Comments (15)
fmina
commented on July 16, 2024
Hi, I cannot reproduce this fail. Which version of ubuntu/boost are you using?
from mav_control_rw.
alexbuyval
commented on July 16, 2024
Hi,
I am using the Ubuntu 14.04 with ROS Jade. The boost version is 1.54.
from mav_control_rw.
fmina
commented on July 16, 2024
#5 should fix it. Can you please try it before we merge?
from mav_control_rw.
alexbuyval
commented on July 16, 2024
Thank you!
There is no the error now.
I have got only the following warnings:
[ WARN] [1486792151.938673606, 9.120000000]: No odometry message received in the last 1 seconds!
Also I don't see any messages in /firefly/msf_core/odometry topic by rqt.
I run the following command in separate terminals:
roslaunch rotors_gazebo mav.launch mav_name:=firefly
roslaunch mav_linear_mpc mav_linear_mpc_sim_msf.launch mav_name:=firefly
rostopic pub /firefly/command/pose geometry_msgs/PoStamped '{header:{stamp: now, frame_id: "world"}, pose: {position: {x: 0, y: 0, z: 1}, orientation: {w: 1.0}}}'
Did I miss something?
Best Regards,
Alex
from mav_control_rw.
fmina
commented on July 16, 2024
you have to initialize MSF. There is a service called init_msf_scale, call it with scale 1.
from mav_control_rw.
alexbuyval
commented on July 16, 2024
Hm...
There is no such service in my ROS environment:
/firefly/PID_attitude_controller/get_loggers
/firefly/PID_attitude_controller/set_logger_level
/firefly/PID_attitude_controller/set_parameters
/firefly/back_to_position_hold
/firefly/mav_linear_mpc/KF_observer/StartCalibrateKF
/firefly/mav_linear_mpc/KF_observer/set_parameters
/firefly/mav_linear_mpc/get_loggers
/firefly/mav_linear_mpc/set_logger_level
/firefly/mav_linear_mpc/set_parameters
/firefly/pose_sensor/core/set_parameters
/firefly/pose_sensor/get_loggers
/firefly/pose_sensor/pose_sensor/initialize_msf_height
/firefly/pose_sensor/pose_sensor/initialize_msf_scale
/firefly/pose_sensor/pose_sensor/set_parameters
/firefly/pose_sensor/set_logger_level
/firefly/reset_integrator
/firefly/takeoff
/gazebo/apply_body_wrench
/gazebo/apply_joint_effort
/gazebo/clear_body_wrenches
/gazebo/clear_joint_forces
/gazebo/delete_model
/gazebo/get_joint_properties
/gazebo/get_link_properties
/gazebo/get_link_state
/gazebo/get_loggers
/gazebo/get_model_properties
/gazebo/get_model_state
/gazebo/get_physics_properties
/gazebo/get_world_properties
/gazebo/pause_physics
/gazebo/reset_simulation
/gazebo/reset_world
/gazebo/set_joint_properties
/gazebo/set_link_properties
/gazebo/set_link_state
/gazebo/set_logger_level
/gazebo/set_model_configuration
/gazebo/set_model_state
/gazebo/set_parameters
/gazebo/set_physics_properties
/gazebo/spawn_gazebo_model
/gazebo/spawn_sdf_model
/gazebo/spawn_urdf_model
/gazebo/unpause_physics
/rosout/get_loggers
/rosout/set_logger_level
/rostopic_8255_1486817709036/get_loggers
/rostopic_8255_1486817709036/set_logger_level
/rqt_gui_py_node_8349/get_loggers
/rqt_gui_py_node_8349/set_logger_level
Should I run the MSF using separate launch file?
from mav_control_rw.
fmina
commented on July 16, 2024
the service name is /firefly/pose_sensor/pose_sensor/initialize_msf_scale
from mav_control_rw.
alexbuyval
commented on July 16, 2024
Sorry for my inattention
Now I see :)
Anyway, I am receiving odometry warnings again:
[ INFO] [1486819352.677665051, 25.830000000]: Initialize filter with scale 1.000000
[ INFO] [1486819352.677789797, 25.830000000]: initial measurement pos:[1.21129e-11 1.2113e-11 0.08] orientation: [1, -7.57e-11, 7.57e-11, 2.93e-17]
[ WARN] [1486819352.677823670, 25.830000000]: No measurements received yet to initialize attitude - using [1 0 0 0]
[ WARN] [1486819352.783981432, 25.940000000]: Using simulated core plus fixed diag initial error state covariance.
