here is the terminal information:
NODES
/uav1/
iris_1_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_1 (px4/px4)
/uav0/
iris_0_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_0 (px4/px4)
/uav2/
iris_2_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_2 (px4/px4)
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
auto-starting new master
process[master]: started with pid [4209]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 12be4c92-20d5-11ea-b080-e4029be100e1
process[rosout-1]: started with pid [4222]
started core service [/rosout]
process[gazebo-2]: started with pid [4228]
process[gazebo_gui-3]: started with pid [4231]
process[uav0/sitl_0-4]: started with pid [4263]
process[uav0/iris_0_spawn-5]: started with pid [4266]
INFO [px4] Creating symlink /home/cactus/Firmware/ROMFS/px4fmu_common -> /home/cactus/.ros/sitl_iris_0/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
SYS_AUTOSTART: curr: 0 -> new: 10016
BAT_N_CELLS: curr: 0 -> new: 3
CAL_ACC0_ID: curr: 0 -> new: 1311244
CAL_ACC_PRIME: curr: 0 -> new: 1311244
CAL_GYRO0_ID: curr: 0 -> new: 2294028
CAL_GYRO_PRIME: curr: 0 -> new: 2294028
CAL_MAG0_ID: curr: 0 -> new: 197388
CAL_MAG_PRIME: curr: 0 -> new: 197388
CAL_BARO_PRIME: curr: 0 -> new: 6620172
COM_DISARM_LAND: curr: 2.0000 -> new: 0.1000
COM_OBL_ACT: curr: 0 -> new: 2
COM_OF_LOSS_T: curr: 0.0000 -> new: 5.0000
COM_RC_IN_MODE: curr: 0 -> new: 1
EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
MC_PITCH_P: curr: 6.5000 -> new: 6.0000
MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
MC_ROLL_P: curr: 6.5000 -> new: 6.0000
MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
MPC_Z_VEL_I: curr: 0.1000 -> new: 0.1500
MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
MPC_XY_P: curr: 0.9500 -> new: 0.8000
MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
MPC_ACC_HOR_MAX: curr: 5.0000 -> new: 3.0000
NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
NAV_DLL_ACT: curr: 0 -> new: 2
RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
SDLOG_MODE: curr: 0 -> new: 1
SDLOG_PROFILE: curr: 3 -> new: 131
SDLOG_DIRS_MAX: curr: 0 -> new: 7
SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
TRIG_INTERFACE: curr: 4 -> new: 3
- RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
- RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
PWM_MAX: curr: 2000 -> new: 1950
PWM_MIN: curr: 1000 -> new: 1075
process[uav0/mavros-6]: started with pid [4472]
process[uav1/sitl_1-7]: started with pid [4473]
process[uav1/iris_1_spawn-8]: started with pid [4474]
process[uav1/mavros-9]: started with pid [4475]
INFO [px4] Creating symlink /home/cactus/Firmware/ROMFS/px4fmu_common -> /home/cactus/.ros/sitl_iris_1/etc
