weng@ubuntu:~/Firmware$ roslaunch formation_control sitl_multiuav_swarm.launch
... logging to /home/weng/.ros/log/87736c96-6cf4-11ea-8796-5c93a29bd885/roslaunch-ubuntu-12555.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://ubuntu:45721/
SUMMARY
========
CLEAR PARAMETERS
* /uav0/mavros/
* /uav1/mavros/
* /uav2/mavros/
PARAMETERS
* /gazebo/enable_ros_network: True
* /rosdistro: melodic
* /rosversion: 1.14.3
* /uav0/mavros/cmd/use_comp_id_system_control: False
* /uav0/mavros/conn/heartbeat_rate: 1.0
* /uav0/mavros/conn/system_time_rate: 1.0
* /uav0/mavros/conn/timeout: 10.0
* /uav0/mavros/conn/timesync_rate: 10.0
* /uav0/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /uav0/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /uav0/mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /uav0/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /uav0/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /uav0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /uav0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /uav0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /uav0/mavros/distance_sensor/laser_1_sub/id: 3
* /uav0/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /uav0/mavros/distance_sensor/laser_1_sub/subscriber: True
* /uav0/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /uav0/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /uav0/mavros/distance_sensor/lidarlite_pub/id: 1
* /uav0/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /uav0/mavros/distance_sensor/lidarlite_pub/send_tf: True
* /uav0/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /uav0/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /uav0/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /uav0/mavros/distance_sensor/sonar_1_sub/id: 2
* /uav0/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /uav0/mavros/distance_sensor/sonar_1_sub/subscriber: True
* /uav0/mavros/fake_gps/eph: 2.0
* /uav0/mavros/fake_gps/epv: 2.0
* /uav0/mavros/fake_gps/fix_type: 3
* /uav0/mavros/fake_gps/geo_origin/alt: 408.0
* /uav0/mavros/fake_gps/geo_origin/lat: 47.3667
* /uav0/mavros/fake_gps/geo_origin/lon: 8.55
* /uav0/mavros/fake_gps/gps_rate: 5.0
* /uav0/mavros/fake_gps/mocap_transform: True
* /uav0/mavros/fake_gps/satellites_visible: 5
* /uav0/mavros/fake_gps/tf/child_frame_id: fix
* /uav0/mavros/fake_gps/tf/frame_id: map
* /uav0/mavros/fake_gps/tf/listen: False
* /uav0/mavros/fake_gps/tf/rate_limit: 10.0
* /uav0/mavros/fake_gps/tf/send: False
* /uav0/mavros/fake_gps/use_mocap: True
* /uav0/mavros/fake_gps/use_vision: False
* /uav0/mavros/fcu_protocol: v2.0
* /uav0/mavros/fcu_url: udp://:14540@loca...
* /uav0/mavros/gcs_url:
* /uav0/mavros/global_position/child_frame_id: base_link
* /uav0/mavros/global_position/frame_id: map
* /uav0/mavros/global_position/gps_uere: 1.0
* /uav0/mavros/global_position/rot_covariance: 99999.0
* /uav0/mavros/global_position/tf/child_frame_id: base_link
* /uav0/mavros/global_position/tf/frame_id: map
* /uav0/mavros/global_position/tf/global_frame_id: earth
* /uav0/mavros/global_position/tf/send: False
* /uav0/mavros/global_position/use_relative_alt: True
* /uav0/mavros/image/frame_id: px4flow
* /uav0/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
* /uav0/mavros/imu/frame_id: base_link
* /uav0/mavros/imu/linear_acceleration_stdev: 0.0003
* /uav0/mavros/imu/magnetic_stdev: 0.0
* /uav0/mavros/imu/orientation_stdev: 1.0
* /uav0/mavros/landing_target/camera/fov_x: 2.0071286398
* /uav0/mavros/landing_target/camera/fov_y: 2.0071286398
* /uav0/mavros/landing_target/image/height: 480
* /uav0/mavros/landing_target/image/width: 640
* /uav0/mavros/landing_target/land_target_type: VISION_FIDUCIAL
* /uav0/mavros/landing_target/listen_lt: False
* /uav0/mavros/landing_target/mav_frame: LOCAL_NED
* /uav0/mavros/landing_target/target_size/x: 0.3
* /uav0/mavros/landing_target/target_size/y: 0.3
* /uav0/mavros/landing_target/tf/child_frame_id: camera_center
* /uav0/mavros/landing_target/tf/frame_id: landing_target
* /uav0/mavros/landing_target/tf/listen: False
* /uav0/mavros/landing_target/tf/rate_limit: 10.0
* /uav0/mavros/landing_target/tf/send: True
* /uav0/mavros/local_position/frame_id: map
* /uav0/mavros/local_position/tf/child_frame_id: base_link
* /uav0/mavros/local_position/tf/frame_id: map
* /uav0/mavros/local_position/tf/send: False
* /uav0/mavros/local_position/tf/send_fcu: False
* /uav0/mavros/mission/pull_after_gcs: True
* /uav0/mavros/mocap/use_pose: True
* /uav0/mavros/mocap/use_tf: False
* /uav0/mavros/odometry/fcu/odom_child_id_des: base_link
* /uav0/mavros/odometry/fcu/odom_parent_id_des: map
* /uav0/mavros/plugin_blacklist: ['safety_area', '...
* /uav0/mavros/plugin_whitelist: []
* /uav0/mavros/px4flow/frame_id: px4flow
* /uav0/mavros/px4flow/ranger_fov: 0.118682
* /uav0/mavros/px4flow/ranger_max_range: 5.0
* /uav0/mavros/px4flow/ranger_min_range: 0.3
* /uav0/mavros/safety_area/p1/x: 1.0
* /uav0/mavros/safety_area/p1/y: 1.0
* /uav0/mavros/safety_area/p1/z: 1.0
* /uav0/mavros/safety_area/p2/x: -1.0
* /uav0/mavros/safety_area/p2/y: -1.0
* /uav0/mavros/safety_area/p2/z: -1.0
* /uav0/mavros/setpoint_accel/send_force: False
* /uav0/mavros/setpoint_attitude/reverse_thrust: False
* /uav0/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /uav0/mavros/setpoint_attitude/tf/frame_id: map
* /uav0/mavros/setpoint_attitude/tf/listen: False
* /uav0/mavros/setpoint_attitude/tf/rate_limit: 50.0
* /uav0/mavros/setpoint_attitude/use_quaternion: False
* /uav0/mavros/setpoint_position/mav_frame: LOCAL_NED
* /uav0/mavros/setpoint_position/tf/child_frame_id: target_position
* /uav0/mavros/setpoint_position/tf/frame_id: map
* /uav0/mavros/setpoint_position/tf/listen: False
* /uav0/mavros/setpoint_position/tf/rate_limit: 50.0
* /uav0/mavros/setpoint_raw/thrust_scaling: 1.0
* /uav0/mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /uav0/mavros/startup_px4_usb_quirk: True
* /uav0/mavros/sys/disable_diag: False
* /uav0/mavros/sys/min_voltage: 10.0
* /uav0/mavros/target_component_id: 1
* /uav0/mavros/target_system_id: 1
* /uav0/mavros/tdr_radio/low_rssi: 40
* /uav0/mavros/time/time_ref_source: fcu
* /uav0/mavros/time/timesync_avg_alpha: 0.6
* /uav0/mavros/time/timesync_mode: MAVLINK
* /uav0/mavros/vibration/frame_id: base_link
* /uav0/mavros/vision_pose/tf/child_frame_id: vision_estimate
* /uav0/mavros/vision_pose/tf/frame_id: odom
* /uav0/mavros/vision_pose/tf/listen: False
* /uav0/mavros/vision_pose/tf/rate_limit: 10.0
* /uav0/mavros/vision_speed/listen_twist: True
* /uav0/mavros/vision_speed/twist_cov: True
* /uav0/mavros/wheel_odometry/child_frame_id: base_link
* /uav0/mavros/wheel_odometry/count: 2
* /uav0/mavros/wheel_odometry/frame_id: odom
* /uav0/mavros/wheel_odometry/send_raw: True
* /uav0/mavros/wheel_odometry/send_twist: False
* /uav0/mavros/wheel_odometry/tf/child_frame_id: base_link
* /uav0/mavros/wheel_odometry/tf/frame_id: odom
* /uav0/mavros/wheel_odometry/tf/send: False
* /uav0/mavros/wheel_odometry/use_rpm: False
* /uav0/mavros/wheel_odometry/vel_error: 0.1
* /uav0/mavros/wheel_odometry/wheel0/radius: 0.05
* /uav0/mavros/wheel_odometry/wheel0/x: 0.0
* /uav0/mavros/wheel_odometry/wheel0/y: -0.15
* /uav0/mavros/wheel_odometry/wheel1/radius: 0.05
* /uav0/mavros/wheel_odometry/wheel1/x: 0.0
* /uav0/mavros/wheel_odometry/wheel1/y: 0.15
* /uav0/rotors_description: <?xml version="1....
