About keboard control and image capture problem #2

JustinHsuNctu · 2024-01-31T08:02:49Z

@monemati Hello, it's me, again! Sorry for bother! Now, I build all environment. I execute the keboard control part. As you mentioned, I open 5 terminal. When I execute the 5th terminal ( execute python keyboard-mavsdk-test.py) and try to control the UAV, The "detected frame" window does not chnage. There is no message in Terminal 3 (execute ros2 run ros_gz_image image_bridge /camera).
When I press key AWSD, there are some value changed in terminal 5, the third value become 0.5 or 1 or -0.5 etc.
Could you give me some suggestion help me to debug it?
Justin Hsu

The messages in terminal 2 are:
ubuntu@DESKTOP-129CA14:~/PX4-Autopilot$ PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4

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

px4 starting.

INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
env SYS_AUTOSTART: 4002
INFO [param] selected parameter default file parameters.bson
INFO [param] importing from 'parameters.bson'
INFO [parameters] BSON document size 274 bytes, decoded 274 bytes (INT32:11, FLOAT:3)
INFO [param] selected parameter backup file parameters_backup.bson
INFO [dataman] data manager file './dataman' size is 7868392 bytes
INFO [init] Gazebo simulator
INFO [init] starting gazebo with world: /home/ubuntu/PX4-Autopilot/Tools/simulation/gz/worlds/default.sdf
INFO [init] PX4_GZ_MODEL_POSE set, spawning at: 268.08,-128.22,3.86,0.00,0,-0.7
INFO [gz_bridge] world: default, model name: x500_depth_0, simulation model: x500_depth
INFO [gz_bridge] Requested Model Position: 268.08,-128.22,3.86,0.00,0,-0.7
QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[Err] [SDFFeatures.cc:843] The geometry element of collision [collision] couldn't be created
[Err] [SDFFeatures.cc:843] The geometry element of collision [collision] couldn't be created
[Err] [SDFFeatures.cc:843] The geometry element of collision [collision] couldn't be created
[Err] [SDFFeatures.cc:843] The geometry element of collision [collision] couldn't be created
INFO [lockstep_scheduler] setting initial absolute time to 8000 us
libEGL warning: failed to open /dev/dri/renderD128: Permission denied