0 WARNING: setRealtimeSched failed (not run as root?)
| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /| |
| | / /^\ \ ___ |
_| / / |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 1
INFO [dataman] Unknown restart, data manager file ‘./dataman’ size is 11798680 bytes
MAV_SYS_ID: curr: 1 -> new: 2
SYS_AUTOSTART: curr: 0 -> new: 10016
BAT_N_CELLS: curr: 0 -> new: 3
CAL_ACC0_ID: curr: 0 -> new: 1311244
CAL_ACC_PRIME: curr: 0 -> new: 1311244
CAL_GYRO0_ID: curr: 0 -> new: 2294028
CAL_GYRO_PRIME: curr: 0 -> new: 2294028
CAL_MAG0_ID: curr: 0 -> new: 197388
CAL_MAG_PRIME: curr: 0 -> new: 197388
CAL_BARO_PRIME: curr: 0 -> new: 6620172
COM_DISARM_LAND: curr: 2.0000 -> new: 0.1000
COM_OBL_ACT: curr: 0 -> new: 2
COM_OF_LOSS_T: curr: 0.0000 -> new: 5.0000
COM_RC_IN_MODE: curr: 0 -> new: 1
EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
MC_PITCH_P: curr: 6.5000 -> new: 6.0000
MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
MC_ROLL_P: curr: 6.5000 -> new: 6.0000
MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
INFO [simulator] Waiting for simulator to connect on TCP port 4560
MPC_Z_VEL_I: curr: 0.1000 -> new: 0.1500
MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
MPC_XY_P: curr: 0.9500 -> new: 0.8000
MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
MPC_ACC_HOR_MAX: curr: 5.0000 -> new: 3.0000
NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
NAV_DLL_ACT: curr: 0 -> new: 2
RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
SDLOG_MODE: curr: 0 -> new: 1
SDLOG_PROFILE: curr: 3 -> new: 131
SDLOG_DIRS_MAX: curr: 0 -> new: 7
SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
TRIG_INTERFACE: curr: 4 -> new: 3
- RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
- RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
process[uav2/sitl_2-10]: started with pid [4621]
PWM_MAX: curr: 2000 -> new: 1950
process[uav2/iris_2_spawn-11]: started with pid [4624]
PWM_MIN: curr: 1000 -> new: 1075
process[uav2/mavros-12]: started with pid [4629]
INFO [px4] Creating symlink /home/cactus/Firmware/ROMFS/px4fmu_common -> /home/cactus/.ros/sitl_iris_2/etc
0 WARNING: setRealtimeSched failed (not run as root?)
| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /| |
| | / /^\ \ ___ |
_| / / |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 2
MAV_SYS_ID: curr: 1 -> new: 3
SYS_AUTOSTART: curr: 0 -> new: 10016
BAT_N_CELLS: curr: 0 -> new: 3
CAL_ACC0_ID: curr: 0 -> new: 1311244
CAL_ACC_PRIME: curr: 0 -> new: 1311244
CAL_GYRO0_ID: curr: 0 -> new: 2294028
CAL_GYRO_PRIME: curr: 0 -> new: 2294028
CAL_MAG0_ID: curr: 0 -> new: 197388
CAL_MAG_PRIME: curr: 0 -> new: 197388
CAL_BARO_PRIME: curr: 0 -> new: 6620172
COM_DISARM_LAND: curr: 2.0000 -> new: 0.1000
COM_OBL_ACT: curr: 0 -> new: 2
COM_OF_LOSS_T: curr: 0.0000 -> new: 5.0000
COM_RC_IN_MODE: curr: 0 -> new: 1
EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
MC_PITCH_P: curr: 6.5000 -> new: 6.0000
MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
MC_ROLL_P: curr: 6.5000 -> new: 6.0000
MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
MPC_Z_VEL_I: curr: 0.1000 -> new: 0.1500
MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
MPC_XY_P: curr: 0.9500 -> new: 0.8000
MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
MPC_ACC_HOR_MAX: curr: 5.0000 -> new: 3.0000
NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
NAV_DLL_ACT: curr: 0 -> new: 2
RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
SDLOG_MODE: curr: 0 -> new: 1
SDLOG_PROFILE: curr: 3 -> new: 131
