ERROR HP: requesting home position

ROS / MAVROS / MicroDDS
1

Hello friends
I’m practicing building my drone model environment.
The model my drone uses is iris_fpv_cam and edited for the camera to rotate down to a 90 degree angle, the world is empty
My lauch file used is posix_sitl.launch
My launch command: roslaunch uav_launch.launch vehicle:=iris_fpv_cam sdf:=iris_fpv_down_cam
uav_launch.launch points to posix_sitl.launch

SUMMARY

… logging to /home/huytd/.ros/log/0bae53c6-9fc6-11ec-9072-c0b6f9824a47/roslaunch-huytd-HP-12016.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://huytd-HP:36597/

SUMMARY

PARAMETERS

  • /rosdistro: melodic
  • /rosversion: 1.14.12

NODES
/
uav (tracking_aruco/px4_launch_gazebo.sh)

auto-starting new master
process[master]: started with pid [12033]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0bae53c6-9fc6-11ec-9072-c0b6f9824a47
process[rosout-1]: started with pid [12052]
started core service [/rosout]
process[uav-2]: started with pid [12058]
/home/huytd/Project/Drone/PX4-Autopilot
GAZEBO_PLUGIN_PATH :/home/huytd/Project/Drone/PX4-Autopilot/build/px4_sitl_default/build_gazebo:/home/huytd/Project/Drone/PX4-Autopilot/build/px4_sitl_default/build_gazebo:/home/huytd/Project/Drone/PX4-Autopilot/build/px4_sitl_default/build_gazebo:/home/huytd/Project/Drone/PX4-Autopilot/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/huytd/Project/Drone/PX4-Autopilot/Tools/sitl_gazebo/models:/home/huytd/Project/Drone/PX4-Autopilot/Tools/sitl_gazebo/models:/home/huytd/Project/Drone/PX4-Autopilot/Tools/sitl_gazebo/models:/home/huytd/Project/Drone/PX4-Autopilot/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /opt/ros/melodic/lib:/home/huytd/Project/Drone/PX4-Autopilot/build/px4_sitl_default/build_gazebo:/home/huytd/Project/Drone/PX4-Autopilot/build/px4_sitl_default/build_gazebo:/home/huytd/Project/Drone/PX4-Autopilot/build/px4_sitl_default/build_gazebo:/home/huytd/Project/Drone/PX4-Autopilot/build/px4_sitl_default/build_gazebo
test

… logging to /home/huytd/.ros/log/0bae53c6-9fc6-11ec-9072-c0b6f9824a47/roslaunch-huytd-HP-12088.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://huytd-HP:41075/

