_origin but I had error with other packages? Can you please point to us what TF tree the package is looking for ? e.g. local_origin->fcu->camera_link
@baumanta If you look in this repo the px4 config file has map as its odom_parent_id_des frame. I am not having the exact same problem as the author here, but I was receiving this error
ODOM: Ex: "map" passed to lookupTransform argument target_frame does not exist.
When I changed the frame to local_origin I got a new error.
ODOM: Ex: "map_ned" passed to lookupTransform argument source_frame does not exist.
Hello, I have a similar problem reported in my issue #594
@harishmore05 have you find a solution? If yes can you explane how do you resolve this problem? @baumanta can you please take a look at my issue? I need help and I do not what to do to fix it :(