* /uav1/mavros/cmd/use_comp_id_system_control: False
* /uav1/mavros/conn/heartbeat_rate: 1.0
* /uav1/mavros/conn/system_time_rate: 1.0
* /uav1/mavros/conn/timeout: 10.0
* /uav1/mavros/conn/timesync_rate: 10.0
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /uav1/mavros/distance_sensor/laser_1_sub/id: 3
* /uav1/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /uav1/mavros/distance_sensor/laser_1_sub/subscriber: True
* /uav1/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /uav1/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /uav1/mavros/distance_sensor/lidarlite_pub/id: 1
* /uav1/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /uav1/mavros/distance_sensor/lidarlite_pub/send_tf: True
* /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /uav1/mavros/distance_sensor/sonar_1_sub/id: 2
* /uav1/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /uav1/mavros/distance_sensor/sonar_1_sub/subscriber: True
* /uav1/mavros/fake_gps/eph: 2.0
* /uav1/mavros/fake_gps/epv: 2.0
* /uav1/mavros/fake_gps/fix_type: 3
* /uav1/mavros/fake_gps/geo_origin/alt: 408.0
* /uav1/mavros/fake_gps/geo_origin/lat: 47.3667
* /uav1/mavros/fake_gps/geo_origin/lon: 8.55
* /uav1/mavros/fake_gps/gps_rate: 5.0
* /uav1/mavros/fake_gps/mocap_transform: True
* /uav1/mavros/fake_gps/satellites_visible: 5
* /uav1/mavros/fake_gps/tf/child_frame_id: fix
* /uav1/mavros/fake_gps/tf/frame_id: map
* /uav1/mavros/fake_gps/tf/listen: False
* /uav1/mavros/fake_gps/tf/rate_limit: 10.0
* /uav1/mavros/fake_gps/tf/send: False
* /uav1/mavros/fake_gps/use_mocap: True
* /uav1/mavros/fake_gps/use_vision: False
* /uav1/mavros/fcu_protocol: v2.0
* /uav1/mavros/fcu_url: udp://:14541@loca...
* /uav1/mavros/gcs_url:
* /uav1/mavros/global_position/child_frame_id: base_link
* /uav1/mavros/global_position/frame_id: map
* /uav1/mavros/global_position/gps_uere: 1.0
* /uav1/mavros/global_position/rot_covariance: 99999.0
* /uav1/mavros/global_position/tf/child_frame_id: base_link
* /uav1/mavros/global_position/tf/frame_id: map
* /uav1/mavros/global_position/tf/global_frame_id: earth
* /uav1/mavros/global_position/tf/send: False
* /uav1/mavros/global_position/use_relative_alt: True
* /uav1/mavros/image/frame_id: px4flow
* /uav1/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
* /uav1/mavros/imu/frame_id: base_link
* /uav1/mavros/imu/linear_acceleration_stdev: 0.0003
* /uav1/mavros/imu/magnetic_stdev: 0.0
* /uav1/mavros/imu/orientation_stdev: 1.0
* /uav1/mavros/landing_target/camera/fov_x: 2.0071286398
* /uav1/mavros/landing_target/camera/fov_y: 2.0071286398
* /uav1/mavros/landing_target/image/height: 480
* /uav1/mavros/landing_target/image/width: 640
* /uav1/mavros/landing_target/land_target_type: VISION_FIDUCIAL
* /uav1/mavros/landing_target/listen_lt: False
* /uav1/mavros/landing_target/mav_frame: LOCAL_NED
* /uav1/mavros/landing_target/target_size/x: 0.3
* /uav1/mavros/landing_target/target_size/y: 0.3
* /uav1/mavros/landing_target/tf/child_frame_id: camera_center
* /uav1/mavros/landing_target/tf/frame_id: landing_target
* /uav1/mavros/landing_target/tf/listen: False
* /uav1/mavros/landing_target/tf/rate_limit: 10.0
* /uav1/mavros/landing_target/tf/send: True
* /uav1/mavros/local_position/frame_id: map
* /uav1/mavros/local_position/tf/child_frame_id: base_link
* /uav1/mavros/local_position/tf/frame_id: map
* /uav1/mavros/local_position/tf/send: False
* /uav1/mavros/local_position/tf/send_fcu: False
* /uav1/mavros/mission/pull_after_gcs: True
* /uav1/mavros/mocap/use_pose: True
* /uav1/mavros/mocap/use_tf: False
* /uav1/mavros/odometry/fcu/odom_child_id_des: base_link
* /uav1/mavros/odometry/fcu/odom_parent_id_des: map
* /uav1/mavros/plugin_blacklist: ['safety_area', '...
* /uav1/mavros/plugin_whitelist: []
* /uav1/mavros/px4flow/frame_id: px4flow
* /uav1/mavros/px4flow/ranger_fov: 0.118682
* /uav1/mavros/px4flow/ranger_max_range: 5.0
* /uav1/mavros/px4flow/ranger_min_range: 0.3
* /uav1/mavros/safety_area/p1/x: 1.0
* /uav1/mavros/safety_area/p1/y: 1.0
* /uav1/mavros/safety_area/p1/z: 1.0
* /uav1/mavros/safety_area/p2/x: -1.0
* /uav1/mavros/safety_area/p2/y: -1.0
* /uav1/mavros/safety_area/p2/z: -1.0
* /uav1/mavros/setpoint_accel/send_force: False
* /uav1/mavros/setpoint_attitude/reverse_thrust: False
* /uav1/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /uav1/mavros/setpoint_attitude/tf/frame_id: map
* /uav1/mavros/setpoint_attitude/tf/listen: False
* /uav1/mavros/setpoint_attitude/tf/rate_limit: 50.0
* /uav1/mavros/setpoint_attitude/use_quaternion: False
* /uav1/mavros/setpoint_position/mav_frame: LOCAL_NED
* /uav1/mavros/setpoint_position/tf/child_frame_id: target_position
* /uav1/mavros/setpoint_position/tf/frame_id: map
* /uav1/mavros/setpoint_position/tf/listen: False
* /uav1/mavros/setpoint_position/tf/rate_limit: 50.0
* /uav1/mavros/setpoint_raw/thrust_scaling: 1.0
* /uav1/mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /uav1/mavros/startup_px4_usb_quirk: True
* /uav1/mavros/sys/disable_diag: False
* /uav1/mavros/sys/min_voltage: 10.0
* /uav1/mavros/target_component_id: 1
* /uav1/mavros/target_system_id: 2
* /uav1/mavros/tdr_radio/low_rssi: 40
* /uav1/mavros/time/time_ref_source: fcu
* /uav1/mavros/time/timesync_avg_alpha: 0.6
* /uav1/mavros/time/timesync_mode: MAVLINK
* /uav1/mavros/vibration/frame_id: base_link
* /uav1/mavros/vision_pose/tf/child_frame_id: vision_estimate
* /uav1/mavros/vision_pose/tf/frame_id: odom
* /uav1/mavros/vision_pose/tf/listen: False
* /uav1/mavros/vision_pose/tf/rate_limit: 10.0
* /uav1/mavros/vision_speed/listen_twist: True
* /uav1/mavros/vision_speed/twist_cov: True
* /uav1/mavros/wheel_odometry/child_frame_id: base_link
* /uav1/mavros/wheel_odometry/count: 2
* /uav1/mavros/wheel_odometry/frame_id: odom
* /uav1/mavros/wheel_odometry/send_raw: True
* /uav1/mavros/wheel_odometry/send_twist: False
* /uav1/mavros/wheel_odometry/tf/child_frame_id: base_link
* /uav1/mavros/wheel_odometry/tf/frame_id: odom
* /uav1/mavros/wheel_odometry/tf/send: False
* /uav1/mavros/wheel_odometry/use_rpm: False
* /uav1/mavros/wheel_odometry/vel_error: 0.1
* /uav1/mavros/wheel_odometry/wheel0/radius: 0.05
* /uav1/mavros/wheel_odometry/wheel0/x: 0.0
* /uav1/mavros/wheel_odometry/wheel0/y: -0.15
* /uav1/mavros/wheel_odometry/wheel1/radius: 0.05
* /uav1/mavros/wheel_odometry/wheel1/x: 0.0
* /uav1/mavros/wheel_odometry/wheel1/y: 0.15
* /uav1/rotors_description: <?xml version="1....
