Andrew_lad 2023-01-16 17:45 采纳率: 10%
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已结题

Xtdrone配置——视觉slam：mavros的连接是true，但是无法将视觉定位信息发到px4

Ubuntu18.04 Melodic

img

执行完上面两组命令后，px4终端未输出以下内容

img

运行命令

rostopic echo /iris_0/mavros/state

检查发现connected：True，连接没有问题

以下是运行roslaunch命令后的输出

... logging to /home/lad/.ros/log/5107c06a-957f-11ed-82de-08002717c910/roslaunch-lad-VirtualBox-6071.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://lad-VirtualBox:40623/

SUMMARY
========

CLEAR PARAMETERS
 * /iris_0/mavros/

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /iris_0/mavros/camera/frame_id: base_link
 * /iris_0/mavros/cmd/use_comp_id_system_control: False
 * /iris_0/mavros/conn/heartbeat_rate: 1.0
 * /iris_0/mavros/conn/system_time_rate: 1.0
 * /iris_0/mavros/conn/timeout: 10.0
 * /iris_0/mavros/conn/timesync_rate: 10.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /iris_0/mavros/distance_sensor/laser_1_sub/id: 3
 * /iris_0/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/laser_1_sub/subscriber: True
 * /iris_0/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /iris_0/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /iris_0/mavros/distance_sensor/lidarlite_pub/id: 1
 * /iris_0/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /iris_0/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /iris_0/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /iris_0/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /iris_0/mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
 * /iris_0/mavros/distance_sensor/sonar_1_sub/id: 2
 * /iris_0/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /iris_0/mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /iris_0/mavros/fake_gps/eph: 2.0
 * /iris_0/mavros/fake_gps/epv: 2.0
 * /iris_0/mavros/fake_gps/fix_type: 3
 * /iris_0/mavros/fake_gps/geo_origin/alt: 408.0
 * /iris_0/mavros/fake_gps/geo_origin/lat: 47.3667
 * /iris_0/mavros/fake_gps/geo_origin/lon: 8.55
 * /iris_0/mavros/fake_gps/gps_rate: 5.0
 * /iris_0/mavros/fake_gps/mocap_transform: True
 * /iris_0/mavros/fake_gps/satellites_visible: 5
 * /iris_0/mavros/fake_gps/tf/child_frame_id: fix
 * /iris_0/mavros/fake_gps/tf/frame_id: map
 * /iris_0/mavros/fake_gps/tf/listen: False
 * /iris_0/mavros/fake_gps/tf/rate_limit: 10.0
 * /iris_0/mavros/fake_gps/tf/send: False
 * /iris_0/mavros/fake_gps/use_mocap: True
 * /iris_0/mavros/fake_gps/use_vision: False
 * /iris_0/mavros/fcu_protocol: v2.0
 * /iris_0/mavros/fcu_url: udp://:24540@loca...
 * /iris_0/mavros/gcs_url: 
 * /iris_0/mavros/global_position/child_frame_id: base_link
 * /iris_0/mavros/global_position/frame_id: map
 * /iris_0/mavros/global_position/gps_uere: 1.0
 * /iris_0/mavros/global_position/rot_covariance: 99999.0
 * /iris_0/mavros/global_position/tf/child_frame_id: base_link
 * /iris_0/mavros/global_position/tf/frame_id: map
 * /iris_0/mavros/global_position/tf/global_frame_id: earth
 * /iris_0/mavros/global_position/tf/send: False
 * /iris_0/mavros/global_position/use_relative_alt: True
 * /iris_0/mavros/image/frame_id: px4flow
 * /iris_0/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /iris_0/mavros/imu/frame_id: base_link
 * /iris_0/mavros/imu/linear_acceleration_stdev: 0.0003
 * /iris_0/mavros/imu/magnetic_stdev: 0.0
 * /iris_0/mavros/imu/orientation_stdev: 1.0
 * /iris_0/mavros/landing_target/camera/fov_x: 2.0071286398
 * /iris_0/mavros/landing_target/camera/fov_y: 2.0071286398
 * /iris_0/mavros/landing_target/image/height: 480
 * /iris_0/mavros/landing_target/image/width: 640
 * /iris_0/mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /iris_0/mavros/landing_target/listen_lt: False
 * /iris_0/mavros/landing_target/mav_frame: LOCAL_NED
 * /iris_0/mavros/landing_target/target_size/x: 0.3
 * /iris_0/mavros/landing_target/target_size/y: 0.3
 * /iris_0/mavros/landing_target/tf/child_frame_id: camera_center
 * /iris_0/mavros/landing_target/tf/frame_id: landing_target
 * /iris_0/mavros/landing_target/tf/listen: False
