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PX4 / PX4-Avoidance

PX4 avoidance ROS node for obstacle detection and avoidance.

Home Page:http://px4.io

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Unknown frame: "local_origin" when running simulation

Carson-Stark opened this issue · comments

commented

I followed the README instructions exactly to run the avoidance simulation and I am getting an error in RViz saying there is no local_origin frame. The console is spammed with the error: "TF Buffer: could not retrieve requested transform from buffer, unregistered". When I try to arm the drone I get a request failed message. Any help would be much appreciated.

Screencast.from.01-23-2023.04.56.09.PM.webm

System:
Ubuntu 20.04
Ros Noetic
Nvidia Jetson Nano

.bashrc (added at end)
source /opt/ros/noetic/setup.bash
source /catkin_ws/devel/setup.bash
~/Firmware/Tools/simulation/gazebo-classic/setup_gazebo.bash ~/Firmware ~/Firmware/build/px4_sitl_default
export GAZEBO_MODEL_PATH=:~/catkin_ws/src/avoidance/avoidance/sim/models:~/catkin_ws/src/avoidance/avoidance/sim/worlds:~/Firmware/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models:~/Firmware/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/Firmware

I added the sitl_gazebo-classic/models folder to GAZEBO_MODEL_PATH because I was getting an error: "unable to find model: iris_obs_avoidance"

Console Output
.. logging to /home/greta/.ros/log/1c199a60-9b68-11ed-8676-f72bb289410f/roslaunch-ubuntu-11728.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.

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /gazebo/enable_ros_network: True
  • /local_planner_node/goal_x_param: 15
  • /local_planner_node/goal_y_param: 15
  • /local_planner_node/goal_z_param: 4
  • /local_planner_node/pointcloud_topics: ['/stereo/points2']
  • /local_planner_node/world_name: /home/greta/catki...
  • /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: ROLL_180
  • /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: ROLL_180
  • /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: ROLL_180
  • /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/id: 2
  • /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
  • /mavros/distance_sensor/sonar_1_sub/subscriber: True
  • /mavros/fcu_protocol: v2.0
  • /mavros/fcu_url: udp://:14540@loca...
  • /mavros/gcs_url:
  • /mavros/global_position/frame_id: fcu
  • /mavros/global_position/rot_covariance: 99999.0
  • /mavros/global_position/tf/child_frame_id: fcu_utm
  • /mavros/global_position/tf/frame_id: local_origin
  • /mavros/global_position/tf/send: False
  • /mavros/image/frame_id: px4flow
  • /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
  • /mavros/imu/frame_id: fcu
  • /mavros/imu/linear_acceleration_stdev: 0.0003
  • /mavros/imu/magnetic_stdev: 0.0
  • /mavros/imu/orientation_stdev: 1.0
  • /mavros/local_position/frame_id: local_origin
  • /mavros/local_position/tf/child_frame_id: fcu
  • /mavros/local_position/tf/frame_id: local_origin
  • /mavros/local_position/tf/send: True
  • /mavros/local_position/tf/send_fcu: False
  • /mavros/mission/pull_after_gcs: True
  • /mavros/mocap/use_pose: False
  • /mavros/mocap/use_tf: True
  • /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_throttle: False
  • /mavros/setpoint_attitude/tf/child_frame_id: attitude
  • /mavros/setpoint_attitude/tf/frame_id: local_origin
  • /mavros/setpoint_attitude/tf/listen: False
  • /mavros/setpoint_attitude/tf/rate_limit: 10.0
  • /mavros/setpoint_position/tf/child_frame_id: setpoint
  • /mavros/setpoint_position/tf/frame_id: local_origin
  • /mavros/setpoint_position/tf/listen: False
  • /mavros/setpoint_position/tf/rate_limit: 50.0
  • /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/vibration/frame_id: vibration
  • /mavros/vision_pose/tf/child_frame_id: vision
  • /mavros/vision_pose/tf/frame_id: local_origin
  • /mavros/vision_pose/tf/listen: False
  • /mavros/vision_pose/tf/rate_limit: 10.0
  • /mavros/vision_speed/listen_twist: False
  • /rosdistro: noetic
  • /rosversion: 1.15.15
  • /stereo/stereo_image_proc/correlation_window_size: 19.0
  • /stereo/stereo_image_proc/disparity_range: 32.0
  • /stereo/stereo_image_proc/speckle_range: 2.0
  • /stereo/stereo_image_proc/speckle_size: 1000.0
  • /stereo/stereo_image_proc/stereo_algorithm: 1.0
  • /stereo/stereo_image_proc/uniqueness_ratio: 40.0
  • /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
local_planner_node (local_planner/local_planner_node)
mavros (mavros/mavros_node)
rqt_reconfigure (rqt_reconfigure/rqt_reconfigure)
rviz (rviz/rviz)
sitl_0 (px4/px4)
spawn_model (gazebo_ros/spawn_model)
tf_depth_camera (tf/static_transform_publisher)
/stereo/
stereo_image_proc (stereo_image_proc/stereo_image_proc)