libEGL warning: failed to open /dev/dri/renderD128: Permission denied

WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro:0 1310988
INFO [commander] LED: open /dev/led0 failed (22)
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO [tone_alarm] home set
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2024-01-31/07_29_11.ulg
INFO [logger] Opened full log file: ./log/2024-01-31/07_29_11.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}BROADCAST = 1 to enable network)
INFO [mavlink] MAVLink only on localhost (set param MAV{i}_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh> INFO [commander] Ready for takeoff!
INFO [uxrce_dds_client] synchronized with time offset 1706686151688870us
INFO [uxrce_dds_client] successfully created rt/fmu/out/battery_status data writer, topic id: 19
INFO [uxrce_dds_client] successfully created rt/fmu/out/estimator_status_flags data writer, topic id: 86
INFO [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 92
INFO [uxrce_dds_client] successfully created rt/fmu/out/manual_control_setpoint data writer, topic id: 138
INFO [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 169INFO [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 191
INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 214
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_attitude data writer, topic id: 230
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 237
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_global_position data writer, topic id: 238
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 240
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 244
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 249
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 254
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [timesync] time jump detected. Resetting time synchroniser.
INFO [mavlink] partner IP: 127.0.0.1
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_command_ack data writer, topic id: 234
INFO [commander] Armed by external command
INFO [tone_alarm] arming warning
INFO [commander] Takeoff detected
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [timesync] time jump detected. Resetting time synchroniser.
Stack trace (most recent call last) in thread 1033:
#31 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#30 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f208c02484f, in
#29 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f208bf92ac2, in
#28 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f20865f6ca0, in
#27 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f20865f5af1, in QThread::exec()
#26 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f20867e275a, in QEventLoop::exec(QFlagsQEventLoop::ProcessEventsFlag)
#25 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f208683d0b7, in QEventDispatcherGlib::processEvents(QFlagsQEventLoop::ProcessEventsFlag)
#24 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f208430a3e2, in g_main_context_iteration
#23 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f2084362257, in
#22 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f208430cd3a, in g_main_context_dispatch
#21 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f208683da66, in
#20 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f20867e6f26, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
#19 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f20867e3e39, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#18 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f2085f3b712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#17 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f208681141d, in QObject::event(QEvent*)
#16 Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7f2063864ee8, in gz::gui::plugins::RenderThread::RenderNext(gz::gui::plugins::RenderSync*)
#15 Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7f2063874f57, in gz::gui::plugins::RenderThreadRhiOpenGL::RenderNext(gz::gui::plugins::RenderSync*)
#14 Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7f20638697eb, in gz::gui::plugins::GzRenderer::Render(gz::gui::plugins::RenderSync*)
#13 Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f2009497b0d, in
#12 Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f2009531bb7, in gz::rendering::v7::Ogre2Scene::FlushGpuCommandsAndStartNewFrame(unsigned char, bool)
#11 Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f2009531942, in gz::rendering::v7::Ogre2Scene::FlushGpuCommandsOnly()
#10 Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0x7f2009180602, in Ogre::CompositorManager2::_updateImplementation()
#9 Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/OGRE/RenderSystem_GL3Plus.so", at 0x7f2008b0ec2b, in Ogre::GL3PlusVaoManager::_update()
#8 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f206c797dd5, in
#7 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f206ca532ef, in
#6 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f206ca4c57a, in
#5 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f206ca4b611, in
#4 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f206ca50547, in
#3 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f206cf5f11a, in
#2 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f2063c193af, in
#1 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f2063c0583a, in
#0 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f2063caba60, in
Segmentation fault (Address not mapped to object [0x180])
Stack trace (most recent call last) in thread 928:
#28 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#27 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa2e0cc784f, in
#26 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa2e0c35ac2, in
#25 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fa2dcf27252, in
#24 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0x7fa2adb0ac37, in gz::sim::v7::systems::SensorsPrivate::RenderThread()
#23 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0x7fa2adb0a333, in gz::sim::v7::systems::SensorsPrivate::RunOnce()
#22 Object "/lib/x86_64-linux-gnu/libgz-sensors7.so.7", at 0x7fa2adb9a7ce, in gz::sensors::v7::Manager::RunOnce(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&, bool)
#21 Object "/lib/x86_64-linux-gnu/libgz-sensors7.so.7", at 0x7fa2adb9a765, in gz::sensors::v7::Sensor::Update(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&, bool)
#20 Object "/lib/x86_64-linux-gnu/libgz-sensors7-camera.so.7", at 0x7fa2ad94b6bf, in gz::sensors::v7::CameraSensor::Update(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&)
#19 Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7fa29dc3283b, in
#18 Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7fa29dcc3a94, in gz::rendering::v7::Ogre2RenderTarget::Copy(gz::rendering::v7::Image&) const
#17 Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0x7fa2acd21c22, in Ogre::Image2::copyContentsToMemory(Ogre::TextureGpu*, Ogre::TextureBox, Ogre::TextureBox, Ogre::PixelFormatGpu, bool)
#16 Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0x7fa2acc76d9c, in Ogre::AsyncTextureTicket::download(Ogre::TextureGpu*, unsigned char, bool, Ogre::TextureBox*, bool)
#15 Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/OGRE/RenderSystem_GL3Plus.so", at 0x7fa28713f543, in Ogre::GL3PlusAsyncTextureTicket::downloadFromGpu(Ogre::TextureGpu*, unsigned char, bool, Ogre::TextureBox*)
#14 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e522c3d, in
#13 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e52160e, in
#12 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e521449, in
#11 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e2e94f1, in
#10 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e5219e6, in
#9 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e2e6bbb, in
#8 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e30b8ec, in
#7 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e7d0864, in
#6 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e7d057a, in
#5 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e7cf611, in
#4 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28e7d4547, in
#3 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fa28ece311a, in
#2 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fa29ca203af, in
#1 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fa29ca0c83a, in
#0 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fa29cab2a60, in
Segmentation fault (Address not mapped to object [0x180])

