Avoidance always crashes

1

About the problem
I used avoidance in simulation for a while and it worked very well, but when i used it with real hardware (jetson tx2/jetson xavier and realsense camera) it only worked for two separated times but most of the time it acts so weird,
I thought it was the pixhawk controller is broken so i used a new one and got the same results.
I tried HITL with RC and QGC and worked fine.
I managed to make avoidance work in HITL mode then got the same results as the real test.
I only use a script like MAVROS Offboard control example | PX4 User Guide to arm the vehicle and continuously publish the target point

Problem description
first drone go up to 4-5 five meters then moves very slow to a position near from the origin then it suddenly moves very fast in a fixed direction (like there is no avoidance system working) and this scenario is repeated every time even if I changed the goal point.

Expected behavior
the same as what happens in simulation

Log Files and Screenshots
these are three logs from the HITL test

  1. https://review.px4.io/plot_app?log=2df68fc9-fa7f-4153-ae14-559bd71c55cb
  2. https://review.px4.io/plot_app?log=de0871d5-23af-405f-b7d6-b9f2dd2aec59
  3. https://review.px4.io/plot_app?log=4ab1f906-94f8-42d3-9f8b-00fd041b9f7e

logs
this is the last part of local_planner logs from HITL test (this logs is not usually produced in real test nor simulation test)

[ INFO] [1619666857.264763582, 47.324000000]: [SP]Tree (59 nodes, 6 path nodes, 40 expanded) calculated in 18.15ms.
[ INFO] [1619666857.340889767, 47.400000000]: [WG] Speed adapted WP: [2.453394 -0.762474 5.806579].
[ INFO] [1619666857.340922993, 47.400000000]: [WG] Final waypoint: [2.467217 -0.729423 5.688729]. nan nan nan 

[ INFO] [1619666857.349254443, 47.408000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666857.349290361, 47.408000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666857.364797392, 47.420000000]: [SP]Tree (58 nodes, 7 path nodes, 40 expanded) calculated in 20.08ms.
[ INFO] [1619666857.450467071, 47.500000000]: [WG] Speed adapted WP: [2.448656 -0.757350 5.805224].
[ INFO] [1619666857.450508158, 47.500000000]: [WG] Final waypoint: [2.461490 -0.725807 5.687485]. nan nan nan 

[ INFO] [1619666857.467315297, 47.520000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666857.467354974, 47.520000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666857.484949968, 47.540000000]: [SP]Tree (60 nodes, 7 path nodes, 40 expanded) calculated in 11.07ms.
[ INFO] [1619666857.552979906, 47.600000000]: [WG] Speed adapted WP: [2.441467 -0.751906 5.806238].
[ INFO] [1619666857.553044311, 47.600000000]: [WG] Final waypoint: [2.455697 -0.721968 5.686333]. nan nan nan 

[ INFO] [1619666857.577281662, 47.628000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666857.577325428, 47.628000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666857.599544569, 47.652000000]: [SP]Tree (62 nodes, 7 path nodes, 40 expanded) calculated in 15.02ms.
[ INFO] [1619666857.645703893, 47.700000000]: [WG] Speed adapted WP: [2.436291 -0.745742 5.804735].
[ INFO] [1619666857.645744745, 47.700000000]: [WG] Final waypoint: [2.449895 -0.717796 5.685137]. nan nan nan 

[ INFO] [1619666857.657224368, 47.712000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666857.657271014, 47.712000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666857.668309861, 47.724000000]: [SP]Tree (58 nodes, 7 path nodes, 40 expanded) calculated in 16.88ms.
[ INFO] [1619666857.744814085, 47.800000000]: [WG] Speed adapted WP: [2.431895 -0.738867 5.801560].
[ INFO] [1619666857.744846912, 47.800000000]: [WG] Final waypoint: [2.444235 -0.713267 5.683808]. nan nan nan 