 * /iris_0/mavros/landing_target/tf/rate_limit: 10.0
 * /iris_0/mavros/landing_target/tf/send: True
 * /iris_0/mavros/local_position/frame_id: map
 * /iris_0/mavros/local_position/tf/child_frame_id: base_link
 * /iris_0/mavros/local_position/tf/frame_id: map
 * /iris_0/mavros/local_position/tf/send: False
 * /iris_0/mavros/local_position/tf/send_fcu: False
 * /iris_0/mavros/mission/pull_after_gcs: True
 * /iris_0/mavros/mission/use_mission_item_int: True
 * /iris_0/mavros/mocap/use_pose: True
 * /iris_0/mavros/mocap/use_tf: False
 * /iris_0/mavros/mount/debounce_s: 4.0
 * /iris_0/mavros/mount/err_threshold_deg: 10.0
 * /iris_0/mavros/mount/negate_measured_pitch: False
 * /iris_0/mavros/mount/negate_measured_roll: False
 * /iris_0/mavros/mount/negate_measured_yaw: False
 * /iris_0/mavros/odometry/fcu/odom_child_id_des: base_link
 * /iris_0/mavros/odometry/fcu/odom_parent_id_des: map
 * /iris_0/mavros/plugin_blacklist: ['safety_area', '...
 * /iris_0/mavros/plugin_whitelist: []
 * /iris_0/mavros/px4flow/frame_id: px4flow
 * /iris_0/mavros/px4flow/ranger_fov: 0.118682
 * /iris_0/mavros/px4flow/ranger_max_range: 5.0
 * /iris_0/mavros/px4flow/ranger_min_range: 0.3
 * /iris_0/mavros/safety_area/p1/x: 1.0
 * /iris_0/mavros/safety_area/p1/y: 1.0
 * /iris_0/mavros/safety_area/p1/z: 1.0
 * /iris_0/mavros/safety_area/p2/x: -1.0
 * /iris_0/mavros/safety_area/p2/y: -1.0
 * /iris_0/mavros/safety_area/p2/z: -1.0
 * /iris_0/mavros/setpoint_accel/send_force: False
 * /iris_0/mavros/setpoint_attitude/reverse_thrust: False
 * /iris_0/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /iris_0/mavros/setpoint_attitude/tf/frame_id: map
 * /iris_0/mavros/setpoint_attitude/tf/listen: False
 * /iris_0/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /iris_0/mavros/setpoint_attitude/use_quaternion: False
 * /iris_0/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /iris_0/mavros/setpoint_position/tf/child_frame_id: target_position
 * /iris_0/mavros/setpoint_position/tf/frame_id: map
 * /iris_0/mavros/setpoint_position/tf/listen: False
 * /iris_0/mavros/setpoint_position/tf/rate_limit: 50.0
 * /iris_0/mavros/setpoint_raw/thrust_scaling: 1.0
 * /iris_0/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /iris_0/mavros/startup_px4_usb_quirk: False
 * /iris_0/mavros/sys/disable_diag: False
 * /iris_0/mavros/sys/min_voltage: 10.0
 * /iris_0/mavros/target_component_id: 1
 * /iris_0/mavros/target_system_id: 1
 * /iris_0/mavros/tdr_radio/low_rssi: 40
 * /iris_0/mavros/time/time_ref_source: fcu
 * /iris_0/mavros/time/timesync_avg_alpha: 0.6
 * /iris_0/mavros/time/timesync_mode: MAVLINK
 * /iris_0/mavros/vibration/frame_id: base_link
 * /iris_0/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /iris_0/mavros/vision_pose/tf/frame_id: odom
 * /iris_0/mavros/vision_pose/tf/listen: False
 * /iris_0/mavros/vision_pose/tf/rate_limit: 10.0
 * /iris_0/mavros/vision_speed/listen_twist: True
 * /iris_0/mavros/vision_speed/twist_cov: True
 * /iris_0/mavros/wheel_odometry/child_frame_id: base_link
 * /iris_0/mavros/wheel_odometry/count: 2
 * /iris_0/mavros/wheel_odometry/frame_id: odom
 * /iris_0/mavros/wheel_odometry/send_raw: True
 * /iris_0/mavros/wheel_odometry/send_twist: False
 * /iris_0/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /iris_0/mavros/wheel_odometry/tf/frame_id: odom
 * /iris_0/mavros/wheel_odometry/tf/send: False
 * /iris_0/mavros/wheel_odometry/use_rpm: False
 * /iris_0/mavros/wheel_odometry/vel_error: 0.1
 * /iris_0/mavros/wheel_odometry/wheel0/radius: 0.05
 * /iris_0/mavros/wheel_odometry/wheel0/x: 0.0
 * /iris_0/mavros/wheel_odometry/wheel0/y: -0.15
 * /iris_0/mavros/wheel_odometry/wheel1/radius: 0.05
 * /iris_0/mavros/wheel_odometry/wheel1/x: 0.0
 * /iris_0/mavros/wheel_odometry/wheel1/y: 0.15
 * /iris_0/model_description: <?xml version="1....
 * /iris_0/robotNamespace: iris_0
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
  /iris_0/
    iris_0_spawn (gazebo_ros/spawn_model)
    mavros (mavros/mavros_node)
    sitl_0 (px4/px4)