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /gazebo/enable_ros_network: True
  • /mavros/camera/frame_id: base_link
  • /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: PITCH_270
  • /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: PITCH_270
  • /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: PITCH_270
  • /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/horizontal_fov_ratio: 1.0
  • /mavros/distance_sensor/sonar_1_sub/id: 2
  • /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
  • /mavros/distance_sensor/sonar_1_sub/subscriber: True
  • /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
  • /mavros/fake_gps/eph: 2.0
  • /mavros/fake_gps/epv: 2.0
  • /mavros/fake_gps/fix_type: 3
  • /mavros/fake_gps/geo_origin/alt: 408.0
  • /mavros/fake_gps/geo_origin/lat: 47.3667
  • /mavros/fake_gps/geo_origin/lon: 8.55
  • /mavros/fake_gps/gps_rate: 5.0
  • /mavros/fake_gps/mocap_transform: True
  • /mavros/fake_gps/satellites_visible: 5
  • /mavros/fake_gps/tf/child_frame_id: fix
  • /mavros/fake_gps/tf/frame_id: map
  • /mavros/fake_gps/tf/listen: False
  • /mavros/fake_gps/tf/rate_limit: 10.0
  • /mavros/fake_gps/tf/send: False
  • /mavros/fake_gps/use_mocap: True
  • /mavros/fake_gps/use_vision: False
  • /mavros/fcu_protocol: v2.0
  • /mavros/fcu_url: udp://:14540@127…
  • /mavros/gcs_url:
  • /mavros/global_position/child_frame_id: base_link
  • /mavros/global_position/frame_id: map
  • /mavros/global_position/gps_uere: 1.0
  • /mavros/global_position/rot_covariance: 99999.0
  • /mavros/global_position/tf/child_frame_id: base_link
  • /mavros/global_position/tf/frame_id: map
  • /mavros/global_position/tf/global_frame_id: earth
  • /mavros/global_position/tf/send: False
  • /mavros/global_position/use_relative_alt: True
  • /mavros/image/frame_id: px4flow
  • /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0…
  • /mavros/imu/frame_id: base_link
  • /mavros/imu/linear_acceleration_stdev: 0.0003
  • /mavros/imu/magnetic_stdev: 0.0
  • /mavros/imu/orientation_stdev: 1.0
  • /mavros/landing_target/camera/fov_x: 2.0071286398
  • /mavros/landing_target/camera/fov_y: 2.0071286398
  • /mavros/landing_target/image/height: 480
  • /mavros/landing_target/image/width: 640
  • /mavros/landing_target/land_target_type: VISION_FIDUCIAL
  • /mavros/landing_target/listen_lt: False
  • /mavros/landing_target/mav_frame: LOCAL_NED
  • /mavros/landing_target/target_size/x: 0.3
  • /mavros/landing_target/target_size/y: 0.3
  • /mavros/landing_target/tf/child_frame_id: camera_center
  • /mavros/landing_target/tf/frame_id: landing_target
  • /mavros/landing_target/tf/listen: False
  • /mavros/landing_target/tf/rate_limit: 10.0
  • /mavros/landing_target/tf/send: True
  • /mavros/local_position/frame_id: map
  • /mavros/local_position/tf/child_frame_id: base_link
  • /mavros/local_position/tf/frame_id: map
  • /mavros/local_position/tf/send: False
  • /mavros/local_position/tf/send_fcu: False
  • /mavros/mission/pull_after_gcs: True
  • /mavros/mission/use_mission_item_int: True
  • /mavros/mocap/use_pose: True
  • /mavros/mocap/use_tf: False
  • /mavros/odometry/fcu/odom_child_id_des: base_link
  • /mavros/odometry/fcu/odom_parent_id_des: map
  • /mavros/plugin_blacklist: [‘safety_area’, '…
  • /mavros/plugin_whitelist: []
  • /mavros/px4flow/frame_id: px4flow
  • /mavros/px4flow/ranger_fov: 0.118682
  • /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_thrust: False
  • /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
  • /mavros/setpoint_attitude/tf/frame_id: map
  • /mavros/setpoint_attitude/tf/listen: False
  • /mavros/setpoint_attitude/tf/rate_limit: 50.0
  • /mavros/setpoint_attitude/use_quaternion: False
  • /mavros/setpoint_position/mav_frame: LOCAL_NED
  • /mavros/setpoint_position/tf/child_frame_id: target_position
  • /mavros/setpoint_position/tf/frame_id: map
  • /mavros/setpoint_position/tf/listen: False
  • /mavros/setpoint_position/tf/rate_limit: 50.0
  • /mavros/setpoint_raw/thrust_scaling: 1.0
  • /mavros/setpoint_velocity/mav_frame: LOCAL_NED
  • /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/time/timesync_mode: MAVLINK
  • /mavros/vibration/frame_id: base_link
  • /mavros/vision_pose/tf/child_frame_id: vision_estimate
  • /mavros/vision_pose/tf/frame_id: odom
  • /mavros/vision_pose/tf/listen: False
  • /mavros/vision_pose/tf/rate_limit: 10.0
  • /mavros/vision_speed/listen_twist: True
  • /mavros/vision_speed/twist_cov: True
  • /mavros/wheel_odometry/child_frame_id: base_link
  • /mavros/wheel_odometry/count: 2
  • /mavros/wheel_odometry/frame_id: odom
  • /mavros/wheel_odometry/send_raw: True
  • /mavros/wheel_odometry/send_twist: False
  • /mavros/wheel_odometry/tf/child_frame_id: base_link
  • /mavros/wheel_odometry/tf/frame_id: odom
  • /mavros/wheel_odometry/tf/send: False
  • /mavros/wheel_odometry/use_rpm: False
  • /mavros/wheel_odometry/vel_error: 0.1
  • /mavros/wheel_odometry/wheel0/radius: 0.05
  • /mavros/wheel_odometry/wheel0/x: 0.0
  • /mavros/wheel_odometry/wheel0/y: -0.15
  • /mavros/wheel_odometry/wheel1/radius: 0.05
  • /mavros/wheel_odometry/wheel1/x: 0.0
  • /mavros/wheel_odometry/wheel1/y: 0.15
  • /rosdistro: melodic
  • /rosversion: 1.14.12
  • /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
sitl (px4/px4)
vehicle_spawn_huytd_HP_12088_4268772671289608931 (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[sitl-1]: started with pid [12118]
process[mavros-2]: started with pid [12119]
process[gazebo-3]: started with pid [12120]
process[gazebo_gui-4]: started with pid [12125]
process[vehicle_spawn_huytd_HP_12088_4268772671289608931-5]: started with pid [12134]
Creating symlink /home/huytd/Project/Drone/PX4-Autopilot/ROMFS/px4fmu_common → /home/huytd/.ros/etc

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

px4 starting.

