Unable to design Custom Drone with velodyne Sensor
kashifzr opened this issue · comments
I work around to design sdf model for Velodyne with Iris drone using iris_rplidar as reference from models, when I run the mavros_posix_sitl.launch file with vehicle := iris_velodyne then output is like
auto-starting new master process[master]: started with pid [156819] ROS_MASTER_URI=http://localhost:11311 setting /run_id to b962af52-55ce-11ee-be1a-37316987660f process[rosout-1]: started with pid [156844] started core service [/rosout] process[sitl-2]: started with pid [156852] ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0 process[gazebo-3]: started with pid [156863] ERROR [init] Unknown model gazebo-classic_iris_velodyne (not found by name on /home/rob-kkj/.ros/etc/init.d-posix/airframes) ERROR [px4] Startup script returned with return value: 256 process[gazebo_gui-4]: started with pid [156872] process[vehicle_spawn_robkkj_System_Product_Name_156796_3537816507072250960-5]: started with pid [156877] process[mavros-6]: started with pid [156879] ================================================================================REQUIRED process [sitl-2] has died! process has died [pid 156852, exit code 255, cmd /home/rob-kkj/home/PX4/Firmware/build/px4_sitl_default/bin/px4 /home/rob-kkj/home/PX4/Firmware/build/px4_sitl_default/etc -s etc/init.d-posix/rcS __name:=sitl __log:=/home/rob-kkj/.ros/log/b962af52-55ce-11ee-be1a-37316987660f/sitl-2.log]. log file: /home/rob-kkj/.ros/log/b962af52-55ce-11ee-be1a-37316987660f/sitl-2*.log Initiating shutdown! ================================================================================ [ INFO] [1695005686.270737354]: FCU URL: udp://:14540@localhost:14557 [ INFO] [1695005686.272585668]: udp0: Bind address: 0.0.0.0:14540 [ INFO] [1695005686.272675346]: udp0: Remote address: 127.0.0.1:14557 [ INFO] [1695005686.272718579]: GCS bridge disabled [ INFO] [1695005686.279309973]: Plugin 3dr_radio loaded [ INFO] [1695005686.280324646]: Plugin 3dr_radio initialized [ INFO] [1695005686.280390717]: Plugin actuator_control loaded [ INFO] [1695005686.281897990]: Plugin actuator_control initialized [ INFO] [1695005686.284810565]: Plugin adsb loaded [ INFO] [1695005686.286266713]: Plugin adsb initialized [ INFO] [1695005686.286352061]: Plugin altitude loaded [ INFO] [1695005686.286794374]: Plugin altitude initialized [ INFO] [1695005686.286858699]: Plugin cam_imu_sync loaded [ INFO] [1695005686.287135275]: Plugin cam_imu_sync initialized [ INFO] [1695005686.287196318]: Plugin camera loaded [ INFO] [1695005686.287497688]: Plugin camera initialized [ INFO] [1695005686.287562293]: Plugin cellular_status loaded [ INFO] [1695005686.288650231]: Plugin cellular_status initialized [ INFO] [1695005686.288713089]: Plugin command loaded [ INFO] [1695005686.291499599]: Plugin command initialized [ INFO] [1695005686.291570140]: Plugin companion_process_status loaded [ INFO] [1695005686.292757324]: Plugin companion_process_status initialized [ INFO] [1695005686.292823674]: Plugin debug_value loaded [ INFO] [1695005686.295359449]: Plugin debug_value initialized [ INFO] [1695005686.295395697]: Plugin distance_sensor blacklisted [ INFO] [1695005686.295462746]: Plugin esc_status loaded [ INFO] [1695005686.296032871]: Plugin esc_status initialized [ INFO] [1695005686.296103831]: Plugin esc_telemetry loaded [ INFO] [1695005686.296403386]: Plugin esc_telemetry initialized [ INFO] [1695005686.296481261]: Plugin fake_gps loaded [ INFO] [1695005686.304021955]: Plugin fake_gps initialized [ INFO] [1695005686.304127487]: Plugin ftp loaded [ INFO] [1695005686.310500064]: Plugin ftp initialized [ INFO] [1695005686.310609926]: Plugin geofence loaded [ INFO] [1695005686.312157428]: Plugin geofence initialized [ INFO] [1695005686.312249900]: Plugin global_position loaded [ INFO] [1695005686.320160062]: Plugin global_position initialized [ INFO] [1695005686.320272578]: Plugin gps_input loaded [ INFO] [1695005686.321654832]: Plugin gps_input initialized [ INFO] [1695005686.321744999]: Plugin gps_rtk loaded [ INFO] [1695005686.323199262]: Plugin gps_rtk initialized [ INFO] [1695005686.323280768]: Plugin gps_status loaded [ INFO] [1695005686.324465438]: Plugin gps_status initialized [ INFO] [1695005686.324541985]: Plugin guided_target loaded [ INFO] [1695005686.326626367]: Plugin guided_target initialized [ INFO] [1695005686.326709759]: Plugin hil loaded [ INFO] [1695005686.333091346]: Plugin hil initialized [ INFO] [1695005686.333192129]: Plugin home_position loaded [ INFO] [1695005686.335079345]: Plugin home_position initialized [ INFO] [1695005686.335168534]: Plugin imu loaded [ INFO] [1695005686.338444710]: Plugin imu initialized [ INFO] [1695005686.338515461]: Plugin landing_target loaded [ INFO] [1695005686.344188913]: Plugin landing_target initialized [ INFO] [1695005686.344274610]: Plugin local_position