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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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[ERROR] [1697103503.997314647]: TF Buffer: could not retrieve requested transform from buffer, unregistered

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I want to run PX4-Avoidance on the actual hardware, I did the generate_files.sh and setup eveything else, but whenever I run the avoidance.launch I get the TF Buffer error.

Hardware: Cubepilot Orange +
PX4 Firmware: 1.14.0rc

roslaunch local_planner avoidance.launch fcu_url:=/dev/ttyTHS1:921600
... logging to /home/username/.ros/log/596352aa-68e3-11ee-a752-0242c2fe0e1c/roslaunch-username-21693.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/username/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://........../

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /camera_main/realsense2_camera/accel_fps: 0
  • /camera_main/realsense2_camera/accel_frame_id: _accel_frame
  • /camera_main/realsense2_camera/accel_optical_frame_id: _accel_optical_frame
  • /camera_main/realsense2_camera/align_depth: False
  • /camera_main/realsense2_camera/aligned_depth_to_color_frame_id: _aligned_depth_to...
  • /camera_main/realsense2_camera/aligned_depth_to_fisheye1_frame_id: _aligned_depth_to...
  • /camera_main/realsense2_camera/aligned_depth_to_fisheye2_frame_id: _aligned_depth_to...
  • /camera_main/realsense2_camera/aligned_depth_to_fisheye_frame_id: _aligned_depth_to...
  • /camera_main/realsense2_camera/aligned_depth_to_infra1_frame_id: _aligned_depth_to...
  • /camera_main/realsense2_camera/aligned_depth_to_infra2_frame_id: _aligned_depth_to...
  • /camera_main/realsense2_camera/allow_no_texture_points: False
  • /camera_main/realsense2_camera/base_frame_id: _link
  • /camera_main/realsense2_camera/calib_odom_file:
  • /camera_main/realsense2_camera/clip_distance: -1.0
  • /camera_main/realsense2_camera/color_fps: 15
  • /camera_main/realsense2_camera/color_frame_id: _color_frame
  • /camera_main/realsense2_camera/color_height: 480
  • /camera_main/realsense2_camera/color_optical_frame_id: _color_optical_frame
  • /camera_main/realsense2_camera/color_width: 640
  • /camera_main/realsense2_camera/confidence_fps: 30
  • /camera_main/realsense2_camera/confidence_height: 480
  • /camera_main/realsense2_camera/confidence_width: 640
  • /camera_main/realsense2_camera/depth_fps: 30
  • /camera_main/realsense2_camera/depth_frame_id: _depth_frame
  • /camera_main/realsense2_camera/depth_height: 480
  • /camera_main/realsense2_camera/depth_optical_frame_id: _depth_optical_frame
  • /camera_main/realsense2_camera/depth_width: 640
  • /camera_main/realsense2_camera/device_type:
  • /camera_main/realsense2_camera/enable_accel: False
  • /camera_main/realsense2_camera/enable_color: False
  • /camera_main/realsense2_camera/enable_confidence: True
  • /camera_main/realsense2_camera/enable_depth: True
  • /camera_main/realsense2_camera/enable_fisheye1: False
  • /camera_main/realsense2_camera/enable_fisheye2: False
  • /camera_main/realsense2_camera/enable_fisheye: False
  • /camera_main/realsense2_camera/enable_gyro: False
  • /camera_main/realsense2_camera/enable_infra1: True
  • /camera_main/realsense2_camera/enable_infra2: False
  • /camera_main/realsense2_camera/enable_infra: False
  • /camera_main/realsense2_camera/enable_pointcloud: False
  • /camera_main/realsense2_camera/enable_pose: False
  • /camera_main/realsense2_camera/enable_sync: False
  • /camera_main/realsense2_camera/filters:
  • /camera_main/realsense2_camera/fisheye1_frame_id: _fisheye1_frame
  • /camera_main/realsense2_camera/fisheye1_optical_frame_id: _fisheye1_optical...
  • /camera_main/realsense2_camera/fisheye2_frame_id: _fisheye2_frame
  • /camera_main/realsense2_camera/fisheye2_optical_frame_id: _fisheye2_optical...
