Comments (24)
I have the same problem: PX4/PX4-SITL_gazebo-classic#322
I don't think updating to Gazebo8 is the right solution, also because gazebo7 is installed from the scripts in the instructions.
Moreover it's weird that the "make px4_sitl_default gazebo" works while the roslaunch doesn't. Can it be a "timing" issue?
from px4-avoidance.
I have the same problem when "make px4_sitl_default jmavsim", after information message shown,
INFO [simulator] Waiting for simulator to connect on TCP port 4560
and no update.
from px4-avoidance.
@SwiftGust The issue is not related to the avoidance, but your SITL environment is misconfigured.
Have you tried following the instruction provided in the px4 documentation?
from px4-avoidance.
@Jaeyoung-Lim
Hello, I have install and did try to solve this issue with referencing mavros, px4 dev docs, discuss forums and so on and i have come to conclusion that something wrong regarding communication setup of this repository.
I had to handle some errors that didn't mentioned in as following repo's doc
and I did install mavros master branch from source.
As I described in problem 1, PX4 Gazebo itself does work very well
as well as MAVROS so I can do arm, set mode, take off from mavros.
What I'm describing here is that I'm suspecting the cause of this issue #159
is Gazebo and PX4 SITL cannot communicate, consequently MAVROS doesn't work
when using launch file of this repository.
from px4-avoidance.
Which launch file are you using? Generally, the launch file needs to set up this communication properly, e.g. by passing <arg name="fcu_url" default="udp://:14540@localhost:14557"/>
to the mavros node.
The launch files in this repository intended for SITL set this argument as I mentioned, as far as I know. But feel free to submit a PR if you find a broken one.
from px4-avoidance.
I tried and checked follow launch files and nothing works.
roslaunch global_planner global_planner_sitl_mavros.launch
roslaunch local_planner local_planner_stereo.launch
roslaunch local_planner local_planner_depth-camera.launch
roslaunch local_planner local_planner_sitl_3cam.launch
Those parts are of no problem regarding this matter.
Nested launch files are nothing much differ from launching PX4 SITL Gazebo with separate MAVROS launch which works fine in my desktop.
What I don't know and suspected cause of problem is something keeps
PX4 SITL instance waiting for Gazebo to be connected in TCP port 4560 and no update since while port was not in use and everything is up and running (Gazebo, RViz, rqt reconfigure...)
INFO [dataman] Unknown restart, data manager file './dataman' size is 11405132 bytes
INFO [simulator] Waiting for simulator to connect on TCP port 4560
[ INFO] [1546937170.603386138]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1546937170.606158435]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1546937170.606276570]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1546937170.606550482]: GCS bridge disabled
from px4-avoidance.
The above messages do not indicate any problem, they are all fine. Can you paste the complete output when running roslaunch local_planner local_planner_sitl_3cam.launch
? It works on my machine, as well as all my co-workers with the current master.
from px4-avoidance.
@nicovanduijn Hello, what I'm guessing is that whatever the message is missing connection established between PX4 SITL - GAZEBO.
Console outputs below :
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /factor_close_to_goal_start_speed_limitation: 3.0
* /factor_close_to_goal_stop_speed_limitation: 4.0
* /goal_acceptance_radius_in: 0.5
* /goal_acceptance_radius_out: 1.5
* /local_planner_node/goal_x_param: 17
* /local_planner_node/goal_y_param: 15
* /local_planner_node/goal_z_param: 3
* /local_planner_node/pointcloud_topics: ['/camera_front/d...
* /local_planner_node/world_name: /home/jmarple/cat...
* /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: ROLL_180
* /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: ROLL_180
* /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: ROLL_180
* /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: ROLL_180
* /mavros/distance_sensor/sonar_1_sub/subscriber: True
* /mavros/fcu_protocol: v2.0
* /mavros/fcu_url: udp://:14540@loca...