[ INFO] [1486819352.794267071, 25.950000000]: Initializing msf_core (built: Feb 7 2017)
[ INFO] [1486819352.794325045, 25.950000000]: Core parameters:
fixed_bias: 0
fuzzythres: 0.1
noise_acc: 0.083
noise_accbias: 0.0083
noise_gyr: 0.0013
noise_gyrbias: 0.00013
[ INFO] [1486819352.794436148, 25.950000000]: Core init with state:
--------- State at time 25.84s: ---------
0 : [0-2] : Matrix<3, 1> : [1.21129e-11 1.2113e-11 0.08]
1 : [3-5] : Matrix<3, 1> : [0 0 0]
2 : [6-9] : Quaternion (w,x,y,z) : [1, -7.57e-11, 7.57e-11, 2.93e-17]
3 : [10-12] : Matrix<3, 1> : [0 0 0]
4 : [13-15] : Matrix<3, 1> : [0 0 0]
5 : [16-16] : Matrix<1, 1> : [1]
6 : [17-20] : Quaternion (w,x,y,z) : [1, 0, 0, 0]
7 : [21-23] : Matrix<3, 1> : [0 0 0]
8 : [24-27] : Quaternion (w,x,y,z) : [1, 0, 0, 0]
9 : [28-30] : Matrix<3, 1> : [0 0 0]
-------------------------------------------------------
[ WARN] [1486819353.110419404, 26.270000000]: No odometry message received in the last 1 seconds!
[ WARN] [1486819354.111219948, 27.270000000]: No odometry message received in the last 1 seconds!
Also the firefly does not move still.
Maybe I forgot something else?
from mav_control_rw.
fmina
commented on July 16, 2024
I fixed the odom warning now.
from mav_control_rw.
alexbuyval
commented on July 16, 2024
Hi,
I have just pulled all your last commits from 'feature/missing_odom_handle' and rebuild, however, nothing changed. There are odometry warnings anyway. Also I was trying to call 'firefly\takeoff' service, bu I have got new assert failed.
[ WARN] [1486912210.017259685, 30.010000000]: Pose measurement throttling is on, dropping messagesto be below 20.000000 Hz
[ WARN] [1486912211.007784320, 31.000000000]: No odometry message received in the last 1 seconds!
[ INFO] [1486912211.060821923, 31.050000000]: Initialize filter with scale 1.000000
[ INFO] [1486912211.060922806, 31.050000000]: initial measurement pos:[ -1.2113e-11 -1.21129e-11 0.08] orientation: [1, 7.57e-11, -7.57e-11, 3.5e-17]
[ WARN] [1486912211.060958991, 31.050000000]: No measurements received yet to initialize attitude - using [1 0 0 0]
[ WARN] [1486912211.166954581, 31.150000000]: Using simulated core plus fixed diag initial error state covariance.
[ INFO] [1486912211.177147563, 31.160000000]: Initializing msf_core (built: Feb 7 2017)
[ INFO] [1486912211.177201238, 31.160000000]: Core parameters:
fixed_bias: 0
fuzzythres: 0.1
noise_acc: 0.083
noise_accbias: 0.0083
noise_gyr: 0.0013
noise_gyrbias: 0.00013
[ INFO] [1486912211.177300848, 31.170000000]: Core init with state:
--------- State at time 31.05s: ---------
0 : [0-2] : Matrix<3, 1> : [ -1.2113e-11 -1.21129e-11 0.08]
1 : [3-5] : Matrix<3, 1> : [0 0 0]
2 : [6-9] : Quaternion (w,x,y,z) : [1, 7.57e-11, -7.57e-11, 3.5e-17]
3 : [10-12] : Matrix<3, 1> : [0 0 0]
4 : [13-15] : Matrix<3, 1> : [0 0 0]
5 : [16-16] : Matrix<1, 1> : [1]
6 : [17-20] : Quaternion (w,x,y,z) : [1, 0, 0, 0]
7 : [21-23] : Matrix<3, 1> : [0 0 0]
8 : [24-27] : Quaternion (w,x,y,z) : [1, 0, 0, 0]
9 : [28-30] : Matrix<3, 1> : [0 0 0]
-------------------------------------------------------
[ WARN] [1486912353.562381721, 173.500000000]: No odometry message received in the last 1 seconds!