[ INFO] [1619666857.767466186, 47.824000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666857.767508161, 47.824000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666857.783216306, 47.840000000]: [SP]Tree (59 nodes, 7 path nodes, 40 expanded) calculated in 10.50ms.
[ INFO] [1619666857.843137490, 47.900000000]: [WG] Speed adapted WP: [2.426433 -0.734032 5.801185].
[ INFO] [1619666857.843185808, 47.900000000]: [WG] Final waypoint: [2.438580 -0.708535 5.682579]. nan nan nan 

[ INFO] [1619666857.877798956, 47.936000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666857.877835518, 47.936000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666857.893546547, 47.956000000]: [SP]Tree (58 nodes, 7 path nodes, 40 expanded) calculated in 10.46ms.
[ INFO] [1619666857.938991823, 48.000000000]: [WG] Speed adapted WP: [2.419084 -0.731422 5.803365].
[ INFO] [1619666857.939022804, 48.000000000]: [WG] Final waypoint: [2.432682 -0.703912 5.681536]. nan nan nan 

[ INFO] [1619666857.970248191, 48.020000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666857.970313082, 48.020000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666857.981803110, 48.044000000]: [SP]Tree (52 nodes, 7 path nodes, 40 expanded) calculated in 9.28ms.
[ INFO] [1619666858.037544491, 48.100000000]: [WG] Speed adapted WP: [2.414724 -0.728242 5.802900].
[ INFO] [1619666858.037573004, 48.100000000]: [WG] Final waypoint: [2.426902 -0.699398 5.680557]. nan nan nan 

[ INFO] [1619666858.058295539, 48.120000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666858.058331989, 48.120000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666858.078690796, 48.140000000]: [SP]Tree (54 nodes, 6 path nodes, 40 expanded) calculated in 23.91ms.
[ INFO] [1619666858.145320745, 48.204000000]: [WG] Speed adapted WP: [2.410045 -0.722491 5.799808].
[ INFO] [1619666858.145355539, 48.204000000]: [WG] Final waypoint: [2.421182 -0.694411 5.679443]. nan nan nan 

[ INFO] [1619666858.160469602, 48.220000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666858.160515877, 48.220000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666858.172356370, 48.228000000]: [SP]Tree (51 nodes, 7 path nodes, 40 expanded) calculated in 9.61ms.
[ INFO] [1619666858.239562218, 48.300000000]: [WG] Speed adapted WP: [2.406076 -0.714950 5.794497].
[ INFO] [1619666858.239601853, 48.300000000]: [WG] Final waypoint: [2.416198 -0.689229 5.678192]. nan nan nan 

[ INFO] [1619666858.260408620, 48.320000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666858.260442634, 48.320000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666858.274894108, 48.336000000]: [SP]Tree (58 nodes, 7 path nodes, 40 expanded) calculated in 10.59ms.
[ INFO] [1619666858.341468979, 48.400000000]: [WG] Speed adapted WP: [2.397912 -0.707644 5.795819].
[ INFO] [1619666858.341501049, 48.400000000]: [WG] Final waypoint: [2.410872 -0.683169 5.677034]. nan nan nan 

[ INFO] [1619666858.364488783, 48.420000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666858.364524748, 48.420000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666858.386518586, 48.440000000]: [SP]Tree (70 nodes, 7 path nodes, 40 expanded) calculated in 10.55ms.
[ INFO] [1619666858.446799042, 48.500000000]: [WG] Speed adapted WP: [2.392129 -0.699910 5.795157].
[ INFO] [1619666858.446849955, 48.500000000]: [WG] Final waypoint: [2.405534 -0.676573 5.675929]. nan nan nan 

[ INFO] [1619666858.471365447, 48.528000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666858.471398078, 48.528000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666858.481711472, 48.532000000]: [SP]Tree (65 nodes, 7 path nodes, 40 expanded) calculated in 9.34ms.
[ INFO] [1619666858.548655900, 48.600000000]: [WG] Speed adapted WP: [2.387396 -0.690582 5.792107].
[ INFO] [1619666858.548688340, 48.600000000]: [WG] Final waypoint: [2.400348 -0.669436 5.674780]. nan nan nan 

