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Gazebo terminal #2

Herowaree
Apr 12th, 2021
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  1. export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=t650; export WORLD_NAME=simulation; export SENSORS="garmin_down"
  2. waitForRos; roslaunch mrs_simulation simulation.launch world_name:=grass_plane gui:=true
  3. thulio@OptiPlex-3040:~/mrs_workspace/src/simulation/example_tmux_scripts/one_drone_gps$ export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=t650; export WORLD_NAME=simulation; export SENSORS="garmin_down"
  4. thulio@OptiPlex-3040:~/mrs_workspace/src/simulation/example_tmux_scripts/one_drone_gps$ waitForRos; roslaunch mrs_simulation simulation.launch world_name:=grass_plane gui:=true
  5. waiting for ros
  6. ... logging to /home/thulio/.ros/log/b5332156-9b8f-11eb-a97f-efa086b1cd14/roslaunch-OptiPlex-3040-72658.log
  7. Checking log directory for disk usage. This may take a while.
  8. Press Ctrl-C to interrupt
  9. Done checking log file disk usage. Usage is <1GB.
  10.  
  11. started roslaunch server http://OptiPlex-3040:41289/
  12.  
  13. SUMMARY
  14. ========
  15.  
  16. PARAMETERS
  17. * /rosdistro: noetic
  18. * /rosversion: 1.15.9
  19. * /use_sim_time: True
  20.  
  21. NODES
  22. /
  23. gazebo (gazebo_ros/gzserver)
  24. gazebo_gui (gazebo_ros/gzclient)
  25. mrs_drone_spawner (mrs_simulation/mrs_drone_spawner)
  26.  
  27. ROS_MASTER_URI=http://localhost:11311
  28.  
  29. process[mrs_drone_spawner-1]: started with pid [72815]
  30. process[gazebo-2]: started with pid [72819]
  31. process[gazebo_gui-3]: started with pid [72824]
  32. [INFO] [1618232712.953124, 0.000000]: [DroneSpawner]: Node initialization started. All parameters loaded correctly.
  33. [INFO] [1618232712.954088, 0.000000]: [DroneSpawner]: Loaded the following params:
  34. enable_rangefinder: [False, 'Add a laser rangefinder (Garmin) pointing down', ['f450', 'f550', 't650', 'x500', 'f330', 'eaglemk2']]
  35. enable_rangefinder_up: [False, 'Add a laser rangefinder (Garmin) pointing up', ['f450', 'f550', 't650']]
  36. enable_teraranger: [False, 'Add a laser rangefinder (Teraranger) to the vehicle', ['f450', 'f550', 't650']]
  37. enable_ground_truth: [False, 'Enable topic with ground truth odometry', ['f450', 'f550', 't650', 'x500', 'f330', 'eaglemk2']]
  38. enable_mobius_camera_front: [False, 'Add mobius camera to the vehicle [1280x720 30hz], pointed to the front', ['f450', 'f550', 't650']]
  39. enable_mobius_camera_down: [False, 'Add mobius camera to the vehicle [1280x720 30hz], pointed to the ground', ['f450', 'f550']]
  40. enable_mobius_camera_back_left: [False, 'Add mobius camera to the vehicle [1280x720 30hz], pointed to the back left', ['f450', 'f550']]
  41. enable_mobius_camera_back_right: [False, 'Add mobius camera to the vehicle [1280x720 30hz], pointed to the back right', ['f450', 'f550']]
  42. enable_realsense_front_pitched: [False, 'Add Intel Realsense D435 depth camera to the vehicle [1280x720 30hz], pointed to the front pitched down by 10 up to 45 deg. Depends on the type of vehicle', ['f450', 'f550']]
  43. enable_realsense_down: [False, 'Add Intel Realsense D435 depth camera to the vehicle [1280x720 30hz], pointed down', ['f450', 'f550', 't650']]
  44. enable_realsense_top: [False, 'Add Intel Realsense D435 depth camera to the vehicle [1280x720 30hz], pointed forward placed on the aluminum frame', ['f550', 't650']]
  45. enable_realsense_front: [False, 'Add Intel Realsense D435 depth camera to the vehicle [1280x720 30hz], pointed forward placed on the front holder between the legs', ['f450', 'f550', 't650']]
  46. enable_realsense_up: [False, 'Add Intel Realsense D435 depth camera to the vehicle [1280x720 30hz], pointed upwards', ['f450', 'f550', 't650']]
  47. enable_realsense_up_down: [False, 'Add 2 Intel Realsense D435 depth cameras to the vehicle [1280x720 30hz], pointed upwards and downwards', ['f450', 'f550', 't650']]
  48. use_realistic_realsense: [False, 'Enable a more realistic simulation of the Realsense D435 depth image (only takes effect if some Realsense is enabled)', ['f330', 'f450', 'f550', 't650', 'x500']]
  49. enable_whycon_box: [False, 'Add a Whycon box for relative localization', ['f450', 'f550']]