* /mavros/gcs_url:
* /mavros/global_position/frame_id: fcu
* /mavros/global_position/rot_covariance: 99999.0
* /mavros/global_position/tf/child_frame_id: fcu_utm
* /mavros/global_position/tf/frame_id: local_origin
* /mavros/global_position/tf/send: False
* /mavros/image/frame_id: px4flow
* /mavros/imu/angular_velocity_stdev: 0.000349065850399
* /mavros/imu/frame_id: fcu
* /mavros/imu/linear_acceleration_stdev: 0.0003
* /mavros/imu/magnetic_stdev: 0.0
* /mavros/imu/orientation_stdev: 1.0
* /mavros/local_position/frame_id: local_origin
* /mavros/local_position/tf/child_frame_id: fcu
* /mavros/local_position/tf/frame_id: local_origin
* /mavros/local_position/tf/send: True
* /mavros/local_position/tf/send_fcu: False
* /mavros/mission/pull_after_gcs: True
* /mavros/mocap/use_pose: False
* /mavros/mocap/use_tf: True
* /mavros/plugin_blacklist: ['safety_area', '...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.0
* /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_throttle: False
* /mavros/setpoint_attitude/tf/child_frame_id: attitude
* /mavros/setpoint_attitude/tf/frame_id: local_origin
* /mavros/setpoint_attitude/tf/listen: False
* /mavros/setpoint_attitude/tf/rate_limit: 10.0
* /mavros/setpoint_position/tf/child_frame_id: setpoint
* /mavros/setpoint_position/tf/frame_id: local_origin
* /mavros/setpoint_position/tf/listen: False
* /mavros/setpoint_position/tf/rate_limit: 50.0
* /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/vibration/frame_id: vibration
* /mavros/vision_pose/tf/child_frame_id: vision
* /mavros/vision_pose/tf/frame_id: local_origin
* /mavros/vision_pose/tf/listen: False
* /mavros/vision_pose/tf/rate_limit: 10.0
* /mavros/vision_speed/listen_twist: False
* /max_speed_close_to_goal_factor: 0.1
* /min_speed_close_to_goal: 0.5
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
local_planner_node (local_planner/local_planner_node)
mavros (mavros/mavros_node)
rqt_reconfigure (rqt_reconfigure/rqt_reconfigure)
rviz (rviz/rviz)
sitl_0 (px4/px4)
spawn_model (gazebo_ros/spawn_model)
tf_front_camera (tf/static_transform_publisher)
tf_left_camera (tf/static_transform_publisher)
tf_right_camera (tf/static_transform_publisher)
auto-starting new master
process[master]: started with pid [5795]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to cbe4988c-13a9-11e9-98da-2c56dc4a8293
process[rosout-1]: started with pid [5812]
started core service [/rosout]
process[tf_front_camera-2]: started with pid [5837]
process[tf_right_camera-3]: started with pid [5838]
process[tf_left_camera-4]: started with pid [5839]
process[rqt_reconfigure-5]: started with pid [5852]
process[sitl_0-6]: started with pid [5894]
INFO [px4] Creating symlink /home/jmarple/catkin_ws/src/Firmware/ROMFS/px4fmu_common -> /home/jmarple/.ros/etc
0 WARNING: setRealtimeSched failed (not run as root?)
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[mavros-7]: started with pid [5907]
process[gazebo-8]: started with pid [5916]
SYS_AUTOSTART: curr: 0 -> new: 10016
BAT_N_CELLS: curr: 0 -> new: 3
process[gazebo_gui-9]: started with pid [5927]
CAL_ACC0_ID: curr: 0 -> new: 1376264
CAL_ACC1_ID: curr: 0 -> new: 1310728
CAL_ACC_PRIME: curr: 0 -> new: 1376264
process[spawn_model-10]: started with pid [5940]
CAL_GYRO0_ID: curr: 0 -> new: 2293768
CAL_GYRO_PRIME: curr: 0 -> new: 2293768
CAL_MAG0_ID: curr: 0 -> new: 196616
CAL_MAG_PRIME: curr: 0 -> new: 196616
process[local_planner_node-11]: started with pid [5945]
COM_DISARM_LAND: curr: -1.0000 -> new: 0.1000
COM_OBL_ACT: curr: 0 -> new: 2
COM_OF_LOSS_T: curr: 0.0000 -> new: 5.0000
process[rviz-12]: started with pid [5973]
COM_RC_IN_MODE: curr: 0 -> new: 1
EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
EKF2_MAG_TYPE: curr: 0 -> new: 1
MC_PITCH_P: curr: 6.5000 -> new: 6.0000
MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
MC_ROLL_P: curr: 6.5000 -> new: 6.0000
MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
MPC_Z_VEL_I: curr: 0.0200 -> new: 0.1500
MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
MPC_XY_P: curr: 0.9500 -> new: 0.8000
MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
MPC_ACC_HOR_MAX: curr: 10.0000 -> new: 3.0000
NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
NAV_DLL_ACT: curr: 0 -> new: 2
RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
SDLOG_PROFILE: curr: 3 -> new: 131