  • /camera_main/realsense2_camera/fisheye_fps: 30
  • /camera_main/realsense2_camera/fisheye_frame_id: _fisheye_frame
  • /camera_main/realsense2_camera/fisheye_height: 0
  • /camera_main/realsense2_camera/fisheye_optical_frame_id: fisheye_optical...
  • /camera_main/realsense2_camera/fisheye_width: 0
  • /camera_main/realsense2_camera/gyro_fps: 0
  • /camera_main/realsense2_camera/gyro_frame_id: _gyro_frame
  • /camera_main/realsense2_camera/gyro_optical_frame_id: _gyro_optical_frame
  • /camera_main/realsense2_camera/imu_optical_frame_id: _imu_optical_frame
  • /camera_main/realsense2_camera/infra1_frame_id: _infra1_frame
  • /camera_main/realsense2_camera/infra1_optical_frame_id: _infra1_optical_f...
  • /camera_main/realsense2_camera/infra2_frame_id: _infra2_frame
  • /camera_main/realsense2_camera/infra2_optical_frame_id: _infra2_optical_f...
  • /camera_main/realsense2_camera/infra_fps: 15
  • /camera_main/realsense2_camera/infra_height: 480
  • /camera_main/realsense2_camera/infra_rgb: False
  • /camera_main/realsense2_camera/infra_width: 640
  • /camera_main/realsense2_camera/initial_reset: True
  • /camera_main/realsense2_camera/json_file_path: /home/username/catk...
  • /camera_main/realsense2_camera/linear_accel_cov: 0.01
  • /camera_main/realsense2_camera/odom_frame_id: _odom_frame
  • /camera_main/realsense2_camera/ordered_pc: False
  • /camera_main/realsense2_camera/pointcloud_texture_index: 0
  • /camera_main/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
  • /camera_main/realsense2_camera/pose_frame_id: _pose_frame
  • /camera_main/realsense2_camera/pose_optical_frame_id: _pose_optical_frame
  • /camera_main/realsense2_camera/publish_odom_tf: True
  • /camera_main/realsense2_camera/publish_tf: True
  • /camera_main/realsense2_camera/rosbag_filename:
  • /camera_main/realsense2_camera/serial_no: 043322070976
  • /camera_main/realsense2_camera/stereo_module/exposure/1: 7500
  • /camera_main/realsense2_camera/stereo_module/exposure/2: 1
  • /camera_main/realsense2_camera/stereo_module/gain/1: 16
  • /camera_main/realsense2_camera/stereo_module/gain/2: 16
  • /camera_main/realsense2_camera/tf_publish_rate: 0.0
  • /camera_main/realsense2_camera/topic_odom_in: /odom_in
  • /camera_main/realsense2_camera/unite_imu_method: none
  • /camera_main/realsense2_camera/usb_port_id:
  • /local_planner_node/goal_x_param: 0
  • /local_planner_node/goal_y_param: 0
  • /local_planner_node/goal_z_param: 4
  • /local_planner_node/pointcloud_topics: ['/camera_main/de...
  • /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: /dev/ttyTHS1:921600
  • /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: melodic
  • /rosversion: 1.14.13

NODES
/
drop_camera_main_depth (topic_tools/drop)
drop_camera_main_ir (topic_tools/drop)
dynparam (dynamic_reconfigure/dynparam)
local_planner_node (local_planner/local_planner_node)
mavros (mavros/mavros_node)
rqt_param_toggle (local_planner/rqt_param_toggle.sh)
tf_camera_main (tf/static_transform_publisher)
/camera_main/
points_xyz_sw_registered (nodelet/nodelet)
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [21709]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 596352aa-68e3-11ee-a752-0242c2fe0e1c
process[rosout-1]: started with pid [21722]
started core service [/rosout]
process[mavros-2]: started with pid [21740]
process[tf_camera_main-3]: started with pid [21741]
process[camera_main/realsense2_camera_manager-4]: started with pid [21742]
process[camera_main/realsense2_camera-5]: started with pid [21759]
process[camera_main/points_xyz_sw_registered-6]: started with pid [21766]
process[drop_camera_main_depth-7]: started with pid [21777]
process[drop_camera_main_ir-8]: started with pid [21787]
process[dynparam-9]: started with pid [21800]
[ INFO] [1697103619.953988379]: Initializing nodelet with 6 worker threads.
process[local_planner_node-10]: started with pid [21821]
process[rqt_param_toggle-11]: started with pid [21830]
[ INFO] [1697103620.136340652]: Initializing nodelet with 6 worker threads.