  50. enable_bluefox_camera: [False, 'Add bluefox camera to the vehicle [752x480 50hz]', ['f450', 'f550', 't650']]
  51. enable_bluefox_camera_reverse: [False, 'Add bluefox camera to the vehicle [752x480 50hz], rotated by 180 deg', ['f450', 'f550', 't650']]
  52. enable_fisheye_camera: [False, 'Add fisheye camera to the vehicle [752x480 180deg 45hz]', ['f450']]
  53. enable_magnetic_gripper: [False, 'Add magnetic gripper', ['f450', 'f550', 't650']]
  54. enable_scanse_sweep: [False, 'Add Scanse Sweep laser scanner to the vehicle', ['f450', 'f550', 't650']]
  55. enable_rplidar: [False, 'Add the RPlidar A3 laser scanner to the vehicle', ['f450', 'f550', 't650', 'x500']]
  56. enable_pendulum: [False, 'Add pendulum to the vehicle', ['f450', 'f550', 't650']]
  57. enable_teraranger_tower_evo: [False, 'Add the Teraranger Tower Evo laser scanner to the vehicle', ['f450', 'f550', 't650']]
  58. enable_timepix: [False, 'Add Timepix radiation detector to the vehicle', ['f450', 'f550', 't650']]
  59. enable_thermal_camera: [False, 'Add thermal camera to the vehicle', ['t650']]
  60. enable_velodyne: [False, 'Add Velodyne PUCK Lite laser scanner to the vehicle', ['f450', 'f550', 't650']]
  61. enable_ouster: [False, 'Add Ouster laser scanner to the vehicle', ['f450', 'f550', 't650']]
  62. ouster_model: ['None', 'Choose the Ouster model. Options: OS0-32, OS0-64, OS0-128, OS1-16, OS1-32G1, OS1-32, OS1-64, OS1-128, OS2-32, OS2-64, OS2-128', ['f450', 'f550', 't650']]
  63. use_gpu_ray: [False, 'Laser ray casting will be handled by GPU shaders', ['f330', 'f450', 'f550', 't650', 'x500']]
  64. enable_light: [False, 'Add light to the vehicle', ['f450', 'f550', 't650']]
  65. enable_servo_camera: [False, 'Add camera on virtual servo to the vehicle', ['f450', 'f550', 't650']]
  66. enable_ball_holder: [False, 'Add ball holder to the vehicle', ['f450', 'f550', 't650']]
  67. enable_water_gun: [False, 'Add water gun for fire fighting', ['t650']]
  68. enable_parachute: [False, 'Add parachute for emergency flight termination', ['t650']]
  69. wall_challenge: [False, 'Configuration for the MBZIRC wall challenge (T650 with 2x bluefox down, realsense down pitched, rangefinder down)', ['t650']]
  70. fire_challenge: [False, 'Configuration for the MBZIRC fire challenge (T650 with bluefox down, realsense forward, rp lidar, 3x thermal camera, water gun)', ['t650']]
  71. fire_challenge_blanket: [False, 'Configuration for the MBZIRC fire challenge (blanket dropping) (T650 with bluefox down, realsense forward, rp lidar, 2x thermal camera, maybe blanket dropper)', ['t650']]
  72. gps_indoor_jamming: [False, 'Enable GPS jamming when drone is indoors (NOTE: UNUSED PARAMETER!)', ['f450', 'f550', 't650']]
  73. enable_uv_leds: [False, 'Add UV LEDs to the vehicle (NOTE: T650 CONFIGURATION SEEMS WRONG!)', ['f450', 'f550', 't650']]
  74. uvled_fr_l: ['None', 'Specify UV LED frequency left', ['f450', 'f550', 't650']]
  75. uvled_fr_r: ['None', 'Specify UV LED frequency right', ['f450', 'f550', 't650']]
  76. enable_uv_leds_beacon: [False, 'Add UV LED beacon to the top of the vehicle', ['f450']]
  77. uvled_beacon_f: ['None', 'The frequency of blinking of the UV Beacon', ['f450']]
  78. enable_uv_camera: [False, 'Add UV camera on the vehicle', ['f450', 'f550', 't650']]
  79. uvcam_calib_file: ['None', 'Specify UV camera calibration different than default one', ['f450', 'f550', 't650']]
  80. uvcam_occlusions: [False, 'Enable occlusions for UVDAR simulation (NOTE: THIS REQUIRES A BEEFY COMPUTER)', ['f450', 'f550', 't650']]
  81. pos_file: ['None', 'Load positions and ids from .csv file with format: [id, x, y, z, heading] or .yaml file with format: [uav_name: \\n id: (int) \\n x: (float) \\n y: (float) \\n z: (float) \\n heading: (float)]', ['f330', 'f450', 'f550', 't650', 'x500', 'eaglemk2']]
  82. pos: ['None', 'Specify spawn position of the first vehicle in format [x, y, z, heading]. Additional vehicles will spawn in line with 2m x-offset', ['f330', 'f450', 'f550', 't650', 'x500', 'eaglemk2']]
  83. enable_vio: [False, 'Add a forward-looking fisheye camera and a high frequency IMU', ['f330']]
  84. model_package: ['mrs_simulation', 'package name for the UAV models', ['f330', 'f450', 'f550', 't650', 'x500', 'eaglemk2']]
  85.  
