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PX4 / PX4-Avoidance

PX4 avoidance ROS node for obstacle detection and avoidance.

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Global planner with lidar benewake (jetson Xavier)

dmeirap opened this issue · comments

commented

Hiii!!! I'm trying to connect my lidar benewake with the global planner node in my jetson Xavier without success. Do you know anything about the error i'm facing up?

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /ce30_cloud/IP: 192.168.1.80
  • /ce30_cloud/frame_id: map
  • /global_planner_node/camera_frame_id: /ce30_cloud
  • /global_planner_node/frame_id: local_origin
  • /global_planner_node/pointcloud_topics: ['/ce30c_output']
  • /global_planner_node/robot_radius: 0.5
  • /global_planner_node/start_pos_x: 0
  • /global_planner_node/start_pos_y: 0
  • /global_planner_node/start_pos_z: 3.0
  • /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: 0.0
  • /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: /dev/ttyUSB0:921600
  • /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
  • /octomap_server/color/a: 1.0
  • /octomap_server/color/b: 0.1
  • /octomap_server/color/g: 0.1
  • /octomap_server/color/r: 0.1
  • /octomap_server/frame_id: local_origin
  • /octomap_server/height_map: True
  • /octomap_server/occupancy_min_z: 0.5
  • /octomap_server/publish_free_space: False
  • /octomap_server/resolution: 1.0
  • /octomap_server/sensor_model/hit: 0.9
  • /octomap_server/sensor_model/max: 0.99
  • /octomap_server/sensor_model/max_range: 9.0
  • /octomap_server/sensor_model/min: 0.05
  • /octomap_server/sensor_model/miss: 0.45
  • /rosdistro: melodic
  • /rosversion: 1.14.13

