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Problems about drones hovering and change formation #31

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goofyweng opened this issue Mar 22, 2020 · 8 comments · Fixed by #33
Closed

Problems about drones hovering and change formation #31

goofyweng opened this issue Mar 22, 2020 · 8 comments · Fixed by #33
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@goofyweng
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goofyweng commented Mar 22, 2020 •
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Hello,
I can run the sitl_multiuav_swarm.launch file successfully. However, most of the time, there will be one or more drones that cannot hover in the predefined position. The drones will just go straight up and keep flying upward. I don't know why.
The following is what I got after using roslaunch formation_control sitl_multiuav_swarm.launch

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.

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

Also, if I want to change the formation of the drones (like making 3 drones line up), what should I do?

Thanks!
@Jaeyoung-Lim
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@goofyweng I think there is something wrong with your system. Can you try and use the current master of the px4 firmware ?

@goofyweng
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@Jaeyoung-Lim Yes, I have tried and used some examples related to multi uavs, Multiple Vehicle with Gazebo (No ROS) and Multiple Vehicles with ROS and Gazebo, on the px4 master page. These simulation works just fine. By following the instructions, I can see three quadrotor in Gazebo UI.

@Jaeyoung-Lim
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@goofyweng So the problem is sovled?

@goofyweng
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goofyweng commented Apr 9, 2020 •
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@Jaeyoung-Lim Not really. I can run the example in mavros_swarm, but the drones will takeoff, go straight up and then hover in a very high position. They will not behave like the takeoff.gif you provided. Is there any parameters that I can modify to give the drones predefined position to make them behave like the takeoff.gif or change formation during flight?

@Jaeyoung-Lim
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@goofyweng Could you check which altitude they stop at? a log would be helpful

@goofyweng
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@Jaeyoung-Lim I just run the launch file again and the drones altitude (coordination in z direction) are as follow:
iris_0 ==> z:490.767179
iris_1 ==> z:490.831583
iris_2 ==> z:490.599597
I don't quite understand how to get log from this example but here's what I got in terminal hope it would help :

weng@ubuntu:~/Firmware$ roslaunch formation_control sitl_multiuav_swarm.launch
... logging to /home/weng/.ros/log/a1e57744-7a8d-11ea-9ed0-5c93a29bd885/roslaunch-ubuntu-5964.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:43935/

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 [5984]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a1e57744-7a8d-11ea-9ed0-5c93a29bd885
process[rosout-1]: started with pid [5995]
started core service [/rosout]
process[formation_control_node-2]: started with pid [6003]
process[gazebo-3]: started with pid [6005]
process[gazebo_gui-4]: started with pid [6015]
[ INFO] [1586455935.291987757]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1586455935.292560275]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1586455935.294883531]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1586455935.295768714]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1586455935.994554379, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1586455936.028969410, 0.060000000]: Physics dynamic reconfigure ready.
process[uav0/sitl_0-5]: started with pid [6155]
process[uav0/iris_0_spawn-6]: started with pid [6156]
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/mavros-7]: started with pid [6167]
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] Loaded: eeprom/parameters_10016
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
process[uav1/sitl_1-8]: started with pid [6214]
INFO  [px4] Creating symlink /home/weng/Firmware/ROMFS/px4fmu_common -> /home/weng/.ros/sitl_iris_1/etc

