Avoidance system timed out

PX4 Autopilot
1

I’m trying to run avoidance local_planner simulation.
Not able to arm because “Avoidance system timed out” errors appeared.
Also a lot of other errors printed.
I’m using ubuntu 16.4 , PX4 - version 1.9.2 , avoidance - latest master.

Here is terminal output:

evgeny@quad:~/catkin_ws$ roslaunch local_planner local_planner_stereo.launch
… logging to /home/evgeny/.ros/log/ca0bb740-d157-11e9-a458-5cea1dc619f5/roslaunch-quad-17561.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.

started roslaunch server http://quad:34395/

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /local_planner_node/goal_x_param: 15
  • /local_planner_node/goal_y_param: 15
  • /local_planner_node/goal_z_param: 4
  • /local_planner_node/pointcloud_topics: [’/stereo/points2’]
  • /local_planner_node/world_name: /home/evgeny/catk…
  • /mavros/cmd/use_comp_id_system_control: False
  • /mavros/conn/heartbeat_rate: 1.0
  • /mavros/conn/system_time_rate: 1.0
  • /mavros/conn/timeout: 10.0
  • /mavros/conn/timesync_rate: 10.0
  • /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  • /mavros/distance_sensor/hrlv_ez4_pub/id: 0
  • /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
  • /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/laser_1_sub/id: 3
  • /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
  • /mavros/distance_sensor/laser_1_sub/subscriber: True
  • /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  • /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  • /mavros/distance_sensor/lidarlite_pub/id: 1
  • /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
  • /mavros/distance_sensor/lidarlite_pub/send_tf: True
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/sonar_1_sub/id: 2
  • /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
  • /mavros/distance_sensor/sonar_1_sub/subscriber: True
  • /mavros/fcu_protocol: v2.0
  • /mavros/fcu_url: udp://:14540@loca…
  • /mavros/gcs_url:
  • /mavros/global_position/frame_id: fcu
  • /mavros/global_position/rot_covariance: 99999.0
  • /mavros/global_position/tf/child_frame_id: fcu_utm
  • /mavros/global_position/tf/frame_id: local_origin
  • /mavros/global_position/tf/send: False
  • /mavros/image/frame_id: px4flow
  • /mavros/imu/angular_velocity_stdev: 0.000349065850399
  • /mavros/imu/frame_id: fcu
  • /mavros/imu/linear_acceleration_stdev: 0.0003
  • /mavros/imu/magnetic_stdev: 0.0
  • /mavros/imu/orientation_stdev: 1.0
  • /mavros/local_position/frame_id: local_origin
  • /mavros/local_position/tf/child_frame_id: fcu
  • /mavros/local_position/tf/frame_id: local_origin
  • /mavros/local_position/tf/send: True
  • /mavros/local_position/tf/send_fcu: False
  • /mavros/mission/pull_after_gcs: True
  • /mavros/mocap/use_pose: False
  • /mavros/mocap/use_tf: True
  • /mavros/plugin_blacklist: [‘safety_area’, '…
  • /mavros/plugin_whitelist: []
  • /mavros/px4flow/frame_id: px4flow
  • /mavros/px4flow/ranger_fov: 0.0
  • /mavros/px4flow/ranger_max_range: 5.0
  • /mavros/px4flow/ranger_min_range: 0.3
  • /mavros/safety_area/p1/x: 1.0
  • /mavros/safety_area/p1/y: 1.0
  • /mavros/safety_area/p1/z: 1.0
  • /mavros/safety_area/p2/x: -1.0
  • /mavros/safety_area/p2/y: -1.0
  • /mavros/safety_area/p2/z: -1.0
  • /mavros/setpoint_accel/send_force: False
  • /mavros/setpoint_attitude/reverse_throttle: False
  • /mavros/setpoint_attitude/tf/child_frame_id: attitude
  • /mavros/setpoint_attitude/tf/frame_id: local_origin
  • /mavros/setpoint_attitude/tf/listen: False
  • /mavros/setpoint_attitude/tf/rate_limit: 10.0
  • /mavros/setpoint_position/tf/child_frame_id: setpoint
  • /mavros/setpoint_position/tf/frame_id: local_origin
  • /mavros/setpoint_position/tf/listen: False
  • /mavros/setpoint_position/tf/rate_limit: 50.0
  • /mavros/startup_px4_usb_quirk: True
  • /mavros/sys/disable_diag: False
  • /mavros/sys/min_voltage: 10.0
  • /mavros/target_component_id: 1
  • /mavros/target_system_id: 1
  • /mavros/tdr_radio/low_rssi: 40
  • /mavros/time/time_ref_source: fcu
  • /mavros/time/timesync_avg_alpha: 0.6
  • /mavros/vibration/frame_id: vibration
  • /mavros/vision_pose/tf/child_frame_id: vision
  • /mavros/vision_pose/tf/frame_id: local_origin
  • /mavros/vision_pose/tf/listen: False
  • /mavros/vision_pose/tf/rate_limit: 10.0
  • /mavros/vision_speed/listen_twist: False
  • /rosdistro: kinetic
  • /rosversion: 1.12.14
  • /stereo/stereo_image_proc/correlation_window_size: 19.0
  • /stereo/stereo_image_proc/disparity_range: 32.0
  • /stereo/stereo_image_proc/speckle_range: 2.0
  • /stereo/stereo_image_proc/speckle_size: 1000.0
  • /stereo/stereo_image_proc/stereo_algorithm: 1.0
  • /stereo/stereo_image_proc/uniqueness_ratio: 40.0
  • /use_sim_time: True