[ INFO] [1619666858.578701582, 48.628000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666858.578799625, 48.628000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666858.597600305, 48.648000000]: [SP]Tree (52 nodes, 6 path nodes, 40 expanded) calculated in 14.39ms.
[ INFO] [1619666858.651182634, 48.700000000]: [WG] Speed adapted WP: [2.383720 -0.680272 5.788048].
[ INFO] [1619666858.651229482, 48.700000000]: [WG] Final waypoint: [2.395647 -0.661734 5.673568]. nan nan nan 

[ INFO] [1619666858.677661627, 48.720000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666858.677701179, 48.720000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666858.694710509, 48.740000000]: [SP]Tree (53 nodes, 6 path nodes, 40 expanded) calculated in 10.07ms.
[ INFO] [1619666858.751605079, 48.800000000]: [WG] Speed adapted WP: [2.381448 -0.673022 5.791199].
[ INFO] [1619666858.751638064, 48.800000000]: [WG] Final waypoint: [2.391596 -0.653948 5.672499]. nan nan nan 

[ INFO] [1619666858.768762121, 48.816000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666858.768806570, 48.816000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666858.791925120, 48.840000000]: [SP]Tree (57 nodes, 7 path nodes, 40 expanded) calculated in 17.43ms.
[ INFO] [1619666858.850443103, 48.900000000]: [WG] Speed adapted WP: [2.379813 -0.664781 5.790388].
[ INFO] [1619666858.850520135, 48.900000000]: [WG] Final waypoint: [2.388128 -0.646068 5.671374]. nan nan nan 

[ INFO] [1619666858.876542093, 48.916000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666858.876617020, 48.916000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666858.889552554, 48.932000000]: [SP]Tree (58 nodes, 7 path nodes, 40 expanded) calculated in 10.20ms.
[ INFO] [1619666858.960149871, 49.004000000]: [WG] Speed adapted WP: [2.378528 -0.655975 5.787501].
[ INFO] [1619666858.960197088, 49.004000000]: [WG] Final waypoint: [2.384942 -0.637753 5.670004]. nan nan nan 

[ INFO] [1619666858.983616865, 49.028000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666858.983653924, 49.028000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666858.994300721, 49.040000000]: [SP]Tree (54 nodes, 7 path nodes, 40 expanded) calculated in 9.32ms.
[ INFO] [1619666859.051046663, 49.100000000]: [WG] Speed adapted WP: [2.377043 -0.647353 5.785780].
[ INFO] [1619666859.051081449, 49.100000000]: [WG] Final waypoint: [2.382126 -0.630079 5.668637]. nan nan nan 

[ INFO] [1619666859.067797331, 49.116000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666859.067829785, 49.116000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666859.088119695, 49.136000000]: [SP]Tree (49 nodes, 6 path nodes, 40 expanded) calculated in 22.14ms.
[ INFO] [1619666859.150131664, 49.200000000]: [WG] Speed adapted WP: [2.373208 -0.643168 5.789880].
[ INFO] [1619666859.150164925, 49.200000000]: [WG] Final waypoint: [2.379045 -0.622825 5.667405]. nan nan nan 

[ INFO] [1619666859.170123902, 49.220000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666859.170168452, 49.220000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666859.181250274, 49.232000000]: [SP]Tree (50 nodes, 7 path nodes, 40 expanded) calculated in 10.08ms.
[ INFO] [1619666859.254787489, 49.304000000]: [WG] Speed adapted WP: [2.370389 -0.637767 5.789748].
[ INFO] [1619666859.254826374, 49.304000000]: [WG] Final waypoint: [2.375779 -0.615958 5.666114]. nan nan nan 

[ INFO] [1619666859.267799709, 49.320000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666859.267845381, 49.320000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666859.291539359, 49.344000000]: [SP]Tree (56 nodes, 7 path nodes, 40 expanded) calculated in 10.84ms.
[ INFO] [1619666859.349071987, 49.400000000]: [WG] Speed adapted WP: [2.368102 -0.630975 5.787225].
[ INFO] [1619666859.349105641, 49.400000000]: [WG] Final waypoint: [2.372995 -0.609967 5.664923]. nan nan nan 