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 1
process[uav1/iris_1_spawn-9]: started with pid [6215]
process[uav1/mavros-10]: started with pid [6232]
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] Loaded: eeprom/parameters_10016
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] [1586455937.359422607, 1.368000000]: FCU URL: udp://:14541@localhost:14581
[ INFO] [1586455937.376509237, 1.380000000]: FCU URL: udp://:14540@localhost:14580
process[uav2/sitl_2-11]: started with pid [6272]
[ INFO] [1586455937.389711117, 1.396000000]: udp0: Bind address: 0.0.0.0:14541
[ INFO] [1586455937.389944642, 1.396000000]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1586455937.390385683, 1.396000000]: GCS bridge disabled
[ INFO] [1586455937.391128394, 1.396000000]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1586455937.391395808, 1.396000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1586455937.391862333, 1.396000000]: GCS bridge disabled
process[uav2/iris_2_spawn-12]: started with pid [6273]
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  [param] selected parameter default file eeprom/parameters_10016
process[uav2/mavros-13]: started with pid [6293]
[param] Loaded: eeprom/parameters_10016
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] [1586455937.804034484, 1.808000000]: FCU URL: udp://:14542@localhost:14582
[ INFO] [1586455937.809725448, 1.816000000]: udp0: Bind address: 0.0.0.0:14542
[ INFO] [1586455937.809921351, 1.816000000]: udp0: Remote address: 127.0.0.1:14582
[ INFO] [1586455937.810520151, 1.816000000]: GCS bridge disabled
[ INFO] [1586455937.983437073, 1.992000000]: Plugin 3dr_radio loaded
[ INFO] [1586455937.984343379, 1.996000000]: Plugin 3dr_radio loaded
[ INFO] [1586455937.984690121, 1.996000000]: Plugin 3dr_radio loaded
[ INFO] [1586455937.987728289, 1.996000000]: Plugin 3dr_radio initialized
[ INFO] [1586455937.988094440, 1.996000000]: Plugin actuator_control loaded
[ INFO] [1586455937.988982839, 1.996000000]: Plugin 3dr_radio initialized
[ INFO] [1586455937.989354852, 1.996000000]: Plugin actuator_control loaded
[ INFO] [1586455938.001799916, 2.008000000]: Plugin actuator_control initialized
[ INFO] [1586455938.005555740, 2.012000000]: Plugin actuator_control initialized
[ INFO] [1586455938.008720115, 2.016000000]: Plugin 3dr_radio initialized
[ INFO] [1586455938.008903971, 2.016000000]: Plugin actuator_control loaded
[ INFO] [1586455938.022650497, 2.032000000]: Plugin actuator_control initialized
[ INFO] [1586455938.282418871, 2.296000000]: Plugin adsb loaded
[ INFO] [1586455938.282512457, 2.296000000]: Plugin adsb loaded
[ INFO] [1586455938.283316333, 2.296000000]: Plugin adsb loaded
[ INFO] [1586455938.291156454, 2.304000000]: Plugin adsb initialized
[ INFO] [1586455938.291603747, 2.304000000]: Plugin altitude loaded
[ INFO] [1586455938.292219521, 2.304000000]: Plugin adsb initialized
[ INFO] [1586455938.292520911, 2.308000000]: Plugin altitude loaded
[ INFO] [1586455938.296845286, 2.312000000]: Plugin altitude initialized
[ INFO] [1586455938.297263943, 2.312000000]: Plugin cam_imu_sync loaded
[ INFO] [1586455938.299160802, 2.312000000]: Plugin altitude initialized
[ INFO] [1586455938.299428254, 2.312000000]: Plugin cam_imu_sync loaded
[ INFO] [1586455938.300536643, 2.316000000]: Plugin cam_imu_sync initialized
[ INFO] [1586455938.301017646, 2.316000000]: Plugin command loaded
[ INFO] [1586455938.303242598, 2.316000000]: Plugin cam_imu_sync initialized
[ INFO] [1586455938.303592365, 2.316000000]: Plugin command loaded
[ INFO] [1586455938.334929123, 2.348000000]: Plugin adsb initialized
[ INFO] [1586455938.335197001, 2.348000000]: Plugin altitude loaded
[ INFO] [1586455938.344212650, 2.360000000]: Plugin command initialized
[ INFO] [1586455938.344625333, 2.360000000]: Plugin companion_process_status loaded
[ INFO] [1586455938.345269679, 2.360000000]: Plugin altitude initialized
[ INFO] [1586455938.345515808, 2.360000000]: Plugin cam_imu_sync loaded
[ INFO] [1586455938.352497588, 2.368000000]: Plugin cam_imu_sync initialized
[ INFO] [1586455938.352824432, 2.368000000]: Plugin command loaded
[ INFO] [1586455938.358052427, 2.372000000]: Plugin command initialized
[ INFO] [1586455938.358341310, 2.372000000]: Plugin companion_process_status loaded
[ INFO] [1586455938.371824615, 2.388000000]: Plugin companion_process_status initialized
[ INFO] [1586455938.372092826, 2.388000000]: Plugin debug_value loaded
[ INFO] [1586455938.372989743, 2.388000000]: Plugin companion_process_status initialized
[ INFO] [1586455938.373260179, 2.388000000]: Plugin debug_value loaded
[ INFO] [1586455938.407852719, 2.424000000]: Plugin command initialized