NODES
/stereo/
stereo_image_proc (stereo_image_proc/stereo_image_proc)
/
gazebo (gazebo_ros/gzserver)
local_planner_node (local_planner/local_planner_node)
mavros (mavros/mavros_node)
rqt_reconfigure (rqt_reconfigure/rqt_reconfigure)
rviz (rviz/rviz)
sitl_0 (px4/px4)
spawn_model (gazebo_ros/spawn_model)
tf_depth_camera (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [17572]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ca0bb740-d157-11e9-a458-5cea1dc619f5
process[rosout-1]: started with pid [17586]
started core service [/rosout]
process[tf_depth_camera-2]: started with pid [17590]
process[rqt_reconfigure-3]: started with pid [17591]
process[sitl_0-4]: started with pid [17644]
INFO [px4] Creating symlink /home/evgeny/Firmware/ROMFS/px4fmu_common → /home/evgeny/.ros/etc
0 WARNING: setRealtimeSched failed (not run as root?)

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

px4 starting.

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[mavros-5]: started with pid [17660]
process[gazebo-6]: started with pid [17665]
process[spawn_model-7]: started with pid [17680]
process[stereo/stereo_image_proc-8]: started with pid [17696]
process[local_planner_node-9]: started with pid [17700]
INFO [dataman] Unknown restart, data manager file ‘./dataman’ size is 11798680 bytes
INFO [simulator] Waiting for simulator to connect on TCP port 4560
process[rviz-10]: started with pid [17735]
[ INFO] [1567851064.352348257]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1567851064.364184203]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1567851064.364458154]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1567851064.364924211]: GCS bridge disabled
[ INFO] [1567851064.592313675]: rviz version 1.12.17
[ INFO] [1567851064.592386912]: compiled against Qt version 5.5.1
[ INFO] [1567851064.592412004]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1567851064.657310648]: Plugin 3dr_radio loaded
[ INFO] [1567851064.663939878]: Plugin 3dr_radio initialized
[ INFO] [1567851064.664268594]: Plugin actuator_control loaded
[ INFO] [1567851064.683718755]: Plugin actuator_control initialized
[ INFO] [1567851064.872879658]: Plugin adsb loaded
[ INFO] [1567851064.920871154]: Plugin adsb initialized
[ INFO] [1567851064.921463435]: Plugin altitude loaded
[ INFO] [1567851064.928452020]: Plugin altitude initialized
[ INFO] [1567851064.928967837]: Plugin cam_imu_sync loaded
[ INFO] [1567851064.933446880]: Plugin cam_imu_sync initialized
[ INFO] [1567851064.934096295]: Plugin command loaded
[ INFO] [1567851064.975862998]: Plugin command initialized
[ INFO] [1567851064.976384140]: Plugin companion_process_status loaded
[ INFO] [1567851065.004107375]: Plugin companion_process_status initialized
[ INFO] [1567851065.004574670]: Plugin debug_value loaded
[ INFO] [1567851065.038759809]: Plugin debug_value initialized
[ INFO] [1567851065.039059559]: Plugin distance_sensor blacklisted
[ INFO] [1567851065.039938663]: Plugin fake_gps loaded
[ INFO] [1567851065.131431862]: Plugin fake_gps initialized
[ INFO] [1567851065.131809266]: Plugin ftp loaded
[ INFO] [1567851065.198028053]: Plugin ftp initialized
[ INFO] [1567851065.198398521]: Plugin global_position loaded
[ INFO] [1567851065.231246968]: Plugin global_position initialized
[ INFO] [1567851065.231500377]: Plugin gps_rtk loaded
[ INFO] [1567851065.235793744]: Plugin gps_rtk initialized
[ INFO] [1567851065.236073438]: Plugin hil loaded
[ INFO] [1567851065.264960313]: Plugin hil initialized
[ INFO] [1567851065.265404169]: Plugin home_position loaded
[ INFO] [1567851065.276805920]: Plugin home_position initialized
[ INFO] [1567851065.277341535]: Plugin imu loaded
[ INFO] [1567851065.296800054]: Plugin imu initialized
[ INFO] [1567851065.297077853]: Plugin landing_target loaded
[ INFO] [1567851065.315137171]: Plugin landing_target initialized
[ INFO] [1567851065.315550641]: Plugin local_position loaded
[ INFO] [1567851065.331678940]: Plugin local_position initialized
[ INFO] [1567851065.331940807]: Plugin log_transfer loaded
[ INFO] [1567851065.339321419]: Plugin log_transfer initialized
[ INFO] [1567851065.339605476]: Plugin manual_control loaded
[ INFO] [1567851065.347589407]: Plugin manual_control initialized
[ INFO] [1567851065.347873668]: Plugin mocap_pose_estimate loaded
[ INFO] [1567851065.357613948]: Plugin mocap_pose_estimate initialized
[ INFO] [1567851065.358211595]: Plugin mount_control loaded
[ INFO] [1567851065.362718314]: Plugin mount_control initialized
[ INFO] [1567851065.362972499]: Plugin obstacle_distance loaded
[ INFO] [1567851065.373361991]: Plugin obstacle_distance initialized
[ INFO] [1567851065.373724403]: Plugin odom loaded
[ INFO] [1567851065.401146751]: Plugin odom initialized
[ INFO] [1567851065.401722514]: Plugin param loaded
[ INFO] [1567851065.415691711]: Plugin param initialized
[ INFO] [1567851065.415995561]: Plugin px4flow loaded
