I’m trying to make a drone fly autonomously using avoidance node, Jetson TX2, J120 carrier board and realsense D435i camera…
I’m now in the hardware phase, I used /tools/generate_launchfile.launch.deprecated to generate avoidance file in local_planner node.
it runs without errors now but it reaches a point when nothing happens.
I can arm the vehicle and switch to offbard mode by mavros massages.
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
(I removed them due to characters limit)
NODES
/
drop_camera_main_depth (topic_tools/drop)
drop_camera_main_ir (topic_tools/drop)
local_planner_node (local_planner/local_planner_node)
mavros (mavros/mavros_node)
rqt_param_toggle (local_planner/rqt_param_toggle.sh)
tf_camera_main (tf/static_transform_publisher)
/camera_main/
points_xyz_sw_registered (nodelet/nodelet)
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
auto-starting new master
process[master]: started with pid [11947]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to d8599238-4f8f-11eb-981c-48b02d0ffab6
process[rosout-1]: started with pid [11958]
started core service [/rosout]
process[mavros-2]: started with pid [11966]
process[tf_camera_main-3]: started with pid [11967]
process[camera_main/realsense2_camera_manager-4]: started with pid [11968]
process[camera_main/realsense2_camera-5]: started with pid [11975]
process[camera_main/points_xyz_sw_registered-6]: started with pid [11979]
process[drop_camera_main_depth-7]: started with pid [11981]
process[drop_camera_main_ir-8]: started with pid [11986]
[ INFO] [1609876481.288451139]: Initializing nodelet with 4 worker threads.
process[local_planner_node-9]: started with pid [12008]
process[rqt_param_toggle-10]: started with pid [12016]
[ INFO] [1609876481.379110634]: FCU URL: /dev/ttyUSB0:921600
[ INFO] [1609876481.384163771]: serial0: device: /dev/ttyUSB0 @ 921600 bps
[ INFO] [1609876481.410708401]: GCS bridge disabled
[ INFO] [1609876481.444227614]: Plugin 3dr_radio loaded
[ INFO] [1609876481.448657517]: Plugin 3dr_radio initialized
[ INFO] [1609876481.449046862]: Plugin actuator_control loaded
[ INFO] [1609876481.457122121]: Plugin actuator_control initialized
[ INFO] [1609876481.467081193]: Plugin adsb loaded
[ INFO] [1609876481.475451492]: Plugin adsb initialized
[ INFO] [1609876481.475797413]: Plugin altitude loaded
[ INFO] [1609876481.478424462]: Plugin altitude initialized
[ INFO] [1609876481.478766607]: Plugin cam_imu_sync loaded
[ INFO] [1609876481.481234487]: Plugin cam_imu_sync initialized
[ INFO] [1609876481.481558296]: Plugin command loaded
[ INFO] [1609876481.501191224]: Plugin command initialized
[ INFO] [1609876481.501445337]: Plugin companion_process_status loaded
[ INFO] [1609876481.509440947]: Plugin companion_process_status initialized
[ INFO] [1609876481.509706964]: Plugin debug_value loaded
[ INFO] [1609876481.528151632]: Initializing nodelet with 4 worker threads.