NODES
/
ce30_cloud (ce30c_driver/ce30_cloud)
global_planner_node (global_planner/global_planner_node)
lidar_benewake (tf/static_transform_publisher)
mavros (mavros/mavros_node)
octomap_server (octomap_server/octomap_server_node)
rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [9813]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 13cfb3f6-af39-11ec-9de7-565b1a51901d
process[rosout-1]: started with pid [9827]
started core service [/rosout]
process[lidar_benewake-2]: started with pid [9845]
process[mavros-3]: started with pid [9846]
process[ce30_cloud-4]: started with pid [9854]
process[global_planner_node-5]: started with pid [9863]
process[octomap_server-6]: started with pid [9872]
Init device
process[rviz-7]: started with pid [9887]
[ INFO] [1648542027.652740059]: Connect to: 192.168.1.80.
[ INFO] [1648542027.721372625]: Connection succeeded!
[ INFO] [1648542027.927329173]: Start measurement ...
[ INFO] [1648542028.406738870]: FCU URL: /dev/ttyUSB0:921600
[ INFO] [1648542028.446078749]: serial0: device: /dev/ttyUSB0 @ 921600 bps
[ INFO] [1648542028.451974035]: GCS bridge disabled
[ INFO] [1648542028.546095023]: rviz version 1.13.24
[ INFO] [1648542028.546416946]: compiled against Qt version 5.9.5
[ INFO] [1648542028.546520883]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1648542028.619315788]: Plugin 3dr_radio loaded
[ INFO] [1648542028.669899770]: Plugin 3dr_radio initialized
[ INFO] [1648542028.670370463]: Plugin actuator_control loaded
[ INFO] [1648542028.680100024]: Forcing OpenGl version 0.
[ INFO] [1648542028.785630620]: Plugin actuator_control initialized
[ INFO] [1648542028.853895148]: Plugin adsb loaded
[ INFO] [1648542028.948722542]: Plugin adsb initialized
[ INFO] [1648542028.949452117]: Plugin altitude loaded
[ INFO] [1648542028.979910443]: Plugin altitude initialized
[ INFO] [1648542028.980524465]: Plugin cam_imu_sync loaded
[ INFO] [1648542028.999615711]: Plugin cam_imu_sync initialized
[ INFO] [1648542029.001312783]: Plugin camera loaded
[ INFO] [1648542029.037389399]: Plugin camera initialized
[ INFO] [1648542029.038451137]: Plugin command loaded
[ INFO] [1648542029.270857250]: Plugin command initialized
[ INFO] [1648542029.271903500]: Plugin companion_process_status loaded
[ INFO] [1648542029.405037254]: Plugin companion_process_status initialized
[ INFO] [1648542029.405684652]: Plugin debug_value loaded
[ INFO] [1648542029.576820032]: Plugin debug_value initialized
[ INFO] [1648542029.578143020]: Plugin distance_sensor blacklisted
[ INFO] [1648542029.578737266]: Plugin esc_status loaded
[ INFO] [1648542029.612536581]: Plugin esc_status initialized
[ INFO] [1648542029.613231659]: Plugin esc_telemetry loaded
[ INFO] [1648542029.628900954]: Plugin esc_telemetry initialized
[ INFO] [1648542029.629845730]: Plugin fake_gps loaded
[ WARN] [1648542030.200804705]: Nothing to publish, octree is empty
[ INFO] [1648542030.204012894]: Plugin fake_gps initialized
[ INFO] [1648542030.207228315]: Plugin ftp loaded
[ INFO] [1648542030.391739232]: Plugin ftp initialized
[ INFO] [1648542030.392431078]: Plugin geofence loaded
[ INFO] [1648542030.400122892]: Stereo is NOT SUPPORTED
[ INFO] [1648542030.401049172]: OpenGL device: NVIDIA Tegra Xavier (nvgpu)/integrated
[ INFO] [1648542030.401252694]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1648542030.467403532]: Plugin geofence initialized
[ INFO] [1648542030.468877274]: Plugin global_position loaded
[ INFO] [1648542030.840051223]: Plugin global_position initialized
[ INFO] [1648542030.842129802]: Plugin gps_input loaded
[ INFO] [1648542030.924755061]: Plugin gps_input initialized
[ INFO] [1648542030.925649053]: Plugin gps_rtk loaded
[ INFO] [1648542030.979610821]: Plugin gps_rtk initialized
[ INFO] [1648542030.980339276]: Plugin gps_status loaded
[ INFO] [1648542031.012677552]: Plugin gps_status initialized
[ INFO] [1648542031.014314654]: Plugin hil loaded
[ INFO] [1648542031.300076811]: Plugin hil initialized
[ INFO] [1648542031.301213270]: Plugin home_position loaded
[ INFO] [1648542031.418557046]: Plugin home_position initialized
[ INFO] [1648542031.419340285]: Plugin imu loaded
[ INFO] [1648542031.708176294]: Plugin imu initialized
[ INFO] [1648542031.709089806]: Plugin landing_target loaded
[ INFO] [1648542032.188302785]: Plugin landing_target initialized
[ INFO] [1648542032.189070536]: Plugin local_position loaded
[ INFO] [1648542032.442425830]: Plugin local_position initialized
[ INFO] [1648542032.444072180]: Plugin log_transfer loaded
[ INFO] [1648542032.556994888]: Plugin log_transfer initialized
[ INFO] [1648542032.557913072]: Plugin mag_calibration_status loaded
[ INFO] [1648542032.630792605]: Plugin mag_calibration_status initialized
[ INFO] [1648542032.632113545]: Plugin manual_control loaded
[ INFO] [1648542032.793121899]: Plugin manual_control initialized
[ INFO] [1648542032.794135381]: Plugin mocap_pose_estimate loaded
[ INFO] [1648542032.940811351]: Plugin mocap_pose_estimate initialized
[ INFO] [1648542032.942612167]: Plugin mount_control loaded
[ INFO] [1648542033.066301432]: Plugin mount_control initialized
[ INFO] [1648542033.067070687]: Plugin nav_controller_output loaded
[ INFO] [1648542033.080931579]: Plugin nav_controller_output initialized
[ INFO] [1648542033.081631393]: Plugin obstacle_distance loaded
[ INFO] [1648542033.168548040]: Plugin obstacle_distance initialized