The messages in terminal 4 are:

ubuntu@DESKTOP-129CA14:~/PX4-ROS2-Gazebo-YOLOv8$ python3 uav_camera_det.py
/home/ubuntu/.local/lib/python3.10/site-packages/matplotlib/projections/init.py:63: UserWarning: Unable to import Axes3D. This may be due to multiple versions of Matplotlib being installed (e.g. as a system package and as a pip package). As a result, the 3D projection is not available.
warnings.warn("Unable to import Axes3D. This may be due to multiple versions of "
[INFO] [1706686307.530698747] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 234.6ms
Speed: 6.4ms preprocess, 234.6ms inference, 2.7ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686309.811796528] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 230.5ms
Speed: 2.2ms preprocess, 230.5ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686310.059574347] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 195.7ms
Speed: 1.6ms preprocess, 195.7ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686310.267478064] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 196.3ms
Speed: 1.5ms preprocess, 196.3ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686310.476035180] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 197.4ms
Speed: 1.5ms preprocess, 197.4ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686310.805740106] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 196.8ms
Speed: 1.7ms preprocess, 196.8ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686311.440424157] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 199.4ms
Speed: 2.1ms preprocess, 199.4ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686312.094040908] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 201.5ms
Speed: 1.8ms preprocess, 201.5ms inference, 0.7ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686312.737367859] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 199.8ms
Speed: 1.5ms preprocess, 199.8ms inference, 0.6ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686313.417425313] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 225.6ms
Speed: 2.9ms preprocess, 225.6ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686314.182934448] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 202.2ms
Speed: 1.5ms preprocess, 202.2ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686314.887464659] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 224.2ms
Speed: 2.3ms preprocess, 224.2ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686315.614201869] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 204.1ms
Speed: 2.0ms preprocess, 204.1ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686316.351212380] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 219.6ms
Speed: 2.6ms preprocess, 219.6ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686317.037596090] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 200.0ms
Speed: 1.5ms preprocess, 200.0ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686317.695627400] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 233.0ms
Speed: 3.4ms preprocess, 233.0ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686318.388757910] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 195.5ms
Speed: 1.6ms preprocess, 195.5ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686319.004148019] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 194.2ms
Speed: 1.8ms preprocess, 194.2ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686319.641245528] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 197.1ms
Speed: 2.1ms preprocess, 197.1ms inference, 0.4ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686320.269485438] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 204.3ms
Speed: 1.6ms preprocess, 204.3ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686320.920355147] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 205.8ms
Speed: 1.7ms preprocess, 205.8ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686321.635106158] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 237.2ms
Speed: 2.5ms preprocess, 237.2ms inference, 0.7ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686322.397014672] [image_subscriber]: Receiving video frame

0: 384x640 (no detections), 199.2ms
Speed: 2.1ms preprocess, 199.2ms inference, 0.5ms postprocess per image at shape (1, 3, 384, 640)
[INFO] [1706686323.064647686] [image_subscriber]: Receiving video frame