[ INFO] [1609876481.539202900]: Plugin debug_value initialized
[ INFO] [1609876481.539311604]: Plugin distance_sensor blacklisted
[ INFO] [1609876481.539527029]: Plugin esc_status loaded
[ INFO] [1609876481.545871722]: Plugin esc_status initialized
[ INFO] [1609876481.546203883]: Plugin fake_gps loaded
[ INFO] [1609876481.593435973]: Plugin fake_gps initialized
[ INFO] [1609876481.593753254]: Plugin ftp loaded
[ INFO] [1609876481.632412068]: Plugin ftp initialized
[ INFO] [1609876481.632729477]: Plugin global_position loaded
[ INFO] [1609876481.717928763]: Plugin global_position initialized
[ INFO] [1609876481.718185563]: Plugin gps_rtk loaded
[ INFO] [1609876481.736872888]: Plugin gps_rtk initialized
[ INFO] [1609876481.737150553]: Plugin gps_status loaded
[ INFO] [1609876481.751033287]: Plugin gps_status initialized
[ INFO] [1609876481.751315623]: Plugin hil loaded
[ INFO] [1609876481.827024414]: Plugin hil initialized
[ INFO] [1609876481.827335903]: Plugin home_position loaded
[ INFO] [1609876481.855371387]: Plugin home_position initialized
[ INFO] [1609876481.855672860]: Plugin imu loaded
[ INFO] [1609876481.915620287]: Plugin imu initialized
[ INFO] [1609876481.915906016]: Plugin landing_target loaded
[ INFO] [1609876481.970360273]: RealSense ROS v2.2.20
[ INFO] [1609876481.971157396]: Built with LibRealSense v2.40.0
[ INFO] [1609876481.971577109]: Running with LibRealSense v2.40.0
[ INFO] [1609876481.982905434]: Plugin landing_target initialized
[ INFO] [1609876481.983230075]: Plugin local_position loaded
[ INFO] [1609876482.048018542]: Plugin local_position initialized
[ INFO] [1609876482.048314639]: Plugin log_transfer loaded
[ INFO] [1609876482.060190326]: Plugin log_transfer initialized
[ INFO] [1609876482.060556695]: Plugin manual_control loaded
[ INFO] [1609876482.078096848]: Plugin manual_control initialized
[ INFO] [1609876482.079232116]: Plugin mocap_pose_estimate loaded
[ INFO] [1609876482.088930420]:
[ INFO] [1609876482.105200617]: Plugin mocap_pose_estimate initialized
[ INFO] [1609876482.105492970]: Plugin mount_control loaded
[ INFO] [1609876482.150443996]: Plugin mount_control initialized
[ INFO] [1609876482.150814269]: Plugin obstacle_distance loaded
[ INFO] [1609876482.166890225]: Plugin obstacle_distance initialized
[ INFO] [1609876482.167275251]: Plugin odom loaded
[ INFO] [1609876482.188205175]: Plugin odom initialized
[ INFO] [1609876482.188877817]: Plugin onboard_computer_status loaded
[ INFO] [1609876482.199643292]: Plugin onboard_computer_status initialized
[ INFO] [1609876482.201441026]: Plugin param loaded
[ INFO] [1609876482.232312838]: Plugin param initialized
[ INFO] [1609876482.232629448]: Plugin play_tune loaded
[ INFO] [1609876482.238501403]: Plugin play_tune initialized
[ INFO] [1609876482.239016860]: Plugin px4flow loaded
[ INFO] [1609876482.263741101]: Plugin px4flow initialized
[ INFO] [1609876482.264125038]: Plugin rangefinder blacklisted
[ INFO] [1609876482.264366383]: Plugin rc_io loaded
[ INFO] [1609876482.273748461]: Plugin rc_io initialized
[ INFO] [1609876482.273876942]: Plugin safety_area blacklisted
[ INFO] [1609876482.274134063]: Plugin setpoint_accel loaded
[ INFO] [1609876482.285077106]: Plugin setpoint_accel initialized
[ INFO] [1609876482.285430771]: Plugin setpoint_attitude loaded
[ INFO] [1609876482.309474914]: Plugin setpoint_attitude initialized
[ INFO] [1609876482.309992451]: Plugin setpoint_position loaded
[ INFO] [1609876482.356447835]: Plugin setpoint_position initialized
[ INFO] [1609876482.356818172]: Plugin setpoint_raw loaded
[ INFO] [1609876482.411881039]: Plugin setpoint_raw initialized
[ INFO] [1609876482.412323345]: Plugin setpoint_trajectory loaded
[ INFO] [1609876482.433146900]: Plugin setpoint_trajectory initialized
[ INFO] [1609876482.433472309]: Plugin setpoint_velocity loaded
[ INFO] [1609876482.456422368]: Plugin setpoint_velocity initialized
[ INFO] [1609876482.456867778]: Plugin sys_status loaded
[ INFO] [1609876482.484932797]: Device with serial number 923322071215 was found.