[ INFO] [1697103620.196697138]: RealSense ROS v2.3.1
[ INFO] [1697103620.196817330]: Built with LibRealSense v2.48.0
[ INFO] [1697103620.196899154]: Running with LibRealSense v2.48.0
[ INFO] [1697103620.352084389]:
[ INFO] [1697103620.404019392]: FCU URL: /dev/ttyTHS1:921600
[ INFO] [1697103620.433283938]: serial0: device: /dev/ttyTHS1 @ 921600 bps
[ INFO] [1697103620.437483655]: GCS bridge disabled
[ INFO] [1697103620.527253774]: Plugin 3dr_radio loaded
[ INFO] [1697103620.546561988]: Device with serial number 043322070976 was found.

[ INFO] [1697103620.547571718]: Device with physical ID 2-3.3-14 was found.
[ INFO] [1697103620.548886311]: Device with name Intel RealSense D435I was found.
[ INFO] [1697103620.552346379]: Device with port number 2-3.3 was found.
[ INFO] [1697103620.552650251]: Plugin 3dr_radio initialized
[ INFO] [1697103620.552685931]: Device USB type: 3.2
[ INFO] [1697103620.552795308]: Resetting device...
[ INFO] [1697103620.553045004]: Plugin actuator_control loaded
[ INFO] [1697103620.609219021]: Plugin actuator_control initialized
[ INFO] [1697103620.636197164]: Plugin adsb loaded
[ INFO] [1697103620.680355806]: Plugin adsb initialized
[ INFO] [1697103620.681039295]: Plugin altitude loaded
[ INFO] [1697103620.695182127]: Plugin altitude initialized
[ INFO] [1697103620.695891088]: Plugin cam_imu_sync loaded
[ INFO] [1697103620.705514043]: Plugin cam_imu_sync initialized
[ INFO] [1697103620.706446716]: Plugin camera loaded
[ INFO] [1697103620.714134853]: Plugin camera initialized
[ INFO] [1697103620.714881350]: Plugin cellular_status loaded
[ INFO] [1697103620.738526849]: Plugin cellular_status initialized
[ INFO] [1697103620.739324994]: Plugin command loaded
[ INFO] [1697103620.820561152]: Plugin command initialized
[ INFO] [1697103620.821193600]: Plugin companion_process_status loaded
[ INFO] [1697103620.862705584]: Plugin companion_process_status initialized
[ INFO] [1697103620.864337234]: Plugin debug_value loaded
[ INFO] [1697103620.922146261]: Plugin debug_value initialized
[ INFO] [1697103620.922291125]: Plugin distance_sensor blacklisted
[ INFO] [1697103620.923034998]: Plugin esc_status loaded
[ INFO] [1697103620.935050243]: Plugin esc_status initialized
[ INFO] [1697103620.935780260]: Plugin esc_telemetry loaded
[ INFO] [1697103620.942133548]: Plugin esc_telemetry initialized
[ INFO] [1697103620.944213326]: Plugin fake_gps loaded
[ INFO] [1697103621.075175877]: Plugin fake_gps initialized
[ INFO] [1697103621.076244966]: Plugin ftp loaded
[ INFO] [1697103621.201246806]: Plugin ftp initialized
[ INFO] [1697103621.203224408]: Plugin geofence loaded
[ INFO] [1697103621.258340823]: Plugin geofence initialized
[ INFO] [1697103621.259197304]: Plugin global_position loaded
[ INFO] [1697103621.438586343]: Plugin global_position initialized
[ INFO] [1697103621.440462857]: Plugin gps_input loaded
[ INFO] [1697103621.467062536]: Plugin gps_input initialized
[ INFO] [1697103621.468736041]: Plugin gps_rtk loaded
[ INFO] [1697103621.491476356]: Plugin gps_rtk initialized
[ INFO] [1697103621.492631909]: Plugin gps_status loaded
[ INFO] [1697103621.506887957]: Plugin gps_status initialized
[ INFO] [1697103621.508706871]: Plugin guided_target loaded
[ INFO] [1697103621.546095874]: Plugin guided_target initialized
[ INFO] [1697103621.546981956]: Plugin hil loaded