* /uav2/mavros/cmd/use_comp_id_system_control: False
* /uav2/mavros/conn/heartbeat_rate: 1.0
* /uav2/mavros/conn/system_time_rate: 1.0
* /uav2/mavros/conn/timeout: 10.0
* /uav2/mavros/conn/timesync_rate: 10.0
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /uav2/mavros/distance_sensor/laser_1_sub/id: 3
* /uav2/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /uav2/mavros/distance_sensor/laser_1_sub/subscriber: True
* /uav2/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /uav2/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /uav2/mavros/distance_sensor/lidarlite_pub/id: 1
* /uav2/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /uav2/mavros/distance_sensor/lidarlite_pub/send_tf: True
* /uav2/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /uav2/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /uav2/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /uav2/mavros/distance_sensor/sonar_1_sub/id: 2
* /uav2/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /uav2/mavros/distance_sensor/sonar_1_sub/subscriber: True
* /uav2/mavros/fake_gps/eph: 2.0
* /uav2/mavros/fake_gps/epv: 2.0
* /uav2/mavros/fake_gps/fix_type: 3
* /uav2/mavros/fake_gps/geo_origin/alt: 408.0
* /uav2/mavros/fake_gps/geo_origin/lat: 47.3667
* /uav2/mavros/fake_gps/geo_origin/lon: 8.55
* /uav2/mavros/fake_gps/gps_rate: 5.0
* /uav2/mavros/fake_gps/mocap_transform: True
* /uav2/mavros/fake_gps/satellites_visible: 5
* /uav2/mavros/fake_gps/tf/child_frame_id: fix
* /uav2/mavros/fake_gps/tf/frame_id: map
* /uav2/mavros/fake_gps/tf/listen: False
* /uav2/mavros/fake_gps/tf/rate_limit: 10.0
* /uav2/mavros/fake_gps/tf/send: False
* /uav2/mavros/fake_gps/use_mocap: True
* /uav2/mavros/fake_gps/use_vision: False
* /uav2/mavros/fcu_protocol: v2.0
* /uav2/mavros/fcu_url: udp://:14542@loca...
* /uav2/mavros/gcs_url:
* /uav2/mavros/global_position/child_frame_id: base_link
* /uav2/mavros/global_position/frame_id: map
* /uav2/mavros/global_position/gps_uere: 1.0
* /uav2/mavros/global_position/rot_covariance: 99999.0
* /uav2/mavros/global_position/tf/child_frame_id: base_link
* /uav2/mavros/global_position/tf/frame_id: map
* /uav2/mavros/global_position/tf/global_frame_id: earth
* /uav2/mavros/global_position/tf/send: False
* /uav2/mavros/global_position/use_relative_alt: True
* /uav2/mavros/image/frame_id: px4flow
* /uav2/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
* /uav2/mavros/imu/frame_id: base_link
* /uav2/mavros/imu/linear_acceleration_stdev: 0.0003
* /uav2/mavros/imu/magnetic_stdev: 0.0
* /uav2/mavros/imu/orientation_stdev: 1.0
* /uav2/mavros/landing_target/camera/fov_x: 2.0071286398
* /uav2/mavros/landing_target/camera/fov_y: 2.0071286398
* /uav2/mavros/landing_target/image/height: 480
* /uav2/mavros/landing_target/image/width: 640
* /uav2/mavros/landing_target/land_target_type: VISION_FIDUCIAL
* /uav2/mavros/landing_target/listen_lt: False
* /uav2/mavros/landing_target/mav_frame: LOCAL_NED
* /uav2/mavros/landing_target/target_size/x: 0.3
* /uav2/mavros/landing_target/target_size/y: 0.3
* /uav2/mavros/landing_target/tf/child_frame_id: camera_center
* /uav2/mavros/landing_target/tf/frame_id: landing_target
* /uav2/mavros/landing_target/tf/listen: False
* /uav2/mavros/landing_target/tf/rate_limit: 10.0
* /uav2/mavros/landing_target/tf/send: True
* /uav2/mavros/local_position/frame_id: map
* /uav2/mavros/local_position/tf/child_frame_id: base_link
* /uav2/mavros/local_position/tf/frame_id: map
* /uav2/mavros/local_position/tf/send: False
* /uav2/mavros/local_position/tf/send_fcu: False
* /uav2/mavros/mission/pull_after_gcs: True
* /uav2/mavros/mocap/use_pose: True
* /uav2/mavros/mocap/use_tf: False
* /uav2/mavros/odometry/fcu/odom_child_id_des: base_link
* /uav2/mavros/odometry/fcu/odom_parent_id_des: map
* /uav2/mavros/plugin_blacklist: ['safety_area', '...