SDLOG_DIRS_MAX: curr: 0 -> new: 7
SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
TRIG_INTERFACE: curr: 4 -> new: 3
- RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
- RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
PWM_MAX: curr: 2000 -> new: 1950
PWM_MIN: curr: 1000 -> new: 1075
INFO [dataman] Unknown restart, data manager file ‘./dataman’ size is 11798680 bytes
INFO [simulator] Waiting for simulator to connect on TCP port 4561
INFO [dataman] Unknown restart, data manager file ‘./dataman’ size is 11798680 bytes
INFO [simulator] Waiting for simulator to connect on TCP port 4562
[ INFO] [1576591016.361221688]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1576591016.363314526]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting…
[ INFO] [1576591016.363458263]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1576591016.365142964]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting…
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 [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14571 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 14581 remote port 14541
INFO [logger] logger started (mode=all)
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
INFO [logger] Start file log (type: full)
INFO [logger] Opened full log file: ./log/2019-12-17/13_56_56.ulg
INFO [logger] logger started (mode=all)
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO [logger] Start file log (type: full)
INFO [logger] Opened full log file: ./log/2019-12-17/13_56_56.ulg
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14572 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14582 remote port 14542
INFO [logger] logger started (mode=all)
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
INFO [logger] Start file log (type: full)
INFO [logger] Opened full log file: ./log/2019-12-17/13_56_56.ulg
X Error of failed request: BadDrawable (invalid Pixmap or Window parameter)
Major opcode of failed request: 153 (DRI2)
Minor opcode of failed request: 3 (DRI2CreateDrawable)
Resource id in failed request: 0x5000002
Serial number of failed request: 31
Current serial number in output stream: 33
terminate called after throwing an instance of ‘boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >’
terminate called recursively
[ INFO] [1576591018.320433254]: FCU URL: udp://:14542@localhost:14582
[ INFO] [1576591018.320869191]: FCU URL: udp://:14540@localhost:14580
[ INFO] [1576591018.326274336]: FCU URL: udp://:14541@localhost:14581
[ INFO] [1576591018.381503746]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1576591018.381503700]: udp0: Bind address: 0.0.0.0:14541
[ INFO] [1576591018.381661067]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1576591018.381661099]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1576591018.382016399]: GCS bridge disabled
[ INFO] [1576591018.382016316]: GCS bridge disabled
[ INFO] [1576591018.382715171]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1576591018.382874285]: udp0: Bind address: 0.0.0.0:14542
[ INFO] [1576591018.383014773]: udp0: Remote address: 127.0.0.1:14582
[ INFO] [1576591018.383409180]: GCS bridge disabled
[ INFO] [1576591018.384544989]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1576591018.385339728]: udp0: Remote address: 127.0.0.1:14582
[ INFO] [1576591019.872125894]: Plugin 3dr_radio loaded
[ INFO] [1576591019.873127076]: Plugin 3dr_radio loaded
[ INFO] [1576591019.874003249]: Plugin 3dr_radio loaded
[ INFO] [1576591019.880313982]: Plugin 3dr_radio initialized