auto-starting new master
process[master]: started with pid [11779]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1c199a60-9b68-11ed-8676-f72bb289410f
process[rosout-1]: started with pid [11791]
started core service [/rosout]
process[tf_depth_camera-2]: started with pid [11799]
process[rqt_reconfigure-3]: started with pid [11813]
process[sitl_0-4]: started with pid [11929]
process[mavros-5]: started with pid [11930]
process[gazebo-6]: started with pid [11931]
process[gazebo_gui-7]: started with pid [11933]
process[spawn_model-8]: started with pid [11937]
process[stereo/stereo_image_proc-9]: started with pid [11942]
process[local_planner_node-10]: started with pid [11943]
INFO [px4] instance: 0

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

px4 starting.

INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
process[rviz-11]: started with pid [11955]
INFO [init] found model autostart file as SYS_AUTOSTART=1015
INFO [param] selected parameter default file parameters.bson
INFO [param] selected parameter backup file parameters_backup.bson
[ INFO] [1674510705.917244308]: Initializing nodelet with 4 worker threads.
SYS_AUTOCONFIG: curr: 0 -> new: 1
SYS_AUTOSTART: curr: 0 -> new: 1015
CAL_ACC0_ID: curr: 0 -> new: 1310988
[ INFO] [1674510706.634169568]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1674510706.668420230]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1674510706.669406113]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1674510706.669932519]: GCS bridge disabled
CAL_GYRO0_ID: curr: 0 -> new: 1310988
CAL_ACC1_ID: curr: 0 -> new: 1310996
[ INFO] [1674510706.992338605]: Plugin 3dr_radio loaded
[ INFO] [1674510707.026522653]: Plugin 3dr_radio initialized
[ INFO] [1674510707.026770621]: Plugin actuator_control loaded
[ INFO] [1674510707.113228161]: Plugin actuator_control initialized
CAL_GYRO1_ID: curr: 0 -> new: 1310996
[ INFO] [1674510707.216741136]: Plugin adsb loaded
CAL_ACC2_ID: curr: 0 -> new: 1311004
[ INFO] [1674510707.272123371]: rviz version 1.14.19
[ INFO] [1674510707.272358423]: compiled against Qt version 5.12.8
[ INFO] [1674510707.272407694]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1674510707.317757605]: Plugin adsb initialized
[ INFO] [1674510707.318854166]: Plugin altitude loaded
CAL_GYRO2_ID: curr: 0 -> new: 1311004
[ INFO] [1674510707.373005362]: Plugin altitude initialized
[ INFO] [1674510707.373391403]: Plugin cam_imu_sync loaded
[ INFO] [1674510707.411280131]: Plugin cam_imu_sync initialized
[ INFO] [1674510707.411649714]: Plugin camera loaded
[ INFO] [1674510707.460742326]: Plugin camera initialized
[ INFO] [1674510707.461130815]: Plugin cellular_status loaded
CAL_MAG0_ID: curr: 0 -> new: 197388
CAL_MAG0_PRIO: curr: -1 -> new: 50
[ INFO] [1674510707.588295359]: Plugin cellular_status initialized
[ INFO] [1674510707.588664473]: Plugin command loaded
[ INFO] [1674510707.626847159]: Forcing OpenGl version 0.
CAL_MAG1_ID: curr: 0 -> new: 197644
[ INFO] [1674510707.721252131]: Plugin command initialized
[ INFO] [1674510707.721854786]: Plugin companion_process_status loaded
CAL_MAG1_PRIO: curr: -1 -> new: 50
[ INFO] [1674510707.816279966]: Plugin companion_process_status initialized
[ INFO] [1674510707.817115537]: Plugin debug_value loaded

  • SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
    [ INFO] [1674510707.901909278]: Plugin debug_value initialized
    [ INFO] [1674510707.902099018]: Plugin distance_sensor blacklisted
    [ INFO] [1674510707.902647975]: Plugin esc_status loaded
    [ INFO] [1674510707.926651418]: Plugin esc_status initialized
    [ INFO] [1674510707.927048448]: Plugin esc_telemetry loaded
    [ INFO] [1674510707.933632498]: Plugin esc_telemetry initialized
    [ INFO] [1674510707.934115934]: Plugin fake_gps loaded
  • SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
    [ INFO] [1674510708.134009608]: Plugin fake_gps initialized
    [ INFO] [1674510708.134747680]: Plugin ftp loaded
    [ INFO] [1674510708.220673034]: Plugin ftp initialized
    [ INFO] [1674510708.221048398]: Plugin geofence loaded
    [ INFO] [1674510708.258011607]: Plugin geofence initialized
    [ INFO] [1674510708.258600929]: Plugin global_position loaded
    [ INFO] [1674510708.404070126]: Plugin global_position initialized
    [ INFO] [1674510708.404587416]: Plugin gps_input loaded
    [ INFO] [1674510708.440458128]: Plugin gps_input initialized
    [ INFO] [1674510708.440806305]: Plugin gps_rtk loaded
    [ INFO] [1674510708.480895341]: Plugin gps_rtk initialized
    [ INFO] [1674510708.481234872]: Plugin gps_status loaded
    [ INFO] [1674510708.510604815]: Plugin gps_status initialized
    [ INFO] [1674510708.511029710]: Plugin guided_target loaded
    [ INFO] [1674510708.562182371]: Plugin guided_target initialized
    [ INFO] [1674510708.569808606]: Plugin hil loaded
    [ INFO] [1674510708.707353600]: Plugin hil initialized
    [ INFO] [1674510708.707749380]: Plugin home_position loaded
    [ INFO] [1674510708.760257143]: Plugin home_position initialized
    [ INFO] [1674510708.760650319]: Plugin imu loaded
    [ INFO] [1674510708.868253600]: Plugin imu initialized
    [ INFO] [1674510708.868822297]: Plugin landing_target loaded
    [ INFO] [1674510709.269400950]: Plugin landing_target initialized
    [ INFO] [1674510709.270180115]: Plugin local_position loaded
    [ INFO] [1674510709.424636223]: Plugin local_position initialized
    [ INFO] [1674510709.425323409]: Plugin log_transfer loaded
    [ INFO] [1674510709.473438941]: Plugin log_transfer initialized
    [ INFO] [1674510709.473842274]: Plugin mag_calibration_status loaded
    [ INFO] [1674510709.497453218]: Plugin mag_calibration_status initialized
    [ INFO] [1674510709.497898790]: Plugin manual_control loaded
    [ INFO] [1674510709.599792291]: Plugin manual_control initialized
    [ INFO] [1674510709.600148957]: Plugin mocap_pose_estimate loaded
    [ INFO] [1674510709.728254908]: Plugin mocap_pose_estimate initialized
    [ INFO] [1674510709.728738292]: Plugin mount_control loaded
    [ WARN] [1674510709.908435393]: Could not retrive negate_measured_roll parameter value, using default (0)
    [ WARN] [1674510709.928320667]: Could not retrive negate_measured_pitch parameter value, using default (0)
    [ WARN] [1674510709.945628967]: Could not retrive negate_measured_yaw parameter value, using default (0)
    [ WARN] [1674510709.983537644]: Could not retrive debounce_s parameter value, using default (4.000000)
    [ WARN] [1674510709.991604764]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
    [ INFO] [1674510709.991837524]: Plugin mount_control initialized
    [ INFO] [1674510709.992982678]: Plugin nav_controller_output loaded
    [ INFO] [1674510710.000822871]: Plugin nav_controller_output initialized
    [ INFO] [1674510710.001227558]: Plugin obstacle_distance loaded
    [ INFO] [1674510710.094686441]: Plugin obstacle_distance initialized
    [ INFO] [1674510710.096053365]: Plugin odom loaded
    [INFO] [1674510710.282255, 0.000000]: Loading model XML from Gazebo Model Database
    [INFO] [1674510710.306644, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
    [ INFO] [1674510710.323174075]: Plugin odom initialized
    [ INFO] [1674510710.323585689]: Plugin onboard_computer_status loaded
    [ INFO] [1674510710.448573365]: Plugin onboard_computer_status initialized
    [ INFO] [1674510710.448964458]: Plugin param loaded
    [ INFO] [1674510710.510766006]: Plugin param initialized
    [ INFO] [1674510710.511139808]: Plugin play_tune loaded
    [ INFO] [1674510710.564155539]: Plugin play_tune initialized
    [ INFO] [1674510710.564517414]: Plugin px4flow loaded
    [ INFO] [1674510710.631643274]: Stereo is NOT SUPPORTED
    [ INFO] [1674510710.631850461]: OpenGL device: NVIDIA Tegra X1 (nvgpu)/integrated
    [ INFO] [1674510710.631956503]: OpenGl version: 4.6 (GLSL 4.6).
    [ INFO] [1674510710.908822482]: Plugin px4flow initialized
    [ INFO] [1674510710.909228002]: Plugin rallypoint loaded
    [ INFO] [1674510711.047241175]: Plugin rallypoint initialized