* /uav2/mavros/plugin_whitelist: []
* /uav2/mavros/px4flow/frame_id: px4flow
* /uav2/mavros/px4flow/ranger_fov: 0.118682
* /uav2/mavros/px4flow/ranger_max_range: 5.0
* /uav2/mavros/px4flow/ranger_min_range: 0.3
* /uav2/mavros/safety_area/p1/x: 1.0
* /uav2/mavros/safety_area/p1/y: 1.0
* /uav2/mavros/safety_area/p1/z: 1.0
* /uav2/mavros/safety_area/p2/x: -1.0
* /uav2/mavros/safety_area/p2/y: -1.0
* /uav2/mavros/safety_area/p2/z: -1.0
* /uav2/mavros/setpoint_accel/send_force: False
* /uav2/mavros/setpoint_attitude/reverse_thrust: False
* /uav2/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /uav2/mavros/setpoint_attitude/tf/frame_id: map
* /uav2/mavros/setpoint_attitude/tf/listen: False
* /uav2/mavros/setpoint_attitude/tf/rate_limit: 50.0
* /uav2/mavros/setpoint_attitude/use_quaternion: False
* /uav2/mavros/setpoint_position/mav_frame: LOCAL_NED
* /uav2/mavros/setpoint_position/tf/child_frame_id: target_position
* /uav2/mavros/setpoint_position/tf/frame_id: map
* /uav2/mavros/setpoint_position/tf/listen: False
* /uav2/mavros/setpoint_position/tf/rate_limit: 50.0
* /uav2/mavros/setpoint_raw/thrust_scaling: 1.0
* /uav2/mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /uav2/mavros/startup_px4_usb_quirk: True
* /uav2/mavros/sys/disable_diag: False
* /uav2/mavros/sys/min_voltage: 10.0
* /uav2/mavros/target_component_id: 1
* /uav2/mavros/target_system_id: 3
* /uav2/mavros/tdr_radio/low_rssi: 40
* /uav2/mavros/time/time_ref_source: fcu
* /uav2/mavros/time/timesync_avg_alpha: 0.6
* /uav2/mavros/time/timesync_mode: MAVLINK
* /uav2/mavros/vibration/frame_id: base_link
* /uav2/mavros/vision_pose/tf/child_frame_id: vision_estimate
* /uav2/mavros/vision_pose/tf/frame_id: odom
* /uav2/mavros/vision_pose/tf/listen: False
* /uav2/mavros/vision_pose/tf/rate_limit: 10.0
* /uav2/mavros/vision_speed/listen_twist: True
* /uav2/mavros/vision_speed/twist_cov: True
* /uav2/mavros/wheel_odometry/child_frame_id: base_link
* /uav2/mavros/wheel_odometry/count: 2
* /uav2/mavros/wheel_odometry/frame_id: odom
* /uav2/mavros/wheel_odometry/send_raw: True
* /uav2/mavros/wheel_odometry/send_twist: False
* /uav2/mavros/wheel_odometry/tf/child_frame_id: base_link
* /uav2/mavros/wheel_odometry/tf/frame_id: odom
* /uav2/mavros/wheel_odometry/tf/send: False
* /uav2/mavros/wheel_odometry/use_rpm: False
* /uav2/mavros/wheel_odometry/vel_error: 0.1
* /uav2/mavros/wheel_odometry/wheel0/radius: 0.05
* /uav2/mavros/wheel_odometry/wheel0/x: 0.0
* /uav2/mavros/wheel_odometry/wheel0/y: -0.15
* /uav2/mavros/wheel_odometry/wheel1/radius: 0.05
* /uav2/mavros/wheel_odometry/wheel1/x: 0.0
* /uav2/mavros/wheel_odometry/wheel1/y: 0.15
* /uav2/rotors_description: <?xml version="1....
* /use_sim_time: True
NODES
/uav1/
iris_1_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_1 (px4/px4)
/uav0/
iris_0_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_0 (px4/px4)
/uav2/
iris_2_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_2 (px4/px4)
/
formation_control_node (formation_control/formation_control_node)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
auto-starting new master
process[master]: started with pid [12574]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 87736c96-6cf4-11ea-8796-5c93a29bd885
process[rosout-1]: started with pid [12585]
started core service [/rosout]
process[formation_control_node-2]: started with pid [12593]
process[gazebo-3]: started with pid [12594]
process[gazebo_gui-4]: started with pid [12605]
process[uav0/sitl_0-5]: started with pid [12614]
INFO [px4] Creating symlink /home/weng/Firmware/ROMFS/px4fmu_common -> /home/weng/.ros/sitl_iris_0/etc
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[uav0/iris_0_spawn-6]: started with pid [12631]
INFO [param] selected parameter default file eeprom/parameters_10016
[param] Loaded: eeprom/parameters_10016
process[uav0/mavros-7]: started with pid [12637]
INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1584960811.861880823]: FCU URL: udp://:14540@localhost:14580
[ INFO] [1584960811.868410421]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1584960811.869849048]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1584960811.870775742]: GCS bridge disabled
[ INFO] [1584960811.966925238]: Plugin 3dr_radio loaded
[ INFO] [1584960811.976536234]: Plugin 3dr_radio initialized
[ INFO] [1584960811.976920403]: Plugin actuator_control loaded
[ INFO] [1584960811.982007930]: Plugin actuator_control initialized
[ INFO] [1584960812.002860420]: Plugin adsb loaded
[ INFO] [1584960812.017720716]: Plugin adsb initialized
[ INFO] [1584960812.018841101]: Plugin altitude loaded
[ INFO] [1584960812.021722263]: Plugin altitude initialized
[ INFO] [1584960812.023048450]: Plugin cam_imu_sync loaded
[ INFO] [1584960812.025212130]: Plugin cam_imu_sync initialized
[ INFO] [1584960812.028102409]: Plugin command loaded
[ INFO] [1584960812.045474666]: Plugin command initialized
[ INFO] [1584960812.046373359]: Plugin companion_process_status loaded
[ INFO] [1584960812.051730655]: Plugin companion_process_status initialized
[ INFO] [1584960812.052617718]: Plugin debug_value loaded
[ INFO] [1584960812.065930010]: Plugin debug_value initialized
[ INFO] [1584960812.066428257]: Plugin distance_sensor blacklisted
[ INFO] [1584960812.067079232]: Plugin fake_gps loaded
[ INFO] [1584960812.094130864]: Plugin fake_gps initialized
[ INFO] [1584960812.094614885]: Plugin ftp loaded
[ INFO] [1584960812.127629650]: Plugin ftp initialized
[ INFO] [1584960812.128056685]: Plugin global_position loaded
[ INFO] [1584960812.163617025]: Plugin global_position initialized
[ INFO] [1584960812.163992916]: Plugin gps_rtk loaded
[ INFO] [1584960812.169166092]: Plugin gps_rtk initialized
[ INFO] [1584960812.169575877]: Plugin hil loaded
INFO [px4] Creating symlink /home/weng/Firmware/ROMFS/px4fmu_common -> /home/weng/.ros/sitl_iris_1/etc
[ INFO] [1584960812.195575207]: Plugin hil initialized
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 1
[ INFO] [1584960812.195969173]: Plugin home_position loaded
process[uav1/sitl_1-8]: started with pid [12726]
process[uav1/iris_1_spawn-9]: started with pid [12743]
[ INFO] [1584960812.232686008]: Plugin home_position initialized
[ INFO] [1584960812.233218801]: Plugin imu loaded
process[uav1/mavros-10]: started with pid [12746]
INFO [param] selected parameter default file eeprom/parameters_10016
[ INFO] [1584960812.269334887]: Plugin imu initialized
[ INFO] [1584960812.269719005]: Plugin landing_target loaded
[param] Loaded: eeprom/parameters_10016
[ INFO] [1584960812.345541239]: Plugin landing_target initialized
[ INFO] [1584960812.345863501]: Plugin local_position loaded
INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO [simulator] Waiting for simulator to accept connection on TCP port 4561
[ INFO] [1584960812.415250008]: Plugin local_position initialized
[ INFO] [1584960812.415533018]: Plugin log_transfer loaded
[ INFO] [1584960812.440177018]: Plugin log_transfer initialized
[ INFO] [1584960812.440487233]: Plugin manual_control loaded
[ INFO] [1584960812.455879785]: Plugin manual_control initialized
[ INFO] [1584960812.456158858]: Plugin mocap_pose_estimate loaded
[ INFO] [1584960812.471116407]: Plugin mocap_pose_estimate initialized
[ INFO] [1584960812.471371997]: Plugin mount_control loaded
[ INFO] [1584960812.483881203]: Plugin mount_control initialized
[ INFO] [1584960812.484140402]: Plugin obstacle_distance loaded