[ INFO] [1648542033.169640818]: Plugin odom loaded
[ INFO] [1648542033.322682759]: Plugin odom initialized
[ INFO] [1648542033.324724569]: Plugin onboard_computer_status loaded
[ INFO] [1648542033.454287901]: Plugin onboard_computer_status initialized
[ INFO] [1648542033.456077100]: Plugin param loaded
[ INFO] [1648542033.535093005]: Plugin param initialized
[ INFO] [1648542033.535987029]: Plugin play_tune loaded
[ INFO] [1648542033.671676783]: Plugin play_tune initialized
[ INFO] [1648542033.672392982]: Plugin px4flow loaded
QObject::connect: Cannot queue arguments of type 'QVector'
(Make sure 'QVector' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector'
(Make sure 'QVector' is registered using qRegisterMetaType().)
[ INFO] [1648542033.961301126]: Plugin px4flow initialized
[ INFO] [1648542033.962097613]: Plugin rallypoint loaded
[ INFO] [1648542034.030461582]: Plugin rallypoint initialized
[ INFO] [1648542034.030764849]: Plugin rangefinder blacklisted
[ INFO] [1648542034.031737721]: Plugin rc_io loaded
[ INFO] [1648542034.166117187]: Plugin rc_io initialized
[ INFO] [1648542034.166369669]: Plugin safety_area blacklisted
[ INFO] [1648542034.167314925]: Plugin setpoint_accel loaded
[ INFO] [1648542034.354023687]: Plugin setpoint_accel initialized
[ INFO] [1648542034.355646550]: Plugin setpoint_attitude loaded
[ INFO] [1648542034.821068539]: Plugin setpoint_attitude initialized
[ INFO] [1648542034.821897795]: Plugin setpoint_position loaded
[ WARN] [1648542035.334394365]: Transformation not available (local_origin to /ce30_cloud)
[ INFO] [1648542035.542330283]: Plugin setpoint_position initialized
[ INFO] [1648542035.543207635]: Plugin setpoint_raw loaded
[ INFO] [1648542035.898259029]: Plugin setpoint_raw initialized
[ INFO] [1648542035.899153181]: Plugin setpoint_trajectory loaded
[ INFO] [1648542036.012871530]: Plugin setpoint_trajectory initialized
[ INFO] [1648542036.013899635]: Plugin setpoint_velocity loaded
[ INFO] [1648542036.150807816]: Plugin setpoint_velocity initialized
[ INFO] [1648542036.152040147]: Plugin sys_status loaded
[ INFO] [1648542036.394297096]: Plugin sys_status initialized
[ INFO] [1648542036.395162927]: Plugin sys_time loaded
[ INFO] [1648542036.544804340]: TM: Timesync mode: MAVLINK
[ INFO] [1648542036.565853998]: TM: Not publishing sim time
[ INFO] [1648542036.601760650]: Plugin sys_time initialized
[ INFO] [1648542036.602565233]: Plugin terrain loaded
[ INFO] [1648542036.633906597]: Plugin terrain initialized
[ INFO] [1648542036.634691276]: Plugin trajectory loaded
[ INFO] [1648542036.762412464]: Plugin trajectory initialized
[ INFO] [1648542036.763122934]: Plugin tunnel loaded
[ INFO] [1648542036.842022317]: Plugin tunnel initialized
[ INFO] [1648542036.843122102]: Plugin vfr_hud loaded
[ INFO] [1648542036.851631905]: Plugin vfr_hud initialized
[ INFO] [1648542036.851921636]: Plugin vibration blacklisted
[ INFO] [1648542036.852549161]: Plugin vision_pose_estimate loaded
[ INFO] [1648542037.030640968]: Plugin vision_pose_estimate initialized
[ INFO] [1648542037.031344814]: Plugin vision_speed_estimate loaded
[ INFO] [1648542037.115373199]: Plugin vision_speed_estimate initialized
[ INFO] [1648542037.116689019]: Plugin waypoint loaded
[ INFO] [1648542037.256561061]: Plugin waypoint initialized
[ INFO] [1648542037.256889512]: Plugin wheel_odometry blacklisted
[ INFO] [1648542037.257611919]: Plugin wind_estimation loaded
[ INFO] [1648542037.263950662]: Plugin wind_estimation initialized
[ INFO] [1648542037.264745709]: Autostarting mavlink via USB on PX4
[ INFO] [1648542037.265010479]: Built-in SIMD instructions: ARM NEON
[ INFO] [1648542037.265279474]: Built-in MAVLink package version: 2022.3.3
[ INFO] [1648542037.265549108]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1648542037.265777494]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ERROR] [1648542037.268815281]: PR: Unknown parameter to get: MPC_ACC_HOR
[ERROR] [1648542037.298854552]: PR: Unknown parameter to get: MPC_ACC_DOWN_MAX
[ERROR] [1648542037.332997316]: PR: Unknown parameter to get: MPC_ACC_UP_MAX
[ERROR] [1648542037.367895766]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1648542037.409432290]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_DN
[ERROR] [1648542037.430657980]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_UP
[ERROR] [1648542037.457868139]: PR: Unknown parameter to get: CP_DIST
[ERROR] [1648542037.472672876]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1648542037.493074111]: PR: Unknown parameter to get: MPC_JERK_MAX
[ERROR] [1648542037.513540179]: PR: Unknown parameter to get: NAV_ACC_RAD
[ERROR] [1648542037.525071832]: PR: Unknown parameter to get: MPC_YAWRAUTO_MAX
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
[global_planner_node-5] process has died [pid 9863, exit code -6, cmd /home/nvidia/catkin_ws/devel/lib/global_planner/global_planner_node __name:=global_planner_node __log:=/home/nvidia/.ros/log/13cfb3f6-af39-11ec-9de7-565b1a51901d/global_planner_node-5.log].
log file: /home/nvidia/.ros/log/13cfb3f6-af39-11ec-9de7-565b1a51901d/global_planner_node-5*.log
^C[rviz-7] killing on exit
[octomap_server-6] killing on exit
[ce30_cloud-4] killing on exit
[mavros-3] killing on exit
ERROR: Failed to receive distance data!
[lidar_benewake-2] killing on exit
Measurement is stopped!
LiDAR is disconnected!
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