loaded [ INFO] [1695005686.346892380]: Plugin local_position initialized [ INFO] [1695005686.346973188]: Plugin log_transfer loaded [ INFO] [1695005686.348338541]: Plugin log_transfer initialized [ INFO] [1695005686.348405729]: Plugin mag_calibration_status loaded [ INFO] [1695005686.348871021]: Plugin mag_calibration_status initialized [ INFO] [1695005686.348930666]: Plugin manual_control loaded [ INFO] [1695005686.350110726]: Plugin manual_control initialized [ INFO] [1695005686.350175121]: Plugin mocap_pose_estimate loaded [ INFO] [1695005686.351727023]: Plugin mocap_pose_estimate initialized [ INFO] [1695005686.351796587]: Plugin mount_control loaded [mavros-6] killing on exit [ WARN] [1695005686.353929649]: Could not retrive negate_measured_roll parameter value, using default (0) [ WARN] [1695005686.354050686]: Could not retrive negate_measured_pitch parameter value, using default (0) [vehicle_spawn_robkkj_System_Product_Name_156796_3537816507072250960-5] killing on exit [ WARN] [1695005686.354633243]: Could not retrive negate_measured_yaw parameter value, using default (0) [gazebo_gui-4] killing on exit Traceback (most recent call last): File "/opt/ros/noetic/lib/gazebo_ros/spawn_model", line 20, in <module> import rospy File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 49, in <module> from .client import spin, myargv, init_node, \ File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 49, in <module> [gazebo-3] killing on exit import rosgraph File "/opt/ros/noetic/lib/python3/dist-packages/rosgraph/__init__.py", line 36, in <module> from . masterapi import Master, MasterFailure, MasterError, MasterException File "/opt/ros/noetic/lib/python3/dist-packages/rosgraph/masterapi.py", line 47, in <module> from . network import parse_http_host_and_port File "/opt/ros/noetic/lib/python3/dist-packages/rosgraph/network.py", line 66, in <module> if platform.system() == 'FreeBSD': File "/usr/lib/python3.8/platform.py", line 892, in system return uname().system File "/usr/lib/python3.8/platform.py", line 858, in uname processor = _syscmd_uname('-p', '') File "/usr/lib/python3.8/platform.py", line 612, in _syscmd_uname import subprocess File "<frozen importlib._bootstrap>", line 991, in _find_and_load [sitl-2] killing on exit File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked File "<frozen importlib._bootstrap>", line 671, in _load_unlocked File "<frozen importlib._bootstrap_external>", line 844, in exec_module File "<frozen importlib._bootstrap_external>", line 976, in get_code File "<frozen importlib._bootstrap_external>", line 640, in _compile_bytecode KeyboardInterrupt [ WARN] [1695005686.355712171]: Could not retrive debounce_s parameter value, using default (4.000000) [ WARN] [1695005686.355907032]: Could not retrive err_threshold_deg parameter value, using default (10.000000) [ INFO] [1695005686.355942163]: Plugin mount_control initialized [ INFO] [1695005686.356024507]: Plugin nav_controller_output loaded [ INFO] [1695005686.356302202]: Plugin nav_controller_output initialized [ INFO] [1695005686.356366038]: Plugin obstacle_distance loaded [ INFO] [1695005686.357447480]: Plugin obstacle_distance initialized [ INFO] [1695005686.357511945]: Plugin odom loaded [ INFO] [1695005686.359117347]: Plugin odom initialized [ INFO] [1695005686.359190192]: Plugin onboard_computer_status loaded [ INFO] [1695005686.360095562]: Plugin onboard_computer_status initialized [ INFO] [1695005686.360166242]: Plugin param loaded [ INFO] [1695005686.361323255]: Plugin param initialized [ INFO] [1695005686.361381015]: Plugin play_tune loaded [ INFO] [1695005686.362411682]: Plugin play_tune initialized [ INFO] [1695005686.362476495]: Plugin px4flow loaded [ INFO] [1695005686.365267754]: Plugin px4flow initialized [ INFO] [1695005686.365343254]: Plugin rallypoint loaded [ INFO] [1695005686.366497962]: Plugin rallypoint initialized [ INFO] [1695005686.366520311]: Plugin rangefinder blacklisted [ INFO] [1695005686.366582331]: Plugin rc_io loaded [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
OS = 20.04 Focal and ROS = Noetic.
in sdf file for velodyne sensor i am using plugin = libgazebo_ros_velodyne_laser.so
unable to find how to add custom models for sensors and drone are being integrated in PX4-Autopilot
ERROR [px4] Startup script returned with return value: 256
@kashifzr You also need a airframe config for the vehicle on the PX4 side that matches the model name. Or in the launchscript you can set different sdf models and airframes independently.
@Jaeyoung-Lim thanks for giving me idea to solve this issue.
I see some hints specific to airframe #855.
on https://docs.px4.io/main/en/dev_airframes/adding_a_new_frame.html give information specific to frame configuration
I do not understand all the details i so i will check the details
How to add air frames in launch script Any Idea ?