[ INFO] [1576591019.880490313]: Plugin actuator_control loaded
[ INFO] [1576591019.882053074]: Plugin 3dr_radio initialized
[ INFO] [1576591019.882223703]: Plugin actuator_control loaded
[ INFO] [1576591019.884616579]: Plugin 3dr_radio initialized
[ INFO] [1576591019.884792018]: Plugin actuator_control loaded
[ INFO] [1576591019.923093371]: Plugin actuator_control initialized
[ INFO] [1576591019.924962199]: Plugin actuator_control initialized
[ INFO] [1576591019.927829306]: Plugin actuator_control initialized
[ INFO] [1576591020.561324570]: Plugin adsb loaded
[ INFO] [1576591020.562053067]: Plugin adsb loaded
[ INFO] [1576591020.562647146]: Plugin adsb loaded
[ INFO] [1576591020.581928382]: Plugin adsb initialized
[ INFO] [1576591020.582182351]: Plugin altitude loaded
[ INFO] [1576591020.584590969]: Plugin adsb initialized
[ INFO] [1576591020.584826417]: Plugin altitude loaded
[ INFO] [1576591020.586106779]: Plugin adsb initialized
[ INFO] [1576591020.586361523]: Plugin altitude loaded
[ INFO] [1576591020.591784568]: Plugin altitude initialized
[ INFO] [1576591020.592002297]: Plugin cam_imu_sync loaded
[ INFO] [1576591020.593886748]: Plugin altitude initialized
[ INFO] [1576591020.594168116]: Plugin cam_imu_sync loaded
[ INFO] [1576591020.596847127]: Plugin altitude initialized
[ INFO] [1576591020.597066388]: Plugin cam_imu_sync loaded
[ INFO] [1576591020.598400784]: Plugin cam_imu_sync initialized
[ INFO] [1576591020.598676568]: Plugin command loaded
[ INFO] [1576591020.599927321]: Plugin cam_imu_sync initialized
[ INFO] [1576591020.600203164]: Plugin command loaded
[ INFO] [1576591020.602555488]: Plugin cam_imu_sync initialized
[ INFO] [1576591020.602822019]: Plugin command loaded
[ INFO] [1576591020.638494848]: Plugin command initialized
[ INFO] [1576591020.638732520]: Plugin companion_process_status loaded
[ INFO] [1576591020.648379278]: Plugin command initialized
[ INFO] [1576591020.648624437]: Plugin companion_process_status loaded
[ INFO] [1576591020.651269253]: Plugin command initialized
[ INFO] [1576591020.651482671]: Plugin companion_process_status loaded
[ INFO] [1576591020.658957581]: Plugin companion_process_status initialized
[ INFO] [1576591020.659192406]: Plugin debug_value loaded
[ INFO] [1576591020.677083376]: Plugin companion_process_status initialized
[ INFO] [1576591020.677300284]: Plugin debug_value loaded
[ INFO] [1576591020.680868095]: Plugin companion_process_status initialized
[ INFO] [1576591020.681078455]: Plugin debug_value loaded
[ INFO] [1576591020.711687806]: Plugin debug_value initialized
[ INFO] [1576591020.711737861]: Plugin distance_sensor blacklisted
[ INFO] [1576591020.712043779]: Plugin fake_gps loaded
[ INFO] [1576591020.751899984]: Plugin debug_value initialized
[ INFO] [1576591020.751951684]: Plugin distance_sensor blacklisted
[ INFO] [1576591020.752237052]: Plugin fake_gps loaded
[ INFO] [1576591020.755608603]: Plugin debug_value initialized
[ INFO] [1576591020.755685971]: Plugin distance_sensor blacklisted
[ INFO] [1576591020.756395616]: Plugin fake_gps loaded
[ INFO] [1576591020.879287620]: Plugin fake_gps initialized
[ INFO] [1576591020.879659834]: Plugin ftp loaded
[ INFO] [1576591020.906274721]: Plugin fake_gps initialized
[ INFO] [1576591020.906629353]: Plugin ftp loaded
[ INFO] [1576591020.913272635]: Plugin fake_gps initialized
[ INFO] [1576591020.913604768]: Plugin ftp loaded
[ INFO] [1576591021.013427040]: Plugin ftp initialized
[ INFO] [1576591021.013682935]: Plugin global_position loaded