[ INFO] [1584960812.492258570]: Plugin obstacle_distance initialized
[ INFO] [1584960812.492537100]: Plugin odom loaded
[ INFO] [1584960812.532330769]: Plugin odom initialized
[ INFO] [1584960812.532612353]: Plugin onboard_computer_status loaded
[ INFO] [1584960812.559683950]: Plugin onboard_computer_status initialized
[ INFO] [1584960812.560092643]: Plugin param loaded
[ INFO] [1584960812.592380309]: Plugin param initialized
[ INFO] [1584960812.592639178]: Plugin px4flow loaded
[ INFO] [1584960812.664481409]: FCU URL: udp://:14541@localhost:14581
[ INFO] [1584960812.673309396]: udp0: Bind address: 0.0.0.0:14541
[ INFO] [1584960812.673522432]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1584960812.673766413]: Plugin px4flow initialized
[ INFO] [1584960812.673840343]: Plugin rangefinder blacklisted
[ INFO] [1584960812.673974998]: GCS bridge disabled
[ INFO] [1584960812.674136978]: Plugin rc_io loaded
[ INFO] [1584960812.708902626]: Plugin rc_io initialized
[ INFO] [1584960812.708989942]: Plugin safety_area blacklisted
[ INFO] [1584960812.709287623]: Plugin setpoint_accel loaded
[ INFO] [1584960812.710149140]: Plugin 3dr_radio loaded
[ INFO] [1584960812.748968827]: Plugin setpoint_accel initialized
[ INFO] [1584960812.749389220]: Plugin setpoint_attitude loaded
[ INFO] [1584960812.757180274]: Plugin 3dr_radio initialized
[ INFO] [1584960812.758033347]: Plugin actuator_control loaded
[ INFO] [1584960812.779705928]: Plugin actuator_control initialized
[ INFO] [1584960812.788846920]: Plugin adsb loaded
[ INFO] [1584960812.802379216]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1584960812.814764417]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1584960812.819956691]: Plugin setpoint_attitude initialized
[ INFO] [1584960812.820352919]: Plugin setpoint_position loaded
[ INFO] [1584960812.821916730]: Plugin adsb initialized
[ INFO] [1584960812.822353209]: Plugin altitude loaded
[ INFO] [1584960812.831100136]: Plugin altitude initialized
[ INFO] [1584960812.831475694]: Plugin cam_imu_sync loaded
[ INFO] [1584960812.833927522]: Plugin cam_imu_sync initialized
[ INFO] [1584960812.834362957]: Plugin command loaded
[ INFO] [1584960812.873686800]: Plugin command initialized
[ INFO] [1584960812.874046482]: Plugin companion_process_status loaded
[ INFO] [1584960812.893147479]: Plugin companion_process_status initialized
[ INFO] [1584960812.893517329]: Plugin debug_value loaded
[ INFO] [1584960812.943554304]: Plugin debug_value initialized
[ INFO] [1584960812.943623467]: Plugin distance_sensor blacklisted
[ INFO] [1584960812.943905857]: Plugin fake_gps loaded
[ INFO] [1584960812.944978194]: Plugin setpoint_position initialized
[ INFO] [1584960812.945289264]: Plugin setpoint_raw loaded
process[uav2/sitl_2-11]: started with pid [12806]
INFO [px4] Creating symlink /home/weng/Firmware/ROMFS/px4fmu_common -> /home/weng/.ros/sitl_iris_2/etc
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 2
[ INFO] [1584960813.042047535]: Plugin setpoint_raw initialized
[ INFO] [1584960813.042380773]: Plugin setpoint_trajectory loaded
[ INFO] [1584960813.053066189]: Finished loading Gazebo ROS API Plugin.
process[uav2/iris_2_spawn-12]: started with pid [12832]
[ INFO] [1584960813.063015060]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
INFO [param] selected parameter default file eeprom/parameters_10016
[param] Loaded: eeprom/parameters_10016
process[uav2/mavros-13]: started with pid [12850]
[ INFO] [1584960813.142659444]: Plugin fake_gps initialized
[ INFO] [1584960813.143097233]: Plugin ftp loaded
[ INFO] [1584960813.145885453]: Plugin setpoint_trajectory initialized
[ INFO] [1584960813.146206906]: Plugin setpoint_velocity loaded
INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO [simulator] Waiting for simulator to accept connection on TCP port 4562
[ INFO] [1584960813.307667737]: Plugin setpoint_velocity initialized
[ INFO] [1584960813.308238690]: Plugin sys_status loaded
[ INFO] [1584960813.338906956]: Plugin ftp initialized
[ INFO] [1584960813.339205186]: Plugin global_position loaded
[ INFO] [1584960813.504882600]: Plugin sys_status initialized
[ INFO] [1584960813.505236293]: Plugin sys_time loaded
[ INFO] [1584960813.620750014]: TM: Timesync mode: MAVLINK
[ INFO] [1584960813.631128559]: Plugin sys_time initialized
[ INFO] [1584960813.631425194]: Plugin trajectory loaded
[ INFO] [1584960813.640141368]: Plugin global_position initialized
[ INFO] [1584960813.640403866]: Plugin gps_rtk loaded
[ INFO] [1584960813.681727465]: Plugin gps_rtk initialized
[ INFO] [1584960813.682017925]: Plugin hil loaded
[ INFO] [1584960813.746417503]: Plugin trajectory initialized
[ INFO] [1584960813.746746616]: Plugin vfr_hud loaded
[ INFO] [1584960813.758054420]: Plugin vfr_hud initialized
[ INFO] [1584960813.758141018]: Plugin vibration blacklisted
[ INFO] [1584960813.758404958]: Plugin vision_pose_estimate loaded
[ INFO] [1584960813.814714627]: FCU URL: udp://:14542@localhost:14582
[ INFO] [1584960813.840413687]: udp0: Bind address: 0.0.0.0:14542
[ INFO] [1584960813.840657049]: udp0: Remote address: 127.0.0.1:14582
[ INFO] [1584960813.841787850]: GCS bridge disabled
[ INFO] [1584960813.966960300]: Plugin vision_pose_estimate initialized
[ INFO] [1584960813.967445496]: Plugin vision_speed_estimate loaded
[ INFO] [1584960813.982935365]: Plugin hil initialized
[ INFO] [1584960813.983237145]: Plugin home_position loaded
[ INFO] [1584960814.022268297]: Plugin 3dr_radio loaded
[ INFO] [1584960814.054695646]: Plugin 3dr_radio initialized
[ INFO] [1584960814.055557055]: Plugin actuator_control loaded
[ INFO] [1584960814.083270208]: Plugin home_position initialized
[ INFO] [1584960814.083723165]: Plugin imu loaded
[ INFO] [1584960814.091983689]: Plugin actuator_control initialized
[ INFO] [1584960814.104554489]: Plugin adsb loaded
[ INFO] [1584960814.116962250]: Plugin vision_speed_estimate initialized
[ INFO] [1584960814.117371489]: Plugin waypoint loaded
[ INFO] [1584960814.154401369]: Plugin adsb initialized
[ INFO] [1584960814.154897406]: Plugin altitude loaded
[ INFO] [1584960814.166619925]: Plugin altitude initialized
[ INFO] [1584960814.167101707]: Plugin cam_imu_sync loaded
[ INFO] [1584960814.174217166]: Plugin waypoint initialized
[ INFO] [1584960814.174331607]: Plugin wheel_odometry blacklisted
[ INFO] [1584960814.174645213]: Plugin wind_estimation loaded
[ INFO] [1584960814.178137643]: Plugin cam_imu_sync initialized
[ INFO] [1584960814.178780544]: Plugin command loaded
[ INFO] [1584960814.185352125]: Plugin wind_estimation initialized
[ INFO] [1584960814.185481245]: Autostarting mavlink via USB on PX4
[ INFO] [1584960814.185736733]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1584960814.185816458]: Built-in MAVLink package version: 2019.12.12
[ INFO] [1584960814.185878096]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1584960814.185930212]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1584960814.208570170]: Plugin imu initialized
[ INFO] [1584960814.208834018]: Plugin landing_target loaded
[ INFO] [1584960814.299589462]: Plugin command initialized
[ INFO] [1584960814.299851023]: Plugin companion_process_status loaded
[ INFO] [1584960814.378036103]: Plugin companion_process_status initialized
[ INFO] [1584960814.378280290]: Plugin debug_value loaded
[ INFO] [1584960814.510469887]: Plugin debug_value initialized