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO [init] found model autostart file as SYS_AUTOSTART=1018
INFO [param] selected parameter default file eeprom/parameters_1018
INFO [parameters] BSON document size 291 bytes, decoded 291 bytes (INT32:12, FLOAT:3)
[param] Loaded: eeprom/parameters_1018
[ INFO] [1646843351.049605675]: FCU URL: udp://:14540@127.0.0.1:14557
[ INFO] [1646843351.051332953]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1646843351.051398720]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1646843351.051453441]: GCS bridge disabled
[ INFO] [1646843351.063765515]: Plugin 3dr_radio loaded
[ INFO] [1646843351.065220879]: Plugin 3dr_radio initialized
[ INFO] [1646843351.065366290]: Plugin actuator_control loaded
[ INFO] [1646843351.068610436]: Plugin actuator_control initialized
[ INFO] [1646843351.073388071]: Plugin adsb loaded
[ INFO] [1646843351.076448838]: Plugin adsb initialized
[ INFO] [1646843351.076613729]: Plugin altitude loaded
[ INFO] [1646843351.077554203]: Plugin altitude initialized
[ INFO] [1646843351.077658569]: Plugin cam_imu_sync loaded
[ INFO] [1646843351.079318662]: Plugin cam_imu_sync initialized
[ INFO] [1646843351.079441995]: Plugin camera loaded
[ INFO] [1646843351.080769701]: Plugin camera initialized
[ INFO] [1646843351.080892403]: Plugin command loaded
[ INFO] [1646843351.087465923]: Plugin command initialized
[ INFO] [1646843351.087606004]: Plugin companion_process_status loaded
[ INFO] [1646843351.089879826]: Plugin companion_process_status initialized
[ INFO] [1646843351.089992004]: Plugin debug_value loaded
[ INFO] [1646843351.094088049]: Plugin debug_value initialized
[ INFO] [1646843351.094131807]: Plugin distance_sensor blacklisted
[ INFO] [1646843351.094235471]: Plugin esc_status loaded
[ INFO] [1646843351.095241266]: Plugin esc_status initialized
[ INFO] [1646843351.095338146]: Plugin esc_telemetry loaded
[ INFO] [1646843351.096042005]: Plugin esc_telemetry initialized
[ INFO] [1646843351.096189015]: Plugin fake_gps loaded
[ INFO] [1646843351.109892750]: Plugin fake_gps initialized
[ INFO] [1646843351.110040944]: Plugin ftp loaded
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] [1646843351.115945753]: Plugin ftp initialized
[ INFO] [1646843351.116090908]: Plugin geofence loaded
[ INFO] [1646843351.118813938]: Plugin geofence initialized
[ INFO] [1646843351.118958679]: Plugin global_position loaded
[ INFO] [1646843351.134259327]: Plugin global_position initialized
[ INFO] [1646843351.134387525]: Plugin gps_input loaded
[ INFO] [1646843351.137146813]: Plugin gps_input initialized
[ INFO] [1646843351.137268630]: Plugin gps_rtk loaded
[ INFO] [1646843351.141539990]: Plugin gps_rtk initialized
[ INFO] [1646843351.141662200]: Plugin gps_status loaded
[ INFO] [1646843351.143815475]: Plugin gps_status initialized
[ INFO] [1646843351.143975217]: Plugin hil loaded
[ INFO] [1646843351.156209934]: Plugin hil initialized
[ INFO] [1646843351.156344865]: Plugin home_position loaded
[ INFO] [1646843351.159732339]: Plugin home_position initialized
[ INFO] [1646843351.159912884]: Plugin imu loaded
[ INFO] [1646843351.167443211]: Plugin imu initialized
[ INFO] [1646843351.167643884]: Plugin landing_target loaded
[ INFO] [1646843351.181510033]: Plugin landing_target initialized
[ INFO] [1646843351.181651737]: Plugin local_position loaded
[ INFO] [1646843351.188227761]: Plugin local_position initialized
[ INFO] [1646843351.188409586]: Plugin log_transfer loaded
[ INFO] [1646843351.191812573]: Plugin log_transfer initialized
[ INFO] [1646843351.191988829]: Plugin mag_calibration_status loaded
[ INFO] [1646843351.193192038]: Plugin mag_calibration_status initialized
[ INFO] [1646843351.193371207]: Plugin manual_control loaded
[ INFO] [1646843351.196427690]: Plugin manual_control initialized
[ INFO] [1646843351.196607735]: Plugin mocap_pose_estimate loaded
[ INFO] [1646843351.200713454]: Plugin mocap_pose_estimate initialized
[ INFO] [1646843351.200884553]: Plugin mount_control loaded
[ INFO] [1646843351.206198790]: Plugin mount_control initialized
[ INFO] [1646843351.206378927]: Plugin nav_controller_output loaded
