So I found the documentation really hard to understand. I followed instructions from these two sources,
http://dev.px4.io/simulation-ros-interface.html and http://dev.px4.io/ros-mavros-offboard.html. However, the quadrotor never rises, and the console constantly outputs error message.
I first ran the gazebo_sitl
cd <Firmware_clone>
make posix_sitl_default
source ~/catkin_ws/devel/setup.bash
source Tools/setup_gazebo.bash $(pwd) build_posix_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
roslaunch px4 mavros_posix_sitl.launch
and the output is
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /mavros/cmd/use_comp_id_system_control: False
* /mavros/conn/heartbeat_rate: 1.0
* /mavros/conn/system_time_rate: 1.0
* /mavros/conn/timeout: 10.0
* /mavros/conn/timesync_rate: 10.0
* /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
* /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/laser_1_sub/id: 3
* /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
* /mavros/distance_sensor/laser_1_sub/subscriber: True
* /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /mavros/distance_sensor/lidarlite_pub/id: 1
* /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
* /mavros/distance_sensor/lidarlite_pub/send_tf: True
* /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/sonar_1_sub/id: 2
* /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
* /mavros/distance_sensor/sonar_1_sub/subscriber: True
* /mavros/fcu_url: udp://:14540@loca...
* /mavros/gcs_url:
* /mavros/global_position/frame_id: fcu
* /mavros/global_position/rot_covariance: 99999.0
* /mavros/global_position/tf/child_frame_id: fcu_utm
* /mavros/global_position/tf/frame_id: local_origin
* /mavros/global_position/tf/send: False
* /mavros/image/frame_id: px4flow
* /mavros/imu/angular_velocity_stdev: 0.000349065850399
* /mavros/imu/frame_id: fcu
* /mavros/imu/linear_acceleration_stdev: 0.0003
* /mavros/imu/magnetic_stdev: 0.0
* /mavros/imu/orientation_stdev: 1.0
* /mavros/local_position/frame_id: fcu
* /mavros/local_position/tf/child_frame_id: fcu
* /mavros/local_position/tf/frame_id: local_origin
* /mavros/local_position/tf/send: False
* /mavros/local_position/tf/send_fcu: False
* /mavros/mission/pull_after_gcs: True
* /mavros/mocap/use_pose: True
* /mavros/mocap/use_tf: False
* /mavros/plugin_blacklist: ['safety_area', '...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.0
* /mavros/px4flow/ranger_max_range: 5.0
* /mavros/px4flow/ranger_min_range: 0.3
* /mavros/safety_area/p1/x: 1.0
* /mavros/safety_area/p1/y: 1.0
* /mavros/safety_area/p1/z: 1.0
* /mavros/safety_area/p2/x: -1.0
* /mavros/safety_area/p2/y: -1.0
* /mavros/safety_area/p2/z: -1.0
* /mavros/setpoint_accel/send_force: False
* /mavros/setpoint_attitude/reverse_throttle: False
* /mavros/setpoint_attitude/tf/child_frame_id: attitude
* /mavros/setpoint_attitude/tf/frame_id: local_origin
* /mavros/setpoint_attitude/tf/listen: False
* /mavros/setpoint_attitude/tf/rate_limit: 10.0
* /mavros/setpoint_position/tf/child_frame_id: setpoint
* /mavros/setpoint_position/tf/frame_id: local_origin
* /mavros/setpoint_position/tf/listen: False
* /mavros/setpoint_position/tf/rate_limit: 50.0
* /mavros/startup_px4_usb_quirk: True
* /mavros/sys/disable_diag: False
* /mavros/sys/min_voltage: 10.0
* /mavros/target_component_id: 1
* /mavros/target_system_id: 1
* /mavros/tdr_radio/low_rssi: 40
* /mavros/time/time_ref_source: fcu
* /mavros/time/timesync_avg_alpha: 0.6
* /mavros/vibration/frame_id: vibration
* /mavros/vision_pose/tf/child_frame_id: vision
* /mavros/vision_pose/tf/frame_id: local_origin
* /mavros/vision_pose/tf/listen: False
* /mavros/vision_pose/tf/rate_limit: 10.0
* /mavros/vision_speed/listen_twist: False
* /rosdistro: kinetic
* /rosversion: 1.12.5
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
sitl (px4/px4)
vehicle_spawn_haoyu_OptiPlex_3010_20567_1160899454580069528 (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [20578]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to fbb7b84a-99ae-11e6-a81c-000f6005d13e
process[rosout-1]: started with pid [20591]
started core service [/rosout]
process[sitl-2]: started with pid [20616]
