Hi, I’m trying to write a mavros node to send a custom mavlink message. I have defined the new custom message (message id = 325) in common.xml and regenerated the message headers. I wanted to use the command MAV_CMD_SET_MESSAGE to stream the custom message. I have a launch file that will run px4_sitl, gazebo, and this mavros node. But whenever I try to run the launch file, it somehow stops without any errors. This is also happening for other pre-defined messages. Any ideas on what causes this?
This is my script
#!/usr/bin/env python3
import os
os.environ['MAVLINK20'] = '1' # force MAVLink v2 for the moment
from pymavlink import mavutil
import mgrs
# Start a connection listening on a UDP port
the_connection = mavutil.mavlink_connection('udpin:localhost:14550')
# Wait for the first heartbeat
# This sets the system and component ID of remote system for the link
the_connection.wait_heartbeat()
print("Heartbeat from system (system %u component %u)" % (the_connection.target_system, the_connection.target_component))
# Once connected, use 'the_connection' to get and send messages
the_connection.mav.command_long_send(the_connection.target_system, the_connection.target_component, mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL, 0, 325, 0, 0, 0, 0, 0, 2)
This is the output when I try to run the launch file
... logging to /home/syuant/.ros/log/be9c6aea-2d06-11ed-b40e-8be84ef1af67/roslaunch-syuant-6730.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://10.0.2.15:39049/
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@loca...
* /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: noetic
* /rosversion: 1.15.14
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
pymavlinkv2 (package_px4/pymavlinkv2.py)
sitl (px4/px4)
vehicle_spawn_syuant_6730_4140454198703944244 (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [6739]
ROS_MASTER_URI=http://10.0.2.15:11311/
setting /run_id to be9c6aea-2d06-11ed-b40e-8be84ef1af67
process[rosout-1]: started with pid [6749]
started core service [/rosout]
process[sitl-2]: started with pid [6757]
Creating symlink /home/syuant/Firmware/build/px4_sitl_default/etc -> /home/syuant/.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=10016
process[gazebo-3]: started with pid [6773]
INFO [param] selected parameter default file eeprom/parameters_10016
INFO [parameters] BSON document size 312 bytes, decoded 312 bytes (INT32:13, FLOAT:3)
[param] Loaded: eeprom/parameters_10016
process[gazebo_gui-4]: started with pid [6781]
process[vehicle_spawn_syuant_6730_4140454198703944244-5]: started with pid [6792]
process[mavros-6]: started with pid [6799]
process[pymavlinkv2-7]: started with pid [6808]
[ INFO] [1662374253.083184775]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1662374253.100700626]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1662374253.111109318]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1662374253.111920542]: GCS bridge disabled
[ INFO] [1662374253.218993742]: Plugin 3dr_radio loaded
[ INFO] [1662374253.230168085]: Plugin 3dr_radio initialized
[ INFO] [1662374253.235389526]: Plugin actuator_control loaded
[ INFO] [1662374253.249842413]: Plugin actuator_control initialized
[ INFO] [1662374253.282652133]: Plugin adsb loaded
[ INFO] [1662374253.323728271]: Plugin adsb initialized
[ INFO] [1662374253.325486185]: Plugin altitude loaded
[ INFO] [1662374253.327304565]: Plugin altitude initialized
[ INFO] [1662374253.327705056]: Plugin cam_imu_sync loaded
[ INFO] [1662374253.331135510]: Plugin cam_imu_sync initialized
[ INFO] [1662374253.341678344]: Plugin camera loaded
[ INFO] [1662374253.346710242]: Plugin camera initialized
[ INFO] [1662374253.347859913]: Plugin command loaded
[ INFO] [1662374253.399890948]: Plugin command initialized
[ INFO] [1662374253.400457738]: Plugin companion_process_status loaded
[ INFO] [1662374253.420978897]: Plugin companion_process_status initialized
[ INFO] [1662374253.421312341]: Plugin debug_value loaded
[ INFO] [1662374253.458712073]: Plugin debug_value initialized
[ INFO] [1662374253.458874619]: Plugin distance_sensor blacklisted
[ INFO] [1662374253.459149911]: Plugin esc_status loaded
[ INFO] [1662374253.469315189]: Plugin esc_status initialized
[ INFO] [1662374253.469637256]: Plugin esc_telemetry loaded
[ INFO] [1662374253.474940536]: Plugin esc_telemetry initialized