SDLOG_DIRS_MAX: curr: 0 -> new: 7
SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
* RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
* RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
PWM_MAX: curr: 2000 -> new: 1950
PWM_MIN: curr: 1000 -> new: 1075
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
INFO [dataman] Unknown restart, data manager file './dataman' size is 11405132 bytes
INFO [simulator] Waiting for simulator to connect on TCP port 4560
[ INFO] [1546995561.489910621]: rviz version 1.12.16
[ INFO] [1546995561.489956787]: compiled against Qt version 5.5.1
[ INFO] [1546995561.489968753]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1546995561.514429387]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1546995561.519244773]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1546995561.519461092]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1546995561.519900370]: GCS bridge disabled
[ INFO] [1546995561.583745356]: Plugin 3dr_radio loaded
[ INFO] [1546995561.591352803]: Plugin 3dr_radio initialized
[ INFO] [1546995561.591547027]: Plugin actuator_control loaded
[ INFO] [1546995561.686069925]: Plugin actuator_control initialized
[ INFO] [1546995561.705332630]: Plugin adsb loaded
[ INFO] [1546995561.720822207]: Plugin adsb initialized
[ INFO] [1546995561.721040285]: Plugin altitude loaded
[ INFO] [1546995561.723226757]: Plugin altitude initialized
[ INFO] [1546995561.723400172]: Plugin cam_imu_sync loaded
[ INFO] [1546995561.724944598]: Plugin cam_imu_sync initialized
[ INFO] [1546995561.725132716]: Plugin command loaded
[ INFO] [1546995561.747093183]: Plugin command initialized
[ INFO] [1546995561.747340392]: Plugin companion_process_status loaded
[ INFO] [1546995561.760970895]: Plugin companion_process_status initialized
[ INFO] [1546995561.761260083]: Plugin debug_value loaded
[ INFO] [1546995561.784927960]: Plugin debug_value initialized
[ INFO] [1546995561.784984557]: Plugin distance_sensor blacklisted
[ INFO] [1546995561.785227781]: Plugin fake_gps loaded
[ INFO] [1546995561.800192304]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1546995561.801153621]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1546995561.838355220]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1546995561.838484342]: Plugin fake_gps initialized
[ INFO] [1546995561.838741254]: Plugin ftp loaded
[ INFO] [1546995561.841420162]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1546995561.888577224]: Plugin ftp initialized
[ INFO] [1546995561.888829623]: Plugin global_position loaded
SpawnModel script started
[ INFO] [1546995561.980133840]: Plugin global_position initialized
[ INFO] [1546995561.980259181]: Plugin gps_rtk loaded
[ INFO] [1546995561.983784367]: Plugin gps_rtk initialized
[ INFO] [1546995561.983950980]: Plugin hil loaded
[ INFO] [1546995562.007810504]: Plugin hil initialized
[ INFO] [1546995562.008119973]: Plugin home_position loaded
[ INFO] [1546995562.014317932]: Plugin home_position initialized
[ INFO] [1546995562.014570076]: Plugin imu loaded
[ INFO] [1546995562.026114507]: Plugin imu initialized
[ INFO] [1546995562.026307716]: Plugin local_position loaded
[ INFO] [1546995562.035055125]: Plugin local_position initialized
[ INFO] [1546995562.035210253]: Plugin log_transfer loaded
[ INFO] [1546995562.039312621]: Plugin log_transfer initialized
[ INFO] [1546995562.039470195]: Plugin manual_control loaded
[ INFO] [1546995562.044133580]: Plugin manual_control initialized
[ INFO] [1546995562.044263582]: Plugin mocap_pose_estimate loaded
[ INFO] [1546995562.053014201]: Plugin mocap_pose_estimate initialized
[ INFO] [1546995562.053135186]: Plugin obstacle_distance loaded
[ INFO] [1546995562.065490806]: Plugin obstacle_distance initialized
[ INFO] [1546995562.065653803]: Plugin odom loaded
[INFO] [1546995562.073033, 0.000000]: Loading model XML from Gazebo Model Database
[INFO] [1546995562.073342, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1546995562.082968216]: Plugin odom initialized
[ INFO] [1546995562.083371847]: Plugin param loaded
[ INFO] [1546995562.088949731]: Plugin param initialized
[ INFO] [1546995562.089094016]: Plugin px4flow loaded
[ INFO] [1546995562.100912128]: Plugin px4flow initialized
[ INFO] [1546995562.100945659]: Plugin rangefinder blacklisted
[ INFO] [1546995562.101158474]: Plugin rc_io loaded
