when i meet Error while "Running the code"
wahihijames opened this issue · 5 comments
I typing and start --> $ roslaunch geometric_controller sitl_trajectory_track_circle.launch
but I meet this error.
To solve the problem, what should I do?
(설치 다 끝내고, 실행 시키니깐, 아래와 같이 에러가 나와요)
어디가 문제여서 발생한 걸까요?
================================================================================REQUIRED process [sitl-5] has died!
process has died [pid -1, exit code 255, cmd /home/wahihi/src/Firmware/build/px4_sitl_default/bin/px4 /home/wahihi/src/Firmware/build/px4_sitl_default/etc -s etc/init.d-posix/rcS __name:=sitl __log:=/home/wahihi/.ros/log/1271b0e8-e85c-11ec-9955-13fe95e71a1f/sitl-5.log].
log file: /home/wahihi/.ros/log/1271b0e8-e85c-11ec-9955-13fe95e71a1f/sitl-5*.log
Initiating shutdown!
================================================================================[ INFO] [1654827947.869619412, 3670.196000000]: Plugin gps_input initialized
[ INFO] [1654827947.871909011, 3670.200000000]: Plugin gps_rtk loaded
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
[ This is my log ]
아래는, 제가 실행 했을때, 터미널에서 나온 메시지 입니다.
wahihi@wahihi-VirtualBox:~/catkin_ws$ roslaunch geometric_controller sitl_trajectory_track_circle.launch
... logging to /home/wahihi/.ros/log/1271b0e8-e85c-11ec-9955-13fe95e71a1f/roslaunch-wahihi-VirtualBox-13686.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://wahihi-virtualbox:36183/
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /gazebo/enable_ros_network: True
* /geometric_controller/Kp_x: 10.0
* /geometric_controller/Kp_y: 10.0
* /geometric_controller/Kp_z: 20.0
* /geometric_controller/Kv_x: 5.0
* /geometric_controller/Kv_y: 5.0
* /geometric_controller/Kv_z: 10.0
* /geometric_controller/attctrl_constant: 0.3
* /geometric_controller/ctrl_mode: 2
* /geometric_controller/enable_gazebo_state: True
* /geometric_controller/enable_sim: True
* /geometric_controller/mav_name: iris
* /geometric_controller/max_acc: 10.0
* /geometric_controller/normalizedthrust_constant: 0.06
* /geometric_controller/normalizedthrust_offset: 0.1
* /mavros/camera/frame_id: base_link
* /mavros/cmd/use_comp_id_system_control: False
* /mavros/conn/heartbeat_rate: 1.0
* /mavros/conn/system_time_rate: 1.0
* /mavros/conn/timeout: 10.0
* /mavros/conn/timesync_rate: 10.0
* /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/laser_1_sub/id: 3
* /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /mavros/distance_sensor/laser_1_sub/subscriber: True
* /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /mavros/distance_sensor/lidarlite_pub/id: 1
* /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /mavros/distance_sensor/lidarlite_pub/send_tf: True
* /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
* /mavros/distance_sensor/sonar_1_sub/id: 2
* /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /mavros/distance_sensor/sonar_1_sub/subscriber: True
* /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
* /mavros/fake_gps/eph: 2.0
* /mavros/fake_gps/epv: 2.0
* /mavros/fake_gps/fix_type: 3
* /mavros/fake_gps/geo_origin/alt: 408.0
* /mavros/fake_gps/geo_origin/lat: 47.3667
* /mavros/fake_gps/geo_origin/lon: 8.55
* /mavros/fake_gps/gps_rate: 5.0
* /mavros/fake_gps/mocap_transform: True
* /mavros/fake_gps/satellites_visible: 5
* /mavros/fake_gps/tf/child_frame_id: fix
* /mavros/fake_gps/tf/frame_id: map
* /mavros/fake_gps/tf/listen: False
* /mavros/fake_gps/tf/rate_limit: 10.0
* /mavros/fake_gps/tf/send: False
* /mavros/fake_gps/use_mocap: True
* /mavros/fake_gps/use_vision: False
* /mavros/fcu_protocol: v2.0
* /mavros/fcu_url: udp://:14540@127....