[ INFO] [1662374253.475376828]: Plugin fake_gps 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] [1662374253.603784254]: Plugin fake_gps initialized
[ INFO] [1662374253.604213004]: Plugin ftp loaded
[ INFO] [1662374253.658052299]: Plugin ftp initialized
[ INFO] [1662374253.658501164]: Plugin geofence loaded
[ INFO] [1662374253.689607671]: Plugin geofence initialized
[ INFO] [1662374253.689937010]: Plugin global_position loaded
[ INFO] [1662374253.849979321]: Plugin global_position initialized
[ INFO] [1662374253.850384504]: Plugin gps_input loaded
[ INFO] [1662374253.869476848]: Plugin gps_input initialized
[ INFO] [1662374253.869880593]: Plugin gps_rtk loaded
[ INFO] [1662374253.893938563]: Plugin gps_rtk initialized
[ INFO] [1662374253.894313352]: Plugin gps_status loaded
[ INFO] [1662374253.937796111]: Plugin gps_status initialized
[ INFO] [1662374253.938331187]: Plugin hil loaded
[ INFO] [1662374254.070035665]: Plugin hil initialized
[ INFO] [1662374254.070427484]: Plugin home_position loaded
[ INFO] [1662374254.097088877]: Plugin home_position initialized
[ INFO] [1662374254.097598592]: Plugin imu loaded
[ INFO] [1662374254.162998432]: Plugin imu initialized
[ INFO] [1662374254.163326474]: Plugin landing_target loaded
[ INFO] [1662374254.278341124]: Plugin landing_target initialized
[ INFO] [1662374254.278670380]: Plugin local_position loaded
[ INFO] [1662374254.332346709]: Plugin local_position initialized
[ INFO] [1662374254.332696779]: Plugin log_transfer loaded
[ INFO] [1662374254.367643759]: Plugin log_transfer initialized
[ INFO] [1662374254.367973863]: Plugin mag_calibration_status loaded
[ INFO] [1662374254.381317323]: Plugin mag_calibration_status initialized
[ INFO] [1662374254.381712001]: Plugin manual_control loaded
[ INFO] [1662374254.408810913]: Plugin manual_control initialized
[ INFO] [1662374254.409160520]: Plugin mocap_pose_estimate loaded
[ INFO] [1662374254.439892190]: Plugin mocap_pose_estimate initialized
[ INFO] [1662374254.440317694]: Plugin mount_control loaded
[ INFO] [1662374254.469409343]: Plugin mount_control initialized
[ INFO] [1662374254.469830028]: Plugin nav_controller_output loaded
[ INFO] [1662374254.473293731]: Plugin nav_controller_output initialized
[ INFO] [1662374254.473648549]: Plugin obstacle_distance loaded
[ INFO] [1662374254.519002031]: Plugin obstacle_distance initialized
[ INFO] [1662374254.519325516]: Plugin odom loaded
[ INFO] [1662374254.560831464]: Plugin odom initialized
[ INFO] [1662374254.561226288]: Plugin onboard_computer_status loaded
[ INFO] [1662374254.579347850]: Plugin onboard_computer_status initialized
[ INFO] [1662374254.579729798]: Plugin param loaded
[ INFO] [1662374254.609934137]: Plugin param initialized
[ INFO] [1662374254.610244187]: Plugin play_tune loaded
[ INFO] [1662374254.624970131]: Plugin play_tune initialized
[ INFO] [1662374254.625357857]: Plugin px4flow loaded
[ INFO] [1662374254.682298317]: Plugin px4flow initialized
[ INFO] [1662374254.682776756]: Plugin rallypoint loaded
[ INFO] [1662374254.707246476]: Plugin rallypoint initialized
[ INFO] [1662374254.707618517]: Plugin rangefinder blacklisted
[ INFO] [1662374254.708014539]: Plugin rc_io loaded
[ INFO] [1662374254.762822374]: Plugin rc_io initialized
[ INFO] [1662374254.763064642]: Plugin safety_area blacklisted
[ INFO] [1662374254.763574651]: Plugin setpoint_accel loaded
[ INFO] [1662374254.810757809]: Plugin setpoint_accel initialized
[ INFO] [1662374254.811460632]: Plugin setpoint_attitude loaded
[ INFO] [1662374254.887735199]: Plugin setpoint_attitude initialized
[ INFO] [1662374254.888538868]: Plugin setpoint_position loaded
[ INFO] [1662374255.020446843]: Plugin setpoint_position initialized
[ INFO] [1662374255.020856975]: Plugin setpoint_raw loaded
[ INFO] [1662374255.088043344]: Plugin setpoint_raw initialized
[ INFO] [1662374255.088419498]: Plugin setpoint_trajectory loaded
[ INFO] [1662374255.121618150]: Plugin setpoint_trajectory initialized
[ INFO] [1662374255.121969844]: Plugin setpoint_velocity loaded
[ INFO] [1662374255.164799476]: Plugin setpoint_velocity initialized
[ INFO] [1662374255.165406275]: Plugin sys_status loaded
[ INFO] [1662374255.240931366]: Plugin sys_status initialized
[ INFO] [1662374255.241329555]: Plugin sys_time loaded
[ INFO] [1662374255.275167099]: TM: Timesync mode: MAVLINK