[ INFO] [1697103621.623327323]: Plugin hil initialized
[ INFO] [1697103621.624225596]: Plugin home_position loaded
[ INFO] [1697103621.647892024]: Plugin home_position initialized
[ INFO] [1697103621.649902298]: Plugin imu loaded
[ INFO] [1697103621.700294132]: Plugin imu initialized
[ INFO] [1697103621.701256021]: Plugin landing_target loaded
[ INFO] [1697103621.771621798]: Plugin landing_target initialized
[ INFO] [1697103621.772512967]: Plugin local_position loaded
[ INFO] [1697103621.830642986]: Plugin local_position initialized
[ INFO] [1697103621.831326891]: Plugin log_transfer loaded
[ INFO] [1697103621.870234743]: Plugin log_transfer initialized
[ INFO] [1697103621.870885656]: Plugin mag_calibration_status loaded
[ INFO] [1697103621.887451819]: Plugin mag_calibration_status initialized
[ INFO] [1697103621.890128814]: Plugin manual_control loaded
[ INFO] [1697103621.911844263]: Plugin manual_control initialized
[ INFO] [1697103621.912729672]: Plugin mocap_pose_estimate loaded
[ INFO] [1697103621.947628976]: Plugin mocap_pose_estimate initialized
[ INFO] [1697103621.948667090]: Plugin mount_control loaded
[ WARN] [1697103622.016329536]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1697103622.023811144]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1697103622.029055598]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1697103622.054257835]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1697103622.059443121]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1697103622.059813394]: Plugin mount_control initialized
[ INFO] [1697103622.062172884]: Plugin nav_controller_output loaded
[ INFO] [1697103622.078773287]: Plugin nav_controller_output initialized
[ INFO] [1697103622.079857449]: Plugin obstacle_distance loaded
[ INFO] [1697103622.135533033]: Plugin obstacle_distance initialized
[ INFO] [1697103622.136291466]: Plugin odom loaded
[ INFO] [1697103622.174256917]: Plugin odom initialized
[ INFO] [1697103622.176193623]: Plugin onboard_computer_status loaded
[ INFO] [1697103622.232124472]: Plugin onboard_computer_status initialized
[ INFO] [1697103622.233066905]: Plugin param loaded
[ INFO] [1697103622.266581215]: Plugin param initialized
[ INFO] [1697103622.267286528]: Plugin play_tune loaded
[ INFO] [1697103622.308568304]: Plugin play_tune initialized
[ INFO] [1697103622.309197168]: Plugin px4flow loaded
[ INFO] [1697103622.403536541]: Plugin px4flow initialized
[ INFO] [1697103622.404663326]: Plugin rallypoint loaded
[ INFO] [1697103622.456667162]: Plugin rallypoint initialized
[ INFO] [1697103622.456830970]: Plugin rangefinder blacklisted
[ INFO] [1697103622.457664827]: Plugin rc_io loaded
[ INFO] [1697103622.480239829]: Plugin rc_io initialized
[ INFO] [1697103622.480577142]: Plugin safety_area blacklisted
[ INFO] [1697103622.481233366]: Plugin setpoint_accel loaded
[ INFO] [1697103622.538006936]: Plugin setpoint_accel initialized
[ INFO] [1697103622.538950937]: Plugin setpoint_attitude loaded
[ INFO] [1697103622.603332739]: Plugin setpoint_attitude initialized
[ INFO] [1697103622.604286276]: Plugin setpoint_position loaded
[ INFO] [1697103622.695274893]: Plugin setpoint_position initialized
[ INFO] [1697103622.696218126]: Plugin setpoint_raw loaded
[ WARN] [1697103622.753974640]: thrust_scaling parameter is unset. Attitude (and angular rate/thrust) setpoints will be ignored.