[ INFO] [1619666859.370959952, 49.420000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666859.370998414, 49.420000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666859.383844782, 49.436000000]: [SP]Tree (59 nodes, 7 path nodes, 40 expanded) calculated in 19.95ms.
[ INFO] [1619666859.443758394, 49.500000000]: [WG] Speed adapted WP: [2.366878 -0.626161 5.784709].
[ INFO] [1619666859.443791840, 49.500000000]: [WG] Final waypoint: [2.370440 -0.604096 5.663655]. nan nan nan 

[ INFO] [1619666859.461293025, 49.516000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666859.461336179, 49.516000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666859.491211285, 49.544000000]: [SP]Tree (61 nodes, 7 path nodes, 40 expanded) calculated in 12.40ms.
[ INFO] [1619666859.549328165, 49.600000000]: [WG] Speed adapted WP: [2.365623 -0.620082 5.790800].
[ INFO] [1619666859.549366087, 49.600000000]: [WG] Final waypoint: [2.368332 -0.598605 5.662721]. nan nan nan 

[ INFO] [1619666859.577041545, 49.628000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666859.577091929, 49.628000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666859.592310254, 49.644000000]: [SP]Tree (59 nodes, 7 path nodes, 40 expanded) calculated in 9.72ms.
[ INFO] [1619666859.654781352, 49.704000000]: [WG] Speed adapted WP: [2.365131 -0.614281 5.790449].
[ INFO] [1619666859.654814341, 49.704000000]: [WG] Final waypoint: [2.366657 -0.593021 5.661745]. nan nan nan 

[ INFO] [1619666859.678887684, 49.724000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666859.678916545, 49.724000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666859.691404975, 49.736000000]: [SP]Tree (55 nodes, 7 path nodes, 40 expanded) calculated in 10.33ms.
[ INFO] [1619666859.752391175, 49.800000000]: [WG] Speed adapted WP: [2.364964 -0.609183 5.788327].
[ INFO] [1619666859.752453560, 49.800000000]: [WG] Final waypoint: [2.365494 -0.587941 5.660641]. nan nan nan 

[ INFO] [1619666859.790668929, 49.840000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666859.790705387, 49.840000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666859.806207508, 49.856000000]: [SP]Tree (60 nodes, 9 path nodes, 40 expanded) calculated in 10.36ms.
[ INFO] [1619666859.852253841, 49.900000000]: [WG] Speed adapted WP: [2.364342 -0.602809 5.788445].
[ INFO] [1619666859.852289717, 49.900000000]: [WG] Final waypoint: [2.364486 -0.582501 5.659344]. nan nan nan 

[ INFO] [1619666859.869981973, 49.916000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666859.870021830, 49.916000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666859.882043377, 49.920000000]: [SP]Tree (60 nodes, 9 path nodes, 40 expanded) calculated in 20.94ms.
[ INFO] [1619666859.959255443, 50.000000000]: [WG] Speed adapted WP: [2.360806 -0.596300 5.790504].
[ INFO] [1619666859.959288797, 50.000000000]: [WG] Final waypoint: [2.363153 -0.576917 5.658029]. nan nan nan 

[ INFO] [1619666859.987041653, 50.024000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666859.987084180, 50.024000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666860.013277955, 50.052000000]: [SP]Tree (56 nodes, 9 path nodes, 40 expanded) calculated in 10.71ms.
[ INFO] [1619666860.058383203, 50.100000000]: [WG] Speed adapted WP: [2.359161 -0.591918 5.789662].
[ INFO] [1619666860.058420415, 50.100000000]: [WG] Final waypoint: [2.361643 -0.571403 5.656641]. nan nan nan 

[ INFO] [1619666860.077043764, 50.120000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666860.077100319, 50.120000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666860.089496039, 50.132000000]: [SP]Tree (56 nodes, 10 path nodes, 40 expanded) calculated in 10.27ms.
[ INFO] [1619666860.158787314, 50.204000000]: [WG] Speed adapted WP: [2.357022 -0.584842 5.787241].
[ INFO] [1619666860.158820613, 50.204000000]: [WG] Final waypoint: [2.359860 -0.565585 5.655044]. nan nan nan 