[ INFO] [1567851065.442691155]: Plugin px4flow initialized
[ INFO] [1567851065.442760923]: Plugin rangefinder blacklisted
[ INFO] [1567851065.443144755]: Plugin rc_io loaded
[ INFO] [1567851065.461718912]: Plugin rc_io initialized
[ INFO] [1567851065.461907712]: Plugin safety_area blacklisted
[ INFO] [1567851065.462235625]: Plugin setpoint_accel loaded
[ INFO] [1567851065.477559401]: Plugin setpoint_accel initialized
[ INFO] [1567851065.477983177]: Plugin setpoint_attitude loaded
[ INFO] [1567851065.547549231]: Plugin setpoint_attitude initialized
[ INFO] [1567851065.547899805]: Plugin setpoint_position loaded
[ INFO] [1567851065.572105217]: Plugin setpoint_position initialized
[ INFO] [1567851065.572404243]: Plugin setpoint_raw loaded
[ INFO] [1567851065.588684637]: Plugin setpoint_raw initialized
[ INFO] [1567851065.588988463]: Plugin setpoint_velocity loaded
[ INFO] [1567851065.608348566]: Plugin setpoint_velocity initialized
[ INFO] [1567851065.609009623]: Plugin sys_status loaded
[ INFO] [1567851065.634622287]: Plugin sys_status initialized
[ INFO] [1567851065.635147758]: Plugin sys_time loaded
[ INFO] [1567851065.652359951]: TM: Timesync mode: MAVLINK
[ INFO] [1567851065.655065444]: Plugin sys_time initialized
[ INFO] [1567851065.655433536]: Plugin trajectory loaded
libGL error: failed to create drawable
[ INFO] [1567851065.679846868]: Plugin trajectory initialized
[ INFO] [1567851065.680248519]: Plugin vfr_hud loaded
[ INFO] [1567851065.682703354]: Plugin vfr_hud initialized
[ INFO] [1567851065.682776043]: Plugin vibration blacklisted
[ INFO] [1567851065.683067844]: Plugin vision_pose_estimate loaded
[ INFO] [1567851065.699389999]: Plugin vision_pose_estimate initialized
[ INFO] [1567851065.699731696]: Plugin vision_speed_estimate loaded
[ INFO] [1567851065.710028549]: Plugin vision_speed_estimate initialized
[ INFO] [1567851065.710340427]: Plugin waypoint loaded
[ INFO] [1567851065.735082952]: Plugin waypoint initialized
[ INFO] [1567851065.735155094]: Plugin wheel_odometry blacklisted
[ INFO] [1567851065.735508170]: Plugin wind_estimation loaded
[ INFO] [1567851065.737573351]: Plugin wind_estimation initialized
[ INFO] [1567851065.737682489]: Autostarting mavlink via USB on PX4
[ INFO] [1567851065.737888289]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1567851065.737920505]: Built-in MAVLink package version: 2019.8.8
[ INFO] [1567851065.737948218]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1567851065.737976487]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1567851065.748716115]: Stereo is NOT SUPPORTED
[ INFO] [1567851065.748844298]: OpenGl version: 3 (GLSL 1.3).
SpawnModel script started
[ INFO] [1567851066.220412195]: Finished loading Gazebo ROS API Plugin.
[INFO] [1567851066.221445, 0.000000]: Loading model XML from Gazebo Model Database
[INFO] [1567851066.221999, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1567851066.224235414]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting…
[INFO] [1567851067.747262, 0.000000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1567851068.043401, 0.004000]: Spawn status: SpawnModel: Successfully spawned entity
[spawn_model-7] process has finished cleanly
log file: /home/evgeny/.ros/log/ca0bb740-d157-11e9-a458-5cea1dc619f5/spawn_model-7*.log
[ INFO] [1567851068.385068283, 0.004000000]: Camera Plugin: The ‘robotNamespace’ param did not exit
[ INFO] [1567851068.385328071, 0.004000000]: Camera Plugin: The ‘robotNamespace’ param did not exit
[ INFO] [1567851068.392105858, 0.004000000]: Camera Plugin (ns = ) <tf_prefix_>, set to “”
[ INFO] [1567851068.392888125, 0.004000000]: Camera Plugin (ns = ) <tf_prefix_>, set to “”
[ERROR] [1567851068.461611466]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1567851068.464255790]: PR: Unknown parameter to get: MPC_COL_PREV_D
[ERROR] [1567851068.466742349]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1567851068.469113857]: PR: Unknown parameter to get: NAV_ACC_RAD
INFO [simulator] Simulator connected on TCP port 4560.
[ INFO] [1567851069.228697312, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1567851069.298450517, 0.092000000]: Physics dynamic reconfigure ready.
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 14570 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14558 remote port 14541
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] Opened full log file: ./log/2019-09-07/10_11_10.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
[ INFO] [1567851070.511507511, 1.268000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1567851070.517216200, 1.272000000]: IMU: High resolution IMU detected!
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1567851070.761920479, 1.512000000]: FCU: [logger] file: ./log/2019-09-07/10_11_10.ulg
[ INFO] [1567851070.813644077, 1.564000000]: FCU: Avoidance system starting