[ INFO] [1697103622.754161872]: Plugin setpoint_raw initialized
[ INFO] [1697103622.754862961]: Plugin setpoint_trajectory loaded
[ INFO] [1697103622.779864846]: Plugin setpoint_trajectory initialized
[ INFO] [1697103622.780731951]: Plugin setpoint_velocity loaded
[ INFO] [1697103622.816204664]: Plugin setpoint_velocity initialized
[ INFO] [1697103622.817686970]: Plugin sys_status loaded
[ INFO] [1697103622.877121278]: Plugin sys_status initialized
[ INFO] [1697103622.877965183]: Plugin sys_time loaded
[ INFO] [1697103622.913873768]: TM: Timesync mode: MAVLINK
[ INFO] [1697103622.917521452]: TM: Not publishing sim time
[ INFO] [1697103622.923543667]: Plugin sys_time initialized
[ INFO] [1697103622.924317012]: Plugin terrain loaded
[ INFO] [1697103622.928067609]: Plugin terrain initialized
[ INFO] [1697103622.928773529]: Plugin trajectory loaded
[ INFO] [1697103622.963412865]: Plugin trajectory initialized
[ INFO] [1697103622.964184098]: Plugin tunnel loaded
[ INFO] [1697103622.983336504]: Plugin tunnel initialized
[ INFO] [1697103622.984518489]: Plugin vfr_hud loaded
[ INFO] [1697103622.988483902]: Plugin vfr_hud initialized
[ INFO] [1697103622.988745630]: Plugin vibration blacklisted
[ INFO] [1697103622.989442111]: Plugin vision_pose_estimate loaded
[ INFO] [1697103623.036309013]: Plugin vision_pose_estimate initialized
[ INFO] [1697103623.037159926]: Plugin vision_speed_estimate loaded
[ INFO] [1697103623.056425644]: Plugin vision_speed_estimate initialized
[ INFO] [1697103623.057283149]: Plugin waypoint loaded
[ INFO] [1697103623.082607914]: Plugin waypoint initialized
[ INFO] [1697103623.082799787]: Plugin wheel_odometry blacklisted
[ INFO] [1697103623.083546059]: Plugin wind_estimation loaded
[ INFO] [1697103623.087236080]: Plugin wind_estimation initialized
[ INFO] [1697103623.088718129]: Autostarting mavlink via USB on PX4
[ INFO] [1697103623.089202450]: Built-in SIMD instructions: ARM NEON
[ INFO] [1697103623.089315954]: Built-in MAVLink package version: 2022.12.30
[ INFO] [1697103623.089443730]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1697103623.089588850]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[dynparam-9] process has finished cleanly
log file: /home/username/.ros/log/596352aa-68e3-11ee-a752-0242c2fe0e1c/dynparam-9*.log
Waiting for service /camera_main/stereo_module/set_parameters...
[ERROR] [1697103626.038977204]: PR: Unknown parameter to get: MPC_ACC_HOR
[ERROR] [1697103626.044761530]: PR: Unknown parameter to get: MPC_ACC_DOWN_MAX
[ERROR] [1697103626.050330401]: PR: Unknown parameter to get: MPC_ACC_UP_MAX
[ERROR] [1697103626.056658856]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1697103626.061944718]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_DN
[ERROR] [1697103626.066219763]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_UP
[ERROR] [1697103626.072078906]: PR: Unknown parameter to get: CP_DIST
[ERROR] [1697103626.078085153]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1697103626.083058598]: PR: Unknown parameter to get: MPC_JERK_MAX
[ERROR] [1697103626.087832012]: PR: Unknown parameter to get: NAV_ACC_RAD
[ERROR] [1697103626.092452913]: PR: Unknown parameter to get: MPC_YAWRAUTO_MAX
[ INFO] [1697103626.603768701]:
12/10 15:10:26,671 WARNING [547625079168] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1697103626.860426917]: Device with serial number 043322070976 was found.