    [ INFO] [1674510711.047468153]: Plugin rangefinder blacklisted
    [ INFO] [1674510711.048085652]: Plugin rc_io loaded
    [ INFO] [1674510711.176699052]: Plugin rc_io initialized
    [ INFO] [1674510711.176852906]: Plugin safety_area blacklisted
    [ INFO] [1674510711.177192333]: Plugin setpoint_accel loaded
    [ INFO] [1674510711.302794228]: Plugin setpoint_accel initialized
    [ INFO] [1674510711.303254279]: Plugin setpoint_attitude loaded
    [ INFO] [1674510711.736234650]: Plugin setpoint_attitude initialized
    [ INFO] [1674510711.736707253]: Plugin setpoint_position loaded
    [ INFO] [1674510712.405705249]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
    [ INFO] [1674510712.457472755]: Finished loading Gazebo ROS API Plugin.
    [ INFO] [1674510712.728340209]: Plugin setpoint_position initialized
    [ INFO] [1674510712.728774791]: Plugin setpoint_raw loaded
    [ INFO] [1674510712.904977217]: Finished loading Gazebo ROS API Plugin.
    [ INFO] [1674510712.948233801]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
    [ INFO] [1674510713.164772870]: Plugin setpoint_raw initialized
    [ INFO] [1674510713.165319015]: Plugin setpoint_trajectory loaded
    [ INFO] [1674510713.337329887]: Plugin setpoint_trajectory initialized
    [ INFO] [1674510713.338208479]: Plugin setpoint_velocity loaded
    [ INFO] [1674510713.592793726]: Plugin setpoint_velocity initialized
    [ INFO] [1674510713.593805235]: Plugin sys_status loaded
    INFO [dataman] data manager file './dataman' size is 7866640 bytes
    [ INFO] [1674510714.101135630]: Plugin sys_status initialized
    [ INFO] [1674510714.104384426]: Plugin sys_time loaded
    [ INFO] [1674510714.487124955]: TM: Timesync mode: MAVLINK
    [ INFO] [1674510714.514700163]: TM: Not publishing sim time
    [ INFO] [1674510714.561056274]: Plugin sys_time initialized
    [ INFO] [1674510714.561436221]: Plugin terrain loaded
    [ INFO] [1674510714.585207114]: Plugin terrain initialized
    [ INFO] [1674510714.585563051]: Plugin trajectory loaded
    INFO [init] PX4_SIM_HOSTNAME: localhost
    INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
    [ INFO] [1674510714.957612610]: Plugin trajectory initialized
    [ INFO] [1674510714.958413234]: Plugin tunnel loaded
    [ INFO] [1674510715.179077715]: Plugin tunnel initialized
    [ INFO] [1674510715.179488964]: Plugin vfr_hud loaded
    [ INFO] [1674510715.246166496]: Plugin vfr_hud initialized
    [ INFO] [1674510715.246501078]: Plugin vibration blacklisted
    [ INFO] [1674510715.247128890]: Plugin vision_pose_estimate loaded
    [ INFO] [1674510715.994074103]: Plugin vision_pose_estimate initialized
    [ INFO] [1674510715.994532384]: Plugin vision_speed_estimate loaded
    [ INFO] [1674510716.262855320]: Plugin vision_speed_estimate initialized
    [ INFO] [1674510716.277353783]: Plugin waypoint loaded
    [ INFO] [1674510716.466572440]: Plugin waypoint initialized
    [ INFO] [1674510716.466796085]: Plugin wheel_odometry blacklisted
    [ INFO] [1674510716.467192178]: Plugin wind_estimation loaded
    [ INFO] [1674510716.496933268]: Plugin wind_estimation initialized
    [ INFO] [1674510716.497339622]: Autostarting mavlink via USB on PX4
    [ INFO] [1674510716.497521757]: Built-in SIMD instructions: ARM NEON
    [ INFO] [1674510716.497612278]: Built-in MAVLink package version: 2022.8.8
    [ INFO] [1674510716.497716913]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
    [ INFO] [1674510716.497812433]: MAVROS started. MY ID 1.240, TARGET ID 1.1
    [ERROR] [1674510716.498687223]: PR: Unknown parameter to get: MPC_ACC_HOR
    [ERROR] [1674510716.549499108]: PR: Unknown parameter to get: MPC_ACC_DOWN_MAX
    [INFO] [1674510716.588428, 0.000000]: Calling service /gazebo/spawn_sdf_model
    [ERROR] [1674510716.598797766]: PR: Unknown parameter to get: MPC_ACC_UP_MAX
    [ERROR] [1674510716.627315108]: PR: Unknown parameter to get: MPC_XY_CRUISE
    [ERROR] [1674510716.661875304]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_DN
    [ERROR] [1674510716.679170116]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_UP
    [ERROR] [1674510716.693718474]: PR: Unknown parameter to get: CP_DIST
    [ERROR] [1674510716.718783062]: PR: Unknown parameter to get: MPC_LAND_SPEED
    [ERROR] [1674510716.743137757]: PR: Unknown parameter to get: MPC_JERK_MAX
    [ERROR] [1674510716.771199579]: PR: Unknown parameter to get: NAV_ACC_RAD
    [ERROR] [1674510716.799031194]: PR: Unknown parameter to get: MPC_YAWRAUTO_MAX
    [ INFO] [1674510716.890354982]: waitForService: Service [/gazebo/set_physics_properties] is now available.
    Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
    Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
    Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
    Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
    Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
    [ WARN] [1674510719.682240640, 0.004000000]: The input topic '/stereo/left/image_raw' is not yet advertised
    [ WARN] [1674510719.700926439, 0.004000000]: The input topic '/stereo/left/camera_info' is not yet advertised
    [ WARN] [1674510719.701069043, 0.004000000]: The input topic '/stereo/right/image_raw' is not yet advertised
    [ WARN] [1674510719.701179720, 0.004000000]: The input topic '/stereo/right/camera_info' is not yet advertised
    [INFO] [1674510719.970865, 0.004000]: Spawn status: SpawnModel: Successfully spawned entity
    [ INFO] [1674510720.329943915, 0.004000000]: Physics dynamic reconfigure ready.
    [spawn_model-8] process has finished cleanly
    log file: /home/greta/.ros/log/1c199a60-9b68-11ed-8676-f72bb289410f/spawn_model-8*.log
    [ INFO] [1674510721.628265396, 0.004000000]: Camera Plugin: The 'robotNamespace' param did not exit
    [ INFO] [1674510721.629124839, 0.004000000]: Camera Plugin: The 'robotNamespace' param did not exit
    [ INFO] [1674510721.677920910, 0.004000000]: Camera Plugin (ns = ) <tf_prefix_>, set to ""
    [ INFO] [1674510721.685562192, 0.004000000]: Camera Plugin (ns = ) <tf_prefix_>, set to ""
    [ERROR] [1674510721.813874722, 0.004000000]: PR: Unknown parameter to get: MPC_ACC_HOR
    [ERROR] [1674510721.826854952, 0.004000000]: PR: Unknown parameter to get: MPC_ACC_DOWN_MAX
    [ERROR] [1674510721.861533899, 0.004000000]: PR: Unknown parameter to get: MPC_ACC_UP_MAX
    [ERROR] [1674510721.878872331, 0.004000000]: PR: Unknown parameter to get: MPC_XY_CRUISE
    [ERROR] [1674510721.900308387, 0.004000000]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_DN
    [ERROR] [1674510721.928340810, 0.004000000]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_UP
    [ERROR] [1674510721.935200151, 0.004000000]: PR: Unknown parameter to get: CP_DIST
    [ERROR] [1674510721.970353012, 0.004000000]: PR: Unknown parameter to get: MPC_LAND_SPEED
    [ERROR] [1674510721.983490276, 0.004000000]: PR: Unknown parameter to get: MPC_JERK_MAX
    [ERROR] [1674510722.003127603, 0.004000000]: PR: Unknown parameter to get: NAV_ACC_RAD
    [ERROR] [1674510722.014522177, 0.004000000]: PR: Unknown parameter to get: MPC_YAWRAUTO_MAX
    [ INFO] [1674510725.873877294, 2.040000000]: Successfully loaded rviz world
    [ERROR] [1674510727.062608210, 2.760000000]: PR: Unknown parameter to get: MPC_ACC_HOR
    [ERROR] [1674510727.085077375, 2.776000000]: PR: Unknown parameter to get: MPC_ACC_DOWN_MAX
    [ERROR] [1674510727.103991795, 2.788000000]: PR: Unknown parameter to get: MPC_ACC_UP_MAX
    [ERROR] [1674510727.143847647, 2.812000000]: PR: Unknown parameter to get: MPC_XY_CRUISE
    [ERROR] [1674510727.171141213, 2.836000000]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_DN
    [ERROR] [1674510727.178204764, 2.844000000]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_UP
    [ERROR] [1674510727.184512262, 2.852000000]: PR: Unknown parameter to get: CP_DIST
    [ERROR] [1674510727.190486056, 2.856000000]: PR: Unknown parameter to get: MPC_LAND_SPEED
    [ERROR] [1674510727.204768943, 2.872000000]: PR: Unknown parameter to get: MPC_JERK_MAX
    [ERROR] [1674510727.226355594, 2.888000000]: PR: Unknown parameter to get: NAV_ACC_RAD
    [ERROR] [1674510727.235452355, 2.896000000]: PR: Unknown parameter to get: MPC_YAWRAUTO_MAX
    [ERROR] [1674510727.446356230, 3.004000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.451634336, 3.008000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.456635042, 3.012000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.461685748, 3.016000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.466827342, 3.020000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.472327222, 3.024000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.477465586, 3.024000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.483948035, 3.028000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.488847489, 3.032000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.493908977, 3.032000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.499150155, 3.036000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.504258884, 3.044000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.509499645, 3.048000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.514662229, 3.048000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.520806651, 3.048000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.525957515, 3.052000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.531085879, 3.060000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.562754464, 3.080000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.564751996, 