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
[ INFO] [1546995562.111013552]: Plugin rc_io initialized
[ INFO] [1546995562.111070065]: Plugin safety_area blacklisted
[ INFO] [1546995562.111304240]: Plugin setpoint_accel loaded
[ INFO] [1546995562.116983643]: Plugin setpoint_accel initialized
[ INFO] [1546995562.117788718]: Plugin setpoint_attitude loaded
[ INFO] [1546995562.136687427]: Plugin setpoint_attitude initialized
[ INFO] [1546995562.136865436]: Plugin setpoint_position loaded
[ INFO] [1546995562.155828548]: Plugin setpoint_position initialized
[ INFO] [1546995562.156057560]: Plugin setpoint_raw loaded
[ INFO] [1546995562.174106881]: Plugin setpoint_raw initialized
[ INFO] [1546995562.174494059]: Plugin setpoint_velocity loaded
[ INFO] [1546995562.188452270]: Plugin setpoint_velocity initialized
[ INFO] [1546995562.189008773]: Plugin sys_status loaded
[ INFO] [1546995562.212680299]: Plugin sys_status initialized
[ INFO] [1546995562.213071170]: Plugin sys_time loaded
[ INFO] [1546995562.227192945]: TM: Timesync mode: MAVLINK
[ INFO] [1546995562.229705521]: Plugin sys_time initialized
[ INFO] [1546995562.229939746]: Plugin trajectory loaded
[ INFO] [1546995562.243923088]: Plugin trajectory initialized
[ INFO] [1546995562.244248228]: Plugin vfr_hud loaded
[ INFO] [1546995562.245318116]: Plugin vfr_hud initialized
[ INFO] [1546995562.245363527]: Plugin vibration blacklisted
[ INFO] [1546995562.245560529]: Plugin vision_pose_estimate loaded
[ INFO] [1546995562.259901561]: Plugin vision_pose_estimate initialized
[ INFO] [1546995562.260169379]: Plugin vision_speed_estimate loaded
[ INFO] [1546995562.266386646]: Plugin vision_speed_estimate initialized
[ INFO] [1546995562.266619125]: Plugin waypoint loaded
[ INFO] [1546995562.274791276]: Plugin waypoint initialized
[ INFO] [1546995562.275017722]: Plugin wind_estimation loaded
[ INFO] [1546995562.276476166]: Plugin wind_estimation initialized
[ INFO] [1546995562.276540695]: Autostarting mavlink via USB on PX4
[ INFO] [1546995562.276702315]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1546995562.276732971]: Built-in MAVLink package version: 2018.12.12
[ INFO] [1546995562.276768550]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1546995562.276801311]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1546995563.980337521]: Stereo is NOT SUPPORTED
[ INFO] [1546995563.980474804]: OpenGl version: 4.5 (GLSL 4.5).
0x28d8960 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x28d93f0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x28e4290 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x28e2890 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
0x2b3f200 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x2d5ac10 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x2d40ac0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x2d5a2d0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x2d5a9c0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
0x2b3f200 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1e4d210) ): Attempt to set a screen on a child window.
[ INFO] [1546995564.762086429, 0.038000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1546995564.795172, 0.070000]: Calling service /gazebo/spawn_sdf_model
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
QInotifyFileSystemWatcherEngine::addPaths: inotify_add_watch failed: No space left on device
[ INFO] [1546995564.928939909, 0.200000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1546995565.383069, 0.266000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1546995565.412999856, 0.296000000]: Physics dynamic reconfigure ready.
[ INFO] [1546995565.413511320, 0.296000000]: Physics dynamic reconfigure ready.
[spawn_model-10] process has finished cleanly
from px4-avoidance.
Can you check if the most recent Firmware change fixes your problem? (#174)
from px4-avoidance.
Hello.
I have the same problem.
I'm running the latest master of PX4 Firmware and Avoidance projects.
from px4-avoidance.
try to increase the number of watches e.g. sudo sysctl fs.inotify.max_watches=65536
from px4-avoidance.
@nicovanduijn
I have reinstalled and built both of PX4/avoidance & PX4/Firmware today, problem still presents.
I checked messages of earlier and now getting the same except stamp and process id as well as rqt-graphs, so I won't append it.