[ INFO] [1584960814.510652259]: Plugin distance_sensor blacklisted
[ INFO] [1584960814.511025853]: Plugin fake_gps loaded
[ INFO] [1584960814.567662340]: Plugin landing_target initialized
[ INFO] [1584960814.568141099]: Plugin local_position loaded
[ INFO] [1584960814.599443604]: Plugin local_position initialized
[ INFO] [1584960814.599993061]: Plugin log_transfer loaded
[ INFO] [1584960814.605464153]: Plugin fake_gps initialized
[ INFO] [1584960814.605810423]: Plugin ftp loaded
[ INFO] [1584960814.611733693]: Plugin log_transfer initialized
[ INFO] [1584960814.612203933]: Plugin manual_control loaded
[ INFO] [1584960814.646008959]: Plugin manual_control initialized
[ INFO] [1584960814.646456111]: Plugin mocap_pose_estimate loaded
[INFO] [1584960814.710661, 0.000000]: Loading model XML from ros parameter rotors_description
[ INFO] [1584960814.719184451]: Plugin mocap_pose_estimate initialized
[ INFO] [1584960814.719582369]: Plugin mount_control loaded
[ INFO] [1584960814.740505535]: Plugin ftp initialized
[ INFO] [1584960814.741021290]: Plugin global_position loaded
[ INFO] [1584960814.748856007]: Plugin mount_control initialized
[ INFO] [1584960814.749289922]: Plugin obstacle_distance loaded
[INFO] [1584960814.759128, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1584960814.761400932]: Plugin obstacle_distance initialized
[ INFO] [1584960814.761798233]: Plugin odom loaded
[INFO] [1584960814.781486, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1584960814.800611251]: Plugin odom initialized
[ INFO] [1584960814.800987433]: Plugin onboard_computer_status loaded
[ INFO] [1584960814.839509780]: Plugin onboard_computer_status initialized
[ INFO] [1584960814.839984842]: Plugin param loaded
[ INFO] [1584960814.879878659]: Plugin param initialized
[ INFO] [1584960814.880159639]: Plugin px4flow loaded
[ INFO] [1584960814.948439426]: Plugin global_position initialized
[ INFO] [1584960814.948729216]: Plugin gps_rtk loaded
[INFO] [1584960814.950746, 0.000000]: Loading model XML from ros parameter rotors_description
[ INFO] [1584960814.972680293]: Plugin px4flow initialized
[ INFO] [1584960814.972767909]: Plugin rangefinder blacklisted
[ INFO] [1584960814.973265834]: Plugin rc_io loaded
[ INFO] [1584960814.989396572]: Plugin gps_rtk initialized
[ INFO] [1584960814.989727778]: Plugin hil loaded
[ INFO] [1584960815.017757679]: Plugin rc_io initialized
[ INFO] [1584960815.017837180]: Plugin safety_area blacklisted
[ INFO] [1584960815.018079625]: Plugin setpoint_accel loaded
[ INFO] [1584960815.032718399]: Plugin setpoint_accel initialized
[ INFO] [1584960815.033194176]: Plugin setpoint_attitude loaded
[INFO] [1584960815.045984, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1584960815.057540, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1584960815.126657, 0.004000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1584960815.174152143]: Plugin setpoint_attitude initialized
[ INFO] [1584960815.174732583]: Plugin setpoint_position loaded
[ INFO] [1584960815.206758491]: Plugin hil initialized
[ INFO] [1584960815.207043521]: Plugin home_position loaded
[ INFO] [1584960815.235246862]: Plugin home_position initialized
[ INFO] [1584960815.235656010]: Plugin imu loaded
[ INFO] [1584960815.256303902]: Plugin imu initialized
[ INFO] [1584960815.256542785]: Plugin landing_target loaded
[ INFO] [1584960815.264934452]: Plugin setpoint_position initialized
[ INFO] [1584960815.265293095]: Plugin setpoint_raw loaded
[ INFO] [1584960815.289284600]: Plugin setpoint_raw initialized
[ INFO] [1584960815.289960815]: Plugin setpoint_trajectory loaded
INFO [simulator] Simulator connected on TCP port 4560.
[ INFO] [1584960815.303595944]: Plugin landing_target initialized
[ INFO] [1584960815.304197454]: Plugin local_position loaded
[ INFO] [1584960815.307037815]: Plugin setpoint_trajectory initialized
[ INFO] [1584960815.307366890]: Plugin setpoint_velocity loaded
[ INFO] [1584960815.324531887, 0.012000000]: Plugin local_position initialized
[ INFO] [1584960815.324997774, 0.012000000]: Plugin log_transfer loaded
[ INFO] [1584960815.330747270, 0.016000000]: Plugin setpoint_velocity initialized
[ INFO] [1584960815.331393487, 0.016000000]: Plugin sys_status loaded
[ INFO] [1584960815.337159992, 0.024000000]: Plugin log_transfer initialized
[ INFO] [1584960815.337484906, 0.024000000]: Plugin manual_control loaded
[ INFO] [1584960815.339591399, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
INFO [commander] LED: open /dev/led0 failed (22)
INFO [commander] Mission #3 loaded, 6 WPs, curr: 0
[ INFO] [1584960815.361701738, 0.040000000]: Plugin manual_control initialized
[ INFO] [1584960815.362089671, 0.040000000]: Plugin mocap_pose_estimate loaded
[ INFO] [1584960815.387897058, 0.064000000]: Plugin mocap_pose_estimate initialized
[ INFO] [1584960815.388100624, 0.064000000]: Plugin mount_control loaded
INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
[ INFO] [1584960815.412033222, 0.088000000]: Plugin mount_control initialized
[ INFO] [1584960815.412292149, 0.088000000]: Plugin obstacle_distance loaded
[ INFO] [1584960815.433508624, 0.104000000]: Plugin obstacle_distance initialized
[ INFO] [1584960815.433966185, 0.104000000]: Plugin odom loaded
[INFO] [1584960815.453934, 0.000000]: Loading model XML from ros parameter rotors_description
[ INFO] [1584960815.462293015, 0.132000000]: Plugin sys_status initialized
[ INFO] [1584960815.462723508, 0.132000000]: Plugin sys_time loaded
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
[ INFO] [1584960815.486918366, 0.156000000]: Plugin odom initialized
[ INFO] [1584960815.487185453, 0.156000000]: Plugin onboard_computer_status loaded
[INFO] [1584960815.491286, 0.160000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1584960815.495902365, 0.168000000]: Plugin onboard_computer_status initialized
[ INFO] [1584960815.496305736, 0.168000000]: Plugin param loaded
[ INFO] [1584960815.501772079, 0.172000000]: TM: Timesync mode: MAVLINK
[ INFO] [1584960815.505767840, 0.176000000]: Plugin sys_time initialized
[ INFO] [1584960815.506011681, 0.176000000]: Plugin trajectory loaded
[ INFO] [1584960815.517193478, 0.184000000]: Plugin param initialized
[ INFO] [1584960815.517481286, 0.184000000]: Plugin px4flow loaded
[INFO] [1584960815.520595, 0.184000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1584960815.535859994, 0.184000000]: Plugin trajectory initialized
[ INFO] [1584960815.536183062, 0.184000000]: Plugin vfr_hud loaded
[ INFO] [1584960815.537967273, 0.184000000]: Plugin vfr_hud initialized
[ INFO] [1584960815.538076375, 0.184000000]: Plugin vibration blacklisted
[ INFO] [1584960815.538332173, 0.184000000]: Plugin vision_pose_estimate loaded
[ INFO] [1584960815.549694553, 0.184000000]: Plugin px4flow initialized
[ INFO] [1584960815.549907670, 0.184000000]: Plugin rangefinder blacklisted
[ INFO] [1584960815.550315771, 0.184000000]: Plugin rc_io loaded
[ INFO] [1584960815.563602530, 0.184000000]: Plugin rc_io initialized
[ INFO] [1584960815.563686886, 0.184000000]: Plugin safety_area blacklisted
[ INFO] [1584960815.563959023, 0.184000000]: Plugin setpoint_accel loaded
[ INFO] [1584960815.565215323, 0.184000000]: Plugin vision_pose_estimate initialized
[ INFO] [1584960815.565502616, 0.184000000]: Plugin vision_speed_estimate loaded
[ INFO] [1584960815.571993516, 0.184000000]: Plugin setpoint_accel initialized