[ INFO] [1586455938.408193558, 2.424000000]: Plugin companion_process_status loaded
[ INFO] [1586455938.432480545, 2.448000000]: Plugin debug_value initialized
[ INFO] [1586455938.432673226, 2.448000000]: Plugin distance_sensor blacklisted
[ INFO] [1586455938.433063738, 2.448000000]: Plugin fake_gps loaded
[ INFO] [1586455938.443789234, 2.460000000]: Plugin companion_process_status initialized
[ INFO] [1586455938.444024936, 2.460000000]: Plugin debug_value loaded
[ INFO] [1586455938.449004372, 2.464000000]: Plugin debug_value initialized
[ INFO] [1586455938.449086166, 2.464000000]: Plugin distance_sensor blacklisted
[ INFO] [1586455938.449508996, 2.464000000]: Plugin fake_gps loaded
[ INFO] [1586455938.500094221, 2.516000000]: Plugin debug_value initialized
[ INFO] [1586455938.500162668, 2.516000000]: Plugin distance_sensor blacklisted
[ INFO] [1586455938.500443799, 2.516000000]: Plugin fake_gps loaded
[ INFO] [1586455938.546776515, 2.560000000]: Plugin fake_gps initialized
[ INFO] [1586455938.547429726, 2.564000000]: Plugin ftp loaded
[ INFO] [1586455938.549206012, 2.564000000]: Plugin fake_gps initialized
[ INFO] [1586455938.549543582, 2.564000000]: Plugin ftp loaded
[ INFO] [1586455938.595730699, 2.612000000]: Plugin fake_gps initialized
[ INFO] [1586455938.596316517, 2.612000000]: Plugin ftp loaded
[ INFO] [1586455938.691131962, 2.708000000]: Plugin ftp initialized
[ INFO] [1586455938.691477624, 2.708000000]: Plugin global_position loaded
[ INFO] [1586455938.694618393, 2.712000000]: Plugin ftp initialized
[ INFO] [1586455938.694926645, 2.712000000]: Plugin global_position loaded
[ INFO] [1586455938.732293937, 2.748000000]: Plugin ftp initialized
[ INFO] [1586455938.732771096, 2.748000000]: Plugin global_position loaded
[ INFO] [1586455938.951849299, 2.964000000]: Plugin global_position initialized
[ INFO] [1586455938.952091754, 2.964000000]: Plugin gps_rtk loaded
[ INFO] [1586455938.954168398, 2.968000000]: Plugin global_position initialized
[ INFO] [1586455938.954569793, 2.968000000]: Plugin gps_rtk loaded
[ INFO] [1586455938.969431535, 2.984000000]: Plugin gps_rtk initialized
[ INFO] [1586455938.969722043, 2.984000000]: Plugin hil loaded
[ INFO] [1586455938.972496101, 2.984000000]: Plugin gps_rtk initialized
[ INFO] [1586455938.973031546, 2.988000000]: Plugin hil loaded
[ INFO] [1586455938.987025926, 3.000000000]: Plugin global_position initialized
[ INFO] [1586455938.987382014, 3.000000000]: Plugin gps_rtk loaded
[ INFO] [1586455939.017937897, 3.032000000]: Plugin gps_rtk initialized
[ INFO] [1586455939.018344674, 3.032000000]: Plugin hil loaded
[ INFO] [1586455939.127300897, 3.136000000]: Plugin hil initialized
[ INFO] [1586455939.127659564, 3.140000000]: Plugin home_position loaded
[ INFO] [1586455939.132595612, 3.140000000]: Plugin hil initialized
[ INFO] [1586455939.133184096, 3.140000000]: Plugin home_position loaded
[ INFO] [1586455939.158189296, 3.168000000]: Plugin home_position initialized
[ INFO] [1586455939.159009764, 3.168000000]: Plugin imu loaded
[ INFO] [1586455939.163359045, 3.172000000]: Plugin hil initialized
[ INFO] [1586455939.163718865, 3.176000000]: Plugin home_position loaded
[ INFO] [1586455939.166371465, 3.176000000]: Plugin home_position initialized
[ INFO] [1586455939.167071930, 3.176000000]: Plugin imu loaded
[ INFO] [1586455939.232807623, 3.244000000]: Plugin home_position initialized
[ INFO] [1586455939.233287490, 3.244000000]: Plugin imu loaded
[ INFO] [1586455939.289894242, 3.288000000]: Plugin imu initialized
[ INFO] [1586455939.290021920, 3.292000000]: Plugin imu initialized
[ INFO] [1586455939.290314307, 3.292000000]: Plugin landing_target loaded
[ INFO] [1586455939.290365615, 3.288000000]: Plugin landing_target loaded
[ INFO] [1586455939.345925103, 3.328000000]: Plugin imu initialized
[ INFO] [1586455939.346370597, 3.328000000]: Plugin landing_target loaded
[ INFO] [1586455939.446529254, 3.444000000]: Plugin landing_target initialized
[ INFO] [1586455939.446998467, 3.444000000]: Plugin local_position loaded
[ INFO] [1586455939.457953997, 3.456000000]: Plugin landing_target initialized
[ INFO] [1586455939.458361623, 3.456000000]: Plugin local_position loaded
[ INFO] [1586455939.481101281, 3.480000000]: Plugin landing_target initialized
[ INFO] [1586455939.481438883, 3.480000000]: Plugin local_position loaded
[ INFO] [1586455939.567885553, 3.568000000]: Plugin local_position initialized
[ INFO] [1586455939.568670356, 3.568000000]: Plugin log_transfer loaded
[ INFO] [1586455939.581274633, 3.580000000]: Plugin local_position initialized
[ INFO] [1586455939.581572822, 3.580000000]: Plugin log_transfer loaded
[ INFO] [1586455939.584357278, 3.584000000]: Plugin local_position initialized