[ INFO] [1619666860.196249318, 50.244000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666860.196278046, 50.244000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666860.207746436, 50.256000000]: [SP]Tree (57 nodes, 10 path nodes, 40 expanded) calculated in 10.42ms.
[ INFO] [1619666860.260974017, 50.308000000]: [WG] Speed adapted WP: [2.355550 -0.578187 5.783541].
[ INFO] [1619666860.261002565, 50.308000000]: [WG] Final waypoint: [2.358041 -0.559748 5.653248]. nan nan nan 

[ INFO] [1619666860.281495607, 50.328000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666860.300957615, 50.348000000]: [SP]Tree (58 nodes, 10 path nodes, 40 expanded) calculated in 10.66ms.
[ INFO] [1619666860.354349189, 50.404000000]: [WG] Speed adapted WP: [2.350891 -0.573521 5.785841].
[ INFO] [1619666860.354380618, 50.404000000]: [WG] Final waypoint: [2.356039 -0.554675 5.651757]. nan nan nan 

[ INFO] [1619666860.372820646, 50.424000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666860.372855608, 50.424000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666860.383573663, 50.436000000]: [SP]Tree (63 nodes, 10 path nodes, 40 expanded) calculated in 9.04ms.
[ INFO] [1619666860.457817252, 50.500000000]: [WG] Speed adapted WP: [2.348363 -0.569528 5.784451].
[ INFO] [1619666860.457850567, 50.500000000]: [WG] Final waypoint: [2.353705 -0.549937 5.650297]. nan nan nan 

[ INFO] [1619666860.486880805, 50.524000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666860.486923305, 50.524000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666860.497513374, 50.536000000]: [SP]Tree (59 nodes, 10 path nodes, 40 expanded) calculated in 9.41ms.
[ INFO] [1619666860.566947149, 50.600000000]: [WG] Speed adapted WP: [2.344914 -0.562770 5.779796].
[ INFO] [1619666860.566985059, 50.600000000]: [WG] Final waypoint: [2.350917 -0.544958 5.648678]. nan nan nan 

[ INFO] [1619666860.598286381, 50.624000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666860.598331283, 50.624000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666860.618389795, 50.648000000]: [SP]Tree (50 nodes, 10 path nodes, 40 expanded) calculated in 10.68ms.
[ INFO] [1619666860.670827170, 50.700000000]: [WG] Speed adapted WP: [2.342324 -0.556955 5.776436].
[ INFO] [1619666860.670884113, 50.700000000]: [WG] Final waypoint: [2.348076 -0.539889 5.646956]. nan nan nan 

[ INFO] [1619666860.698016570, 50.724000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666860.698055834, 50.724000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666860.711500967, 50.740000000]: [SP]Tree (60 nodes, 9 path nodes, 40 expanded) calculated in 10.17ms.
[ INFO] [1619666860.771496409, 50.800000000]: [WG] Speed adapted WP: [2.337570 -0.552765 5.780385].
[ INFO] [1619666860.771527136, 50.800000000]: [WG] Final waypoint: [2.344932 -0.534967 5.645469]. nan nan nan 

[ INFO] [1619666860.800106935, 50.832000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666860.800157269, 50.832000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666860.812111004, 50.844000000]: [SP]Tree (55 nodes, 10 path nodes, 40 expanded) calculated in 10.55ms.
[ INFO] [1619666860.865063887, 50.900000000]: [WG] Speed adapted WP: [2.333486 -0.547032 5.779693].
[ INFO] [1619666860.865097847, 50.900000000]: [WG] Final waypoint: [2.341494 -0.529999 5.644061]. nan nan nan 

[ INFO] [1619666860.900642145, 50.936000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666860.900677881, 50.936000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666860.914677793, 50.952000000]: [SP]Tree (59 nodes, 7 path nodes, 40 expanded) calculated in 10.35ms.
[ INFO] [1619666860.962168942, 51.000000000]: [WG] Speed adapted WP: [2.329820 -0.540537 5.776784].
[ INFO] [1619666860.962227679, 51.000000000]: [WG] Final waypoint: [2.337867 -0.524743 5.642593]. nan nan nan 