[ INFO] [1646843351.207055674]: Plugin nav_controller_output initialized
[ INFO] [1646843351.207194545]: Plugin obstacle_distance loaded
[ INFO] [1646843351.210061362]: Plugin obstacle_distance initialized
[ INFO] [1646843351.210246296]: Plugin odom loaded
[ INFO] [1646843351.214857855]: Plugin odom initialized
[ INFO] [1646843351.215032375]: Plugin onboard_computer_status loaded
[ INFO] [1646843351.217673039]: Plugin onboard_computer_status initialized
[ INFO] [1646843351.217857483]: Plugin param loaded
[ INFO] [1646843351.220904579]: Plugin param initialized
[ INFO] [1646843351.221039834]: Plugin play_tune loaded
[ INFO] [1646843351.223793130]: Plugin play_tune initialized
[ INFO] [1646843351.223980314]: Plugin px4flow loaded
[ INFO] [1646843351.232890526]: Plugin px4flow initialized
[ INFO] [1646843351.233097327]: Plugin rallypoint loaded
[ INFO] [1646843351.238472096]: Plugin rallypoint initialized
[ INFO] [1646843351.238564877]: Plugin rangefinder blacklisted
[ INFO] [1646843351.238718622]: Plugin rc_io loaded
[ INFO] [1646843351.242617789]: Plugin rc_io initialized
[ INFO] [1646843351.242702545]: Plugin safety_area blacklisted
[ INFO] [1646843351.242856062]: Plugin setpoint_accel loaded
[ INFO] [1646843351.246480714]: Plugin setpoint_accel initialized
[ INFO] [1646843351.246690606]: Plugin setpoint_attitude loaded
[ INFO] [1646843351.257217110]: Plugin setpoint_attitude initialized
[ INFO] [1646843351.257422297]: Plugin setpoint_position loaded
[ INFO] [1646843351.275198787]: Plugin setpoint_position initialized
[ INFO] [1646843351.275406702]: Plugin setpoint_raw loaded
[ INFO] [1646843351.284248808]: Plugin setpoint_raw initialized
[ INFO] [1646843351.284447254]: Plugin setpoint_trajectory loaded
[ INFO] [1646843351.290605186]: Plugin setpoint_trajectory initialized
[ INFO] [1646843351.290806081]: Plugin setpoint_velocity loaded
[ INFO] [1646843351.298333578]: Plugin setpoint_velocity initialized
[ INFO] [1646843351.298468078]: Plugin sys_status loaded
[ INFO] [1646843351.307635003]: Plugin sys_status initialized
[ INFO] [1646843351.307784386]: Plugin sys_time loaded
[ INFO] [1646843351.312216981]: TM: Timesync mode: MAVLINK
[ INFO] [1646843351.312610674]: TM: Not publishing sim time
[ INFO] [1646843351.313770273]: Plugin sys_time initialized
[ INFO] [1646843351.313907383]: Plugin terrain loaded
[ INFO] [1646843351.315267540]: Plugin terrain initialized
[ INFO] [1646843351.315403296]: Plugin trajectory loaded
[ INFO] [1646843351.320403543]: Plugin trajectory initialized
[ INFO] [1646843351.320566052]: Plugin tunnel loaded
[ INFO] [1646843351.323249473]: Plugin tunnel initialized
[ INFO] [1646843351.323401612]: Plugin vfr_hud loaded
[ INFO] [1646843351.324070922]: Plugin vfr_hud initialized
[ INFO] [1646843351.324108980]: Plugin vibration blacklisted
[ INFO] [1646843351.324211227]: Plugin vision_pose_estimate loaded
[ INFO] [1646843351.330930628]: Plugin vision_pose_estimate initialized
[ INFO] [1646843351.331071313]: Plugin vision_speed_estimate loaded
[ INFO] [1646843351.334437616]: Plugin vision_speed_estimate initialized
[ INFO] [1646843351.334624155]: Plugin waypoint loaded
[ INFO] [1646843351.339081403]: Plugin waypoint initialized
[ INFO] [1646843351.339145523]: Plugin wheel_odometry blacklisted
[ INFO] [1646843351.339288200]: Plugin wind_estimation loaded
[ INFO] [1646843351.339896898]: Plugin wind_estimation initialized
[ INFO] [1646843351.340000881]: Autostarting mavlink via USB on PX4
[ INFO] [1646843351.340046760]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1646843351.340078552]: Built-in MAVLink package version: 2022.1.5
[ INFO] [1646843351.340114792]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1646843351.340148781]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1646843351.397551364]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1646843351.398798592]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting…
[ INFO] [1646843351.464518532]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1646843351.465743448]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting…