node name: sitl
data path: /home/haoyu/drone/Firmware
commands file: /home/haoyu/drone/Firmware/posix-configs/SITL/init/lpe/iris
18446744073709551601 WARNING: setRealtimeSched failed (not run as root?)
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
process[gazebo-3]: started with pid [20618]
process[gazebo_gui-4]: started with pid [20631]
INFO [dataman] Unkown restart, data manager file 'rootfs/fs/microsd/dataman' size is 103090 bytes
process[vehicle_spawn_haoyu_OptiPlex_3010_20567_1160899454580069528-5]: started with pid [20638]
process[mavros-6]: started with pid [20641]
INFO [platforms__posix__drivers__ledsim] LED::init
INFO [platforms__posix__drivers__ledsim] LED::init
INFO [simulator] Not using /dev/ttyACM0 for radio control input. Assuming joystick input via MAVLink.
INFO [simulator] Waiting for initial data on UDP port 14560. Please start the flight simulator to proceed..
[ INFO] [1477288751.546554162]: FCU URL: udp://:14540@localhost:14557
[ WARN] [1477288751.546975118]: init: message from ASLUAV, MSG-ID 201 ignored! Table has different entry.
[ WARN] [1477288751.547087372]: init: message from autoquad, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1477288751.547100240]: init: message from autoquad, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1477288751.547198072]: init: message from matrixpilot, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1477288751.547209619]: init: message from matrixpilot, MSG-ID 151 ignored! Table has different entry.
[ WARN] [1477288751.547221545]: init: message from matrixpilot, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1477288751.547232855]: init: message from matrixpilot, MSG-ID 153 ignored! Table has different entry.
[ WARN] [1477288751.547244769]: init: message from matrixpilot, MSG-ID 155 ignored! Table has different entry.
[ WARN] [1477288751.547256091]: init: message from matrixpilot, MSG-ID 156 ignored! Table has different entry.
[ WARN] [1477288751.547267417]: init: message from matrixpilot, MSG-ID 157 ignored! Table has different entry.
[ WARN] [1477288751.547279087]: init: message from matrixpilot, MSG-ID 158 ignored! Table has different entry.
[ WARN] [1477288751.547292601]: init: message from matrixpilot, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1477288751.547303933]: init: message from matrixpilot, MSG-ID 171 ignored! Table has different entry.
[ WARN] [1477288751.547315462]: init: message from matrixpilot, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1477288751.547325956]: init: message from matrixpilot, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1477288751.547336219]: init: message from matrixpilot, MSG-ID 174 ignored! Table has different entry.
[ WARN] [1477288751.547348276]: init: message from matrixpilot, MSG-ID 175 ignored! Table has different entry.
[ WARN] [1477288751.547360142]: init: message from matrixpilot, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1477288751.547370086]: init: message from matrixpilot, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1477288751.547385050]: init: message from matrixpilot, MSG-ID 178 ignored! Table has different entry.
[ WARN] [1477288751.547395642]: init: message from matrixpilot, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1477288751.547405987]: init: message from matrixpilot, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1477288751.547416217]: init: message from matrixpilot, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1477288751.547426419]: init: message from matrixpilot, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1477288751.547521353]: init: message from paparazzi, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1477288751.547533475]: init: message from paparazzi, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1477288751.547543489]: init: message from paparazzi, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1477288751.547553670]: init: message from paparazzi, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1477288751.547563649]: init: message from paparazzi, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1477288751.547660273]: init: message from slugs, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1477288751.547671955]: init: message from slugs, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1477288751.547682344]: init: message from slugs, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1477288751.547692755]: init: message from slugs, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1477288751.547703931]: init: message from slugs, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1477288751.547715713]: init: message from slugs, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1477288751.547726936]: init: message from slugs, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1477288751.547738124]: init: message from slugs, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1477288751.547749788]: init: message from slugs, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1477288751.547761635]: init: message from slugs, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1477288751.547771354]: init: message from slugs, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1477288751.547782326]: init: message from slugs, MSG-ID 191 ignored! Table has different entry.
[ WARN] [1477288751.547792280]: init: message from slugs, MSG-ID 192 ignored! Table has different entry.
[ WARN] [1477288751.547801970]: init: message from slugs, MSG-ID 193 ignored! Table has different entry.
[ WARN] [1477288751.547812316]: init: message from slugs, MSG-ID 194 ignored! Table has different entry.