INFO [mavlink] partner IP: 127.0.0.1
INFO [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14)
[ INFO] [1567851071.350490883, 2.000000000]: Successfully loaded rviz world
[ INFO] [1567851071.469387346, 2.120000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1567851071.562545680, 2.212000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1567851071.569920510, 2.220000000]: FCU: Avoidance system connected
[ INFO] [1567851071.571477070, 2.224000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1567851071.580547746, 2.232000000]: IMU: High resolution IMU detected!
[ WARN] [1567851072.370427908, 3.004000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.374939514, 3.008000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.378288400, 3.012000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.382945189, 3.016000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.390799619, 3.020000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.394162083, 3.024000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.398739274, 3.028000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.403747864, 3.032000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.406901215, 3.036000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.411286666, 3.040000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.415714006, 3.044000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.420128946, 3.048000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.423743742, 3.052000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.428292407, 3.056000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.431630809, 3.060000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.435868085, 3.064000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.440321589, 3.068000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.444707027, 3.072000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.447997724, 3.076000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.451494179, 3.080000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.455884714, 3.084000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.460275788, 3.088000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.463607443, 3.092000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.467966169, 3.096000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.475252416, 3.100000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.479045509, 3.104000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.483350879, 3.108000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.487126076, 3.112000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.491870471, 3.116000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.495344837, 3.120000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.499685023, 3.124000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.503070593, 3.128000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.507464289, 3.132000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.511930421, 3.136000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.517189431, 3.140000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.521694967, 3.144000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.525068874, 3.148000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.529483160, 3.152000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.533884993, 3.156000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.537322626, 3.160000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.544329024, 3.164000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.547201400, 3.168000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.554164934, 3.172000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.556501134, 3.176000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.559794391, 3.180000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.564590191, 3.184000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.569334439, 3.188000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.572879894, 3.192000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.576474335, 3.196000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.581356555, 3.200000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.584004720, 3.204000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.588365589, 3.208000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.592965213, 3.212000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.596788592, 3.216000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ INFO] [1567851072.600750577, 3.216000000]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1567851072.600929446, 3.216000000]: VER: 1.1: Flight software: 010902ff (106905871d000000)
[ INFO] [1567851072.600994285, 3.216000000]: VER: 1.1: Middleware software: 010902ff (106905871d000000)