[ INFO] [1609876482.485576671]: Device with physical ID 1-2.4-6 was found.
[ INFO] [1609876482.485908736]: Device with name Intel RealSense D435I was found.
[ INFO] [1609876482.488191848]: Device with port number 1-2.4 was found.
[ INFO] [1609876482.488561321]: Device USB type: 2.1
[ WARN] [1609876482.488885258]: Device 923322071215 is connected using a 2.1 port. Reduced performance is expected.
[ INFO] [1609876482.498362761]: getParameters...
[ INFO] [1609876482.501794100]: Plugin sys_status initialized
[ INFO] [1609876482.502112725]: Plugin sys_time loaded
[ INFO] [1609876482.531471253]: TM: Timesync mode: MAVLINK
[ INFO] [1609876482.536944326]: Plugin sys_time initialized
[ INFO] [1609876482.537233639]: Plugin trajectory loaded
[ INFO] [1609876482.584573793]: Plugin trajectory initialized
[ INFO] [1609876482.584914371]: Plugin vfr_hud loaded
[ INFO] [1609876482.588535086]: Plugin vfr_hud initialized
[ INFO] [1609876482.588700943]: Plugin vibration blacklisted
[ INFO] [1609876482.589020208]: Plugin vision_pose_estimate loaded
[ INFO] [1609876482.623028287]: Plugin vision_pose_estimate initialized
[ INFO] [1609876482.623534720]: Plugin vision_speed_estimate loaded
[ INFO] [1609876482.645589064]: Plugin vision_speed_estimate initialized
[ INFO] [1609876482.645920137]: Plugin waypoint loaded
[ INFO] [1609876482.675062536]: Plugin waypoint initialized
[ INFO] [1609876482.675203464]: Plugin wheel_odometry blacklisted
[ INFO] [1609876482.675457225]: Plugin wind_estimation loaded
[ INFO] [1609876482.678921909]: Plugin wind_estimation initialized
[ INFO] [1609876482.679069365]: Autostarting mavlink via USB on PX4
[ INFO] [1609876482.679143861]: IMU: High resolution IMU detected!
[ INFO] [1609876482.679534519]: Built-in SIMD instructions: ARM NEON
[ INFO] [1609876482.679653175]: Built-in MAVLink package version: 2020.11.11
[ INFO] [1609876482.679731063]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1609876482.679814808]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1609876482.694849576]: IMU: Attitude quaternion IMU detected!
[ INFO] [1609876482.721091198]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1609876482.723432230]: IMU: High resolution IMU detected!
[ INFO] [1609876482.728197013]: IMU: Attitude quaternion IMU detected!
[ INFO] [1609876482.770248126]: setupDevice...
[ INFO] [1609876483.728148365]: WP: Using MISSION_ITEM_INT
[ INFO] [1609876483.728363469]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1609876483.728487918]: VER: 1.1: Flight software: 010b02ff (97ab8277ed000000)
[ INFO] [1609876483.728575790]: VER: 1.1: Middleware software: 010b02ff (97ab8277ed000000)
[ INFO] [1609876483.728655950]: VER: 1.1: OS software: 080200ff (ec20f2e6c5cc35b2)
[ INFO] [1609876483.728740847]: VER: 1.1: Board hardware: 00000032
[ INFO] [1609876483.728827343]: VER: 1.1: VID/PID: 26ac:0032
[ INFO] [1609876483.728909231]: VER: 1.1: UID: 3139511039313430
[ WARN] [1609876483.731215543]: CMD: Unexpected command 520, result 0
05/01 11:54:43,822 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
[ INFO] [1609876483.944486605]: JSON file is loaded! (/home/isoft-jetson/catkin_ws/src/avoidance/local_planner/resource/stereo_calib.json)
[ INFO] [1609876483.944614670]: ROS Node Namespace: camera_main
[ INFO] [1609876483.944666702]: Device Name: Intel RealSense D435I
[ INFO] [1609876483.944706542]: Device Serial No: 923322071215
[ INFO] [1609876483.944743054]: Device physical port: 1-2.4-6
[ INFO] [1609876483.944779918]: Device FW version: 05.12.09.00
[ INFO] [1609876483.944840686]: Device Product ID: 0x0B3A
[ INFO] [1609876483.944880942]: Enable PointCloud: Off
[ INFO] [1609876483.944916431]: Align Depth: Off
[ INFO] [1609876483.944956111]: Sync Mode: Off
[ INFO] [1609876483.945048495]: Device Sensors:
[ INFO] [1609876483.963721420]: Stereo Module was found.