Thank you for your effort.
@mrivi Annoying messages are gone now. Thank you.
from px4-avoidance.
can you share your ROS_PACKAGE_PATH
, GAZEBO_MODEL_PATH
, GAZEBO_PLUGIN_PATH
and LD_LIBRARY_PATH
? thank you.
from px4-avoidance.
@mrivi Sure, I manually separated it with a colon
Clearly it looks like something to do with environment variable setup.
For the clarity, I do have ardupilot-gazebo repository setup in my desktop
and I did suspected that few days ago
so I have temporarily removed it from the PATH variables but didn't worked.
Also, there could've been a URI conflict but never happened,
it looks like handles well about what it is looking for.
jmarple@jmarple-ubuntu:~$ $ROS_PACKAGE_PATH
bash: /home/jmarple/catkin_ws/src/mavlink:
/home/jmarple/catkin_ws/src/mavros/libmavconn:
/home/jmarple/catkin_ws/src/mavros/mavros_msgs:
/home/jmarple/catkin_ws/src/mavros/mavros:
/home/jmarple/catkin_ws/src/avoidance/global_planner:
/home/jmarple/catkin_ws/src/mavros/mavros_extras:
/home/jmarple/catkin_ws/src/avoidance/local_planner:
/home/jmarple/catkin_ws/src/Firmware:
/home/jmarple/catkin_ws/src/mavros/test_mavros:
/opt/ros/kinetic/share:
/home/jmarple/catkin_ws/src/Firmware:
/home/jmarple/catkin_ws/src/Firmware/Tools/sitl_gazebo: No such file or directory
jmarple@jmarple-ubuntu:~$ $GAZEBO_MODEL_PATH
bash: /home/jmarple/redtail/ros/packages/redtail_debug/gazebo:
/home/jmarple/ardupilot_gazebo/models_gazebo:
/home/jmarple/ardupilot_gazebo/models:
/usr/share/gazebo-8/models:
:/home/jmarple/catkin_ws/src/avoidance/sim/models:
/home/jmarple/catkin_ws/src/Firmware/Tools/sitl_gazebo/models: No such file or directory
jmarple@jmarple-ubuntu:~$ $GAZEBO_PLUGIN_PATH
bash: /usr/lib/x86_64-linux-gnu/gazebo-8/plugins:: No such file or directory
jmarple@jmarple-ubuntu:~$ $LD_LIBRARY_PATH
bash: /usr/local/cuda-9.0/lib64:
/home/jmarple/catkin_ws/devel/lib:
/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:
/usr/lib/x86_64-linux-gnu/gazebo-8/plugins: No such file or directory
from px4-avoidance.
@SwiftGust I think you're missing the Firmware build path in LD_LIBRARY_PATH
. Run
source ~/catkin_ws/src/Firmware/Tools/setup_gazebo.bash ~/catkin_ws/src/Firmware ~/catkin_ws/src/Firmware/build/px4_sitl_default
from px4-avoidance.
@mrivi Adding the line to the .bashrc, now launch file does connect to PX4 SITL, thank you.
Clearly I have missed out these lines and modify accordingly.
# Setup some more Gazebo-related environment variables
. ~/Firmware/Tools/setup_gazebo.bash ~/Firmware ~/Firmware/build/px4_sitl_default
But I'm still having problems, examples are not working properly in my desktop.
It looks like gazebo-ros is not connecting each other yet,
still showing environment variable resulting in
No such file or directory
I did add following in .bashrc file.
source ~/catkin_ws/src/Firmware/Tools/setup_gazebo.bash ~/catkin_ws/src/Firmware ~/catkin_ws/src/Firmware/build/px4_sitl_default
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/catkin_ws/src/Firmware/Tools/sitl_gazebo/build
# Disable online model lookup since this is quite experimental and unstable
export GAZEBO_MODEL_DATABASE_URI=""
export SITL_GAZEBO_PATH=$HOME/catkin_ws/src/Firmware/Tools/sitl_gazebo
I don't know what am I missing.
And the following problems with current status is
I think following problems could go away once as gazebo connects to ROS.
For the global planner, examples are showing
- Map is not coming into rviz, path planning always fails with goal position is occupied.
For the local planner, examples are showing
- Looks like transform publisher has some problem regarding publishing image.