  86. [INFO] [1618232712.955776, 0.000000]: [DroneSpawner]: remove arg 'verbose' in mrs_drone_spawner.launch to stop listing params on startup
  87. Gazebo multi-robot simulator, version 11.3.0
  88. Copyright (C) 2012 Open Source Robotics Foundation.
  89. Released under the Apache 2 License.
  90. http://gazebosim.org
  91.  
  92. [ INFO] [1618232713.250465758]: Finished loading Gazebo ROS API Plugin.
  93. [Msg] Waiting for master.
  94. [ INFO] [1618232713.252569005]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
  95. [Msg] Connected to gazebo master @ http://127.0.0.1:11345
  96. [Msg] Publicized address: 150.165.167.29
  97. [ INFO] [1618232713.286147403]: Finished loading Gazebo ROS API Plugin.
  98. [ INFO] [1618232713.287619735]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
  99. [Msg] Loading world file [/home/thulio/mrs_workspace/src/simulation/ros_packages/mrs_gazebo_common_resources/worlds/grass_plane.world]
  100. [ INFO] [1618232714.000755948]: waitForService: Service [/gazebo/set_physics_properties] is now available.
  101. [ INFO] [1618232714.124365237]: Physics dynamic reconfigure ready.
  102. [ INFO] [1618232714.215305845]: [GazeboStaticTransformRepublisher]: Initialized
  103. [ INFO] [1618232714.239644376]: [GazeboRvizCamSynchronizer]: Initialized
  104. [INFO] [1618232719.142308, 4.888000]: [DroneSpawner]: Requested vehicle IDs: [1]
  105. [INFO] [1618232719.144033, 4.888000]: [DroneSpawner]: Customized params:
  106. enable_rangefinder: True
  107. [INFO] [1618232719.145332, 4.888000]: [DroneSpawner]: Assigning default spawn poses
  108. UAV1 ARGS_SEQUENCE:
  109. ['ID:=1', 'vehicle:=t650', 'udp_offboard_port_remote:=14006', 'udp_offboard_port_local:=14005', 'mavlink_tcp_port:=4561', 'mavlink_udp_port:=14561', 'fcu_url:=udp://:14006@localhost:14005', 'x:=-4', 'y:=29.45', 'z:=0.3', 'heading:=0', 'model_config_file:=/tmp/simulation_0y9osihy_uav1.yaml', 'resource_package_path:=/home/thulio/mrs_workspace/src/simulation/ros_packages/mrs_simulation']
  110. [INFO] [1618232719.154411, 4.900000]: [DroneSpawner]: Running mavros for uav1...
  111. ... logging to /home/thulio/.ros/log/b5332156-9b8f-11eb-a97f-efa086b1cd14/roslaunch-OptiPlex-3040-72838.log
  112. started roslaunch server http://OptiPlex-3040:34243/
  113.  
  114. SUMMARY
  115. ========
  116.  
  117. CLEAR PARAMETERS
  118. * /uav1/mavros/
  119.  