The messages in terminal 5 are:
ubuntu@DESKTOP-129CA14:~/PX4-ROS2-Gazebo-YOLOv8$ python3 keyboard-mavsdk-test.py
pygame 2.5.2 (SDL 2.28.2, Python 3.10.12)
Hello from the pygame community. https://www.pygame.org/contribute.html
Waiting for drone to connect...
-- Connected to drone!
-- Connected to drone!
Task exception was never retrieved
future: <Task finished name='Task-3' coro=<getKeyboardInput() done, defined at /home/ubuntu/PX4-ROS2-Gazebo-YOLOv8/keyboard-mavsdk-test.py:12> exception=ActionError(<mavsdk.action.ActionResult object at 0x7fc3fc9dd420>, 'arm()')>
Traceback (most recent call last):
File "/home/ubuntu/PX4-ROS2-Gazebo-YOLOv8/keyboard-mavsdk-test.py", line 36, in getKeyboardInput
await my_drone.action.arm()
File "/home/ubuntu/.local/lib/python3.10/site-packages/mavsdk/action.py", line 320, in arm
raise ActionError(result, "arm()")
mavsdk.action.ActionError: COMMAND_DENIED: 'Command Denied'; origin: arm(); params: ()
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monemati · 2024-01-31T19:48:37Z

@JustinHsuNctu Hi Justin. Terminal #3 is not verbose and won't show any messages so it is ok.
Before hitting WASD you should hit "r" to arm the drone.
Oh I can see this error in your terminal: raise ActionError(result, "arm()"). Check if the drone is in a good position to arm and also check if gps is fixed (wait about 15-30 sec then hit "r").
And also if you are in WSL check if everything is running in WSL and your environment is ok.

JustinHsuNctu · 2024-02-01T06:56:38Z

@monemati Thank you for your reply! But, How could I check if gps is fixed? And how could I know if the drone is in a good postition? Does any message that I can see?
Also, I provide the terminal 2 messages.

Terminal 2:

INFO [logger] Opened full log file: ./log/2024-02-01/06_44_04.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}BROADCAST = 1 to enable network)
INFO [mavlink] MAVLink only on localhost (set param MAV{i}_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh> INFO [commander] Ready for takeoff!
INFO [uxrce_dds_client] synchronized with time offset 1706769844356401us
INFO [uxrce_dds_client] successfully created rt/fmu/out/battery_status data writer, topic id: 19
INFO [uxrce_dds_client] successfully created rt/fmu/out/estimator_status_flags data writer, topic id: 86
INFO [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 92
INFO [uxrce_dds_client] successfully created rt/fmu/out/manual_control_setpoint data writer, topic id: 138
INFO [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 169INFO [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 191
INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 214
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_attitude data writer, topic id: 230
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 237
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_global_position data writer, topic id: 238
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 240
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 244
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 249
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 254
WARN [timesync] time jump detected. Resetting time synchroniser.
INFO [mavlink] partner IP: 127.0.0.1
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_command_ack data writer, topic id: 234
WARN [timesync] time jump detected. Resetting time synchroniser.
INFO [commander] Armed by external command
INFO [tone_alarm] arming warning
INFO [commander] Pilot took over using sticks
INFO [tone_alarm] notify positive
INFO [commander] Takeoff detected
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [timesync] time jump detected. Resetting time synchroniser.
Stack trace (most recent call last) in thread 10200:
#10 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#9 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc33729884f, in
#8 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc337206ac2, in
#7 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fc30e2957ca, in
#6 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fc30e245bc7, in
#5 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fc30e7cf611, in
#4 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fc30e7d4547, in
#3 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fc30ece311a, in
#2 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fc320d473af, in
#1 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fc320d3383a, in
#0 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fc320dd9a60, in
Segmentation fault (Address not mapped to object [0x180])

JustinHsuNctu · 2024-02-01T07:56:23Z

Now, I can control UAV flying. But, the takeoff action should give it by "internal command". That means I should give the command in treinal 2 "pxh>commander takeoff." After that, I can use keyboard to control the UAV.
By the way, the delay of controlling is very very long!

monemati · 2024-02-02T08:54:10Z

@monemati Thank you for your reply! But, How could I check if gps is fixed? And how could I know if the drone is in a good postition? Does any message that I can see? Also, I provide the terminal 2 messages.