[ INFO] [1586455939.585063598, 3.584000000]: Plugin log_transfer loaded
[ INFO] [1586455939.599196178, 3.596000000]: Plugin log_transfer initialized
[ INFO] [1586455939.599527458, 3.596000000]: Plugin manual_control loaded
[ INFO] [1586455939.605598323, 3.604000000]: Plugin log_transfer initialized
[ INFO] [1586455939.606132933, 3.604000000]: Plugin manual_control loaded
[ INFO] [1586455939.618474256, 3.616000000]: Plugin log_transfer initialized
[ INFO] [1586455939.619055287, 3.616000000]: Plugin manual_control loaded
[ INFO] [1586455939.626679624, 3.624000000]: Plugin manual_control initialized
[ INFO] [1586455939.626980836, 3.624000000]: Plugin mocap_pose_estimate loaded
[ INFO] [1586455939.627525521, 3.628000000]: Plugin manual_control initialized
[ INFO] [1586455939.627848488, 3.628000000]: Plugin mocap_pose_estimate loaded
[ INFO] [1586455939.641449659, 3.640000000]: Plugin manual_control initialized
[ INFO] [1586455939.641696636, 3.640000000]: Plugin mocap_pose_estimate loaded
[ INFO] [1586455939.651179508, 3.652000000]: Plugin mocap_pose_estimate initialized
[ INFO] [1586455939.651723826, 3.652000000]: Plugin mount_control loaded
[ INFO] [1586455939.654025369, 3.652000000]: Plugin mocap_pose_estimate initialized
[ INFO] [1586455939.654642659, 3.652000000]: Plugin mount_control loaded
[ INFO] [1586455939.677018933, 3.676000000]: Plugin mocap_pose_estimate initialized
[ INFO] [1586455939.677462729, 3.676000000]: Plugin mount_control loaded
[ INFO] [1586455939.704214391, 3.700000000]: Plugin mount_control initialized
[ INFO] [1586455939.704492113, 3.700000000]: Plugin obstacle_distance loaded
[ INFO] [1586455939.705852356, 3.704000000]: Plugin mount_control initialized
[ INFO] [1586455939.706079946, 3.704000000]: Plugin obstacle_distance loaded
[ INFO] [1586455939.753124235, 3.744000000]: Plugin obstacle_distance initialized
[ INFO] [1586455939.753514643, 3.744000000]: Plugin odom loaded
[ INFO] [1586455939.761245415, 3.752000000]: Plugin mount_control initialized
[ INFO] [1586455939.761497732, 3.752000000]: Plugin obstacle_distance loaded
[ INFO] [1586455939.764690581, 3.756000000]: Plugin obstacle_distance initialized
[ INFO] [1586455939.764969381, 3.756000000]: Plugin odom loaded
[ INFO] [1586455939.784814679, 3.776000000]: Plugin obstacle_distance initialized
[ INFO] [1586455939.785462163, 3.776000000]: Plugin odom loaded
[ INFO] [1586455939.787375271, 3.780000000]: Plugin odom initialized
[ INFO] [1586455939.787731243, 3.780000000]: Plugin onboard_computer_status loaded
[ INFO] [1586455939.803553983, 3.796000000]: Plugin odom initialized
[ INFO] [1586455939.804035090, 3.796000000]: Plugin onboard_computer_status loaded
[ INFO] [1586455939.809860417, 3.800000000]: Plugin onboard_computer_status initialized
[ INFO] [1586455939.810283521, 3.800000000]: Plugin param loaded
[ INFO] [1586455939.818800481, 3.812000000]: Plugin odom initialized
[ INFO] [1586455939.819060343, 3.812000000]: Plugin onboard_computer_status loaded
[ INFO] [1586455939.820878872, 3.812000000]: Plugin onboard_computer_status initialized
[ INFO] [1586455939.821279165, 3.812000000]: Plugin param loaded
[ INFO] [1586455939.831507048, 3.824000000]: Plugin param initialized
[ INFO] [1586455939.831842040, 3.824000000]: Plugin px4flow loaded
[ INFO] [1586455939.839564745, 3.832000000]: Plugin onboard_computer_status initialized
[ INFO] [1586455939.839919951, 3.832000000]: Plugin param loaded
[ INFO] [1586455939.841554303, 3.836000000]: Plugin param initialized
[ INFO] [1586455939.841813725, 3.836000000]: Plugin px4flow loaded
[ INFO] [1586455939.876880844, 3.872000000]: Plugin param initialized
[ INFO] [1586455939.877361560, 3.872000000]: Plugin px4flow loaded
[ INFO] [1586455939.906252199, 3.900000000]: Plugin px4flow initialized
[ INFO] [1586455939.906484141, 3.900000000]: Plugin rangefinder blacklisted
[ INFO] [1586455939.907213450, 3.900000000]: Plugin rc_io loaded
[ INFO] [1586455939.925658174, 3.916000000]: Plugin px4flow initialized
[ INFO] [1586455939.925762004, 3.916000000]: Plugin rangefinder blacklisted
[ INFO] [1586455939.926175323, 3.916000000]: Plugin rc_io loaded
[ INFO] [1586455939.941570574, 3.936000000]: Plugin rc_io initialized
[ INFO] [1586455939.941687178, 3.936000000]: Plugin safety_area blacklisted
[ INFO] [1586455939.941834779, 3.936000000]: Plugin px4flow initialized
[ INFO] [1586455939.941912404, 3.936000000]: Plugin rangefinder blacklisted
[ INFO] [1586455939.942012115, 3.936000000]: Plugin setpoint_accel loaded
[ INFO] [1586455939.942258611, 3.936000000]: Plugin rc_io loaded
[ INFO] [1586455939.960709923, 3.956000000]: Plugin rc_io initialized
[ INFO] [1586455939.960879958, 3.956000000]: Plugin safety_area blacklisted