[ INFO] [1619666860.987872581, 51.028000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666860.987919577, 51.028000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666860.999128678, 51.040000000]: [SP]Tree (65 nodes, 7 path nodes, 40 expanded) calculated in 9.85ms.
[ INFO] [1619666861.060530999, 51.100000000]: [WG] Speed adapted WP: [2.326684 -0.533340 5.774666].
[ INFO] [1619666861.060564023, 51.100000000]: [WG] Final waypoint: [2.334211 -0.519145 5.641095]. nan nan nan 

[ INFO] [1619666861.093671882, 51.128000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666861.093709803, 51.128000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666861.105842172, 51.140000000]: [SP]Tree (55 nodes, 6 path nodes, 40 expanded) calculated in 12.92ms.
[ INFO] [1619666861.163870287, 51.200000000]: [WG] Speed adapted WP: [2.324096 -0.525882 5.776165].
[ INFO] [1619666861.163901297, 51.200000000]: [WG] Final waypoint: [2.330709 -0.513198 5.639702]. nan nan nan 

[ INFO] [1619666861.199350916, 51.236000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666861.199437591, 51.236000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666861.211319407, 51.248000000]: [SP]Tree (57 nodes, 6 path nodes, 40 expanded) calculated in 10.11ms.
[ INFO] [1619666861.261903036, 51.300000000]: [WG] Speed adapted WP: [2.321712 -0.517569 5.776236].
[ INFO] [1619666861.261936740, 51.300000000]: [WG] Final waypoint: [2.327399 -0.506843 5.638445]. nan nan nan 

[ INFO] [1619666861.289978126, 51.328000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666861.290017972, 51.328000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666861.301807651, 51.336000000]: [SP]Tree (59 nodes, 6 path nodes, 40 expanded) calculated in 20.29ms.
[ INFO] [1619666861.365617528, 51.400000000]: [WG] Speed adapted WP: [2.319431 -0.509662 5.780595].
[ INFO] [1619666861.365654442, 51.400000000]: [WG] Final waypoint: [2.324248 -0.500078 5.637463]. nan nan nan 

[ INFO] [1619666861.389685948, 51.424000000]: ===== Set Goal ======: [3.000000, 0.000000, 3.386902].
[ INFO] [1619666861.389729716, 51.424000000]: [OA] Planning started, using 1 cameras
 
[ INFO] [1619666861.401730857, 51.440000000]: [SP]Tree (52 nodes, 6 path nodes, 40 expanded) calculated in 10.37ms.
[ INFO] [1619666861.460467186, 51.500000000]: [WG] Speed adapted WP: [2.317780 -0.503105 5.784381].
[ INFO] [1619666861.460497439, 51.500000000]: [WG] Final waypoint: [2.321339 -0.493185 5.636691]. nan nan nan 

[ INFO] [1619666861.558880526, 51.600000000]: [WG] Speed adapted WP: [2.316041 -0.495110 5.784485].
[ INFO] [1619666861.558923079, 51.600000000]: [WG] Final waypoint: [2.318732 -0.486092 5.635852]. nan nan nan 

[ INFO] [1619666861.663261952, 51.700000000]: [WG] Speed adapted WP: [2.314542 -0.486520 5.780970].
[ INFO] [1619666861.663292814, 51.700000000]: [WG] Final waypoint: [2.316545 -0.478652 5.634683]. nan nan nan 

[ INFO] [1619666861.761875067, 51.800000000]: [WG] Speed adapted WP: [2.312897 -0.479317 5.784791].
[ INFO] [1619666861.761909718, 51.800000000]: [WG] Final waypoint: [2.314726 -0.471107 5.633519]. nan nan nan 

[ INFO] [1619666861.862116634, 51.900000000]: [WG] Speed adapted WP: [2.311750 -0.471395 5.782978].
[ INFO] [1619666861.862150147, 51.900000000]: [WG] Final waypoint: [2.313239 -0.463391 5.632195]. nan nan nan 