  120. PARAMETERS
  121. * /rosdistro: noetic
  122. * /rosversion: 1.15.9
  123. * /uav1/mavros/cmd/use_comp_id_system_control: False
  124. * /uav1/mavros/conn/heartbeat_rate: 1.0
  125. * /uav1/mavros/conn/system_time_rate: 1.0
  126. * /uav1/mavros/conn/timeout: 10.0
  127. * /uav1/mavros/conn/timesync_rate: 10.0
  128. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  129. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  130. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/id: 0
  131. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
  132. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  133. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  134. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  135. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  136. * /uav1/mavros/distance_sensor/laser_1_sub/id: 3
  137. * /uav1/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
  138. * /uav1/mavros/distance_sensor/laser_1_sub/subscriber: True
  139. * /uav1/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  140. * /uav1/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  141. * /uav1/mavros/distance_sensor/lidarlite_pub/id: 1
  142. * /uav1/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
  143. * /uav1/mavros/distance_sensor/lidarlite_pub/send_tf: True
  144. * /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  145. * /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  146. * /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  147. * /uav1/mavros/distance_sensor/sonar_1_sub/id: 2
  148. * /uav1/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
  149. * /uav1/mavros/distance_sensor/sonar_1_sub/subscriber: True
  150. * /uav1/mavros/fake_gps/eph: 2.0
  151. * /uav1/mavros/fake_gps/epv: 2.0
  152. * /uav1/mavros/fake_gps/fix_type: 3
  153. * /uav1/mavros/fake_gps/geo_origin/alt: 408.0
  154. * /uav1/mavros/fake_gps/geo_origin/lat: 47.3667
  155. * /uav1/mavros/fake_gps/geo_origin/lon: 8.55
  156. * /uav1/mavros/fake_gps/gps_rate: 5.0
  157. * /uav1/mavros/fake_gps/mocap_transform: True
  158. * /uav1/mavros/fake_gps/satellites_visible: 5
  159. * /uav1/mavros/fake_gps/tf/child_frame_id: fix
  160. * /uav1/mavros/fake_gps/tf/frame_id: map
  161. * /uav1/mavros/fake_gps/tf/listen: False
  162. * /uav1/mavros/fake_gps/tf/rate_limit: 10.0
  163. * /uav1/mavros/fake_gps/tf/send: False
  164. * /uav1/mavros/fake_gps/use_mocap: True
  165. * /uav1/mavros/fake_gps/use_vision: False
  166. * /uav1/mavros/fcu_protocol: v2.0
  167. * /uav1/mavros/fcu_url: udp://:14006@loca...
  168. * /uav1/mavros/gcs_url:
  169. * /uav1/mavros/global_position/child_frame_id: base_link
  170. * /uav1/mavros/global_position/frame_id: map
  171. * /uav1/mavros/global_position/gps_uere: 1.0
  172. * /uav1/mavros/global_position/rot_covariance: 99999.0
  173. * /uav1/mavros/global_position/tf/child_frame_id: base_link
  174. * /uav1/mavros/global_position/tf/frame_id: map
  175. * /uav1/mavros/global_position/tf/global_frame_id: earth
  176. * /uav1/mavros/global_position/tf/send: False
  177. * /uav1/mavros/global_position/use_relative_alt: True
  178. * /uav1/mavros/image/frame_id: px4flow
  179. * /uav1/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
  180. * /uav1/mavros/imu/frame_id: base_link
  181. * /uav1/mavros/imu/linear_acceleration_stdev: 0.0003
  182. * /uav1/mavros/imu/magnetic_stdev: 0.0
  183. * /uav1/mavros/imu/orientation_stdev: 1.0
  184. * /uav1/mavros/landing_target/camera/fov_x: 2.0071286398
  185. * /uav1/mavros/landing_target/camera/fov_y: 2.0071286398
  186. * /uav1/mavros/landing_target/image/height: 480
  187. * /uav1/mavros/landing_target/image/width: 640
  188. * /uav1/mavros/landing_target/land_target_type: VISION_FIDUCIAL
  189. * /uav1/mavros/landing_target/listen_lt: False
  190. * /uav1/mavros/landing_target/mav_frame: LOCAL_NED
  191. * /uav1/mavros/landing_target/target_size/x: 0.3
  192. * /uav1/mavros/landing_target/target_size/y: 0.3
  193. * /uav1/mavros/landing_target/tf/child_frame_id: camera_center
  194. * /uav1/mavros/landing_target/tf/frame_id: landing_target
  195. * /uav1/mavros/landing_target/tf/listen: False
  196. * /uav1/mavros/landing_target/tf/rate_limit: 10.0
  197. * /uav1/mavros/landing_target/tf/send: True
  198. * /uav1/mavros/local_position/frame_id: map
  199. * /uav1/mavros/local_position/tf/child_frame_id: base_link
  200. * /uav1/mavros/local_position/tf/frame_id: map
  201. * /uav1/mavros/local_position/tf/send: False
  202. * /uav1/mavros/local_position/tf/send_fcu: False
  203. * /uav1/mavros/mission/pull_after_gcs: True
  204. * /uav1/mavros/mocap/use_pose: True
  205. * /uav1/mavros/mocap/use_tf: False
  206. * /uav1/mavros/odometry/fcu/odom_child_id_des: base_link
  207. * /uav1/mavros/odometry/fcu/odom_parent_id_des: map
  208. * /uav1/mavros/plugin_blacklist: ['safety_area', '...