[ INFO] [1586455939.961196505, 3.956000000]: Plugin setpoint_accel loaded
[ INFO] [1586455939.972361589, 3.964000000]: Plugin rc_io initialized
[ INFO] [1586455939.972454605, 3.964000000]: Plugin safety_area blacklisted
[ INFO] [1586455939.972766134, 3.964000000]: Plugin setpoint_accel loaded
[ INFO] [1586455939.979485208, 3.972000000]: Plugin setpoint_accel initialized
[ INFO] [1586455939.982232968, 3.972000000]: Plugin setpoint_attitude loaded
[ INFO] [1586455939.983032983, 3.976000000]: Plugin setpoint_accel initialized
[ INFO] [1586455939.983535927, 3.976000000]: Plugin setpoint_attitude loaded
[ INFO] [1586455940.002646663, 3.992000000]: Plugin setpoint_accel initialized
[ INFO] [1586455940.003078248, 3.996000000]: Plugin setpoint_attitude loaded
[ INFO] [1586455940.068836017, 4.056000000]: Plugin setpoint_attitude initialized
[ INFO] [1586455940.069181257, 4.056000000]: Plugin setpoint_position loaded
[ INFO] [1586455940.070666703, 4.060000000]: Plugin setpoint_attitude initialized
[ INFO] [1586455940.070965902, 4.060000000]: Plugin setpoint_position loaded
[ INFO] [1586455940.092970024, 4.080000000]: Plugin setpoint_attitude initialized
[ INFO] [1586455940.093268580, 4.080000000]: Plugin setpoint_position loaded
[ INFO] [1586455940.240607635, 4.228000000]: Plugin setpoint_position initialized
[ INFO] [1586455940.241093495, 4.228000000]: Plugin setpoint_raw loaded
[ INFO] [1586455940.259855807, 4.240000000]: Plugin setpoint_position initialized
[ INFO] [1586455940.260179027, 4.240000000]: Plugin setpoint_raw loaded
[ INFO] [1586455940.302823362, 4.288000000]: Plugin setpoint_position initialized
[ INFO] [1586455940.303184115, 4.288000000]: Plugin setpoint_raw loaded
[INFO] [1586455940.350859, 0.000000]: Loading model XML from ros parameter rotors_description
[ INFO] [1586455940.397292772, 4.384000000]: Plugin setpoint_raw initialized
[ INFO] [1586455940.397748319, 4.384000000]: Plugin setpoint_trajectory loaded
[INFO] [1586455940.404132, 4.392000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1586455940.439753256, 4.428000000]: Plugin setpoint_raw initialized
[INFO] [1586455940.440605, 4.428000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1586455940.440888691, 4.428000000]: Plugin setpoint_trajectory loaded
[ INFO] [1586455940.468516659, 4.456000000]: Plugin setpoint_raw initialized
[ INFO] [1586455940.468789479, 4.456000000]: Plugin setpoint_trajectory loaded
[ INFO] [1586455940.516801199, 4.504000000]: Plugin setpoint_trajectory initialized
[ INFO] [1586455940.517068231, 4.504000000]: Plugin setpoint_velocity loaded
[INFO] [1586455940.540229, 4.520000]: Loading model XML from ros parameter rotors_description
[ INFO] [1586455940.548094263, 4.528000000]: Plugin setpoint_trajectory initialized
[ INFO] [1586455940.548545347, 4.528000000]: Plugin setpoint_velocity loaded
[ INFO] [1586455940.562105754, 4.540000000]: Plugin setpoint_trajectory initialized
[ INFO] [1586455940.562482616, 4.540000000]: Plugin setpoint_velocity loaded
[INFO] [1586455940.585540, 4.544000]: Loading model XML from ros parameter rotors_description
[ INFO] [1586455940.598931501, 4.544000000]: Plugin setpoint_velocity initialized
[ INFO] [1586455940.599891329, 4.544000000]: Plugin sys_status loaded
[INFO] [1586455940.616524, 4.544000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1586455940.616810469, 4.544000000]: Plugin setpoint_velocity initialized
[ INFO] [1586455940.617937733, 4.544000000]: Plugin sys_status loaded
[INFO] [1586455940.627506, 4.544000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1586455940.648505958, 4.544000000]: Plugin setpoint_velocity initialized
[ INFO] [1586455940.649953742, 4.544000000]: Plugin sys_status loaded
[INFO] [1586455940.654575, 4.544000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1586455940.663965, 4.544000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1586455940.754935473, 4.544000000]: Plugin sys_status initialized
[ INFO] [1586455940.755255316, 4.544000000]: Plugin sys_time loaded
[ INFO] [1586455940.762543469, 4.544000000]: Plugin sys_status initialized
[ INFO] [1586455940.762903294, 4.544000000]: Plugin sys_time loaded
[ INFO] [1586455940.779183824, 4.544000000]: Plugin sys_status initialized
[ INFO] [1586455940.779565513, 4.544000000]: Plugin sys_time loaded
[ INFO] [1586455940.793805575, 4.544000000]: TM: Timesync mode: MAVLINK
[ INFO] [1586455940.803483560, 4.544000000]: Plugin sys_time initialized
[ INFO] [1586455940.803811584, 4.544000000]: Plugin trajectory loaded
[INFO] [1586455940.813926, 4.544000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1586455940.833473716, 4.544000000]: TM: Timesync mode: MAVLINK
[ INFO] [1586455940.843143359, 4.544000000]: TM: Timesync mode: MAVLINK