[ INFO] [1609876483.974126606]: RGB Camera was found.
[ INFO] [1609876483.974553743]: Motion Module was found.
[ INFO] [1609876483.974727664]: num_filters: 0
[ INFO] [1609876483.974818800]: Setting Dynamic reconfig parameters.
[ INFO] [1609876484.550300288]: Done Setting Dynamic reconfig parameters.
[ INFO] [1609876484.551224515]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1609876484.551645220]: infra1 stream is enabled - width: 640, height: 480, fps: 15, Format: Y8
[ INFO] [1609876484.551718948]: setupPublishers...
[ INFO] [1609876484.557485911]: Expected frequency for depth = 15.00000
[ INFO] [1609876484.641507432]: Expected frequency for infra1 = 15.00000
[ INFO] [1609876484.727559200]: setupStreams...
[ INFO] [1609876484.764409624]: insert Depth to Stereo Module
[ INFO] [1609876484.764560568]: insert Infrared to Stereo Module
05/01 11:54:44,829 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1609876484.881087763]: SELECTED BASE:Depth, 0
[ INFO] [1609876484.895421026]: RealSense Node Is Up!
advertised as /camera_main/depth/image_rect_raw_drop
05/01 11:54:45,052 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
advertised as /camera_main/infra1/image_rect_raw_drop
[ERROR] [1609876485.063297252]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ WARN] [1609876485.067285553]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.072643202]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.077815251]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.082958628]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.088114645]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.093338086]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.098644663]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
05/01 11:54:45,103 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ WARN] [1609876485.103809256]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.109109081]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.114287050]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.119458779]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.124594923]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.129758588]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.135462735]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.140488319]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.161489443]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
05/01 11:54:45,162 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ WARN] [1609876485.171822181]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.178322490]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.183489035]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.188882044]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.194180398]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.199379230]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.204587663]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.218699645]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.223101260]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.228175516]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.233328717]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.238488702]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.243648814]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.248914912]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.254067408]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.259235265]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.264393362]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.269545123]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.313029648]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.322831280]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.328010465]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.333181330]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.338489155]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.343921557]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.348819524]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.354136886]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.359322407]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.364748856]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.369963113]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.375144410]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.380438635]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.385575260]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.390774797]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.395961342]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.401137263]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.406304127]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.411486864]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.416681377]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.421853970]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.427851974]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.441791763]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ WARN] [1609876485.457235525]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
