zilantrobotics / innopolis_vtol_dynamics Goto Github PK

I get the following error
[ERROR] [1694854506.985331624]: Dynamics type with name "quadcopter" is not exist. when I start HITL sim in SITL mode, using ./scripts/docker.sh sitl_flight_goggles

It seems that ./scripts/run_sim.sh has wrong dynamics in sitl_flight_goggles function. After consulting ./uav_dynamics/inno_vtol_dynamics/launch/sitl.launch for the correct argument for the dynamics flag, I replaced quadcopter with flightgoggles_multicopter on line 185 of ./scripts/run_sim.sh. After that, simulators boots up without problems.

Btw, there are flightgoggles, iris and quadcopter entities, are they different names for the same thing?

Probably I miss something. I couldn't fix the problem.

~/PX4-Autopilot$ DONT_RUN=1 make px4_sitl gazebo_innopolis_vtol
ninja: error: unknown target 'gazebo_innopolis_vtol'
Makefile:231: recipe for target 'px4_sitl' failed
make: *** [px4_sitl] Error 1

In vtolDynamicsSim.cpp:loadParams() function, propeller locations are created by multiplying sin(45) for x and y locations.

params_.propellersLocation[0] << propLocX * sin(3.1415/4),  propLocY * sin(3.1415/4), propLocZ;
params_.propellersLocation[1] <<-propLocX * sin(3.1415/4), -propLocY * sin(3.1415/4), propLocZ;
params_.propellersLocation[2] << propLocX * sin(3.1415/4), -propLocY * sin(3.1415/4), propLocZ;
params_.propellersLocation[3] <<-propLocX * sin(3.1415/4),  propLocY * sin(3.1415/4), propLocZ;

I think multiplying sin45 is unnecessary and wrong. I am not sure of it, still trying to understand all part of code. In body frame, locx is simply distance in x axis. Please correct me if I'm wrong.

// That might be the solution if i think right
params_.propellersLocation[0] << propLocX,  propLocY,  propLocZ;
params_.propellersLocation[1] <<-propLocX, -propLocY,  propLocZ;
params_.propellersLocation[2] << propLocX, -propLocY,  propLocZ;
params_.propellersLocation[3] <<-propLocX,  propLocY,  propLocZ;

CMAKE_BUILD_TYPE is currently set as RelWithDebInfo in inno_vtol_dynamics project.

CMakeLists.txt:9
SET(CMAKE_BUILD_TYPE RelWithDebInfo)

If I set it to Debug and arm the vehicle. Program exits.

[ INFO] [1646913596.306345559]: inno_vtol:  mc  [0.00, 0.00, 0.00, 0.00]  fw rpy  [0.00, 0.00, 0.00] throttle  [0.00],  enu pose  [0.0, 0.0, 0.0]
[ INFO] [1646913596.872489711]: cmd: Arm
node: /usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:364: Eigen::DenseCoeffsBase<Derived, 1>::Scalar& Eigen::DenseCoeffsBase<Derived, 1>::operator()(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<double, -1, -1>; Eigen::DenseCoeffsBase<Derived, 1>::Scalar = double; Eigen::Index = long int]: Assertion `row >= 0 && row < rows() && col >= 0 && col < cols()' failed.
================================================================================REQUIRED process [inno_dynamics_sim-4] has died!
process has died [pid 294660, exit code -6, cmd /home/prihex/catkin_ws/devel/lib/innopolis_vtol_dynamics/node __name:=inno_dynamics_sim __log:=/home/prihex/.ros/log/90dcdc54-a069-11ec-9b20-d93dcf7f6b57/inno_dynamics_sim-4.log].
log file: /home/prihex/.ros/log/90dcdc54-a069-11ec-9b20-d93dcf7f6b57/inno_dynamics_sim-4*.log
Initiating shutdown!
================================================================================
[rosapi-9] killing on exit
[rosbridge_websocket-8] killing on exit
[static_transform_publisher_camera-7] killing on exit
[static_transform_publisher1-6] killing on exit

When I have first launched autopilot_configure.py, I was greeted with the following error

kotik@YURIY-DESKTOP:~/innopolis_vtol_dynamics$ ./scripts/autopilot_configure.py
Error: No module named 'mavlink_tools'
Try: `python3 -m pip install --index-url https://test.pypi.org/simple/ mavlink_tools`.

I then installed the package, and launched the autopilot_configure.py once again, and got this message

kotik@YURIY-DESKTOP:~/innopolis_vtol_dynamics$ ./scripts/autopilot_configure.py
Error: No module named 'pymavlink'
Try: `python3 -m pip install --index-url https://test.pypi.org/simple/ mavlink_tools`.

It looks like it suggests me to install mavlink_tools once again (maybe pymavlink is a part of mavlink_tools and this is what the "Error: No module" means), however, it is not the case. pymavlink should be installed separately via

pip install pymavlink

and then autopilot_configure.py works

My suggestion is to either remove the line with "Try python3 ..... " entirely and let user manage their dependencies, or supply requirements.txt file, or add a separate prompt with instructions for pymavlink and mavlink_tools respectively, because for now this message misleads user into thinking that they are missing mavlink_tools package, not pymavlink.

This is awesome. Would be great to get this linked into the PX4 User Guide! Fantastic for people to be able to find this when looking into Simulators and UAVCAN.

• Is that something that you are planning?
• I see you branch off version 1.12. Is there an intent to push this into master?
• What can I do to help with integration into the PX4 docs?

I get the following error.

$ sudo docker build .
.
.
.
Successfully built 29a64680dfe7
$ sudo docker run 29a64680dfe7
.
.
.
Param node_id: inno.dynamics
terminate called after throwing an instance of 'std::runtime_error'
  what():  Failed to add iface
================================================================================REQUIRED process [px4_uavcan_communicator-3] has died!
process has died [pid 113, exit code -6, cmd /catkin_ws/devel/lib/uavcan_communicator/uavcan_communicator __name:=px4_uavcan_communicator __log:=/root/.ros/log/b9f39b44-9332-11ec-89fc-0242ac110002/px4_uavcan_communicator-3.log].
log file: /root/.ros/log/b9f39b44-9332-11ec-89fc-0242ac110002/px4_uavcan_communicator-3*.log
Initiating shutdown!
================================================================================
RLException: cannot add process [innosim_relay_node-5] after process monitor has been shut down
The traceback for the exception was written to the log file
.
.
# it terminates
$ sudo docker ps
CONTAINER ID   IMAGE     COMMAND   CREATED   STATUS    PORTS     NAMES
$

I can not see log file. .ros directory doesn't exist in my /root directory.

I do not know what I am missing.

OS: Ubuntu 18.04
ROS: melodic (I ve changed in ROS_DISTRO as melodic in docker file)