  209. * /uav1/mavros/plugin_whitelist: []
  210. * /uav1/mavros/px4flow/frame_id: px4flow
  211. * /uav1/mavros/px4flow/ranger_fov: 0.118682
  212. * /uav1/mavros/px4flow/ranger_max_range: 5.0
  213. * /uav1/mavros/px4flow/ranger_min_range: 0.3
  214. * /uav1/mavros/safety_area/p1/x: 1.0
  215. * /uav1/mavros/safety_area/p1/y: 1.0
  216. * /uav1/mavros/safety_area/p1/z: 1.0
  217. * /uav1/mavros/safety_area/p2/x: -1.0
  218. * /uav1/mavros/safety_area/p2/y: -1.0
  219. * /uav1/mavros/safety_area/p2/z: -1.0
  220. * /uav1/mavros/setpoint_accel/send_force: False
  221. * /uav1/mavros/setpoint_attitude/reverse_thrust: False
  222. * /uav1/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
  223. * /uav1/mavros/setpoint_attitude/tf/frame_id: map
  224. * /uav1/mavros/setpoint_attitude/tf/listen: False
  225. * /uav1/mavros/setpoint_attitude/tf/rate_limit: 50.0
  226. * /uav1/mavros/setpoint_attitude/use_quaternion: False
  227. * /uav1/mavros/setpoint_position/mav_frame: LOCAL_NED
  228. * /uav1/mavros/setpoint_position/tf/child_frame_id: target_position
  229. * /uav1/mavros/setpoint_position/tf/frame_id: map
  230. * /uav1/mavros/setpoint_position/tf/listen: False
  231. * /uav1/mavros/setpoint_position/tf/rate_limit: 50.0
  232. * /uav1/mavros/setpoint_raw/thrust_scaling: 1.0
  233. * /uav1/mavros/setpoint_velocity/mav_frame: LOCAL_NED
  234. * /uav1/mavros/startup_px4_usb_quirk: True
  235. * /uav1/mavros/sys/disable_diag: False
  236. * /uav1/mavros/sys/min_voltage: 10.0
  237. * /uav1/mavros/target_component_id: 1
  238. * /uav1/mavros/target_system_id: 2
  239. * /uav1/mavros/tdr_radio/low_rssi: 40
  240. * /uav1/mavros/time/time_ref_source: fcu
  241. * /uav1/mavros/time/timesync_avg_alpha: 0.6
  242. * /uav1/mavros/time/timesync_mode: MAVLINK
  243. * /uav1/mavros/vibration/frame_id: base_link
  244. * /uav1/mavros/vision_pose/tf/child_frame_id: vision_estimate
  245. * /uav1/mavros/vision_pose/tf/frame_id: odom
  246. * /uav1/mavros/vision_pose/tf/listen: False
  247. * /uav1/mavros/vision_pose/tf/rate_limit: 10.0
  248. * /uav1/mavros/vision_speed/listen_twist: True
  249. * /uav1/mavros/vision_speed/twist_cov: True
  250. * /uav1/mavros/wheel_odometry/child_frame_id: base_link
  251. * /uav1/mavros/wheel_odometry/count: 2
  252. * /uav1/mavros/wheel_odometry/frame_id: odom
  253. * /uav1/mavros/wheel_odometry/send_raw: True
  254. * /uav1/mavros/wheel_odometry/send_twist: False
  255. * /uav1/mavros/wheel_odometry/tf/child_frame_id: base_link
  256. * /uav1/mavros/wheel_odometry/tf/frame_id: odom
  257. * /uav1/mavros/wheel_odometry/tf/send: False
  258. * /uav1/mavros/wheel_odometry/use_rpm: False
  259. * /uav1/mavros/wheel_odometry/vel_error: 0.1
  260. * /uav1/mavros/wheel_odometry/wheel0/radius: 0.05
  261. * /uav1/mavros/wheel_odometry/wheel0/x: 0.0
  262. * /uav1/mavros/wheel_odometry/wheel0/y: -0.15
  263. * /uav1/mavros/wheel_odometry/wheel1/radius: 0.05
  264. * /uav1/mavros/wheel_odometry/wheel1/x: 0.0
  265. * /uav1/mavros/wheel_odometry/wheel1/y: 0.15
  266.  
  267. NODES
  268. /uav1/
  269. mavros (mavros/mavros_node)
  270.  
  271. ROS_MASTER_URI=http://localhost:11311
  272. process[uav1/mavros-1]: started with pid [73751]
  273. [INFO] [1618232720.265340, 6.008000]: [DroneSpawner]: Waiting for uav1's mavros to start publishing...