* /mavros/gcs_url:
* /mavros/global_position/child_frame_id: base_link
* /mavros/global_position/frame_id: map
* /mavros/global_position/gps_uere: 1.0
* /mavros/global_position/rot_covariance: 99999.0
* /mavros/global_position/tf/child_frame_id: base_link
* /mavros/global_position/tf/frame_id: map
* /mavros/global_position/tf/global_frame_id: earth
* /mavros/global_position/tf/send: False
* /mavros/global_position/use_relative_alt: True
* /mavros/image/frame_id: px4flow
* /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
* /mavros/imu/frame_id: base_link
* /mavros/imu/linear_acceleration_stdev: 0.0003
* /mavros/imu/magnetic_stdev: 0.0
* /mavros/imu/orientation_stdev: 1.0
* /mavros/landing_target/camera/fov_x: 2.0071286398
* /mavros/landing_target/camera/fov_y: 2.0071286398
* /mavros/landing_target/image/height: 480
* /mavros/landing_target/image/width: 640
* /mavros/landing_target/land_target_type: VISION_FIDUCIAL
* /mavros/landing_target/listen_lt: False
* /mavros/landing_target/mav_frame: LOCAL_NED
* /mavros/landing_target/target_size/x: 0.3
* /mavros/landing_target/target_size/y: 0.3
* /mavros/landing_target/tf/child_frame_id: camera_center
* /mavros/landing_target/tf/frame_id: landing_target
* /mavros/landing_target/tf/listen: False
* /mavros/landing_target/tf/rate_limit: 10.0
* /mavros/landing_target/tf/send: True
* /mavros/local_position/frame_id: map
* /mavros/local_position/tf/child_frame_id: base_link
* /mavros/local_position/tf/frame_id: map
* /mavros/local_position/tf/send: False
* /mavros/local_position/tf/send_fcu: False
* /mavros/mission/pull_after_gcs: True
* /mavros/mission/use_mission_item_int: True
* /mavros/mocap/use_pose: True
* /mavros/mocap/use_tf: False
* /mavros/odometry/fcu/odom_child_id_des: base_link
* /mavros/odometry/fcu/odom_parent_id_des: map
* /mavros/plugin_blacklist: ['safety_area', '...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.118682
* /mavros/px4flow/ranger_max_range: 5.0
* /mavros/px4flow/ranger_min_range: 0.3
* /mavros/safety_area/p1/x: 1.0
* /mavros/safety_area/p1/y: 1.0
* /mavros/safety_area/p1/z: 1.0
* /mavros/safety_area/p2/x: -1.0
* /mavros/safety_area/p2/y: -1.0
* /mavros/safety_area/p2/z: -1.0
* /mavros/setpoint_accel/send_force: False
* /mavros/setpoint_attitude/reverse_thrust: False
* /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /mavros/setpoint_attitude/tf/frame_id: map
* /mavros/setpoint_attitude/tf/listen: False
* /mavros/setpoint_attitude/tf/rate_limit: 50.0
* /mavros/setpoint_attitude/use_quaternion: False
* /mavros/setpoint_position/mav_frame: LOCAL_NED
* /mavros/setpoint_position/tf/child_frame_id: target_position
* /mavros/setpoint_position/tf/frame_id: map
* /mavros/setpoint_position/tf/listen: False
* /mavros/setpoint_position/tf/rate_limit: 50.0
* /mavros/setpoint_raw/thrust_scaling: 1.0
* /mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /mavros/startup_px4_usb_quirk: 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: False
* /mavros/vision_pose/tf/rate_limit: 10.0
* /mavros/vision_speed/listen_twist: True
* /mavros/vision_speed/twist_cov: True
* /mavros/wheel_odometry/child_frame_id: base_link
* /mavros/wheel_odometry/count: 2
* /mavros/wheel_odometry/frame_id: odom
* /mavros/wheel_odometry/send_raw: True
* /mavros/wheel_odometry/send_twist: False
* /mavros/wheel_odometry/tf/child_frame_id: base_link
* /mavros/wheel_odometry/tf/frame_id: odom
* /mavros/wheel_odometry/tf/send: False
* /mavros/wheel_odometry/use_rpm: False
* /mavros/wheel_odometry/vel_error: 0.1
* /mavros/wheel_odometry/wheel0/radius: 0.05
* /mavros/wheel_odometry/wheel0/x: 0.0
* /mavros/wheel_odometry/wheel0/y: -0.15
* /mavros/wheel_odometry/wheel1/radius: 0.05
* /mavros/wheel_odometry/wheel1/x: 0.0
* /mavros/wheel_odometry/wheel1/y: 0.15
* /rosdistro: noetic
* /rosversion: 1.15.14
* /trajectory_publisher/initpos_z: 2.0
* /trajectory_publisher/reference_type: 2
* /trajectory_publisher/shape_omega: 1.2