3.080000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.570011872, 3.080000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.575961604, 3.088000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.580627096, 3.092000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.585700095, 3.096000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.590828823, 3.100000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.595962031, 3.104000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.601381806, 3.108000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.606464284, 3.112000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.611596086, 3.116000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.616903359, 3.120000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.623511486, 3.128000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.627321235, 3.128000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.633237893, 3.132000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.638299486, 3.136000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.643401808, 3.140000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.648724758, 3.144000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.653798121, 3.148000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.658919350, 3.152000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.664037193, 3.156000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.669157067, 3.164000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.674280015, 3.168000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.680183131, 3.172000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.685627125, 3.176000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.690129177, 3.180000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.695207280, 3.188000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.700321008, 3.192000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.705522029, 3.196000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.710691905, 3.196000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.715943656, 3.204000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.720976185, 3.208000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.726494347, 3.212000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.731752088, 3.220000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.736954829, 3.224000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.746302584, 3.232000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.751582357, 3.236000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.756676501, 3.236000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.761923149, 3.244000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.767055159, 3.252000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.772157741, 3.256000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.778424665, 3.264000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.782843434, 3.268000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.787964715, 3.272000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.793047662, 3.276000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.798221391, 3.280000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.803531529, 3.288000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.808503119, 3.292000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.813822112, 3.296000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.818826620, 3.296000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.823983265, 3.300000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.834731824, 3.304000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.840033368, 3.312000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.845528249, 3.316000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.850807032, 3.320000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.856047481, 3.324000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.861631582, 3.332000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.866744112, 3.336000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.871910758, 3.340000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.879742291, 3.340000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.886704226, 3.352000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.892628436, 3.356000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.898646658, 3.356000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.903874764, 3.364000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.909054743, 3.372000000]: TF Buffer: could not retrieve requested transform from buffer, unregistered
    [ERROR] [1674510727.914359933, 3.376000000]: TF Buffer: could not retrieve requested transform from buffer, unregistere