Result in warning messages
Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
at line 126 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp
However, I can find the frame_id 'camera_link' with
rostopic echo /tf
transforms:
-
header:
seq: 0
stamp:
secs: 893
nsecs: 94000000
frame_id: "fcu"
child_frame_id: "camera_link"
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: -0.499999841466
y: 0.499601836645
z: -0.499999841466
w: 0.500398163355
---
- Images are not gets into with
rosrun image_view stereo_view stereo:=/stereo image:=image_rect_color
withsudo apt-get install ros-kinetic-image-view
(missing part in doc)
In Rqt, No image received warning is given
- Cannot set mode to OFFBOARD when using local planner examples.
Giving mission in QGC does not avoid obstacles with param 'MPC_OBS_AVOID' enabled(1)
from px4-avoidance.
@SwiftGust Could you please remove this line from the local planner launch file such that the debugging messages are output on the console and copy those here?
Do you get any warning/errors from the PX4 Firmware side? For example, why it doesn't switch to OFFBOARD. Could you copy those here as well?
from px4-avoidance.
@mrivi Even with that line removed, problem still presents.
However it does show additional info message
Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
at line 126 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp
[ INFO] [1547451888.124090234, 13.960000000]: Pointcloud timeout , no cloud received on topic /camera/depth/points , missing transforms (Hovering at current position)
from px4-avoidance.
@SwiftGust Gazebo isn't simulating the depth sensor so the planner isn't getting a pointcloud.
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/catkin_ws/src/Firmware/Tools/sitl_gazebo/build
this is wrong. Should be ~/catkin_ws/src/Firmware/build/px4_sitl_default/build_gazebo
.
Please, set your environment variable from scratch following the instructions.
from px4-avoidance.
@mrivi Sorry for the trouble, but today I have set environment variables following instructions
px4 dev docs, instruction here and the sitl_gazebo docs looking for missing part.
I have set earlier environment variable as
~/catkin_ws/src/Firmware/build/px4_sitl_default/build_gazebo
But It didn't work so I built & installed gazebo plugin in ~/catkin_ws/src/Firmware/Tools/sitl_gazebo
and have set PATH to that as well with following instruction on sitl_gazebo repo.
So the PATH is pointing gazebo - px4 plugins too, and changing it back doesn't work either.
Environment variable setup in .bashrc is following
source /opt/ros/kinetic/setup.bash
source /usr/share/gazebo/setup.sh
source ~/catkin_ws/devel/setup.bash
export LD_LIBRARY_PATH=/usr/local/cuda-9.0/lib64:$LD_LIBRARY_PATH
export PATH=/usr/local/cuda-9.0/bin:$PATH
export PATH=/usr/lib/boost:$PATH
export PATH=/usr/lib/ccache:$PATH
# PX4 Gazebo Related
source ~/catkin_ws/src/Firmware/Tools/setup_gazebo.bash ~/catkin_ws/src/Firmware ~/catkin_ws/src/Firmware/build/px4_sitl_default
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/catkin_ws/src/avoidance/sim/models
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/catkin_ws/src/Firmware/Tools/sitl_gazebo/models
export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH}:~/catkin_ws/src/Firmware/Tools/sitl_gazebo/worlds
export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH}:~/catkin_ws/src/avoidance/sim/worlds
export QT_X11_NO_MITSHM=1
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/catkin_ws/src/Firmware
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/catkin_ws/src/Firmware/Tools/sitl_gazebo
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/catkin_ws/src/Firmware/build/px4_sitl_default/build_gazebo
# Disable online model lookup since this is quite experimental and unstable
export GAZEBO_MODEL_DATABASE_URI=""
export SITL_GAZEBO_PATH=$HOME/catkin_ws/src/Firmware/Tools/sitl_gazebo
from px4-avoidance.
@SwiftGust this looks good. Do you still have the same issue?
Could you check that you have all gazebo packages? sudo apt-get install ros-kinetic-gazebo-*
from px4-avoidance.
@mrivi Now it's working!
I manually updated gazebo8 from gazebo7, and from that there was missing part.
with sudo apt-get install ros-kinetic-gazebo8-*
gave me this machine is missingros-kinetic-gazebo8-plugins ros-kinetic-gazebo8-ros-control ros-kinetic-gazebo8-ros-pkgs ros-kinetic-polled-camera
and now its working.
I should've suspected this...
Sorry for the trouble, and thank you very much!
from px4-avoidance.
@SwiftGust great!
from px4-avoidance.
should be--?
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/catkin_ws/src/avoidance/avoidance/sim/models
from px4-avoidance.
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