[ INFO] [1477288751.548079256]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1477288751.548136393]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1477288751.548214087]: GCS bridge disabled
[ INFO] [1477288751.594892488]: Plugin 3dr_radio loaded
[ INFO] [1477288751.596808229]: Plugin 3dr_radio initialized
[ INFO] [1477288751.596888464]: Plugin actuator_control loaded
[ INFO] [1477288751.599436382]: Plugin actuator_control initialized
[ INFO] [1477288751.599511090]: Plugin altitude loaded
[ INFO] [1477288751.600451723]: Plugin altitude initialized
[ INFO] [1477288751.626141501]: Plugin cam_imu_sync loaded
[ INFO] [1477288751.627229241]: Plugin cam_imu_sync initialized
[ INFO] [1477288751.627328416]: Plugin command loaded
[ INFO] [1477288751.631828133]: Plugin command initialized
[ INFO] [1477288751.631866451]: Plugin distance_sensor blacklisted
[ INFO] [1477288751.631971662]: Plugin ftp loaded
[ INFO] [1477288751.644808388]: Plugin ftp initialized
[ INFO] [1477288751.644935742]: Plugin global_position loaded
[ INFO] [1477288751.652192749]: Plugin global_position initialized
[ INFO] [1477288751.652302062]: Plugin hil_controls loaded
[ INFO] [1477288751.652853487]: Plugin hil_controls initialized
[ INFO] [1477288751.652932428]: Plugin imu_pub loaded
[ INFO] [1477288751.659356548]: Plugin imu_pub initialized
[ INFO] [1477288751.659462047]: Plugin local_position loaded
[ INFO] [1477288751.664583466]: Plugin local_position initialized
[ INFO] [1477288751.664681616]: Plugin manual_control loaded
[ INFO] [1477288751.665243431]: Plugin manual_control initialized
[ INFO] [1477288751.665318042]: Plugin mocap_pose_estimate loaded
[ INFO] [1477288751.669539436]: Plugin mocap_pose_estimate initialized
[ INFO] [1477288751.669649831]: Plugin param loaded
[ INFO] [1477288751.671766774]: Plugin param initialized
[ INFO] [1477288751.671852007]: Plugin px4flow loaded
[ INFO] [1477288751.676730759]: Plugin px4flow initialized
[ INFO] [1477288751.676830321]: Plugin rc_io loaded
[ INFO] [1477288751.680138330]: Plugin rc_io initialized
[ INFO] [1477288751.680160380]: Plugin safety_area blacklisted
[ INFO] [1477288751.680246006]: Plugin setpoint_accel loaded
[ INFO] [1477288751.683251713]: Plugin setpoint_accel initialized
[ INFO] [1477288751.683343350]: Plugin setpoint_attitude loaded
[ INFO] [1477288751.694248840]: Plugin setpoint_attitude initialized
[ INFO] [1477288751.694360050]: Plugin setpoint_position loaded
[ INFO] [1477288751.699920764]: Plugin setpoint_position initialized
[ INFO] [1477288751.700057701]: Plugin setpoint_raw loaded
[ INFO] [1477288751.710166169]: Plugin setpoint_raw initialized
[ INFO] [1477288751.710280287]: Plugin setpoint_velocity loaded
[ INFO] [1477288751.712643287]: Plugin setpoint_velocity initialized
[ INFO] [1477288751.712765168]: Plugin sys_status loaded
[ INFO] [1477288751.721064489]: Plugin sys_status initialized
[ INFO] [1477288751.721183241]: Plugin sys_time loaded
[ INFO] [1477288751.724197866]: Plugin sys_time initialized
[ INFO] [1477288751.724295908]: Plugin vfr_hud loaded
[ INFO] [1477288751.726131543]: Plugin vfr_hud initialized
[ INFO] [1477288751.726160356]: Plugin vibration blacklisted
[ INFO] [1477288751.726233234]: Plugin vision_pose_estimate loaded
[ INFO] [1477288751.735225493]: Plugin vision_pose_estimate initialized
[ INFO] [1477288751.735331643]: Plugin vision_speed_estimate loaded
[ INFO] [1477288751.738519658]: Plugin vision_speed_estimate initialized
[ INFO] [1477288751.738622558]: Plugin waypoint loaded
[ INFO] [1477288751.745997244]: Plugin waypoint initialized
[ INFO] [1477288751.746035123]: Autostarting mavlink via USB on PX4
[ INFO] [1477288751.746125801]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1477288751.746145922]: Built-in MAVLink package version: 2016.9.9
[ INFO] [1477288751.746166079]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs uAvionix ualberta
[ INFO] [1477288751.746183447]: MAVROS started. MY ID 1.240, TARGET ID 1.1
spawn_model script started
[ INFO] [1477288751.919344105]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1477288751.919843655]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [WallTime: 1477288752.001217] [0.000000] Loading model xml from file
[INFO] [WallTime: 1477288752.001808] [0.000000] Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1477288752.962463410, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1477288752.988591888, 0.050000000]: Physics dynamic reconfigure ready.