  274. [ INFO] [1618232720.641985748, 6.388000000]: FCU URL: udp://:14006@localhost:14005
  275. [ INFO] [1618232720.648892810, 6.396000000]: udp0: Bind address: 0.0.0.0:14006
  276. [ INFO] [1618232720.649105055, 6.396000000]: udp0: Remote address: 127.0.0.1:14005
  277. [ INFO] [1618232720.649983087, 6.396000000]: GCS bridge disabled
  278. [ INFO] [1618232720.684627530, 6.432000000]: Plugin 3dr_radio loaded
  279. [ INFO] [1618232720.689568441, 6.436000000]: Plugin 3dr_radio initialized
  280. [ INFO] [1618232720.689735206, 6.436000000]: Plugin actuator_control loaded
  281. [ INFO] [1618232720.694129360, 6.440000000]: Plugin actuator_control initialized
  282. [ INFO] [1618232720.702799046, 6.448000000]: Plugin adsb loaded
  283. [ INFO] [1618232720.707966258, 6.456000000]: Plugin adsb initialized
  284. [ INFO] [1618232720.708212930, 6.456000000]: Plugin altitude loaded
  285. [ INFO] [1618232720.710288104, 6.456000000]: Plugin altitude initialized
  286. [ INFO] [1618232720.711217811, 6.456000000]: Plugin cam_imu_sync loaded
  287. [ INFO] [1618232720.711994720, 6.460000000]: Plugin cam_imu_sync initialized
  288. [ INFO] [1618232720.712219757, 6.460000000]: Plugin command loaded
  289. [ INFO] [1618232720.726020028, 6.472000000]: Plugin command initialized
  290. [ INFO] [1618232720.726450261, 6.472000000]: Plugin companion_process_status loaded
  291. [ INFO] [1618232720.729535728, 6.476000000]: Plugin companion_process_status initialized
  292. [ INFO] [1618232720.730417898, 6.476000000]: Plugin debug_value loaded
  293. [ INFO] [1618232720.740699533, 6.484000000]: Plugin debug_value initialized
  294. [ INFO] [1618232720.741041679, 6.488000000]: Plugin distance_sensor blacklisted
  295. [ INFO] [1618232720.741287919, 6.488000000]: Plugin fake_gps loaded
  296. [ INFO] [1618232720.768476254, 6.512000000]: Plugin fake_gps initialized
  297. [ INFO] [1618232720.768626194, 6.516000000]: Plugin ftp loaded
  298. [ INFO] [1618232720.788715633, 6.536000000]: Plugin ftp initialized
  299. [ INFO] [1618232720.788893019, 6.536000000]: Plugin global_position loaded
  300. [ INFO] [1618232720.849443865, 6.596000000]: Plugin global_position initialized
  301. [ INFO] [1618232720.849638887, 6.596000000]: Plugin gps_rtk loaded
  302. [ INFO] [1618232720.864008122, 6.608000000]: Plugin gps_rtk initialized
  303. [ INFO] [1618232720.864368888, 6.612000000]: Plugin hil loaded
  304. [ INFO] [1618232720.928819964, 6.672000000]: Plugin hil initialized
  305. [ INFO] [1618232720.928978243, 6.672000000]: Plugin home_position loaded
  306. [ INFO] [1618232720.931869980, 6.676000000]: Plugin home_position initialized
  307. [ INFO] [1618232720.932063534, 6.676000000]: Plugin imu loaded
  308. [ INFO] [1618232720.952779073, 6.696000000]: Plugin imu initialized
  309. [ INFO] [1618232720.952919328, 6.700000000]: Plugin landing_target loaded
  310. [ INFO] [1618232721.012529153, 6.756000000]: Plugin landing_target initialized
  311. [ INFO] [1618232721.012675574, 6.756000000]: Plugin local_position loaded
  312. [ INFO] [1618232721.027838657, 6.768000000]: Plugin local_position initialized
  313. [ INFO] [1618232721.027967553, 6.768000000]: Plugin log_transfer loaded
  314. [ INFO] [1618232721.032979679, 6.776000000]: Plugin log_transfer initialized
  315. [ INFO] [1618232721.033141503, 6.776000000]: Plugin manual_control loaded