[ INFO] [1584960815.572557481, 0.184000000]: Plugin setpoint_attitude loaded
[ INFO] [1584960815.575168588, 0.184000000]: Plugin vision_speed_estimate initialized
[ INFO] [1584960815.575509384, 0.184000000]: Plugin waypoint loaded
[ INFO] [1584960815.590318611, 0.184000000]: Plugin waypoint initialized
[ INFO] [1584960815.590414990, 0.184000000]: Plugin wheel_odometry blacklisted
[ INFO] [1584960815.590680914, 0.184000000]: Plugin wind_estimation loaded
[ INFO] [1584960815.592782653, 0.184000000]: Plugin wind_estimation initialized
[ INFO] [1584960815.593269392, 0.184000000]: Autostarting mavlink via USB on PX4
[ INFO] [1584960815.593538863, 0.184000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1584960815.593599938, 0.184000000]: Built-in MAVLink package version: 2019.12.12
[ INFO] [1584960815.593656963, 0.184000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1584960815.593707984, 0.184000000]: MAVROS started. MY ID 1.240, TARGET ID 2.1
[ INFO] [1584960815.600964172, 0.184000000]: Plugin setpoint_attitude initialized
[ INFO] [1584960815.601423214, 0.184000000]: Plugin setpoint_position loaded
[ INFO] [1584960815.625149891, 0.184000000]: Plugin setpoint_position initialized
[ INFO] [1584960815.625431175, 0.184000000]: Plugin setpoint_raw loaded
[ INFO] [1584960815.645277203, 0.184000000]: Plugin setpoint_raw initialized
[ INFO] [1584960815.645551745, 0.184000000]: Plugin setpoint_trajectory loaded
[ INFO] [1584960815.652251243, 0.184000000]: Plugin setpoint_trajectory initialized
[ INFO] [1584960815.652510410, 0.184000000]: Plugin setpoint_velocity loaded
[ INFO] [1584960815.660266698, 0.184000000]: Plugin setpoint_velocity initialized
[ INFO] [1584960815.660809077, 0.184000000]: Plugin sys_status loaded
[ INFO] [1584960815.676578299, 0.184000000]: Plugin sys_status initialized
[ INFO] [1584960815.676882889, 0.184000000]: Plugin sys_time loaded
[ INFO] [1584960815.683189467, 0.184000000]: TM: Timesync mode: MAVLINK
[ INFO] [1584960815.685241727, 0.184000000]: Plugin sys_time initialized
[ INFO] [1584960815.685790801, 0.184000000]: Plugin trajectory loaded
[ INFO] [1584960815.697018544, 0.184000000]: Plugin trajectory initialized
[ INFO] [1584960815.697317228, 0.184000000]: Plugin vfr_hud loaded
[ INFO] [1584960815.698558598, 0.184000000]: Plugin vfr_hud initialized
[ INFO] [1584960815.698639098, 0.184000000]: Plugin vibration blacklisted
[ INFO] [1584960815.698855515, 0.184000000]: Plugin vision_pose_estimate loaded
[INFO] [1584960815.705936, 0.184000]: Spawn status: SpawnModel: Successfully spawned entity
INFO [simulator] Simulator connected on TCP port 4561.
[ INFO] [1584960815.736141153, 0.204000000]: Plugin vision_pose_estimate initialized
[ INFO] [1584960815.736441629, 0.204000000]: Plugin vision_speed_estimate loaded
[ INFO] [1584960815.746453703, 0.212000000]: Physics dynamic reconfigure ready.
[ INFO] [1584960815.750343977, 0.216000000]: Plugin vision_speed_estimate initialized
[ INFO] [1584960815.750695548, 0.216000000]: Plugin waypoint loaded
INFO [commander] LED: open /dev/led0 failed (22)
INFO [commander] Mission #2 loaded, 9 WPs, curr: 0
[ INFO] [1584960815.764536651, 0.232000000]: Plugin waypoint initialized
[ INFO] [1584960815.764615160, 0.232000000]: Plugin wheel_odometry blacklisted
[ INFO] [1584960815.764877410, 0.232000000]: Plugin wind_estimation loaded
[ INFO] [1584960815.766204562, 0.232000000]: Plugin wind_estimation initialized
[ INFO] [1584960815.766299617, 0.232000000]: Autostarting mavlink via USB on PX4
[ INFO] [1584960815.766505548, 0.232000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1584960815.766560347, 0.232000000]: Built-in MAVLink package version: 2019.12.12
[ INFO] [1584960815.766602490, 0.232000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1584960815.766640642, 0.232000000]: MAVROS started. MY ID 1.240, TARGET ID 3.1
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 [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] Opened full log file: ./log/2020-03-23/10_53_35.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
[ INFO] [1584960815.839694991, 0.304000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1584960815.840104267, 0.304000000]: FCU: [logger] file:./log/2020-03-23/10_53_35.ulg
[ INFO] [1584960815.841908556, 0.304000000]: IMU: High resolution IMU detected!
INFO [px4] Startup script returned successfully
INFO [mavlink] partner IP: 127.0.0.1
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18571 remote port 14550
[uav0/iris_0_spawn-6] process has finished cleanly
log file: /home/weng/.ros/log/87736c96-6cf4-11ea-8796-5c93a29bd885/uav0-iris_0_spawn-6*.log
[INFO] [1584960816.016116, 0.380000]: Spawn status: SpawnModel: Successfully spawned entity
INFO [simulator] Simulator connected on TCP port 4562.
INFO [commander] LED: open /dev/led0 failed (22)
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14581 remote port 14541
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14281 remote port 14031
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] Opened full log file: ./log/2020-03-23/10_53_36.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
[ INFO] [1584960816.133499180, 0.484000000]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1584960816.133977510, 0.488000000]: FCU: [logger] file:./log/2020-03-23/10_53_36.ulg
INFO [px4] Startup script returned successfully
[ INFO] [1584960816.135020821, 0.488000000]: IMU: High resolution IMU detected!
INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18572 remote port 14550
INFO [mavlink] partner IP: 127.0.0.1
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14582 remote port 14542
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14282 remote port 14032
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] Opened full log file: ./log/2020-03-23/10_53_36.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
[ INFO] [1584960816.342042221, 0.692000000]: udp0: Remote address: 127.0.0.1:14582
[uav2/iris_2_spawn-12] process has finished cleanly
log file: /home/weng/.ros/log/87736c96-6cf4-11ea-8796-5c93a29bd885/uav2-iris_2_spawn-12*.log
[ INFO] [1584960816.355009176, 0.704000000]: FCU: [logger] file:./log/2020-03-23/10_53_36.ulg
INFO [px4] Startup script returned successfully
INFO [mavlink] partner IP: 127.0.0.1
[uav1/iris_1_spawn-9] process has finished cleanly
log file: /home/weng/.ros/log/87736c96-6cf4-11ea-8796-5c93a29bd885/uav1-iris_1_spawn-9*.log
INFO [ecl/EKF] 644000: GPS checks passed (WGS-84 origin set)
INFO [ecl/EKF] 648000: GPS checks passed (WGS-84 origin set)
[ INFO] [1584960816.893124668, 1.240000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1584960816.896593374, 1.244000000]: IMU: High resolution IMU detected!
[ INFO] [1584960817.044925785, 1.388000000]: IMU: High resolution IMU detected!
[ INFO] [1584960817.196622833, 1.436000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1584960817.315799630, 1.448000000]: IMU: High resolution IMU detected!
[ INFO] [1584960817.538671361, 1.652000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1584960817.550678363, 1.664000000]: IMU: High resolution IMU detected!
INFO [ecl/EKF] 1772000: EKF aligned, (baro height, IMU buf: 22, OBS buf: 14)
INFO [ecl/EKF] 1772000: reset position to last known position
INFO [ecl/EKF] 1772000: reset velocity to zero
[ INFO] [1584960817.873626448, 1.960000000]: IMU: Attitude quaternion IMU detected!
