Logger fails to add topics
biagio-trimarchi opened this issue · comments
I have recently downloaded the docker image "px4io/px4-dev-ros-noetic:latest".
When I run "make px4_sitl_default gazebo-classic" I get a lot of warning from the logger about "too many subscriptions".
I add here the complete log:
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LOG
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[0/4] Performing build step for 'sitl_gazebo-classic'
ninja: no work to do.
[3/4] cd /src/PX4-Autopilot/build/px4_sitl_default/src/modul.../src/PX4-Autopilot /src/PX4-Autopilot/build/px4_sitl_default
SITL ARGS
sitl_bin: /src/PX4-Autopilot/build/px4_sitl_default/bin/px4
debugger: none
model: iris
world: none
src_path: /src/PX4-Autopilot
build_path: /src/PX4-Autopilot/build/px4_sitl_default
GAZEBO_PLUGIN_PATH :/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic
GAZEBO_MODEL_PATH :/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
LD_LIBRARY_PATH /opt/ros/noetic/lib:/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic
empty world, setting empty.world as default
Using: /src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf
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.
SITL COMMAND: "/src/PX4-Autopilot/build/px4_sitl_default/bin/px4" "/src/PX4-Autopilot/build/px4_sitl_default"/etc
| ___ \ \ \ / / / |
| |/ / \ V / / /| |
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_| / / |_/
px4 starting.
INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO [init] found model autostart file as SYS_AUTOSTART=10016
INFO [param] selected parameter default file parameters.bson
INFO [param] importing from 'parameters.bson'
INFO [parameters] BSON document size 274 bytes, decoded 274 bytes (INT32:11, FLOAT:3)
INFO [param] selected parameter backup file parameters_backup.bson
INFO [dataman] data manager file './dataman' size is 7866640 bytes
etc/init.d-posix/rcS: 31: [: Illegal number:
INFO [init] PX4_SIM_HOSTNAME: localhost
INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
INFO [simulator_mavlink] Simulator connected on TCP port 4560.
INFO [lockstep_scheduler] setting initial absolute time to 3388000 us
INFO [commander] LED: open /dev/led0 failed (22)
WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data
INFO [health_and_arming_checks] Preflight Fail: No manual control input
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
Gazebo multi-robot simulator, version 11.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 10.200.15.240
[Wrn] [GuiIface.cc:298] Couldn't locate specified .ini. Creating file at "/home/user/.gazebo/gui.ini"
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO [logger] logger started (mode=all)
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_ev_vel 1
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_ev_vel 2
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_ev_vel 3
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_ev_vel 4
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_ev_vel 5
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_ev_yaw 0
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_ev_yaw 1
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_ev_yaw 2
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_ev_yaw 3
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_ev_yaw 4
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_ev_yaw 5
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_hgt 0
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_hgt 1
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_hgt 2
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_hgt 3
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_hgt 4
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_hgt 5
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_pos 0
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_pos 1
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_pos 2
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_pos 3
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_pos 4
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_pos 5
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_vel 0
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_vel 1
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_vel 2
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_vel 3
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_vel 4
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_vel 5
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_yaw 0
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_yaw 1
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_yaw 2
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_yaw 3
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_yaw 4
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_yaw 5
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_mag_heading 0
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_mag_heading 1
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_mag_heading 2
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_mag_heading 3
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_mag_heading 4
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_mag_heading 5
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_mag 0
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_mag 1
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_mag 2
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_mag 3
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_mag 4
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_mag 5
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_optical_flow 0
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_optical_flow 1
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_optical_flow 2
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_optical_flow 3
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_optical_flow 4
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_optical_flow 5
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_terrain_optical_flow 0
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_terrain_optical_flow 1
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_terrain_optical_flow 2
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_terrain_optical_flow 3
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_terrain_optical_flow 4
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_terrain_optical_flow 5
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_sideslip 0
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_sideslip 1
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_sideslip 2
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_sideslip 3
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_sideslip 4
WARN [logger] Too many subscriptions, failed to add: estimator_aid_src_sideslip 5
WARN [logger] Too many subscriptions, failed to add: ekf2_timestamps 0
WARN [logger] Too many subscriptions, failed to add: vehicle_visual_odometry 0
WARN [logger] Too many subscriptions, failed to add: distance_sensor 2
WARN [logger] Too many subscriptions, failed to add: distance_sensor 3
WARN [logger] Too many subscriptions, failed to add: distance_sensor 4
WARN [logger] Too many subscriptions, failed to add: distance_sensor 5
WARN [logger] Too many subscriptions, failed to add: distance_sensor 6
WARN [logger] Too many subscriptions, failed to add: distance_sensor 7
WARN [logger] Too many subscriptions, failed to add: distance_sensor 8
WARN [logger] Too many subscriptions, failed to add: distance_sensor 9
WARN [logger] Too many subscriptions, failed to add: collision_constraints 0
WARN [logger] Too many subscriptions, failed to add: obstacle_distance_fused 0
WARN [logger] Too many subscriptions, failed to add: vehicle_mocap_odometry 0
WARN [logger] Too many subscriptions, failed to add: vehicle_trajectory_waypoint 0
WARN [logger] Too many subscriptions, failed to add: vehicle_trajectory_waypoint_desired 0
WARN [logger] Too many subscriptions, failed to add: vehicle_visual_odometry 0
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2023-04-05/14_49_52.ulg
ERROR [logger] Can't open log file ./log/2023-04-05/14_49_52.ulg, errno: 13
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}BROADCAST = 1 to enable network)
INFO [mavlink] MAVLink only on localhost (set param MAV{i}_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh> INFO [tone_alarm] home set
[Wrn] [GuiIface.cc:120] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-user'
INFO [mavlink] partner IP: 127.0.0.1
INFO [health_and_arming_checks] Preflight Fail: No manual control input
ERROR [flight_mode_manager] Failsafe task activated
INFO [health_and_arming_checks] Preflight Fail: No manual control input
INFO [commander] Ready for takeoff!
INFO [health_and_arming_checks] Preflight Fail: No manual control input
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@biagio-trimarchi Which px4 version are you using?
I dont think this is necessary related to simulation, but more on your container setup
I have downloaded the latest version of the docker container based on ROS Noetic.
px4io/px4-dev-ros-noetic:latest
I ran the container through the bash scripts:
enable access to xhost from the container
xhost +
Run docker and open bash shell
sudo docker run -it --privileged
--env=LOCAL_USER_ID="$(id -u)"
-v ~/PX4/PX4-Autopilot/:/src/PX4-Autopilot/:rw
-v /tmp/.X11-unix:/tmp/.X11-unix:ro
-e DISPLAY=$DISPLAY
--network host
--name=px4-ros px4io/px4-dev-ros-noetic:latest bash
@biagio-trimarchi You are mapping a local volume containing PX4. Which px4 version is this?
According to the package.xml inside the folder, it is 1.14.0
I have just pulled from git the 1.13.2 version of PX4, with this previous version the logger does not rise any warnings.
As far as I'm aware this has been resolved in main and v1.14.