[ INFO] [1576591021.015482715]: Plugin ftp initialized
[ INFO] [1576591021.015763575]: Plugin global_position loaded
[ INFO] [1576591021.017533608]: Plugin ftp initialized
[ INFO] [1576591021.017837931]: Plugin global_position loaded
[ INFO] [1576591021.174030596]: Plugin global_position initialized
[ INFO] [1576591021.174255918]: Plugin gps_rtk loaded
[ INFO] [1576591021.177411847]: Plugin global_position initialized
[ INFO] [1576591021.177633836]: Plugin gps_rtk loaded
[ INFO] [1576591021.180285905]: Plugin global_position initialized
[ INFO] [1576591021.180485380]: Plugin gps_rtk loaded
[ INFO] [1576591021.201930551]: Plugin gps_rtk initialized
[ INFO] [1576591021.202336622]: Plugin hil loaded
[ INFO] [1576591021.204178803]: Plugin gps_rtk initialized
[ INFO] [1576591021.204450237]: Plugin hil loaded
[ INFO] [1576591021.206633150]: Plugin gps_rtk initialized
[ INFO] [1576591021.206889720]: Plugin hil loaded
[ INFO] [1576591021.335408614]: Plugin hil initialized
[ INFO] [1576591021.335763259]: Plugin home_position loaded
[ INFO] [1576591021.341984693]: Plugin hil initialized
[ INFO] [1576591021.342237945]: Plugin home_position loaded
[ INFO] [1576591021.344051804]: Plugin hil initialized
[ INFO] [1576591021.344400612]: Plugin home_position loaded
[ INFO] [1576591021.370686711]: Plugin home_position initialized
[ INFO] [1576591021.371125923]: Plugin imu loaded
[ INFO] [1576591021.373087820]: Plugin home_position initialized
[ INFO] [1576591021.373504428]: Plugin imu loaded
[ INFO] [1576591021.386987659]: Plugin home_position initialized
[ INFO] [1576591021.387346395]: Plugin imu loaded
[ INFO] [1576591021.443305764]: Plugin imu initialized
[ INFO] [1576591021.443553363]: Plugin landing_target loaded
[ INFO] [1576591021.450703413]: Plugin imu initialized
[ INFO] [1576591021.450945457]: Plugin landing_target loaded
[ INFO] [1576591021.463008618]: Plugin imu initialized
[ INFO] [1576591021.463346107]: Plugin landing_target loaded
[ INFO] [1576591021.581349633]: Plugin landing_target initialized
[ INFO] [1576591021.581618249]: Plugin local_position loaded
[ INFO] [1576591021.584977127]: Plugin landing_target initialized
[ INFO] [1576591021.585277953]: Plugin local_position loaded
[ INFO] [1576591021.592329409]: Plugin landing_target initialized
[ INFO] [1576591021.592600006]: Plugin local_position loaded
[ INFO] [1576591021.699679797]: Plugin local_position initialized
[ INFO] [1576591021.699932720]: Plugin log_transfer loaded
[ INFO] [1576591021.704815092]: Plugin local_position initialized
[ INFO] [1576591021.705149374]: Plugin log_transfer loaded
[ INFO] [1576591021.732289217]: Plugin log_transfer initialized
[ INFO] [1576591021.732579812]: Plugin manual_control loaded
[ INFO] [1576591021.733393692]: Plugin local_position initialized
[ INFO] [1576591021.733626230]: Plugin log_transfer loaded
[ INFO] [1576591021.744588588]: Plugin log_transfer initialized
[ INFO] [1576591021.744862102]: Plugin manual_control loaded
[ INFO] [1576591021.759203172]: Plugin log_transfer initialized
[ INFO] [1576591021.759556633]: Plugin manual_control loaded
[ INFO] [1576591021.769686952]: Plugin manual_control initialized
[ INFO] [1576591021.769917052]: Plugin mocap_pose_estimate loaded
[ INFO] [1576591021.783222151]: Plugin manual_control initialized
[ INFO] [1576591021.783554251]: Plugin mocap_pose_estimate loaded
[ INFO] [1576591021.797205803]: Plugin manual_control initialized
[ INFO] [1576591021.797647328]: Plugin mocap_pose_estimate loaded