* /trajectory_publisher/trajectory_type: 1
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
geometric_controller (geometric_controller/geometric_controller_node)
mavros (mavros/mavros_node)
rqt_reconfigure (rqt_reconfigure/rqt_reconfigure)
rviz (rviz/rviz)
sitl (px4/px4)
trajectory_publisher (trajectory_publisher/trajectory_publisher)
vehicle_spawn_wahihi_VirtualBox_13686_3301694023482068349 (gazebo_ros/spawn_model)
ROS_MASTER_URI=http://localhost:11311/
process[geometric_controller-1]: started with pid [13701]
process[trajectory_publisher-2]: started with pid [13702]
process[rqt_reconfigure-3]: started with pid [13707]
process[mavros-4]: started with pid [13713]
[ INFO] [1654827947.487668631, 3669.816000000]: Reconfigure request : max_acc = 8.00
[ INFO] [1654827947.519623798, 3669.848000000]: Waiting for home pose...
[ INFO] [1654827947.577274458]: FCU URL: udp://:14540@127.0.0.1:14557
[ INFO] [1654827947.584779837]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1654827947.584889429]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1654827947.585072111]: GCS bridge disabled
[ INFO] [1654827947.619020373]: Plugin 3dr_radio loaded
[ INFO] [1654827947.621232175]: Plugin 3dr_radio initialized
[ INFO] [1654827947.621348795]: Plugin actuator_control loaded
[ INFO] [1654827947.630985971]: Plugin actuator_control initialized
[ INFO] [1654827947.655488760]: Plugin adsb loaded
[ INFO] [1654827947.664213285, 3669.992000000]: Plugin adsb initialized
[ INFO] [1654827947.666418863, 3669.996000000]: Plugin altitude loaded
[ INFO] [1654827947.667070914, 3669.996000000]: Plugin altitude initialized
[ INFO] [1654827947.667811091, 3669.996000000]: Plugin cam_imu_sync loaded
[ INFO] [1654827947.670416898, 3670.000000000]: Plugin cam_imu_sync initialized
[ INFO] [1654827947.670577229, 3670.000000000]: Plugin camera loaded
[ INFO] [1654827947.672497793, 3670.000000000]: Plugin camera initialized
[ INFO] [1654827947.672675841, 3670.000000000]: Plugin command loaded
[ INFO] [1654827947.687634087, 3670.016000000]: Plugin command initialized
[ INFO] [1654827947.690947394, 3670.020000000]: Plugin companion_process_status loaded
[ INFO] [1654827947.698221928, 3670.024000000]: Plugin companion_process_status initialized
[ INFO] [1654827947.699115229, 3670.028000000]: Plugin debug_value loaded
[ INFO] [1654827947.704001821, 3670.032000000]: Plugin debug_value initialized
[ INFO] [1654827947.704153565, 3670.032000000]: Plugin distance_sensor blacklisted
[ INFO] [1654827947.705365146, 3670.032000000]: Plugin esc_status loaded
[ INFO] [1654827947.709574510, 3670.036000000]: Plugin esc_status initialized
[ INFO] [1654827947.709803391, 3670.036000000]: Plugin esc_telemetry loaded
[ INFO] [1654827947.713064209, 3670.040000000]: Plugin esc_telemetry initialized
[ INFO] [1654827947.713310276, 3670.040000000]: Plugin fake_gps loaded
[ INFO] [1654827947.755666990, 3670.084000000]: Plugin fake_gps initialized
[ INFO] [1654827947.755954474, 3670.084000000]: Plugin ftp loaded
[ INFO] [1654827947.776818581, 3670.104000000]: Plugin ftp initialized
[ INFO] [1654827947.777047000, 3670.104000000]: Plugin geofence loaded
[ INFO] [1654827947.793716917, 3670.120000000]: Plugin geofence initialized
[ INFO] [1654827947.793894116, 3670.120000000]: Plugin global_position loaded
INFO [px4] PX4 daemon already running for instance 0 (Success)
failed to start local process: /home/wahihi/src/Firmware/build/px4_sitl_default/bin/px4 /home/wahihi/src/Firmware/build/px4_sitl_default/etc -s etc/init.d-posix/rcS __name:=sitl __log:=/home/wahihi/.ros/log/1271b0e8-e85c-11ec-9955-13fe95e71a1f/sitl-5.log
local launch of px4/px4 failed
[ INFO] [1654827947.849503859, 3670.176000000]: Plugin global_position initialized
[ INFO] [1654827947.849644173, 3670.176000000]: Plugin gps_input loaded
process[gazebo-6]: started with pid [13725]
================================================================================REQUIRED process [sitl-5] has died!