  316. [ INFO] [1618232721.044202757, 6.788000000]: Plugin manual_control initialized
  317. [ INFO] [1618232721.044391720, 6.788000000]: Plugin mocap_pose_estimate loaded
  318. [ INFO] [1618232721.050438534, 6.792000000]: Plugin mocap_pose_estimate initialized
  319. [ INFO] [1618232721.050568691, 6.792000000]: Plugin mount_control loaded
  320. [ INFO] [1618232721.059807257, 6.800000000]: Plugin mount_control initialized
  321. [ INFO] [1618232721.059987697, 6.800000000]: Plugin obstacle_distance loaded
  322. [ INFO] [1618232721.069475106, 6.812000000]: Plugin obstacle_distance initialized
  323. [ INFO] [1618232721.069691418, 6.812000000]: Plugin odom loaded
  324. [ INFO] [1618232721.079971496, 6.820000000]: Plugin odom initialized
  325. [ INFO] [1618232721.080147817, 6.820000000]: Plugin onboard_computer_status loaded
  326. [ INFO] [1618232721.083807518, 6.824000000]: Plugin onboard_computer_status initialized
  327. [ INFO] [1618232721.084000746, 6.824000000]: Plugin param loaded
  328. [ INFO] [1618232721.098782437, 6.836000000]: Plugin param initialized
  329. [ INFO] [1618232721.098970133, 6.836000000]: Plugin px4flow loaded
  330. [ INFO] [1618232721.117989345, 6.856000000]: Plugin px4flow initialized
  331. [ INFO] [1618232721.118114178, 6.856000000]: Plugin rangefinder blacklisted
  332. [ INFO] [1618232721.118272724, 6.856000000]: Plugin rc_io loaded
  333. [ INFO] [1618232721.127583608, 6.864000000]: Plugin rc_io initialized
  334. [ INFO] [1618232721.127719209, 6.864000000]: Plugin safety_area blacklisted
  335. [ INFO] [1618232721.127861693, 6.864000000]: Plugin setpoint_accel loaded
  336. [ INFO] [1618232721.134159394, 6.872000000]: Plugin setpoint_accel initialized
  337. [ INFO] [1618232721.134347951, 6.872000000]: Plugin setpoint_attitude loaded
  338. [ INFO] [1618232721.162199255, 6.900000000]: Plugin setpoint_attitude initialized
  339. [ INFO] [1618232721.162355347, 6.900000000]: Plugin setpoint_position loaded
  340. [ INFO] [1618232721.213589121, 6.952000000]: Plugin setpoint_position initialized
  341. [ INFO] [1618232721.213730509, 6.952000000]: Plugin setpoint_raw loaded
  342. [ INFO] [1618232721.239077425, 6.976000000]: Plugin setpoint_raw initialized
  343. [ INFO] [1618232721.239349679, 6.976000000]: Plugin setpoint_trajectory loaded
  344. [ INFO] [1618232721.247727636, 6.980000000]: Plugin setpoint_trajectory initialized
  345. [ INFO] [1618232721.248063335, 6.980000000]: Plugin setpoint_velocity loaded
  346. [ INFO] [1618232721.256114917, 6.992000000]: Plugin setpoint_velocity initialized
  347. [ INFO] [1618232721.256328944, 6.992000000]: Plugin sys_status loaded
  348. [ INFO] [1618232721.276448622, 7.012000000]: Plugin sys_status initialized
  349. [ INFO] [1618232721.276651100, 7.012000000]: Plugin sys_time loaded
  350. [ INFO] [1618232721.301753832, 7.040000000]: TM: Timesync mode: MAVLINK
  351. [ INFO] [1618232721.306100252, 7.044000000]: Plugin sys_time initialized
  352. [ INFO] [1618232721.306276110, 7.044000000]: Plugin trajectory loaded
  353. [ INFO] [1618232721.334699704, 7.072000000]: Plugin trajectory initialized
  354. [ INFO] [1618232721.334896070, 7.072000000]: Plugin vfr_hud loaded
  355. [INFO] [1618232721.339072, 7.076000]: [DroneSpawner]: Mavros for uav1 started!
  356. [INFO] [1618232721.339303, 7.076000]: [DroneSpawner]: Spawning Gazebo model for uav1...
