gsilano/BebopS

gzserver error: Look up (when running PX4 mavros example)

Closed this issue · 3 comments

Bhardwaj-Harsh commented

Running gazebo 11, ROS Noetic, ubuntu 20.04 LTS

following this: https://docs.px4.io/main/en/ros/mavros_offboard_python.html

Error when running the offboard_node example

C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://harsh-Inspiron-15-7510:45921/

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /gazebo/enable_ros_network: True
  • /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@loca...
  • /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/mount/debounce_s: 4.0
  • /mavros/mount/err_threshold_deg: 10.0
  • /mavros/mount/negate_measured_pitch: False
  • /mavros/mount/negate_measured_roll: False
  • /mavros/mount/negate_measured_yaw: 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: False
  • /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: 1.16.0
  • /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
offb_node_py (offboard_py/offb_node.py)
sitl (px4/px4)
vehicle_spawn_harsh_Inspiron_15_7510_103360_3691441406946124426 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [103379]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d62eebdc-1f0a-11ee-8b81-7133e4e5b070
process[rosout-1]: started with pid [103400]
started core service [/rosout]
process[sitl-2]: started with pid [103408]

| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /| |
| | / /^\ \ ___ |
_| / / |_/

px4 starting.

INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [103418]
INFO [init] found model autostart file as SYS_AUTOSTART=10015
process[gazebo_gui-4]: started with pid [103430]
INFO [param] selected parameter default file parameters.bson
INFO [param] importing from 'parameters.bson'
INFO [parameters] BSON document size 274 bytes, decoded 274 bytes (INT32:11, FLOAT:3)
INFO [param] selected parameter backup file parameters_backup.bson
process[vehicle_spawn_harsh_Inspiron_15_7510_103360_3691441406946124426-5]: started with pid [103440]
process[mavros-6]: started with pid [103445]
process[offb_node_py-7]: started with pid [103452]
[ INFO] [1688984190.497740703]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1688984190.501006078]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1688984190.501241309]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1688984190.501379847]: GCS bridge disabled
[ INFO] [1688984190.514344489]: Plugin 3dr_radio loaded
[ INFO] [1688984190.516885780]: Plugin 3dr_radio initialized
[ INFO] [1688984190.517144401]: Plugin actuator_control loaded
[ INFO] [1688984190.520067726]: Plugin actuator_control initialized
[ INFO] [1688984190.530220706]: Plugin adsb loaded
[ INFO] [1688984190.534102493]: Plugin adsb initialized
[ INFO] [1688984190.534474999]: Plugin altitude loaded
[ INFO] [1688984190.535656702]: Plugin altitude initialized
[ INFO] [1688984190.535933949]: Plugin cam_imu_sync loaded
[ INFO] [1688984190.536741964]: Plugin cam_imu_sync initialized
[ INFO] [1688984190.537015310]: Plugin camera loaded
[ INFO] [1688984190.537837757]: Plugin camera initialized
[ INFO] [1688984190.538121106]: Plugin cellular_status loaded
[ INFO] [1688984190.541104508]: Plugin cellular_status initialized
[ INFO] [1688984190.541478477]: Plugin command loaded
[ INFO] [1688984190.547141921]: Plugin command initialized
[ INFO] [1688984190.547445855]: Plugin companion_process_status loaded
[ INFO] [1688984190.549678251]: Plugin companion_process_status initialized
[ INFO] [1688984190.549972665]: Plugin debug_value loaded
[ INFO] [1688984190.555074524]: Plugin debug_value initialized
[ INFO] [1688984190.558475635]: Plugin distance_sensor blacklisted
[ INFO] [1688984190.558797330]: Plugin esc_status loaded
[ INFO] [1688984190.563576322]: Plugin esc_status initialized
[ INFO] [1688984190.563965881]: Plugin esc_telemetry loaded
[ INFO] [1688984190.564806120]: Plugin esc_telemetry initialized
[ INFO] [1688984190.565084163]: Plugin fake_gps loaded