INFO [ecl/EKF] 1460000: GPS checks passed (WGS-84 origin set)
INFO [ecl/EKF] 1776000: EKF aligned, (baro height, IMU buf: 22, OBS buf: 14)
INFO [ecl/EKF] 1776000: reset position to last known position
INFO [ecl/EKF] 1776000: reset velocity to zero
[ INFO] [1584960818.084507502, 2.152000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1584960818.190258572, 2.240000000]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1584960818.190382402, 2.240000000]: VER: 1.1: Flight software: 010b0080 (1e5784609f000000)
[ INFO] [1584960818.190461372, 2.240000000]: VER: 1.1: Middleware software: 010b0080 (1e5784609f000000)
[ INFO] [1584960818.190515817, 2.240000000]: VER: 1.1: OS software: 050300ff (befe53e7f1ed557b)
[ INFO] [1584960818.190567626, 2.240000000]: VER: 1.1: Board hardware: 00000001
[ INFO] [1584960818.190613152, 2.240000000]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1584960818.190650248, 2.240000000]: VER: 1.1: UID: 4954414c44494e4f
INFO [ecl/EKF] 1868000: EKF aligned, (baro height, IMU buf: 22, OBS buf: 14)
INFO [ecl/EKF] 1868000: reset position to last known position
INFO [ecl/EKF] 1868000: reset velocity to zero
[ INFO] [1584960818.406396743, 2.432000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1584960818.430152612, 2.444000000]: VER: 2.1: Capabilities 0x000000000000e4ef
[ INFO] [1584960818.430281986, 2.444000000]: VER: 2.1: Flight software: 010b0080 (1e5784609f000000)
[ INFO] [1584960818.430371376, 2.444000000]: VER: 2.1: Middleware software: 010b0080 (1e5784609f000000)
[ INFO] [1584960818.430434578, 2.444000000]: VER: 2.1: OS software: 050300ff (befe53e7f1ed557b)
[ INFO] [1584960818.430487905, 2.444000000]: VER: 2.1: Board hardware: 00000001
[ INFO] [1584960818.430537795, 2.444000000]: VER: 2.1: VID/PID: 0000:0000
[ INFO] [1584960818.430583970, 2.444000000]: VER: 2.1: UID: 4954414c44494e50
[ INFO] [1584960818.670504345, 2.660000000]: VER: 3.1: Capabilities 0x000000000000e4ef
[ INFO] [1584960818.670598984, 2.660000000]: VER: 3.1: Flight software: 010b0080 (1e5784609f000000)
[ INFO] [1584960818.670651441, 2.660000000]: VER: 3.1: Middleware software: 010b0080 (1e5784609f000000)
[ INFO] [1584960818.670698442, 2.660000000]: VER: 3.1: OS software: 050300ff (befe53e7f1ed557b)
[ INFO] [1584960818.670750885, 2.660000000]: VER: 3.1: Board hardware: 00000001
[ INFO] [1584960818.670790837, 2.660000000]: VER: 3.1: VID/PID: 0000:0000
[ INFO] [1584960818.670843002, 2.660000000]: VER: 3.1: UID: 4954414c44494e51
INFO [ecl/EKF] 5192000: reset position to GPS
INFO [ecl/EKF] 5192000: reset velocity to GPS
INFO [ecl/EKF] 5192000: commencing GPS fusion
INFO [ecl/EKF] 5188000: reset position to GPS
INFO [ecl/EKF] 5188000: reset velocity to GPS
INFO [ecl/EKF] 5188000: commencing GPS fusion
[ INFO] [1584960823.522024684, 6.004000000]: Setting to Offboard
[ INFO] [1584960823.529844844, 6.008000000]: Setting to Offboard
[ INFO] [1584960823.537594062, 6.012000000]: Setting to Offboard
WARN [mc_pos_control] Offboard activation failed with error: Activation Failed
WARN [mc_pos_control] Position-Ctrl activation failed with error: Activation Failed
WARN [mc_pos_control] Altitude-Ctrl activation failed with error: Activation Failed
INFO [ecl/EKF] 6000000: reset position to GPS
INFO [ecl/EKF] 6000000: reset velocity to GPS
INFO [ecl/EKF] 6000000: commencing GPS fusion
[ INFO] [1584960831.705995813, 12.016000000]: FCU: ARMED by Arm/Disarm component command
[ INFO] [1584960831.706261805, 12.016000000]: Vehicle armed
[ INFO] [1584960831.723376161, 12.024000000]: Vehicle armed
[ INFO] [1584960831.741142331, 12.040000000]: Vehicle armed
INFO [commander] Takeoff detected
INFO [commander] Takeoff detected
[ INFO] [1584960833.392621829, 13.272000000]: FCU: Takeoff detected
INFO [commander] Takeoff detected
[ INFO] [1584960836.667186480, 16.240000000]: WP: item #0* F:2 C:178 p: 1.000000 30.000000 -1.000000 0.000000 x: 0.000000 y: 0.000000 z: 0.000000
[ INFO] [1584960836.668511218, 16.240000000]: WP: item #1 F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397743 y: 8.545609 z: 1.500000
[ INFO] [1584960836.671096684, 16.240000000]: WP: item #2 F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397743 y: 8.545543 z: 1.500000
[ INFO] [1584960836.672486411, 16.244000000]: WP: item #3 F:3 C: 19 p: 15.000000 0.000000 50.000000 0.000000 x: 47.397671 y: 8.545604 z: 1.500000
[ INFO] [1584960836.673341068, 16.244000000]: WP: item #4 F:2 C: 20 p: 0.000000 0.000000 0.000000 0.000000 x: 0.000000 y: 0.000000 z: 0.000000
[ INFO] [1584960836.674236490, 16.244000000]: WP: item #5 F:2 C: 20 p: 0.000000 0.000000 0.000000 0.000000 x: 0.000000 y: 0.000000 z: 0.000000
[ INFO] [1584960836.674480788, 16.244000000]: WP: mission received
[ INFO] [1584960836.889527056, 16.440000000]: WP: item #0* F:2 C:178 p: 1.000000 50.000000 -1.000000 0.000000 x: 0.000000 y: 0.000000 z: 0.000000
[ INFO] [1584960836.890063355, 16.440000000]: WP: item #1 F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397743 y: 8.545609 z: 1.500000
[ INFO] [1584960836.890455987, 16.440000000]: WP: item #2 F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397743 y: 8.545543 z: 1.500000
[ INFO] [1584960836.890776501, 16.440000000]: WP: item #3 F:3 C: 19 p: 15.000000 0.000000 50.000000 0.000000 x: 47.397671 y: 8.545604 z: 2.000000
[ INFO] [1584960836.891335752, 16.440000000]: WP: item #4 F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397701 y: 8.545671 z: 1.500000
[ INFO] [1584960836.891947821, 16.440000000]: WP: item #5 F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397758 y: 8.545679 z: 1.500000
[ INFO] [1584960836.892774984, 16.440000000]: WP: item #6 F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 47.397789 y: 8.545609 z: 1.500000
[ INFO] [1584960836.893491991, 16.440000000]: WP: item #7 F:3 C: 21 p: 0.000000 0.000000 0.000000 nan x: 47.397743 y: 8.545609 z: 0.000000
[ INFO] [1584960836.894002204, 16.444000000]: WP: item #8 F:2 C: 20 p: 0.000000 0.000000 0.000000 0.000000 x: 0.000000 y: 0.000000 z: 0.000000
[ INFO] [1584960836.894261868, 16.444000000]: WP: mission received
[ INFO] [1584960837.122235337, 16.652000000]: WP: mission received
There are some warings in the outcome about offboard, positoin and altitude-trl activation failed.
Also, if I want to change the formation of the drones (like making 3 drones line up), what should I do?