Accel #0 Timeout Error in Swarm UAVs with ROS2, uXRCE-DDS, and Gazebo Harmonic

PX4 Autopilot
1

Hi,

We are preparing for a competition related to Swarm UAVs as a team. The question I’m about to ask may not be very specific to PX4, but if anyone has encountered this issue and found a solution, I would greatly appreciate your help.

I am using ROS2, Gazebo Harmonic, and uXRCE-DDS (PX4-ROS 2/DDS Bridge). I am starting 3 drones in Gazebo. They communicate with each other via uXRCE-DDS. Gazebo is started in HEADLESS mode and I monitor it through QGroundControl. However, I am constantly receiving the error:

Accel #0 fail: TIMEOUT!

Because of this, I am not getting the expected results in the simulation, and the UAVs are behaving erratically due to issues with the accelerometers. I have tried increasing the threshold for the accelerometer in the QGroundControl parameters, but I still receive the same error, and the 3 drones behave very erratically in the simulation. I am using the latest version of px4_msgs.

Additionally, I have tried running it as PX4_STANDALONE, but the problem persists.

I would be very grateful if you could help with this issue.

accel
accel687×231 67.8 KB

2

This generally indicates that the CPU is getting overloaded and can’t keep the IMU update rate consistent. Is your GPU being used? What are you seeing for CPU load? (use htop or something). What does the IMU update rate look like?