[ INFO] [1586455940.850213456, 4.544000000]: Plugin sys_time initialized
[ INFO] [1586455940.850496063, 4.544000000]: Plugin trajectory loaded
[ INFO] [1586455940.852458500, 4.544000000]: Plugin trajectory initialized
[ INFO] [1586455940.852785603, 4.544000000]: Plugin vfr_hud loaded
[ INFO] [1586455940.854821707, 4.544000000]: Plugin vfr_hud initialized
[ INFO] [1586455940.854907895, 4.544000000]: Plugin vibration blacklisted
[ INFO] [1586455940.855165429, 4.544000000]: Plugin vision_pose_estimate loaded
[ INFO] [1586455940.855912053, 4.544000000]: Plugin sys_time initialized
[ INFO] [1586455940.856185777, 4.544000000]: Plugin trajectory loaded
[ INFO] [1586455940.869758814, 4.544000000]: Plugin trajectory initialized
[ INFO] [1586455940.870029064, 4.544000000]: Plugin vfr_hud loaded
[ INFO] [1586455940.874711874, 4.544000000]: Plugin vfr_hud initialized
[ INFO] [1586455940.874799843, 4.544000000]: Plugin vibration blacklisted
[ INFO] [1586455940.875062332, 4.544000000]: Plugin vision_pose_estimate loaded
[ INFO] [1586455940.898769848, 4.544000000]: Plugin trajectory initialized
[ INFO] [1586455940.899011561, 4.544000000]: Plugin vfr_hud loaded
[ INFO] [1586455940.903238441, 4.544000000]: Plugin vfr_hud initialized
[ INFO] [1586455940.903319738, 4.544000000]: Plugin vibration blacklisted
[ INFO] [1586455940.903562800, 4.544000000]: Plugin vision_pose_estimate loaded
[ INFO] [1586455940.921465203, 4.544000000]: Plugin vision_pose_estimate initialized
[ INFO] [1586455940.921720384, 4.544000000]: Plugin vision_speed_estimate loaded
[ INFO] [1586455940.927510776, 4.544000000]: Plugin vision_pose_estimate initialized
[ INFO] [1586455940.927777613, 4.544000000]: Plugin vision_speed_estimate loaded
[ INFO] [1586455940.944973260, 4.544000000]: Plugin vision_speed_estimate initialized
[ INFO] [1586455940.945293437, 4.544000000]: Plugin waypoint loaded
[ INFO] [1586455940.947716418, 4.544000000]: Plugin vision_pose_estimate initialized
[ INFO] [1586455940.948028770, 4.544000000]: Plugin vision_speed_estimate loaded
[ INFO] [1586455940.952686066, 4.544000000]: Plugin vision_speed_estimate initialized
[ INFO] [1586455940.953059429, 4.544000000]: Plugin waypoint loaded
[ INFO] [1586455940.960105866, 4.544000000]: Plugin vision_speed_estimate initialized
[ INFO] [1586455940.960432811, 4.544000000]: Plugin waypoint loaded
[ INFO] [1586455940.965436886, 4.544000000]: Plugin waypoint initialized
[ INFO] [1586455940.965521976, 4.544000000]: Plugin wheel_odometry blacklisted
[ INFO] [1586455940.965763940, 4.544000000]: Plugin wind_estimation loaded
[ INFO] [1586455940.976464172, 4.544000000]: Plugin wind_estimation initialized
[ INFO] [1586455940.976591029, 4.544000000]: Autostarting mavlink via USB on PX4
[ INFO] [1586455940.976837272, 4.544000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1586455940.976894349, 4.544000000]: Built-in MAVLink package version: 2019.12.12
[ INFO] [1586455940.976949271, 4.544000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1586455940.976990153, 4.544000000]: MAVROS started. MY ID 1.240, TARGET ID 3.1
[ INFO] [1586455940.980630606, 4.544000000]: Plugin waypoint initialized
[ INFO] [1586455940.980719159, 4.544000000]: Plugin wheel_odometry blacklisted
[ INFO] [1586455940.980983730, 4.544000000]: Plugin wind_estimation loaded
[ INFO] [1586455940.983012010, 4.544000000]: Plugin wind_estimation initialized
[ INFO] [1586455940.983131416, 4.544000000]: Autostarting mavlink via USB on PX4
[ INFO] [1586455940.983560971, 4.544000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1586455940.983619400, 4.544000000]: Built-in MAVLink package version: 2019.12.12
[ INFO] [1586455940.983670364, 4.544000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1586455940.983714311, 4.544000000]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1586455940.985354178, 4.544000000]: Plugin waypoint initialized
[ INFO] [1586455940.985436287, 4.544000000]: Plugin wheel_odometry blacklisted
[ INFO] [1586455940.985870095, 4.544000000]: Plugin wind_estimation loaded
[ INFO] [1586455940.987243601, 4.544000000]: Plugin wind_estimation initialized
[ INFO] [1586455940.987439861, 4.544000000]: Autostarting mavlink via USB on PX4
[ INFO] [1586455940.987724190, 4.544000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1586455940.987770309, 4.544000000]: Built-in MAVLink package version: 2019.12.12
[ INFO] [1586455940.987812224, 4.544000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1586455940.987846850, 4.544000000]: MAVROS started. MY ID 1.240, TARGET ID 2.1
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [commander] Mission #3 loaded, 6 WPs, curr: 0
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 18570 remote port 14550