process has died [pid -1, exit code 255, cmd /home/wahihi/src/Firmware/build/px4_sitl_default/bin/px4 /home/wahihi/src/Firmware/build/px4_sitl_default/etc -s etc/init.d-posix/rcS __name:=sitl __log:=/home/wahihi/.ros/log/1271b0e8-e85c-11ec-9955-13fe95e71a1f/sitl-5.log].
log file: /home/wahihi/.ros/log/1271b0e8-e85c-11ec-9955-13fe95e71a1f/sitl-5*.log
Initiating shutdown!
================================================================================[ INFO] [1654827947.869619412, 3670.196000000]: Plugin gps_input initialized
[ INFO] [1654827947.871909011, 3670.200000000]: Plugin gps_rtk loaded
RLException: cannot add process [gazebo_gui-7] after process monitor has been shut down
The traceback for the exception was written to the log file
[ INFO] [1654827947.881374576, 3670.208000000]: Plugin gps_rtk initialized
[ INFO] [1654827947.881530134, 3670.208000000]: Plugin gps_status loaded
[ INFO] [1654827947.887012403, 3670.216000000]: Plugin gps_status initialized
[ INFO] [1654827947.887195530, 3670.216000000]: Plugin hil loaded
[ INFO] [1654827947.929520816, 3670.256000000]: Plugin hil initialized
[ INFO] [1654827947.929697668, 3670.256000000]: Plugin home_position loaded
[ INFO] [1654827947.939182704, 3670.268000000]: Plugin home_position initialized
[ INFO] [1654827947.939402906, 3670.268000000]: Plugin imu loaded
[ INFO] [1654827947.969226022, 3670.296000000]: Plugin imu initialized
[ INFO] [1654827947.969394926, 3670.296000000]: Plugin landing_target loaded
[gazebo-6] killing on exit
[sitl-5] killing on exit
[mavros-4] killing on exit
[rqt_reconfigure-3] killing on exit
[trajectory_publisher-2] killing on exit
[geometric_controller-1] killing on exit
Traceback (most recent call last):
File "/opt/ros/noetic/lib/rqt_reconfigure/rqt_reconfigure", line 5, in <module>
from rqt_reconfigure.__main__ import main
File "/opt/ros/noetic/lib/python3/dist-packages/rqt_reconfigure/__main__.py", line 35, in <module>
from rqt_gui.main import Main
File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/main.py", line 41, in <module>
import rospy
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 47, in <module>
from std_msgs.msg import Header
File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/__init__.py", line 1, in <module>
from ._Bool import *
File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/_Bool.py", line 6, in <module>
import genpy
File "/opt/ros/noetic/lib/python3/dist-packages/genpy/__init__.py", line 34, in <module>
from . message import Message, SerializationError, DeserializationError, MessageException, struct_I
File "/opt/ros/noetic/lib/python3/dist-packages/genpy/message.py", line 64, in <module>
import numpy as np
Traceback (most recent call last):
File "/opt/ros/noetic/bin/catkin_find", line 5, in <module>
import argparse
File "/usr/lib/python3/dist-packages/numpy/__init__.py", line 187, in <module>
from .testing import Tester
File "/usr/lib/python3.8/argparse.py", line 88, in <module>
import re as _re
File "/usr/lib/python3/dist-packages/numpy/testing/__init__.py", line 10, in <module>
File "/usr/lib/python3.8/re.py", line 125, in <module>
import sre_compile
File "/usr/lib/python3.8/sre_compile.py", line 14, in <module>
import sre_parse