[ WARN] [1619666876.602265871, 66.500000000]:  Planner abort: missing required data 
 
[ WARN] [1619666876.712058874, 66.600000000]:  Planner abort: missing required data 
 
[ WARN] [1619666876.816496793, 66.700000000]:  Planner abort: missing required data 
 
[ WARN] [1619666876.913689323, 66.800000000]:  Planner abort: missing required data 
 
[ WARN] [1619666877.016486520, 66.900000000]:  Planner abort: missing required data 
 
[ WARN] [1619666877.121670840, 67.000000000]:  Planner abort: missing required data 
 
[ WARN] [1619666877.218722972, 67.100000000]:  Planner abort: missing required data 
 
[ WARN] [1619666877.323198803, 67.200000000]:  Planner abort: missing required data 
 
[ WARN] [1619666877.423749841, 67.300000000]:  Planner abort: missing required data 
 
[ WARN] [1619666877.521893217, 67.400000000]:  Planner abort: missing required data 
 
^C[ WARN] [1619666877.619320282, 67.500000000]:  Planner abort: missing required data
2

@Jaeyoung-Lim can you help with that

3

update:

Diagnostics

header: 
  seq: 72
  stamp: 
    secs: 3868
    nsecs: 920000000
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Received packets:"
        value: "27990"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "155"
      - 
        key: "Tx sequence number:"
        value: "0"
      - 
        key: "Rx total bytes:"
        value: "1712395"
      - 
        key: "Tx total bytes:"
        value: "43821"
      - 
        key: "Rx speed:"
        value: "25439.000000"
      - 
        key: "Tx speed:"
        value: "662.000000"
  - 
    level: 0
    name: "mavros: GPS"
    message: "3D fix"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Satellites visible"
        value: "10"
      - 
        key: "Fix type"
        value: "3"
      - 
        key: "EPH (m)"
        value: "0.00"
      - 
        key: "EPV (m)"
        value: "0.00"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "66"
      - 
        key: "Frequency (Hz)"
        value: "1.000000"
      - 
        key: "Vehicle type"
        value: "Quadrotor"
      - 
        key: "Autopilot type"
        value: "PX4 Autopilot"
      - 
        key: "Mode"
        value: "AUTO.LOITER"
      - 
        key: "System status"
        value: "Standby"
  - 
    level: 2
    name: "mavros: System"
    message: "Sensor health"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Sensor present"
        value: "0x32200020"
      - 
        key: "Sensor enabled"
        value: "0x32210020"
      - 
        key: "Sensor health"
        value: "0x20200020"
      - 
        key: "GPS"
        value: "Ok"
      - 
        key: "rc receiver"
        value: "Fail"
      - 
        key: "AHRS subsystem health"
        value: "Ok"
      - 
        key: "Battery"
        value: "Fail"
      - 
        key: "CPU Load (%)"
        value: "33.5"
      - 
        key: "Drop rate (%)"
        value: "0.0"
      - 
        key: "Errors comm"
        value: "0"
      - 
        key: "Errors count #1"
        value: "0"
      - 
        key: "Errors count #2"
        value: "0"
      - 
        key: "Errors count #3"
        value: "0"
      - 
        key: "Errors count #4"
        value: "0"
  - 
    level: 0
    name: "mavros: Battery"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Voltage"
        value: "65.54"
      - 
        key: "Current"
        value: "-0.0"
      - 
        key: "Remaining"
        value: "-1.0"
  - 
    level: 0
    name: "mavros: Time Sync"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "665"
      - 
        key: "Frequency (Hz)"
        value: "10.000000"
      - 
        key: "Last RTT (ms)"
        value: "0.000000"
      - 
        key: "Mean RTT (ms)"
        value: "0.685714"
      - 
        key: "Last remote time (s)"
        value: "3893.815561000"
      - 
        key: "Estimated time offset (s)"
        value: "9223372011.949357986"

I can see that required data by planner (if I understand right this will be position and pointcloud) are always published as /local_postion/pose and /camera/depth/points always have data stream although I still get the Planner abort: missing required data error after the same amount of time every test

4

did you ever figure this out?