[ INFO] [1688984190.584251505]: Plugin fake_gps initialized
[ INFO] [1688984190.584530666]: Plugin ftp loaded
[ INFO] [1688984190.598492595]: Plugin ftp initialized
[ INFO] [1688984190.598627543]: Plugin geofence loaded
[ INFO] [1688984190.600671329]: Plugin geofence initialized
[ INFO] [1688984190.600783839]: Plugin global_position loaded
[ INFO] [1688984190.611227020]: Plugin global_position initialized
[ INFO] [1688984190.611390937]: Plugin gps_input loaded
[ INFO] [1688984190.612864092]: Plugin gps_input initialized
[ INFO] [1688984190.613003645]: Plugin gps_rtk loaded
[ INFO] [1688984190.614542847]: Plugin gps_rtk initialized
[ INFO] [1688984190.614681588]: Plugin gps_status loaded
[ INFO] [1688984190.615823280]: Plugin gps_status initialized
[ INFO] [1688984190.615925403]: Plugin guided_target loaded
[ INFO] [1688984190.618727955]: Plugin guided_target initialized
[ INFO] [1688984190.618874740]: Plugin hil loaded
INFO [dataman] data manager file './dataman' size is 7866640 bytes
[ INFO] [1688984190.627160962]: Plugin hil initialized
[ INFO] [1688984190.627371348]: Plugin home_position loaded
[ INFO] [1688984190.629344818]: Plugin home_position initialized
[ INFO] [1688984190.629533301]: Plugin imu loaded
etc/init.d-posix/rcS: 39: [: Illegal number:
[ INFO] [1688984190.634353404]: Plugin imu initialized
[ INFO] [1688984190.634521872]: Plugin landing_target loaded
INFO [init] PX4_SIM_HOSTNAME: localhost
INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1688984190.645212960]: Plugin landing_target initialized
[ INFO] [1688984190.645415979]: Plugin local_position loaded
[ INFO] [1688984190.649573888]: Plugin local_position initialized
[ INFO] [1688984190.649739309]: Plugin log_transfer loaded
[ INFO] [1688984190.652317743]: Plugin log_transfer initialized
[ INFO] [1688984190.652482087]: Plugin mag_calibration_status loaded
[ INFO] [1688984190.653184320]: Plugin mag_calibration_status initialized
[ INFO] [1688984190.653346259]: Plugin manual_control loaded
[ INFO] [1688984190.655206151]: Plugin manual_control initialized
[ INFO] [1688984190.655385846]: Plugin mocap_pose_estimate loaded
[ INFO] [1688984190.658903598]: Plugin mocap_pose_estimate initialized
[ INFO] [1688984190.659073172]: Plugin mount_control loaded
[ WARN] [1688984190.662388704]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1688984190.662643140]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1688984190.663271207]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1688984190.664761333]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1688984190.665022019]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1688984190.665067551]: Plugin mount_control initialized
[ INFO] [1688984190.665190762]: Plugin nav_controller_output loaded
[ INFO] [1688984190.665591453]: Plugin nav_controller_output initialized
[ INFO] [1688984190.665686401]: Plugin obstacle_distance loaded
[ INFO] [1688984190.667103145]: Plugin obstacle_distance initialized
[ INFO] [1688984190.667186202]: Plugin odom loaded
[ INFO] [1688984190.669476285]: Plugin odom initialized
[ INFO] [1688984190.669564493]: Plugin onboard_computer_status loaded
[ INFO] [1688984190.670750038]: Plugin onboard_computer_status initialized
[ INFO] [1688984190.670844404]: Plugin param loaded
[ INFO] [1688984190.672544327]: Plugin param initialized
[ INFO] [1688984190.672778938]: Plugin play_tune loaded
[ INFO] [1688984190.674295561]: Plugin play_tune initialized
[ INFO] [1688984190.674392334]: Plugin px4flow loaded
[ INFO] [1688984190.679703844]: Plugin px4flow initialized
[ INFO] [1688984190.679799691]: Plugin rallypoint loaded
[ INFO] [1688984190.682253336]: Plugin rallypoint initialized
[ INFO] [1688984190.682275798]: Plugin rangefinder blacklisted
[ INFO] [1688984190.682366783]: Plugin rc_io loaded
[ INFO] [1688984190.685231355]: Plugin rc_io initialized
[ INFO] [1688984190.685262680]: Plugin safety_area blacklisted
[ INFO] [1688984190.685354443]: Plugin setpoint_accel loaded