[ INFO] [1576591021.816264456]: Plugin mocap_pose_estimate initialized
[ INFO] [1576591021.816510301]: Plugin mount_control loaded
[ INFO] [1576591021.834380517]: Plugin mocap_pose_estimate initialized
[ INFO] [1576591021.834691120]: Plugin mount_control loaded
[ INFO] [1576591021.845590379]: Plugin mount_control initialized
[ INFO] [1576591021.845934225]: Plugin obstacle_distance loaded
[ INFO] [1576591021.855400716]: Plugin mocap_pose_estimate initialized
[ INFO] [1576591021.855747173]: Plugin mount_control loaded
[ INFO] [1576591021.879633732]: Plugin mount_control initialized
[ INFO] [1576591021.879884320]: Plugin obstacle_distance loaded
[ INFO] [1576591021.884496745]: Plugin obstacle_distance initialized
[ INFO] [1576591021.884725254]: Plugin odom loaded
[ INFO] [1576591021.886582310]: Plugin mount_control initialized
[ INFO] [1576591021.886798477]: Plugin obstacle_distance loaded
[ INFO] [1576591021.910835546]: Plugin obstacle_distance initialized
[ INFO] [1576591021.911066823]: Plugin odom loaded
[ INFO] [1576591021.932548787]: Plugin obstacle_distance initialized
[ INFO] [1576591021.932783615]: Plugin odom loaded
SpawnModel script started
SpawnModel script started
SpawnModel script started
[ INFO] [1576591021.973332462]: Plugin odom initialized
[ INFO] [1576591021.973712984]: Plugin param loaded
[ INFO] [1576591021.988909796]: Plugin odom initialized
[ INFO] [1576591021.989295740]: Plugin param loaded
[ INFO] [1576591022.003635811]: Plugin param initialized
[ INFO] [1576591022.003862728]: Plugin px4flow loaded
[ INFO] [1576591022.013075641]: Plugin odom initialized
[ INFO] [1576591022.013490458]: Plugin param loaded
[ INFO] [1576591022.037524195]: Plugin param initialized
[ INFO] [1576591022.037742956]: Plugin px4flow loaded
[ INFO] [1576591022.048656378]: Plugin param initialized
[ INFO] [1576591022.048892337]: Plugin px4flow loaded
[INFO] [1576591022.069711, 0.000000]: Loading model XML from ros parameter
[INFO] [1576591022.078878, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1576591022.102284520]: Plugin px4flow initialized
[ INFO] [1576591022.102337100]: Plugin rangefinder blacklisted
[ INFO] [1576591022.102663686]: Plugin rc_io loaded
[ INFO] [1576591022.130817560]: Plugin px4flow initialized
[ INFO] [1576591022.130871026]: Plugin rangefinder blacklisted
[ INFO] [1576591022.131195681]: Plugin rc_io loaded
[ INFO] [1576591022.133876515]: Plugin px4flow initialized
[ INFO] [1576591022.133926718]: Plugin rangefinder blacklisted
[ INFO] [1576591022.134256897]: Plugin rc_io loaded
[ INFO] [1576591022.147715849]: Plugin rc_io initialized
[ INFO] [1576591022.147765161]: Plugin safety_area blacklisted
[ INFO] [1576591022.148011130]: Plugin setpoint_accel loaded
[ INFO] [1576591022.167291962]: Plugin rc_io initialized
[ INFO] [1576591022.167340491]: Plugin safety_area blacklisted
[ INFO] [1576591022.167584199]: Plugin setpoint_accel loaded
[ INFO] [1576591022.170582143]: Plugin rc_io initialized
[ INFO] [1576591022.170634438]: Plugin safety_area blacklisted
[ INFO] [1576591022.170901549]: Plugin setpoint_accel loaded
[ INFO] [1576591022.176208304]: Plugin setpoint_accel initialized
[ INFO] [1576591022.176609148]: Plugin setpoint_attitude loaded
[ INFO] [1576591022.196225716]: Plugin setpoint_accel initialized
[ INFO] [1576591022.196622658]: Plugin setpoint_attitude loaded
[ INFO] [1576591022.199115775]: Plugin setpoint_accel initialized
[ INFO] [1576591022.199520762]: Plugin setpoint_attitude loaded