[ INFO] [1567851072.601047602, 3.216000000]: VER: 1.1: OS software: 040f00ff (423371c7d4012e72)
[ INFO] [1567851072.601194610, 3.216000000]: VER: 1.1: Board hardware: 00000001
[ INFO] [1567851072.601278630, 3.216000000]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1567851072.601347697, 3.216000000]: VER: 1.1: UID: 4954414c44494e4f
[ WARN] [1567851072.604568829, 3.220000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.606960092, 3.224000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.611514792, 3.228000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.616524699, 3.232000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.618975570, 3.236000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.628395323, 3.240000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.631910574, 3.244000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.637550393, 3.248000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.641306154, 3.252000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.648403956, 3.256000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.651744431, 3.260000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.655110214, 3.264000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.659504822, 3.268000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.663097699, 3.272000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.667716133, 3.276000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.671455651, 3.280000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.675778249, 3.284000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.684580829, 3.288000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.685879040, 3.292000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.689284655, 3.296000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.691694310, 3.300000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.696122918, 3.304000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.702243186, 3.308000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.705688344, 3.312000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.712191410, 3.316000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.714439546, 3.320000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.718785959, 3.324000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.722263024, 3.328000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.726990119, 3.332000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1567851072.732080419, 3.336000000]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ERROR] [1567851073.471948840, 3.892000000]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1567851073.474928768, 3.896000000]: PR: Unknown parameter to get: MPC_COL_PREV_D
[ERROR] [1567851073.478361695, 3.896000000]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1567851073.481177397, 3.900000000]: PR: Unknown parameter to get: NAV_ACC_RAD
[ INFO] [1567851075.578200044, 5.612000000]: FCU: Avoidance system timed out
[ INFO] [1567851077.438436083, 6.804000000]: FCU: Avoidance system connected
[ERROR] [1567851078.484804827, 7.392000000]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1567851078.491302828, 7.400000000]: PR: Unknown parameter to get: MPC_COL_PREV_D
[ERROR] [1567851078.508250879, 7.408000000]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ INFO] [1567851078.519628810, 7.416000000]: FCU: Avoidance system timed out
[ERROR] [1567851078.519718597, 7.416000000]: PR: Unknown parameter to get: NAV_ACC_RAD
[ INFO] [1567851080.109830974, 8.208000000]: FCU: Avoidance system connected
[ INFO] [1567851080.801876353, 8.600000000]: FCU: Avoidance system timed out
[ INFO] [1567851082.688711846, 9.808000000]: FCU: Avoidance system connected
[ INFO] [1567851083.276907074, 10.216000000]: FCU: Avoidance system timed out
[ERROR] [1567851083.543886663, 10.400000000]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1567851083.546944887, 10.400000000]: PR: Unknown parameter to get: MPC_COL_PREV_D
[ERROR] [1567851083.555888323, 10.404000000]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1567851083.558924893, 10.404000000]: PR: Unknown parameter to get: NAV_ACC_RAD
INFO [ecl/EKF] EKF GPS checks passed (WGS-84 origin set)
INFO [ecl/EKF] EKF commencing GPS fusion
[ INFO] [1567851085.071548768, 11.408000000]: FCU: Avoidance system connected
[ INFO] [1567851085.658873480, 11.808000000]: FCU: Avoidance system timed out
[ INFO] [1567851087.402777592, 12.804000000]: FCU: Avoidance system connected
[ INFO] [1567851088.406991927, 13.408000000]: FCU: Avoidance system timed out
[ INFO] [1567851089.997085232, 14.412000000]: FCU: Avoidance system connected
[ INFO] [1567851090.594814377, 14.808000000]: FCU: Avoidance system timed out
[ INFO] [1567851092.159430136, 15.808000000]: FCU: Avoidance system connected
[ INFO] [1567851093.094922164, 16.404000000]: FCU: Avoidance system timed out