auto-starting new master
process[master]: started with pid [<span class="hljs-number">6082]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5107c06a-957f-11ed-82de-08002717c910
process[rosout-1]: started with pid [6093]
started core service [/rosout]
process[gazebo-2]: started with pid [6100]
process[gazebo_gui-3]: started with pid [6106]
Creating symlink /home/lad/PX4_Firmware/build/px4_sitl_default/etc -> /home/lad/.ros/sitl_iris_0/etc

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[iris_0/sitl_0-4]: started with pid [6170]
INFO  [init] found model autostart file as SYS_AUTOSTART=10016
INFO  [param] selected parameter default file eeprom/parameters_10016
process[iris_0/iris_0_spawn-5]: started with pid [6186]
INFO  [parameters] BSON document size 349 bytes, decoded 349 bytes (INT32:15, FLOAT:3)
[param] Loaded: eeprom/parameters_10016
process[iris_0/mavros-6]: started with pid [6193]
INFO  [dataman] data manager file './dataman' size is 7866640 bytes
PX4 SIM HOST: localhost
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1673860958.300900513]: FCU URL: udp://:24540@localhost:34580
[ INFO] [1673860958.301995320]: udp0: Bind address: 0.0.0.0:24540
[ INFO] [1673860958.303066648]: udp0: Remote address: 127.0.0.1:34580
[ INFO] [1673860958.303183048]: GCS bridge disabled
[ INFO] [1673860958.318245212]: Plugin 3dr_radio loaded
[ INFO] [1673860958.320263072]: Plugin 3dr_radio initialized
[ INFO] [1673860958.320348781]: Plugin actuator_control loaded
[ INFO] [1673860958.321311920]: Plugin actuator_control initialized
[ INFO] [1673860958.330823663]: Plugin adsb loaded
[ INFO] [1673860958.337383533]: Plugin adsb initialized
[ INFO] [1673860958.337458069]: Plugin altitude loaded
[ INFO] [1673860958.337874396]: Plugin altitude initialized
[ INFO] [1673860958.338500943]: Plugin cam_imu_sync loaded
[ INFO] [1673860958.338845318]: Plugin cam_imu_sync initialized
[ INFO] [1673860958.339661683]: Plugin camera loaded
[ INFO] [1673860958.339914114]: Plugin camera initialized
[ INFO] [1673860958.340730001]: Plugin cellular_status loaded
[ INFO] [1673860958.341421673]: Plugin cellular_status initialized
[ INFO] [1673860958.341478194]: Plugin command loaded
[ INFO] [1673860958.343962621]: Plugin command initialized
[ INFO] [1673860958.344818391]: Plugin companion_process_status loaded
[ INFO] [1673860958.347697142]: Plugin companion_process_status initialized
[ INFO] [1673860958.347785439]: Plugin debug_value loaded
[ INFO] [1673860958.359790521]: Plugin debug_value initialized
[ INFO] [1673860958.359892447]: Plugin distance_sensor blacklisted
[ INFO] [1673860958.359966897]: Plugin esc_status loaded
[ INFO] [1673860958.361496711]: Plugin esc_status initialized
[ INFO] [1673860958.361613489]: Plugin esc_telemetry loaded
[ INFO] [1673860958.362156901]: Plugin esc_telemetry initialized
[ INFO] [1673860958.362280437]: Plugin fake_gps loaded
[ INFO] [1673860958.387395031]: Plugin fake_gps initialized
[ INFO] [1673860958.387519186]: Plugin ftp loaded
[ INFO] [1673860958.399443267]: Plugin ftp initialized
[ INFO] [1673860958.399552904]: Plugin geofence loaded
[ INFO] [1673860958.404424972]: Plugin geofence initialized
[ INFO] [1673860958.404519943]: Plugin global_position loaded
[ INFO] [1673860958.433834480]: Plugin global_position initialized
[ INFO] [1673860958.433949345]: Plugin gps_input loaded
[ INFO] [1673860958.437972116]: Plugin gps_input initialized