[ WARN] [1486912354.562292311, 174.500000000]: No odometry message received in the last 1 seconds!
[ INFO] [1486912354.843859861, 174.770000000]: Take off event sent
mav_linear_mpc_node: /usr/include/boost/msm/front/state_machine_def.hpp:203: void boost::msm::front::state_machine_def<Derived, BaseState>::no_transition(const Event&, FSM&, int) [with FSM = boost::msm::back::state_machine<mav_control_interface::state_machine::StateMachineDefinition, boost::msm::back::mpl_graph_fsm_check>; Event = mav_control_interface::state_machine::Takeoff; Derived = mav_control_interface::state_machine::StateMachineDefinition; BaseState = boost::msm::front::default_base_state]: Assertion `false' failed.
[firefly/mav_linear_mpc-1] process has died [pid 16600, exit code -6, cmd /home/alex/catkin_ws/devel/lib/mav_linear_mpc/mav_linear_mpc_node odometry:=msf_core/odometry __name:=mav_linear_mpc __log:=/home/alex/.ros/log/3db61362-f135-11e6-a465-10c37bc7c393/firefly-mav_linear_mpc-1.log].
log file: /home/alex/.ros/log/3db61362-f135-11e6-a465-10c37bc7c393/firefly-mav_linear_mpc-1*.log
Alex
from mav_control_rw.
fmina
commented on July 16, 2024
I think you need to clean your workspace and recompile. The assertion happens if you compile in Debug mode, and there is no valid transition in the state machine. It is more like debugging information than actual error.
Just delete mav_control_interface from the build folder and recompile mav_linear_mpc.
As per now, the takeoff service would send takeoff command only on the real platform, I will update the state machine to accept takeoff commands in simulation mode as well.
from mav_control_rw.
alexbuyval
commented on July 16, 2024
I have clean the build and devel folders and recompiled the catkin workspace. However, nothing changed. :(
Tell me after which action the firefly have to takeoff? After a publishing a new pose into /firefly/command/pose?
from mav_control_rw.
fmina
commented on July 16, 2024
to take off you need to send command on /firefly/command/pose, make sure your odometry message is getting into the controller, and your gazebo simulator is running.
from mav_control_rw.
alexbuyval
commented on July 16, 2024
thank you!
Finally, I have found that I have a issue with gazebo plugins, so there is no /imu topic. I have fixed it and everything works properly now.
from mav_control_rw.
fmina
commented on July 16, 2024
Great! I will merge #5 after we test it on the real platform.
from mav_control_rw.
Related Issues (20)
- New quadrotor Parrot Bebop simulation HOT 1
- Question about reference state
- drift off/diverge when yaw 90 degree HOT 2
- Catkin build error on rotors_gazebo_plugins HOT 1
- Question About Trajectory Command HOT 5
- Identification of thrust in DJI drones HOT 3
- Real hardware implementation HOT 1
- Delay compensation
- PELICAN IS NOT FOUND HOT 2
- astec_mav_framework
- Query : Regarding the Reference Trajectory Input HOT 1
- Controller with ARdrone
- Cannot Seem to get all packages to catkin build
- reference trajectory linear MPC
- the modified mavros node build
- some problems when combining this project with the modified PX4 firmware"ethzasl_mav_px4" HOT 6
- MAV_Control_rw
- Error: process has died [pid 22759, exit code -11, cmd devel/lib/mav_linear_mpc/mav_linear_mpc_node odometry:=ground_truth/odometry
- Errors from Custom MAVROS Node Install HOT 1
- speed up building time
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from mav_control_rw.