2

could you copy here the pdf output from running rosrun tf view_frames ?
What the output of rostopic hz /stereo/points2 and rostopic hz /local_pointcloud?

3

Here is the output of rosrun tf view_frames:
frames.pdf (18.3 KB)

and rostopic hz command:

evgeny@quad:~$ rostopic hz /stereo/points2
subscribed to [/stereo/points2]
WARNING: may be using simulated time
average rate: 6.757
min: 0.116s max: 0.164s std dev: 0.01897s window: 5
average rate: 6.902
min: 0.116s max: 0.164s std dev: 0.01541s window: 10
average rate: 7.022
min: 0.116s max: 0.164s std dev: 0.01392s window: 16
average rate: 6.981
min: 0.116s max: 0.172s std dev: 0.01411s window: 22
average rate: 6.989
min: 0.112s max: 0.172s std dev: 0.01502s window: 27
average rate: 6.988
min: 0.112s max: 0.172s std dev: 0.01439s window: 32
average rate: 6.986
min: 0.112s max: 0.172s std dev: 0.01417s window: 38
average rate: 6.990
min: 0.112s max: 0.172s std dev: 0.01438s window: 44
average rate: 6.968
min: 0.112s max: 0.172s std dev: 0.01489s window: 50
average rate: 6.983
min: 0.112s max: 0.172s std dev: 0.01528s window: 56
average rate: 6.995

evgeny@quad:~$ rostopic hz /local_pointcloud
subscribed to [/local_pointcloud]
WARNING: may be using simulated time
no new messages
no new messages
average rate: 0.667
min: 1.500s max: 1.500s std dev: 0.00000s window: 2
no new messages
average rate: 0.644
min: 1.500s max: 1.604s std dev: 0.05200s window: 3
no new messages
average rate: 0.656
min: 1.472s max: 1.604s std dev: 0.05679s window: 4
average rate: 0.674
min: 1.356s max: 1.604s std dev: 0.08829s window: 5
no new messages
average rate: 0.684
min: 1.356s max: 1.604s std dev: 0.08982s window: 6

4

On what kind of machine are you running the simulation? It seems that the planner is running really slowly and it could be that your machine is simply not powerful enough.

5

I’m using Ubuntu 16.4 on laptop with Intel Core™ i3-6006U CPU @ 2.00GHz × 4 processor and 4Gb RAM.
Its a long time I’m running local_planner simulation, and once before I increased timeout_critical_ parameter and everything worked well. But now, after updating to latest master, changing this parameter doesn’t helps.

6

The fact that you had to set up the timeout_critical parameter tells me that your laptop was really struggling to run the simulation. Also the reported frequency of local_pointcloud is way too low. There has been quite some work on the local planner recently, so it is possible that the algorithm got a bit heavier. I would suggest you try running it on a more powerful device (like a desktop). If the problem persists, we’ll have to debug that.

7

@baumanta, thank you for your answer.
The question is how it reflected on real platform.
Did you tested it on Intel Aero ?

8

we are not flying Intel Aero anymore. But it flies regularly using an Intel Up Core

9

So I understand that Intel Aero is discontinued by Intel and soon it will be not supported by PX4 community. Can you please advice other platform and camera that will be suitable for avoidance package and PX4 Firmware ?

10

It’s not like Intel Aero was officially “supported”, we were using it, so we were able to give some hints and advice. If you are on the look out for a new suitable platform, I’d recommend to look into holibros new pixhawk vision which is soon gonna be available:

11

Ok, thanks.
what vision kit it will include ?
Is it something like you using - Realsense D435 ?

12

As far as I know the standard version will contain realsense D435. But also a version with the Occipital Structure Core should eventually be available

13

Ok, thanks.
Will wait for updates.