[ INFO] [1697103626.860593285]: Device with physical ID 2-3.3-15 was found.
[ INFO] [1697103626.860675109]: Device with name Intel RealSense D435I was found.
[ INFO] [1697103626.862487879]: Device with port number 2-3.3 was found.
[ INFO] [1697103626.862624327]: Device USB type: 3.2
[ INFO] [1697103626.870420208]: getParameters...
[ INFO] [1697103627.221333572]: setupDevice...
12/10 15:10:27,363 WARNING [547625079168] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
12/10 15:10:27,576 WARNING [547625079168] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
12/10 15:10:27,658 WARNING [547625079168] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
12/10 15:10:28,043 WARNING [547625079168] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
[ INFO] [1697103628.146303532]: JSON file is loaded! (/home/username/catkin_ws/src/PX4-Avoidance/local_planner/resource/stereo_calib.json)
[ INFO] [1697103628.146940621]: ROS Node Namespace: camera_main
[ INFO] [1697103628.147243501]: Device Name: Intel RealSense D435I
[ INFO] [1697103628.147333453]: Device Serial No: 043322070976
[ INFO] [1697103628.147574157]: Device physical port: 2-3.3-15
[ INFO] [1697103628.147731118]: Device FW version: 05.15.01.00
[ INFO] [1697103628.148011982]: Device Product ID: 0x0B3A
[ INFO] [1697103628.148192526]: Enable PointCloud: Off
[ INFO] [1697103628.148417038]: Align Depth: Off
[ INFO] [1697103628.148608527]: Sync Mode: Off
[ INFO] [1697103628.149110095]: Device Sensors:
[ INFO] [1697103628.181605717]: Stereo Module was found.
[ INFO] [1697103628.209096468]: RGB Camera was found.
[ INFO] [1697103628.209852341]: Motion Module was found.
[ INFO] [1697103628.210035829]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1697103628.210146453]: num_filters: 0
[ INFO] [1697103628.210634646]: Setting Dynamic reconfig parameters.
12/10 15:10:28,582 WARNING [547625079168] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
[ INFO] [1697103628.872807152]: Done Setting Dynamic reconfig parameters.
[ INFO] [1697103628.874742482]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1697103628.875586675]: infra1 stream is enabled - width: 640, height: 480, fps: 15, Format: Y8
[ INFO] [1697103628.875737427]: setupPublishers...
[ INFO] [1697103628.886543072]: Expected frequency for depth = 30.00000
[ INFO] [1697103628.897473996]: Expected frequency for infra1 = 15.00000
[ INFO] [1697103628.908333785]: setupStreams...
[ INFO] [1697103628.922747593]: insert Depth to Stereo Module
[ INFO] [1697103628.922961161]: insert Infrared to Stereo Module
12/10 15:10:28,987 WARNING [547625079168] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1697103629.038639535]: SELECTED BASE:Depth, 0
[ INFO] [1697103629.074754552]: RealSense Node Is Up!
[ WARN] [1697103629.184048406]:
12/10 15:10:29,185 WARNING [547625079168] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
advertised as /camera_main/depth/image_rect_raw_drop
[ERROR] [1697103629.225278565]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1697103629.230086411]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1697103629.235222865]: TF Buffer: could not retrieve requested transform from buffer, unregistered
12/10 15:10:29,236 WARNING [547625079168] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ERROR] [1697103629.240345815]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1697103629.245372988]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1697103629.250567394]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1697103629.255727080]: TF Buffer: could not retrieve requested transform from buffer, unregistered
advertised as /camera_main/infra1/image_rect_raw_drop
[ERROR] [1697103629.260888622]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1697103629.266168276]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1697103629.271359258]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1697103629.276441664]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1697103629.281502694]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1697103629.286628172]: TF Buffer: could not retrieve requested transform from buffer, unregistered