[ INFO] [1673860958.438063327]: Plugin gps_rtk loaded
[ INFO] [1673860958.442036290]: Plugin gps_rtk initialized
[ INFO] [1673860958.442115173]: Plugin gps_status loaded
[ INFO] [1673860958.443926447]: Plugin gps_status initialized
[ INFO] [1673860958.443996431]: Plugin guided_target loaded
[ INFO] [1673860958.457010792]: Plugin guided_target initialized
[ INFO] [1673860958.457117419]: Plugin hil loaded
[ INFO] [1673860958.488969519]: Plugin hil initialized
[ INFO] [1673860958.489098895]: Plugin home_position loaded
[ INFO] [1673860958.496892334]: Plugin home_position initialized
[ INFO] [1673860958.497014027]: Plugin imu loaded
[ INFO] [1673860958.508435871]: Plugin imu initialized
[ INFO] [1673860958.508541642]: Plugin landing_target loaded
[ INFO] [1673860958.536480662]: Plugin landing_target initialized
[ INFO] [1673860958.536598127]: Plugin local_position loaded
[ INFO] [1673860958.550174587]: Plugin local_position initialized
[ INFO] [1673860958.550288053]: Plugin log_transfer loaded
[ INFO] [1673860958.555924667]: Plugin log_transfer initialized
[ INFO] [1673860958.556069247]: Plugin mag_calibration_status loaded
[ INFO] [1673860958.558207717]: Plugin mag_calibration_status initialized
[ INFO] [1673860958.558317582]: Plugin manual_control loaded
[ INFO] [1673860958.561468521]: Plugin manual_control initialized
[ INFO] [1673860958.561564047]: Plugin mocap_pose_estimate loaded
[ INFO] [1673860958.565926677]: Plugin mocap_pose_estimate initialized
[ INFO] [1673860958.566021687]: Plugin mount_control loaded
[ WARN] [1673860958.580843927]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1673860958.581602488]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1673860958.581885056]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1673860958.584820504]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1673860958.585096189]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1673860958.585150642]: Plugin mount_control initialized
[ INFO] [1673860958.585236511]: Plugin nav_controller_output loaded
[ INFO] [1673860958.585976034]: Plugin nav_controller_output initialized
[ INFO] [1673860958.586053419]: Plugin obstacle_distance loaded
[ INFO] [1673860958.590041906]: Plugin obstacle_distance initialized
[ INFO] [1673860958.590145155]: Plugin odom loaded
[ INFO] [1673860958.598131259]: Plugin odom initialized
[ INFO] [1673860958.598254909]: Plugin onboard_computer_status loaded
[ INFO] [1673860958.609440306]: Plugin onboard_computer_status initialized
[ INFO] [1673860958.609580201]: Plugin param loaded
[ INFO] [1673860958.616306364]: Plugin param initialized
[ INFO] [1673860958.616432305]: Plugin play_tune loaded
[ INFO] [1673860958.619985342]: Plugin play_tune initialized
[ INFO] [1673860958.620141655]: Plugin px4flow loaded
[ INFO] [1673860958.630527991]: Plugin px4flow initialized
[ INFO] [1673860958.630667911]: Plugin rallypoint loaded
[ INFO] [1673860958.642746984]: Plugin rallypoint initialized
[ INFO] [1673860958.642836774]: Plugin rangefinder blacklisted
[ INFO] [1673860958.642913154]: Plugin rc_io loaded
[ INFO] [1673860958.648640547]: Plugin rc_io initialized
[ INFO] [1673860958.648726428]: Plugin safety_area blacklisted
[ INFO] [1673860958.648799976]: Plugin setpoint_accel loaded
[ INFO] [1673860958.653353946]: Plugin setpoint_accel initialized
[ INFO] [1673860958.653484938]: Plugin setpoint_attitude loaded
[ INFO] [1673860958.670930914]: Plugin setpoint_attitude initialized