[INFO] [1586455941.369758, 4.748000]: 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 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/2020-04-09/18_12_21.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
[ INFO] [1586455941.535979510, 4.884000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1586455941.536356551, 4.884000000]: FCU: [logger] file:./log/2020-04-09/18_12_21.ulg
[ INFO] [1586455941.538070581, 4.884000000]: IMU: High resolution IMU detected!
INFO  [px4] Startup script returned successfully
INFO  [mavlink] partner IP: 127.0.0.1
[INFO] [1586455941.719225, 4.908000]: Spawn status: SpawnModel: Successfully spawned entity
INFO  [simulator] Simulator connected on TCP port 4561.
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18572 remote port 14550
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [commander] Mission #2 loaded, 9 WPs, curr: 0
[uav0/iris_0_spawn-6] process has finished cleanly
log file: /home/weng/.ros/log/a1e57744-7a8d-11ea-9ed0-5c93a29bd885/uav0-iris_0_spawn-6*.log
[uav2/iris_2_spawn-12] process has finished cleanly
log file: /home/weng/.ros/log/a1e57744-7a8d-11ea-9ed0-5c93a29bd885/uav2-iris_2_spawn-12*.log
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
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  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18571 remote port 14550
INFO  [logger] logger started (mode=all)
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
[ INFO] [1586455941.996198517, 5.088000000]: udp0: Remote address: 127.0.0.1:14582
[ INFO] [1586455942.005006672, 5.092000000]: IMU: High resolution IMU detected!
INFO  [logger] Start file log (type: full)
INFO  [px4] Startup script returned successfully
[ INFO] [1586455942.028550304, 5.104000000]: FCU: [logger] file:./log/2020-04-09/18_12_22.ulg
INFO  [logger] Opened full log file: ./log/2020-04-09/18_12_22.ulg
INFO  [mavlink] partner IP: 127.0.0.1
[uav1/iris_1_spawn-9] process has finished cleanly
log file: /home/weng/.ros/log/a1e57744-7a8d-11ea-9ed0-5c93a29bd885/uav1-iris_1_spawn-9*.log
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/2020-04-09/18_12_22.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
[ INFO] [1586455942.157035137, 5.224000000]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1586455942.157432210, 5.224000000]: FCU: [logger] file:./log/2020-04-09/18_12_22.ulg
[ INFO] [1586455942.158539701, 5.228000000]: IMU: High resolution IMU detected!
INFO  [px4] Startup script returned successfully
INFO  [mavlink] partner IP: 127.0.0.1
INFO  [ecl/EKF] 644000: GPS checks passed (WGS-84 origin set)
INFO  [ecl/EKF] 644000: GPS checks passed (WGS-84 origin set)
INFO  [ecl/EKF] 644000: GPS checks passed (WGS-84 origin set)
[ INFO] [1586455942.761066851, 5.804000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1586455942.777201596, 5.820000000]: IMU: High resolution IMU detected!
[ INFO] [1586455942.966578847, 6.004000000]: Setting to Offboard
[ERROR] [1586455942.974000065, 6.012000000]: MODE: Unsupported FCU
[ERROR] [1586455942.982037474, 6.020000000]: MODE: Unsupported FCU
[ INFO] [1586455942.999629898, 6.036000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1586455943.011887115, 6.048000000]: IMU: High resolution IMU detected!
[ INFO] [1586455943.127683734, 6.156000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1586455943.132266958, 6.164000000]: 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] [1586455943.503744807, 6.532000000]: IMU: Attitude quaternion IMU detected!
INFO  [ecl/EKF] 1796000: EKF aligned, (baro height, IMU buf: 22, OBS buf: 14)
INFO  [ecl/EKF] 1796000: reset position to last known position
INFO  [ecl/EKF] 1796000: reset velocity to zero
[ INFO] [1586455943.709231818, 6.732000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1586455943.795970891, 6.808000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1586455943.796242005, 6.808000000]: VER: 1.1: Flight software:     010b0080 (1e5784609f000000)
[ INFO] [1586455943.796445288, 6.808000000]: VER: 1.1: Middleware software: 010b0080 (1e5784609f000000)
[ INFO] [1586455943.796668627, 6.808000000]: VER: 1.1: OS software:         050300ff (befe53e7f1ed557b)
[ INFO] [1586455943.796838406, 6.808000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1586455943.796975458, 6.808000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1586455943.797159273, 6.808000000]: VER: 1.1: UID:                 4954414c44494e4f
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] [1586455943.868515046, 6.868000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1586455944.053995233, 7.044000000]: VER: 3.1: Capabilities         0x000000000000e4ef