[INFO] [1576591022.271411, 0.000000]: Loading model XML from ros parameter
[INFO] [1576591022.281837, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1576591022.293799, 0.000000]: Loading model XML from ros parameter
[INFO] [1576591022.307121, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1576591022.369686581]: Plugin setpoint_attitude initialized
[ INFO] [1576591022.369686466]: Plugin setpoint_attitude initialized
[ INFO] [1576591022.369686555]: Plugin setpoint_attitude initialized
[ INFO] [1576591022.369955529]: Plugin setpoint_position loaded
[ INFO] [1576591022.369958833]: Plugin setpoint_position loaded
[ INFO] [1576591022.370049154]: Plugin setpoint_position loaded
[ INFO] [1576591022.483454355]: Plugin setpoint_position initialized
[ INFO] [1576591022.483743932]: Plugin setpoint_raw loaded
[ INFO] [1576591022.489840810]: Plugin setpoint_position initialized
[ INFO] [1576591022.490115564]: Plugin setpoint_raw loaded
[ INFO] [1576591022.499249454]: Plugin setpoint_position initialized
[ INFO] [1576591022.499609428]: Plugin setpoint_raw loaded
[ INFO] [1576591022.551071684]: Plugin setpoint_raw initialized
[ INFO] [1576591022.551567295]: Plugin setpoint_velocity loaded
[ INFO] [1576591022.567133407]: Plugin setpoint_raw initialized
[ INFO] [1576591022.567407147]: Plugin setpoint_velocity loaded
[ INFO] [1576591022.587061410]: Plugin setpoint_raw initialized
[ INFO] [1576591022.587343636]: Plugin setpoint_velocity loaded
[ INFO] [1576591022.602886516]: Plugin setpoint_velocity initialized
[ INFO] [1576591022.603379586]: Plugin sys_status loaded
[ INFO] [1576591022.629538003]: Plugin setpoint_velocity initialized
[ INFO] [1576591022.630049878]: Plugin sys_status loaded
[ INFO] [1576591022.655085504]: Plugin setpoint_velocity initialized
[ INFO] [1576591022.655721478]: Plugin sys_status loaded
[ INFO] [1576591022.703563372]: Plugin sys_status initialized
[ INFO] [1576591022.703939787]: Plugin sys_time loaded
[ INFO] [1576591022.730445596]: Plugin sys_status initialized
[ INFO] [1576591022.730803314]: Plugin sys_time loaded
[ INFO] [1576591022.743053504]: Plugin sys_status initialized
[ INFO] [1576591022.743358639]: Plugin sys_time loaded
[ INFO] [1576591022.760730178]: TM: Timesync mode: MAVLINK
[ INFO] [1576591022.772689039]: Plugin sys_time initialized
[ INFO] [1576591022.773002160]: Plugin trajectory loaded
[ INFO] [1576591022.804707331]: TM: Timesync mode: MAVLINK
[ INFO] [1576591022.821365868]: TM: Timesync mode: MAVLINK
[ INFO] [1576591022.821887722]: Plugin sys_time initialized
[ INFO] [1576591022.822113215]: Plugin trajectory loaded
[ INFO] [1576591022.828420549]: Plugin sys_time initialized
[ INFO] [1576591022.828648304]: Plugin trajectory loaded
[ INFO] [1576591022.829771701]: Plugin trajectory initialized
[ INFO] [1576591022.830103591]: Plugin vfr_hud loaded
[ INFO] [1576591022.832241877]: Plugin vfr_hud initialized
[ INFO] [1576591022.832373727]: Plugin vibration blacklisted
[ INFO] [1576591022.832625948]: Plugin vision_pose_estimate loaded
[ INFO] [1576591022.862449467]: Plugin trajectory initialized
[ INFO] [1576591022.862794453]: Plugin vfr_hud loaded
[ INFO] [1576591022.866782100]: Plugin vfr_hud initialized
[ INFO] [1576591022.866832960]: Plugin vibration blacklisted
[ INFO] [1576591022.867057061]: Plugin vision_pose_estimate loaded
[ INFO] [1576591022.872452207]: Plugin trajectory initialized
[ INFO] [1576591022.872791769]: Plugin vfr_hud loaded
[ INFO] [1576591022.876108685]: Plugin vfr_hud initialized
[ INFO] [1576591022.876245154]: Plugin vibration blacklisted