File "/usr/lib/python3.8/sre_parse.py", line 15, in <module>
from unittest import TestCase
File "/usr/lib/python3.8/unittest/__init__.py", line 60, in <module>
from sre_constants import *
from .async_case import IsolatedAsyncioTestCase
File "/usr/lib/python3.8/unittest/async_case.py", line 1, in <module>
File "/usr/lib/python3.8/sre_constants.py", line 75, in <module>
import asyncio
File "<frozen importlib._bootstrap>", line 991, in _find_and_load
File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 657, in _load_unlocked
File "<frozen importlib._bootstrap>", line 562, in module_from_spec
File "<frozen importlib._bootstrap>", line 541, in _init_module_attrs
File "<frozen importlib._bootstrap>", line 379, in cached
KeyboardInterrupt
OPCODES = _makecodes("""
File "/usr/lib/python3.8/sre_constants.py", line 69, in _makecodes
items = [_NamedIntConstant(i, name) for i, name in enumerate(names)]
File "/usr/lib/python3.8/sre_constants.py", line 69, in <listcomp>
items = [_NamedIntConstant(i, name) for i, name in enumerate(names)]
File "/usr/lib/python3.8/sre_constants.py", line 58, in __new__
self = super(_NamedIntConstant, cls).__new__(cls, value)
KeyboardInterrupt
wahihi@wahihi-VirtualBox:~/catkin_ws$
process has died [pid -1, exit code 255, cmd /home/wahihi/src/Firmware/build/px4_sitl_default/bin/px4 /home/wahihi/src/Firmware/build/px4_sitl_default/etc -s etc/init.d-posix/rcS __name:=sitl __log:=/home/wahihi/.ros/log/1271b0e8-e85c-11ec-9955-13fe95e71a1f/sitl-5.log].
log file: /home/wahihi/.ros/log/1271b0e8-e85c-11ec-9955-13fe95e71a1f/sitl-5*.log
Initiating shutdown!
Are you sure you have built PX4 SITL and run the sitl gazebo environment without using mavros?
process has died [pid -1, exit code 255, cmd /home/wahihi/src/Firmware/build/px4_sitl_default/bin/px4 /home/wahihi/src/Firmware/build/px4_sitl_default/etc -s etc/init.d-posix/rcS __name:=sitl __log:=/home/wahihi/.ros/log/1271b0e8-e85c-11ec-9955-13fe95e71a1f/sitl-5.log]. log file: /home/wahihi/.ros/log/1271b0e8-e85c-11ec-9955-13fe95e71a1f/sitl-5*.log Initiating shutdown!
Are you sure you have built PX4 SITL and run the sitl gazebo environment without using mavros?
Thank you Reply.
I solved my issue.
Although catkin_ws was already installed, it was installed again, and the path was tangled.
I have another question.
$roslaunch geometric_controller sitl_trajectory_track_circle.launch
When I run , all Gazebo etc. appear, but the drone is only arming and not taking off. (See attached video) What did I do wrong? The log file generated by QGroundControl is attached. please check.
catkin_ws가 이미 설치가 되어 있는데, 또 설치를 하게 되어서, path가 엉클어져서 생긴 문제 였습니다.
또 하나 질문이 있는데요.
roslaunch geometric_controller sitl_trajectory_track_circle.launch
을 실행시키니, Gazebo 등은 전부 나오는데, 드론이 Arming 만 하고 있고, 이륙을 안하네요. (첨부한 동영상 참조) 제가 무엇을 잘못해서 생긴것일까요? QGroundControl에서 생성한 로그파일을 첨부 합니다. 확인 부탁드립니다.
@wahihijames Was the problem solved?
On the video it looks like the video has already crashed to the ground
On the video it looks like the video has already crashed to the ground
Thank you. your Reply.
I solved this problem. Just Rebooting my Ubuntu.. It's likes crazy. Ubuntu looks like Windows OS.. :)
@wahihi Great to hear that it was fixed! Closing!