[ INFO] [1586455944.054119623, 7.044000000]: VER: 3.1: Flight software:     010b0080 (1e5784609f000000)
[ INFO] [1586455944.054189867, 7.044000000]: VER: 3.1: Middleware software: 010b0080 (1e5784609f000000)
[ INFO] [1586455944.054257295, 7.044000000]: VER: 3.1: OS software:         050300ff (befe53e7f1ed557b)
[ INFO] [1586455944.054762651, 7.044000000]: VER: 3.1: Board hardware:      00000001
[ INFO] [1586455944.054892102, 7.044000000]: VER: 3.1: VID/PID:             0000:0000
[ INFO] [1586455944.054989119, 7.044000000]: VER: 3.1: UID:                 4954414c44494e51
[ INFO] [1586455944.177829285, 7.160000000]: VER: 2.1: Capabilities         0x000000000000e4ef
[ INFO] [1586455944.182447397, 7.164000000]: VER: 2.1: Flight software:     010b0080 (1e5784609f000000)
[ INFO] [1586455944.182727225, 7.164000000]: VER: 2.1: Middleware software: 010b0080 (1e5784609f000000)
[ INFO] [1586455944.182935558, 7.164000000]: VER: 2.1: OS software:         050300ff (befe53e7f1ed557b)
[ INFO] [1586455944.183116273, 7.164000000]: VER: 2.1: Board hardware:      00000001
[ INFO] [1586455944.183285749, 7.164000000]: VER: 2.1: VID/PID:             0000:0000
[ INFO] [1586455944.183417925, 7.164000000]: VER: 2.1: UID:                 4954414c44494e50
INFO  [ecl/EKF] 5184000: reset position to GPS
INFO  [ecl/EKF] 5184000: reset velocity to GPS
INFO  [ecl/EKF] 5184000: commencing GPS fusion
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] 5184000: reset position to GPS
INFO  [ecl/EKF] 5184000: reset velocity to GPS
INFO  [ecl/EKF] 5184000: commencing GPS fusion
[ INFO] [1586455950.017881039, 12.012000000]: FCU: ARMED by Arm/Disarm component command
[ INFO] [1586455950.019699933, 12.012000000]: Vehicle armed
[ INFO] [1586455950.024274724, 12.016000000]: Setting to Offboard
[ INFO] [1586455950.031868716, 12.016000000]: 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
[ WARN] [1586455950.034299806, 12.028000000]: CMD: Unexpected command 176, result 0
[ WARN] [1586455950.037285961, 12.028000000]: CMD: Unexpected command 176, result 0
INFO  [commander] Takeoff detected
[ INFO] [1586455951.538600655, 13.348000000]: FCU: Takeoff detected
[ INFO] [1586455956.928436022, 18.020000000]: Vehicle armed
[ INFO] [1586455956.943043157, 18.028000000]: Vehicle armed
INFO  [commander] Takeoff detected
INFO  [commander] Takeoff detected
[ INFO] [1586455960.301781717, 20.804000000]: 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] [1586455960.303200691, 20.808000000]: 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] [1586455960.303919858, 20.808000000]: 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] [1586455960.305159394, 20.808000000]: 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] [1586455960.306735526, 20.812000000]: 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] [1586455960.307295401, 20.812000000]: 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] [1586455960.307645659, 20.812000000]: WP: mission received
[ INFO] [1586455960.549042526, 21.036000000]: WP: mission received
[ INFO] [1586455960.679818427, 21.160000000]: 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] [1586455960.680398703, 21.160000000]: 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] [1586455960.681666019, 21.160000000]: 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] [1586455960.684975762, 21.164000000]: 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] [1586455960.689445915, 21.164000000]: 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] [1586455960.691310200, 21.168000000]: 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] [1586455960.691859668, 21.168000000]: 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] [1586455960.693509021, 21.172000000]: 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] [1586455960.695142999, 21.172000000]: 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] [1586455960.696307918, 21.176000000]: WP: mission received

@Jaeyoung-Lim Jaeyoung-Lim mentioned this issue Apr 9, 2020
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@Jaeyoung-Lim
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@goofyweng I have made a fix in #33 Could you update to the current master and retry please?

@goofyweng
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@Jaeyoung-Lim I have change the global altitude from 488 to 2.0 in formation_control.cpp and it worked! The drones can now hover in a lower altitude. Thanks for your kind help :)

@Jaeyoung-Lim Jaeyoung-Lim added the bug Something isn't working label Feb 2, 2021
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Fix global altitude conversions Jaeyoung-Lim/mavros_swarm
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@Jaeyoung-Lim @goofyweng