[INFO] [WallTime: 1477288753.208745] [0.268000] Calling service /gazebo/spawn_sdf_model
[INFO] [WallTime: 1477288753.362092] [0.360000] Spawn status: SpawnModel: Successfully spawned model
[vehicle_spawn_haoyu_OptiPlex_3010_20567_1160899454580069528-5] process has finished cleanly
log file: /home/haoyu/.ros/log/fbb7b84a-99ae-11e6-a81c-000f6005d13e/vehicle_spawn_haoyu_OptiPlex_3010_20567_1160899454580069528-5*.log
and then opened another terminal, ran offb node provided by the example page.
rosrun offb offb_node
. This terminal outputs nothing, the SITL terminal starts outputing
[ERROR] [1477288885.212484531, 132.118000000]: MODE: Unsupported FCU
[ERROR] [1477288890.266680427, 137.170000000]: MODE: Unsupported FCU
[ERROR] [1477288895.319149494, 142.218000000]: MODE: Unsupported FCU
[ERROR] [1477288900.372950770, 147.268000000]: MODE: Unsupported FCU
[ERROR] [1477288905.426608270, 152.318000000]: MODE: Unsupported FCU
[ERROR] [1477288910.480156131, 157.370000000]: MODE: Unsupported FCU
[ERROR] [1477288915.534747092, 162.418000000]: MODE: Unsupported FCU
[ERROR] [1477288920.587531491, 167.468000000]: MODE: Unsupported FCU
[ERROR] [1477288925.640700239, 172.518000000]: MODE: Unsupported FCU
[ERROR] [1477288930.694841505, 177.568000000]: MODE: Unsupported FCU
[ERROR] [1477288935.747741297, 182.618000000]: MODE: Unsupported FCU
[ERROR] [1477288940.811222596, 187.668000000]: MODE: Unsupported FCU
[ERROR] [1477288945.866302657, 192.720000000]: MODE: Unsupported FCU
[ERROR] [1477288950.918057774, 197.768000000]: MODE: Unsupported FCU
[ERROR] [1477288955.971626596, 202.818000000]: MODE: Unsupported FCU
[ERROR] [1477288961.025242546, 207.852000000]: MODE: Unsupported FCU
[ERROR] [1477288966.078283087, 212.918000000]: MODE: Unsupported FCU
[ERROR] [1477288971.133451537, 217.968000000]: MODE: Unsupported FCU
[ERROR] [1477288976.194463373, 223.018000000]: MODE: Unsupported FCU
[ERROR] [1477288981.248755791, 228.070000000]: MODE: Unsupported FCU
[ERROR] [1477288986.301387819, 233.118000000]: MODE: Unsupported FCU
[ERROR] [1477288991.354523686, 238.168000000]: MODE: Unsupported FCU
[ERROR] [1477288996.407573064, 243.218000000]: MODE: Unsupported FCU
[ERROR] [1477289001.460926055, 248.270000000]: MODE: Unsupported FCU
[ERROR] [1477289006.513461784, 253.318000000]: MODE: Unsupported FCU
[ERROR] [1477289011.566814832, 258.368000000]: MODE: Unsupported FCU
[ERROR] [1477289016.620408010, 263.418000000]: MODE: Unsupported FCU
[ERROR] [1477289021.675254041, 268.468000000]: MODE: Unsupported FCU
[ERROR] [1477289026.729104645, 273.518000000]: MODE: Unsupported FCU
[ERROR] [1477289031.783777507, 278.568000000]: MODE: Unsupported FCU
[ERROR] [1477289036.838509354, 283.618000000]: MODE: Unsupported FCU
[ERROR] [1477289041.892448828, 288.668000000]: MODE: Unsupported FCU
[ERROR] [1477289046.947357703, 293.718000000]: MODE: Unsupported FCU
[ERROR] [1477289052.000189320, 298.768000000]: MODE: Unsupported FCU
[ERROR] [1477289057.054740632, 303.818000000]: MODE: Unsupported FCU
[ERROR] [1477289062.108534809, 308.868000000]: MODE: Unsupported FCU
[ERROR] [1477289067.161737856, 313.918000000]: MODE: Unsupported FCU