commented

--- real_planner.launch ---

<arg name="pointcloud_topics" default="[/ce30c_output]"/>
<arg name="camera_frame_id" default="ce30_cloud"/>
<arg name="start_pos_x" default="0" />
<arg name="start_pos_y" default="0" />
<arg name="start_pos_z" default="3.0" />

<!-- Define a static transform from a camera internal frame to the fcu for every camera used -->
<!-- Ros transformation -->
<node pkg="tf" type="static_transform_publisher" name="lidar_benewake" args="0 0 0 0 0 0 fcu $(arg camera_frame_id) 100" />

<!-- Launch PX4 and mavros -->
<include file="real_px4.launch" />

<!-- Global planner -->
<include file="real_octomap.launch" >
    <arg name="pointcloud_topics" value="$(arg pointcloud_topics)" />
    <arg name="camera_frame_id" value="$(arg camera_frame_id)" />
    <arg name="start_pos_x" value="$(arg start_pos_x)" />
    <arg name="start_pos_y" value="$(arg start_pos_y)" />
    <arg name="start_pos_z" value="$(arg start_pos_z)" />
</include>>

<node pkg="rviz" type="rviz" output="screen" name="rviz" respawn="true"
      args="-d $(find global_planner)/resource/global_planner.rviz"/>
commented

--- real_px4.launch ---

<include file="$(find mavros)/launch/node.launch">

	<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
	<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />

	<arg name="fcu_url" value="$(arg fcu_url)" />
	<arg name="gcs_url" value="$(arg gcs_url)" />
	<arg name="tgt_system" value="$(arg tgt_system)" />
	<arg name="tgt_component" value="$(arg tgt_component)" />
	<arg name="log_output" value="$(arg log_output)" />
	<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
	<arg name="respawn_mavros" default="$(arg respawn_mavros)" />

</include>

<param name="/mavros/conn/timesync_rate" value="0.0" /> <!--Elimina una advertencia-->

<!-- Sensor Lidar Benewake-Ce30 -->
<node pkg="ce30c_driver" type="ce30_cloud" name="ce30_cloud" output="screen" >
	<param name="IP" type="string" value="192.168.1.80" />
	<param name="frame_id" type="string" value="map" />
</node>
commented

--- real_octomap.launch ---

<!-- Global Planner -->
<node name="global_planner_node" pkg="global_planner" type="global_planner_node">

    <param name="frame_id" type="string" value="$(arg frame_id)" />
    <param name="camera_frame_id" type="string" value="/$(arg camera_frame_id)" />
    <param name="start_pos_x" value="$(arg start_pos_x)" />
    <param name="start_pos_y" value="$(arg start_pos_y)" />
    <param name="start_pos_z" value="$(arg start_pos_z)" />
    <rosparam param="pointcloud_topics" subst_value="True">$(arg pointcloud_topics)</rosparam>
    <param name="robot_radius" value="0.5" /> 

</node>

<!-- OctoMap Server -->
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
    <param name="resolution" value="1.0" />
    <param name="frame_id" type="string" value="$(arg frame_id)" />
    <param name="sensor_model/max_range" value="9.0" />
    <param name="sensor_model/min" value="0.05" />
    <param name="sensor_model/max" value="0.99" />
    <param name="sensor_model/hit" value="0.9" />
    <param name="sensor_model/miss" value="0.45" />
    <param name="color/r" value="0.1" />
    <param name="color/g" value="0.1" />
    <param name="color/b" value="0.1" />
    <param name="color/a" value="1.0" />
    <param name="occupancy_min_z" value="0.5" />
    <param name="height_map" value="true" /> 
    <param name="publish_free_space" value="false" />
    <!-- Sensor -->
        <remap from="cloud_in" to="/ce30c_output"/>
        <!--rosparam>
            transform_tolerance: 0.01
            min_height: 0.0
            max_height: 3.0
            angle_min: -0.418879
            angle_max: 2.72271   
            angle_increment: 0.0087
            scan_time: 0.02
            range_min: 0.2
            range_max: 6.0
            use_inf: true
            concurrency_level: 1
        </rosparam-->
</node>
commented

Have you come across any solutions?