Terminal 2:

INFO [logger] Opened full log file: ./log/2024-02-01/06_44_04.ulg INFO [mavlink] MAVLink only on localhost (set param MAV_{i}BROADCAST = 1 to enable network) INFO [mavlink] MAVLink only on localhost (set param MAV{i}_BROADCAST = 1 to enable network) INFO [px4] Startup script returned successfully pxh> INFO [commander] Ready for takeoff! INFO [uxrce_dds_client] synchronized with time offset 1706769844356401us INFO [uxrce_dds_client] successfully created rt/fmu/out/battery_status data writer, topic id: 19 INFO [uxrce_dds_client] successfully created rt/fmu/out/estimator_status_flags data writer, topic id: 86 INFO [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 92 INFO [uxrce_dds_client] successfully created rt/fmu/out/manual_control_setpoint data writer, topic id: 138 INFO [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 169INFO [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 191 INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 214 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_attitude data writer, topic id: 230 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 237 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_global_position data writer, topic id: 238 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 240 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 244 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 249 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 254 WARN [timesync] time jump detected. Resetting time synchroniser. INFO [mavlink] partner IP: 127.0.0.1 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_command_ack data writer, topic id: 234 WARN [timesync] time jump detected. Resetting time synchroniser. INFO [commander] Armed by external command INFO [tone_alarm] arming warning INFO [commander] Pilot took over using sticks INFO [tone_alarm] notify positive INFO [commander] Takeoff detected WARN [timesync] time jump detected. Resetting time synchroniser. WARN [timesync] time jump detected. Resetting time synchroniser. Stack trace (most recent call last) in thread 10200: #10 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in #9 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc33729884f, in #8 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc337206ac2, in #7 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fc30e2957ca, in #6 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fc30e245bc7, in #5 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fc30e7cf611, in #4 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fc30e7d4547, in #3 Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7fc30ece311a, in #2 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fc320d473af, in #1 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fc320d3383a, in #0 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fc320dd9a60, in Segmentation fault (Address not mapped to object [0x180])

If your drone is in a good position on the ground (not tilted and not skewed) it will get gps fixed in the first minute of booting up.

monemati · 2024-02-02T08:58:15Z

Now, I can control UAV flying. But, the takeoff action should give it by "internal command". That means I should give the command in treinal 2 "pxh>commander takeoff." After that, I can use keyboard to control the UAV. By the way, the delay of controlling is very very long!

I ran it again on my machine and it does not need additional command and there is no delay, maybe it is because you are running it on WSL. Btw I am using ubuntu on my machine as an OS not vmware or WSL. Do you have access to a machine with ubuntu OS?

JustinHsuNctu · 2024-02-04T04:39:36Z

Now, I can control UAV flying. But, the takeoff action should give it by "internal command". That means I should give the command in treinal 2 "pxh>commander takeoff." After that, I can use keyboard to control the UAV. By the way, the delay of controlling is very very long!

I ran it again on my machine and it does not need additional command and there is no delay, maybe it is because you are running it on WSL. Btw I am using ubuntu on my machine as an OS not vmware or WSL. Do you have access to a machine with ubuntu OS?

Thank you for your suggestion. I will try it.

JustinHsuNctu · 2024-04-11T07:37:11Z

@monemati Hi, hello, sorry, I forgot to update my testing result. I follow your suggestion to move on to pure Ubuntu environment. Everything is OKay now! I can build up my own environment with Gazebo simulation. Thnak you all your help!
Justin Hsu

monemati · 2024-04-11T18:02:22Z

@JustinHsuNctu Hi, thank you for the update, have a happy flight 🚀

Mojgan-arch mentioned this issue Mar 3, 2024

Error Gazebo - PX4-ROS2-Gazebo-YOLOv8 #4

Closed

wyattPol mentioned this issue May 10, 2024

error when launch PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4 #9

Closed

monemati closed this as completed May 11, 2024

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