[ INFO] [1576591022.876505603]: Plugin vision_pose_estimate loaded
[ INFO] [1576591022.901223286]: Plugin vision_pose_estimate initialized
[ INFO] [1576591022.901477751]: Plugin vision_speed_estimate loaded
[ INFO] [1576591022.937556256]: Plugin vision_pose_estimate initialized
[ INFO] [1576591022.937882800]: Plugin vision_speed_estimate loaded
[ INFO] [1576591022.941290805]: Plugin vision_speed_estimate initialized
[ INFO] [1576591022.941702425]: Plugin waypoint loaded
[ INFO] [1576591022.955303021]: Plugin vision_pose_estimate initialized
[ INFO] [1576591022.955554820]: Plugin vision_speed_estimate loaded
[ INFO] [1576591022.977943086]: Plugin vision_speed_estimate initialized
[ INFO] [1576591022.978314324]: Plugin waypoint loaded
[ INFO] [1576591022.981432021]: Plugin waypoint initialized
[ INFO] [1576591022.981655794]: Plugin wheel_odometry blacklisted
[ INFO] [1576591022.982037454]: Plugin wind_estimation loaded
[ INFO] [1576591022.989209651]: Plugin wind_estimation initialized
[ INFO] [1576591022.989382484]: Autostarting mavlink via USB on PX4
[ INFO] [1576591022.989610527]: Built-in SIMD instructions: SSE, SSE2
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1576591022.989815814]: Built-in MAVLink package version: 2019.9.9
[ INFO] [1576591022.989904629]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1576591022.989987286]: MAVROS started. MY ID 1.240, TARGET ID 3.1
[ INFO] [1576591022.993285422]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1576591022.995032883]: Plugin vision_speed_estimate initialized
[ INFO] [1576591022.995395622]: Plugin waypoint loaded
[ INFO] [1576591023.021556946]: Plugin waypoint initialized
[ INFO] [1576591023.021734158]: Plugin wheel_odometry blacklisted
[ INFO] [1576591023.022009232]: Plugin wind_estimation loaded
[ INFO] [1576591023.024955934]: Plugin wind_estimation initialized
[ INFO] [1576591023.025155986]: Autostarting mavlink via USB on PX4
[ INFO] [1576591023.025383323]: Built-in SIMD instructions: SSE, SSE2
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1576591023.025470927]: Built-in MAVLink package version: 2019.9.9
[ INFO] [1576591023.025560589]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1576591023.025641671]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1576591023.028770567]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1576591023.029479146]: Plugin waypoint initialized
[ INFO] [1576591023.030797919]: Plugin wheel_odometry blacklisted
[ INFO] [1576591023.031055642]: Plugin wind_estimation loaded
[ INFO] [1576591023.034097980]: Plugin wind_estimation initialized
[ INFO] [1576591023.034276714]: Autostarting mavlink via USB on PX4
[ INFO] [1576591023.034526597]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1576591023.034613431]: Built-in MAVLink package version: 2019.9.9
[ INFO] [1576591023.034699140]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1576591023.034780151]: MAVROS started. MY ID 1.240, TARGET ID 2.1
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1576591023.036754525]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
Aborted (core dumped)
[gazebo-2] process has died [pid 4228, exit code 134, cmd /home/cactus/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -e ode /home/cactus/Firmware/Tools/sitl_gazebo/worlds/empty.world __name:=gazebo __log:=/home/cactus/.ros/log/12be4c92-20d5-11ea-b080-e4029be100e1/gazebo-2.log].
log file: /home/cactus/.ros/log/12be4c92-20d5-11ea-b080-e4029be100e1/gazebo-2.log*