[ INFO] [1673860958.671064895]: Plugin setpoint_position loaded
[ INFO] [1673860958.703983632]: Plugin setpoint_position initialized
[ INFO] [1673860958.704132349]: Plugin setpoint_raw loaded
[ INFO] [1673860958.721552627]: Plugin setpoint_raw initialized
[ INFO] [1673860958.721736933]: Plugin setpoint_trajectory loaded
[ INFO] [1673860958.734978538]: Plugin setpoint_trajectory initialized
[ INFO] [1673860958.735154476]: Plugin setpoint_velocity loaded
[ INFO] [1673860958.746833421]: Plugin setpoint_velocity initialized
[ INFO] [1673860958.746992620]: Plugin sys_status loaded
[ INFO] [1673860958.771931295]: Plugin sys_status initialized
[ INFO] [1673860958.772075136]: Plugin sys_time loaded
[ INFO] [1673860958.780212898]: TM: Timesync mode: MAVLINK
[ INFO] [1673860958.781789858]: TM: Not publishing sim time
[ INFO] [1673860958.782521934]: Plugin sys_time initialized
[ INFO] [1673860958.782624961]: Plugin terrain loaded
[ INFO] [1673860958.784201715]: Plugin terrain initialized
[ INFO] [1673860958.784313995]: Plugin trajectory loaded
[ INFO] [1673860958.800641542]: Plugin trajectory initialized
[ INFO] [1673860958.800782445]: Plugin tunnel loaded
[ INFO] [1673860958.805529089]: Plugin tunnel initialized
[ INFO] [1673860958.805655596]: Plugin vfr_hud loaded
[ INFO] [1673860958.807127793]: Plugin vfr_hud initialized
[ INFO] [1673860958.807195754]: Plugin vibration blacklisted
[ INFO] [1673860958.807257500]: Plugin vision_pose_estimate loaded
[ INFO] [1673860958.819035674]: Plugin vision_pose_estimate initialized
[ INFO] [1673860958.819167203]: Plugin vision_speed_estimate loaded
[ INFO] [1673860958.832230766]: Plugin vision_speed_estimate initialized
[ INFO] [1673860958.832409766]: Plugin waypoint loaded
[ INFO] [1673860958.840374312]: Plugin waypoint initialized
[ INFO] [1673860958.840467183]: Plugin wheel_odometry blacklisted
[ INFO] [1673860958.840539832]: Plugin wind_estimation loaded
[ INFO] [1673860958.840962971]: Plugin wind_estimation initialized
[ INFO] [1673860958.841103030]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1673860958.841141886]: Built-in MAVLink package version: 2022.8.8
[ INFO] [1673860958.841168139]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1673860958.841191519]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1673860958.907646050]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1673860958.911442206]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1673860959.107129622]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1673860959.110106099]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1673860959.658619, 0.000000]: Loading model XML from ros parameter model_description
[INFO] [1673860959.688452, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1673860959.807895859]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1673860959.852717812]: Physics dynamic reconfigure ready.
[INFO] [1673860959.997068, 0.072000]: Calling service /gazebo/spawn_sdf_model
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[ INFO] [1673860961.239708723, 0.192000000]: Camera Plugin: The 'robotNamespace' param was empty
[ INFO] [1673860961.242431373, 0.192000000]: Camera Plugin: The 'robotNamespace' param was empty
[ INFO] [1673860961.270763699, 0.192000000]: Camera Plugin (ns = iris_0)  <tf_prefix_>, set to "iris_0"