[ INFO] [1662374255.278789568]: TM: Not publishing sim time
[ INFO] [1662374255.286797894]: Plugin sys_time initialized
[ INFO] [1662374255.287234471]: Plugin terrain loaded
[ INFO] [1662374255.290718526]: Plugin terrain initialized
[ INFO] [1662374255.291102099]: Plugin trajectory loaded
[ INFO] [1662374255.324438476]: Plugin trajectory initialized
[ INFO] [1662374255.324837297]: Plugin tunnel loaded
[ INFO] [1662374255.371299249]: Plugin tunnel initialized
[ INFO] [1662374255.371924103]: Plugin vfr_hud loaded
[ INFO] [1662374255.378146278]: Plugin vfr_hud initialized
[ INFO] [1662374255.378520038]: Plugin vibration blacklisted
[ INFO] [1662374255.379327730]: Plugin vision_pose_estimate loaded
[ INFO] [1662374255.456026086]: Plugin vision_pose_estimate initialized
[ INFO] [1662374255.456472497]: Plugin vision_speed_estimate loaded
[ INFO] [1662374255.478560532]: Plugin vision_speed_estimate initialized
[ INFO] [1662374255.479007924]: Plugin waypoint loaded
[ INFO] [1662374255.515852974]: Plugin waypoint initialized
[ INFO] [1662374255.516355936]: Plugin wheel_odometry blacklisted
[ INFO] [1662374255.516768262]: Plugin wind_estimation loaded
[ INFO] [1662374255.520856792]: Plugin wind_estimation initialized
[ INFO] [1662374255.521604720]: Autostarting mavlink via USB on PX4
[ INFO] [1662374255.523403121]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1662374255.525433404]: Built-in MAVLink package version: 2021.3.3
[ INFO] [1662374255.526840376]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1662374255.527242455]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1662374255.794581, 0.000000]: Loading model XML from file /home/syuant/Firmware/Tools/sitl_gazebo/models/iris/iris.sdf
[INFO] [1662374255.823358, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1662374256.645123953]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1662374256.650372597]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1662374257.181326821]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1662374257.186718147]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1662374258.312823149]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1662374258.490140995, 0.080000000]: Physics dynamic reconfigure ready.
[INFO] [1662374258.550269, 0.128000]: Calling service /gazebo/spawn_sdf_model
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[INFO] [1662374259.255407, 0.200000]: Spawn status: SpawnModel: Successfully spawned entity
INFO [simulator] Simulator connected on TCP port 4560.
INFO [commander] LED: open /dev/led0 failed (22)
INFO [init] Mixer: etc/mixers/quad_x.main.mix on /dev/pwm_output0
INFO [init] setting PWM_AUX_OUT none
[vehicle_spawn_syuant_6730_4140454198703944244-5] process has finished cleanly
log file: /home/syuant/.ros/log/be9c6aea-2d06-11ed-b40e-8be84ef1af67/vehicle_spawn_syuant_6730_4140454198703944244-5*.log
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] [1662374260.651382439, 0.976000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1662374260.675801072, 0.996000000]: IMU: High resolution IMU detected!
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [mavlink] partner IP: 127.0.0.1
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/2022-09-05/10_37_39.ulg
INFO [logger] Opened full log file: ./log/2022-09-05/10_37_39.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> Heartbeat from system (system 1 component 0)
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1662374261.581765091, 1.888000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1662374261.665375780, 1.972000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1662374261.667758320, 1.972000000]: IMU: High resolution IMU detected!
[ INFO] [1662374261.682477344, 1.988000000]: IMU: Attitude quaternion IMU detected!
================================================================================REQUIRED process [pymavlinkv2-7] has died!
process has finished cleanly
log file: /home/syuant/.ros/log/be9c6aea-2d06-11ed-b40e-8be84ef1af67/pymavlinkv2-7*.log
Initiating shutdown!
================================================================================
[pymavlinkv2-7] killing on exit
[mavros-6] killing on exit
[gazebo_gui-4] killing on exit
[gazebo-3] killing on exit
[sitl-2] killing on exit
PX4 Exiting...
pxh> Exiting NOW.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done