[INFO] [1646843351.900640, 0.000000]: Loading model XML from file /home/huytd/Project/Drone/PX4-Autopilot/Tools/sitl_gazebo/models/iris_fpv_cam/iris_fpv_down_cam.sdf
[INFO] [1646843351.901674, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1646843352.360831991]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1646843352.373956458, 0.012000000]: Physics dynamic reconfigure ready.
[INFO] [1646843352.505282, 0.138000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1646843352.728341, 0.171000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1646843352.930277590, 0.171000000]: Camera Plugin: The ‘robotNamespace’ param was empty
[ INFO] [1646843352.932433143, 0.171000000]: Camera Plugin (ns = iris_fpv_cam) <tf_prefix_>, set to “iris_fpv_cam”
[vehicle_spawn_huytd_HP_12088_4268772671289608931-5] process has finished cleanly
log file: /home/huytd/.ros/log/0bae53c6-9fc6-11ec-9072-c0b6f9824a47/vehicle_spawn_huytd_HP_12088_4268772671289608931-5*.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 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] [1646843353.257315251, 0.357000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1646843353.257439085, 0.357000000]: IMU: High resolution IMU detected!
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2022-03-09/16_29_13.ulg
INFO [logger] Opened full log file: ./log/2022-03-09/16_29_13.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 [mavlink] partner IP: 127.0.0.1
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1646843354.244262071, 1.337000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1646843354.246246188, 1.339000000]: IMU: High resolution IMU detected!
[ INFO] [1646843355.253400366, 2.333000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1646843355.253468493, 2.333000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1646843355.253495349, 2.333000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1646843355.253534383, 2.333000000]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1646843355.253564524, 2.333000000]: VER: 1.1: Flight software: 010d0000 (52221b0bb7000000)
[ INFO] [1646843355.253584657, 2.333000000]: VER: 1.1: Middleware software: 010d0000 (52221b0bb7000000)
[ INFO] [1646843355.253601055, 2.333000000]: VER: 1.1: OS software: 050400ff (c5c7d2b4f26f52f1)
[ INFO] [1646843355.253620162, 2.333000000]: VER: 1.1: Board hardware: 00000001
[ INFO] [1646843355.253641043, 2.333000000]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1646843355.253658107, 2.333000000]: VER: 1.1: UID: 4954414c44494e4f
[ INFO] [1646843355.670846747, 2.749000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1646843364.305732972, 11.338000000]: HP: requesting home position
[ INFO] [1646843369.311684322, 16.337000000]: GF: mission received
[ INFO] [1646843369.312816215, 16.338000000]: RP: mission received
[ INFO] [1646843369.312862436, 16.338000000]: WP: mission received
[ INFO] [1646843374.343118373, 21.338000000]: HP: requesting home position
[ INFO] [1646843384.575687510, 31.338000000]: HP: requesting home position
[ INFO] [1646843394.613139700, 41.338000000]: HP: requesting home position
[ INFO] [1646843404.635333857, 51.338000000]: HP: requesting home position
[ INFO] [1646843414.654171437, 61.339000000]: HP: requesting home position
[uav-2] killing on exit

Thanks!

2

2022-03-15 16-29-26 的屏幕截图
2022-03-15 16-29-26 的屏幕截图1920×1080 170 KB

same issue with yours.
I use orb_slam2, send topic mavros/vision/vision_pose/pose to /orbslam2/vision_pose/pose.
then it began to requesting home position.
did you work it out? thank you.
here is my whole doc about using orb_slam2 on UAV in gazebo link here

3

refer ekf2 failed to use Vision for localization and PX4 keeps noticing: requesting home position · Issue #19344 · PX4/PX4-Autopilot · GitHub

4

fixed, due to ORB_SLAM2
need to calculate the vision_pose by our own, which means to revise fileros_stereo.cc
put the link here: 3_Onboard_SLAM/XTDrone_Method/ros_stereo.cc · hazyparker/MyResearch - Gitee.com
it’s write by XTDrone;

5

After some time not understanding why, I fixed the EKF2_AID_MASK parameter in QGC and it fixed my error