[ERROR] [1609876486.913422721]: PR: Unknown parameter to get: MPC_ACC_HOR
[ERROR] [1609876486.916734572]: PR: Unknown parameter to get: MPC_ACC_DOWN_MAX
[ERROR] [1609876486.919127220]: PR: Unknown parameter to get: MPC_ACC_UP_MAX
[ERROR] [1609876486.921577276]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1609876486.923923076]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_DN
[ERROR] [1609876486.930737722]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_UP
[ERROR] [1609876486.934465830]: PR: Unknown parameter to get: CP_DIST
[ERROR] [1609876486.937650544]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1609876486.962942466]: PR: Unknown parameter to get: MPC_JERK_MAX
[ERROR] [1609876486.965602699]: PR: Unknown parameter to get: NAV_ACC_RAD
[ERROR] [1609876486.969176695]: PR: Unknown parameter to get: MPC_YAWRAUTO_MAX
05/01 11:54:47,492 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
05/01 11:54:47,569 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
05/01 11:54:47,619 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
05/01 11:54:47,670 WARNING [546901721472] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[rqt_param_toggle-10] process has finished cleanly
log file: /home/isoft-jetson/.ros/log/d8599238-4f8f-11eb-981c-48b02d0ffab6/rqt_param_toggle-10*.log
[ERROR] [1609876491.980802093]: PR: Unknown parameter to get: MPC_ACC_HOR
[ERROR] [1609876491.983004116]: PR: Unknown parameter to get: MPC_ACC_DOWN_MAX
[ERROR] [1609876491.985239068]: PR: Unknown parameter to get: MPC_ACC_UP_MAX
[ERROR] [1609876491.987555043]: PR: Unknown parameter to get: MPC_XY_CRUISE
[ERROR] [1609876491.989570730]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_DN
[ERROR] [1609876491.991584016]: PR: Unknown parameter to get: MPC_Z_VEL_MAX_UP
[ERROR] [1609876491.996871073]: PR: Unknown parameter to get: CP_DIST
[ERROR] [1609876492.009200297]: PR: Unknown parameter to get: MPC_LAND_SPEED
[ERROR] [1609876492.012278419]: PR: Unknown parameter to get: MPC_JERK_MAX
[ERROR] [1609876492.015473341]: PR: Unknown parameter to get: NAV_ACC_RAD
[ERROR] [1609876492.018906185]: PR: Unknown parameter to get: MPC_YAWRAUTO_MAX
[ INFO] [1609876493.451422497]: parameter CP_DIST is set from nan to -1.000000
[ INFO] [1609876494.450445373]: parameter MPC_ACC_DOWN_MAX is set from nan to 3.000000
[ INFO] [1609876494.451202400]: parameter MPC_ACC_HOR is set from nan to 3.000000
[ INFO] [1609876494.481791299]: parameter MPC_ACC_UP_MAX is set from nan to 4.000000
[ INFO] [1609876494.501814435]: parameter MPC_JERK_MAX is set from nan to 8.000000
[ INFO] [1609876494.501995908]: parameter MPC_JERK_MIN is set from nan to 8.000000
[ INFO] [1609876494.585323601]: parameter MPC_TKO_SPEED is set from nan to 1.500000
[ WARN] [1609876497.111234795]: PR: request param #416 timeout, retries left 2, and 5 params still missing
[ INFO] [1609876497.731116248]: WP: item #0* F:� C: 22 p: 15 0 0 nan x: 373586884 y: -1219531937 z: 50
[ INFO] [1609876497.734057794]: WP: item #1 F:� C: 16 p: 0 0 0 nan x: 373540421 y: -1219471130 z: 50
[ INFO] [1609876497.734401763]: WP: mission received
now I have multiple questions:
- I have tried to fix
[ WARN] [1609876485.098644663]: TF Buffer: could not retrieve requested transform from buffer, tf has already been dropped from buffer
but with no luck, how to fix it and is it really matter or I can skip it? - what do the last three lines (WP: -) mean, do they mean it is in mission mode or the node sends target location implicitly?
- if node sends initial target points and waits for the drone to move and reach them, how it does that?
- I tried to find local_planner_node to find in which line it sends the target points -if exist- but I couldn’t find the file related to local_planner node in recent master branch, is it’s deprecated?
- I tried to publish target points to many topics like /mavros/local_position/pose and /mavros/setpoint_position/local but it didn’t work, what is the right topic to do that
- if it is possible, how to send the target point using mavsdk or even mavros?
thanks.