[ INFO] [1688984190.687545000]: Plugin setpoint_accel initialized
[ INFO] [1688984190.687635841]: Plugin setpoint_attitude loaded
[ INFO] [1688984190.695534910]: Plugin setpoint_attitude initialized
[ INFO] [1688984190.695733410]: Plugin setpoint_position loaded
[ INFO] [1688984190.708537187]: Plugin setpoint_position initialized
[ INFO] [1688984190.708713769]: Plugin setpoint_raw loaded
[ INFO] [1688984190.716106932]: Plugin setpoint_raw initialized
[ INFO] [1688984190.716285527]: Plugin setpoint_trajectory loaded
[ INFO] [1688984190.718764082]: Plugin setpoint_trajectory initialized
[ INFO] [1688984190.718863783]: Plugin setpoint_velocity loaded
[ INFO] [1688984190.721353163]: Plugin setpoint_velocity initialized
[ INFO] [1688984190.721485844]: Plugin sys_status loaded
[ INFO] [1688984190.729083076]: Plugin sys_status initialized
[ INFO] [1688984190.729271217]: Plugin sys_time loaded
[ INFO] [1688984190.731878110]: TM: Timesync mode: MAVLINK
[ INFO] [1688984190.732115699]: TM: Not publishing sim time
[ INFO] [1688984190.733129277]: Plugin sys_time initialized
[ INFO] [1688984190.733283098]: Plugin terrain loaded
[ INFO] [1688984190.733636844]: Plugin terrain initialized
[ INFO] [1688984190.733743917]: Plugin trajectory loaded
[ INFO] [1688984190.736272151]: Plugin trajectory initialized
[ INFO] [1688984190.736410904]: Plugin tunnel loaded
[ INFO] [1688984190.737935329]: Plugin tunnel initialized
[ INFO] [1688984190.738093693]: Plugin vfr_hud loaded
[ INFO] [1688984190.738739117]: Plugin vfr_hud initialized
[ INFO] [1688984190.738777456]: Plugin vibration blacklisted
[ INFO] [1688984190.738894835]: Plugin vision_pose_estimate loaded
[ INFO] [1688984190.742510304]: Plugin vision_pose_estimate initialized
[ INFO] [1688984190.742620434]: Plugin vision_speed_estimate loaded
[ INFO] [1688984190.744420290]: Plugin vision_speed_estimate initialized
[ INFO] [1688984190.744575411]: Plugin waypoint loaded
[ INFO] [1688984190.747256294]: Plugin waypoint initialized
[ INFO] [1688984190.747300168]: Plugin wheel_odometry blacklisted
[ INFO] [1688984190.747452075]: Plugin wind_estimation loaded
[ INFO] [1688984190.747769294]: Plugin wind_estimation initialized
[ INFO] [1688984190.747890556]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1688984190.747916118]: Built-in MAVLink package version: 2023.6.6
[ INFO] [1688984190.747943956]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1688984190.747969016]: MAVROS started. MY ID 1.240, TARGET ID 1.1
gzserver: symbol lookup error: gzserver: undefined symbol: _ZN6gazebo4util9LogRecord8InstanceEv
[gazebo-3] process has died [pid 103418, exit code 127, cmd /opt/ros/noetic/lib/gazebo_ros/gzserver -e ode /home/harsh/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world __name:=gazebo __log:=/home/harsh/.ros/log/d62eebdc-1f0a-11ee-8b81-7133e4e5b070/gazebo-3.log].
log file: /home/harsh/.ros/log/d62eebdc-1f0a-11ee-8b81-7133e4e5b070/gazebo-3*.log
[INFO] [1688984190.863862, 0.000000]: Loading model XML from file /home/harsh/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf
[INFO] [1688984190.866592, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1688984191.032573478]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1688984191.033757908]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
terminate called after throwing an instance of 'boost::wrapexceptboost::lock_error'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)
[gazebo_gui-4] process has died [pid 103430, exit code 134, cmd /opt/ros/noetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/harsh/.ros/log/d62eebdc-1f0a-11ee-8b81-7133e4e5b070/gazebo_gui-4.log].
log file: /home/harsh/.ros/log/d62eebdc-1f0a-11ee-8b81-7133e4e5b070/gazebo_gui-4*.log

Please help!

welcome commented

Thanks for opening your first issue here! Make sure that no other issues on the same topic have already been opened!

gsilano commented

Could you be more specific? As it is, it's very difficult to figure out what's wrong.

gsilano commented

Closing for inactivity