  357. [ INFO] [1618232721.341330665, 7.076000000]: Plugin vfr_hud initialized
  358. [ INFO] [1618232721.341508378, 7.076000000]: Plugin vibration blacklisted
  359. [ INFO] [1618232721.341657470, 7.076000000]: Plugin vision_pose_estimate loaded
  360. [ INFO] [1618232721.394472671, 7.132000000]: Plugin vision_pose_estimate initialized
  361. [ INFO] [1618232721.394627475, 7.132000000]: Plugin vision_speed_estimate loaded
  362. [ INFO] [1618232721.406359366, 7.144000000]: Plugin vision_speed_estimate initialized
  363. [ INFO] [1618232721.406593849, 7.144000000]: Plugin waypoint loaded
  364. [ INFO] [1618232721.414442431, 7.152000000]: Plugin waypoint initialized
  365. [ INFO] [1618232721.414612026, 7.152000000]: Plugin wheel_odometry blacklisted
  366. [ INFO] [1618232721.414752826, 7.152000000]: Plugin wind_estimation loaded
  367. [ INFO] [1618232721.415372886, 7.152000000]: Plugin wind_estimation initialized
  368. [ INFO] [1618232721.415497728, 7.152000000]: Autostarting mavlink via USB on PX4
  369. [ INFO] [1618232721.415593140, 7.152000000]: Built-in SIMD instructions: AVX SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2
  370. [ INFO] [1618232721.415670208, 7.152000000]: Built-in MAVLink package version: 2020.6.6
  371. [ INFO] [1618232721.415748858, 7.152000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
  372. [ INFO] [1618232721.415822843, 7.152000000]: MAVROS started. MY ID 1.240, TARGET ID 2.1
  373. [ INFO] [1618232721.416188619, 7.152000000]: udp0: Remote address: 127.0.0.1:14005
  374. ... logging to /home/thulio/.ros/log/b5332156-9b8f-11eb-a97f-efa086b1cd14/roslaunch-OptiPlex-3040-72838.log
  375. started roslaunch server http://OptiPlex-3040:37457/
  376.  
  377. SUMMARY
  378. ========
  379.  
  380. PARAMETERS
  381. * /rosdistro: noetic
  382. * /rosversion: 1.15.9
  383. * /uav1/robot_description: <?xml version="1....
  384.  
  385. NODES
  386. /uav1/
  387. uav1_spawn (gazebo_ros/spawn_model)
  388.  
  389. ROS_MASTER_URI=http://localhost:11311
  390. process[uav1/uav1_spawn-2]: started with pid [74007]
  391. [INFO] [1618232722.636560, 8.380000]: [DroneSpawner]: Gazebo model for uav1 spawned!
  392. [INFO] [1618232722.637012, 8.380000]: [DroneSpawner]: Running firmware for uav1...
  393. ... logging to /home/thulio/.ros/log/b5332156-9b8f-11eb-a97f-efa086b1cd14/roslaunch-OptiPlex-3040-72838.log
  394. [INFO] [1618232723.154155, 0.000000]: Loading model XML from ros parameter robot_description
  395. [INFO] [1618232723.172522, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
  396. [INFO] [1618232723.179111, 0.000000]: Calling service /gazebo/spawn_urdf_model
  397. [INFO] [1618232723.661324, 9.092000]: Spawn status: SpawnModel: Successfully spawned entity
  398. [Msg] [gazebo_gps_plugin] Home latitude is set to 0.827247.
  399. [Msg] [gazebo_gps_plugin] Home longitude is set to 0.149149.
  400. [Msg] [gazebo_gps_plugin] Home altitude is set to 0.
  401. [Msg] Connecting to PX4 SITL using TCP
  402. [Msg] Lockstep is enabled
  403. [Msg] Speed factor set to: 1
  404. [Msg] Using MAVLink protocol v2.0
  405. started roslaunch server http://OptiPlex-3040:45345/
  406.  
  407. SUMMARY
  408. ========
  409.  
  410. PARAMETERS
  411. * /rosdistro: noetic
  412. * /rosversion: 1.15.9
  413.  
  414. NODES
  415. /uav1/
  416. sitl_uav1 (px4/px4)
  417.  
  418. ROS_MASTER_URI=http://localhost:11311
  419. process[uav1/sitl_uav1-3]: started with pid [74051]
  420. INFO [px4] PX4 daemon already running for instance 1 (Success)
  421. [INFO] [1618232723.992986, 9.256000]: [DroneSpawner]: Firmware for uav1 started!
  422. [uav1/sitl_uav1-3] process has died [pid 74051, exit code 255, cmd /home/thulio/mrs_workspace/devel/lib/px4/px4 /home/thulio/mrs_workspace/src/simulation/ros_packages/mrs_simulation/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i 1 -w sitl_uav1 -d __name:=sitl_uav1 __log:=/home/thulio/.ros/log/b5332156-9b8f-11eb-a97f-efa086b1cd14/uav1-sitl_uav1-3.log].
  423. log file: /home/thulio/.ros/log/b5332156-9b8f-11eb-a97f-efa086b1cd14/uav1-sitl_uav1-3*.log
  424. all processes on machine have died, roslaunch will exit
  425. [uav1/uav1_spawn-2] process has finished cleanly
  426. log file: /home/thulio/.ros/log/b5332156-9b8f-11eb-a97f-efa086b1cd14/uav1-uav1_spawn-2*.log
  427. all processes on machine have died, roslaunch will exit
  428.  
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