[INFO] [1673860961.276025, 0.192000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1673860961.283757042, 0.192000000]: Camera Plugin (ns = iris_0)  <tf_prefix_>, set to "iris_0"
[ WARN] [1673860961.313300215, 0.192000000]: missing <robotNamespace>, set to default: /iris_0/
[ INFO] [1673860961.313470604, 0.192000000]: <topicName> set to: /iris_0/imu_gazebo
[ INFO] [1673860961.313613498, 0.192000000]: <frameName> set to: imu_link_stereo
[ INFO] [1673860961.313681352, 0.192000000]: <updateRateHZ> set to: 500
[ INFO] [1673860961.313728079, 0.192000000]: <gaussianNoise> set to: 0
[ INFO] [1673860961.313807809, 0.192000000]: <xyzOffset> set to: 0 0 0
[ INFO] [1673860961.314682738, 0.192000000]: <rpyOffset> set to: 0 -0 0
[ INFO] [1673860961.324653405, 0.192000000]: bumper plugin missing <frameName>, defaults to world
[iris_0/iris_0_spawn-5] process has finished cleanly
log file: /home/lad/.ros/log/5107c06a-957f-11ed-82de-08002717c910/iris_0-iris_0_spawn-5*.log
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] setting PWM_AUX_OUT none
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 34580 remote port 24540
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/2023-01-16/09_22_41.ulg    
INFO  [logger] Opened full log file: ./log/2023-01-16/09_22_41.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
INFO  [mavlink] partner IP: 127.0.0.1
[ INFO] [1673860961.883417371, 0.400000000]: udp0: Remote address: 127.0.0.1:34580
[ INFO] [1673860961.953459422, 0.404000000]: IMU: High resolution IMU detected!
[ INFO] [1673860963.031153100, 1.380000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1673860963.032223801, 1.380000000]: IMU: High resolution IMU detected!
[ INFO] [1673860964.039266673, 2.384000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1673860964.039342381, 2.384000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1673860964.039371843, 2.384000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1673860964.039400121, 2.384000000]: VER: 1.1: Capabilities         0x000000000000e4ff
[ INFO] [1673860964.039425772, 2.384000000]: VER: 1.1: Flight software:     010d02ff (46a12a09bf000000)
[ INFO] [1673860964.039453479, 2.384000000]: VER: 1.1: Middleware software: 010d02ff (46a12a09bf000000)
[ INFO] [1673860964.039475729, 2.384000000]: VER: 1.1: OS software:         050400ff (91bece51afbe7da9)
[ INFO] [1673860964.039497539, 2.384000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1673860964.039519882, 2.384000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1673860964.039542151, 2.384000000]: VER: 1.1: UID:                 4954414c44494e4f
[ INFO] [1673860964.506025503, 2.832000000]: IMU: Attitude quaternion IMU detected!
INFO  [tone_alarm] home set
INFO  [tone_alarm] notify negative
[ INFO] [1673860978.029429278, 16.380000000]: GF: mission received
[ INFO] [1673860978.029521487, 16.380000000]: RP: mission received
[ INFO] [1673860978.029558904, 16.380000000]: WP: mission received

其中警告说什么sdf的xml version没定义，我检查了这个version，和成功运行的人的文件写的是一样的

请问该怎么解决这个问题

  • 写回答

2条回答 默认 最新

  • 阳光宅男xxb 2023-01-16 22:16
    关注

    没有做过这个，给你找些资料，希望能帮到你，
    https://blog.csdn.net/ZP470534738/article/details/125508490

    还有这个文章，对xtdrone配置中，关于slam中出现的问题和解决方法进行了记录:
    https://blog.csdn.net/qq_33994373/article/details/127411876
    如果在上面的文章中没有找到解决方法，可能还是得回到xtdrone如何配置这个问题中去，看看别人是怎么配置，是不是有那一步弄错了的，比如这个教程:
    https://www.pudn.com/news/6228d7ab9ddf223e1ad21a46.html
    希望这些对你有帮助！！

    评论

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