Mavros error in master firmware

Hello! I am trying to use Nvidia TX2 to communicate with my Pixhawk. When I launch px4.launch in mavros package with the master firmware, I received the error below:

[ INFO] [1548212458.559653586]: Autostarting mavlink via USB on PX4
[ INFO] [1548212458.560117316]: Built-in SIMD instructions: ARM NEON
[ INFO] [1548212458.560336427]: Built-in MAVLink package version: 2018.12.12
[ INFO] [1548212458.560396566]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1548212458.560462882]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1548212458.568491893]: IMU: Attitude quaternion IMU detected!
[ INFO] [1548212458.574456344]: IMU: High resolution IMU detected!
mavros_node: /usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:70: Eigen::internal::variable_if_dynamic<T, Value>::variable_if_dynamic(T) [with T = long int; int Value = 4]: Assertion `v == T(Value)' failed.
================================================================================REQUIRED process [mavros-2] has died!
process has died [pid 13063, exit code -6, cmd /home/nvidia/cch/catkin_ws/devel/lib/mavros/mavros_node __name:=mavros __log:=/home/nvidia/.ros/log/19615b24-1ebb-11e9-9965-163907109e89/mavros-2.log].
log file: /home/nvidia/.ros/log/19615b24-1ebb-11e9-9965-163907109e89/mavros-2*.log
Initiating shutdown!
================================================================================
[mavros-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit

But when I change the firmware to v1.8.2 stable, everything gose will.
Below is the complete output:

nvidia@tegra-ubuntu:~/helei/src/c_uart_interface_example$ roslaunch mavros px4.launch ... logging to /home/nvidia/.ros/log/19615b24-1ebb-11e9-9965-163907109e89/roslaunch-tegra-ubuntu-13019.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tegra-ubuntu:34692/

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: 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/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /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: /dev/ttyTHS2:921600
 * /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: 0.000349065850399
 * /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/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/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/in/child_frame_id: base_link
 * /mavros/odometry/in/frame_id: odom
 * /mavros/odometry/in/frame_tf/body_frame_orientation: flu
 * /mavros/odometry/in/frame_tf/local_frame: local_origin_ned
 * /mavros/odometry/out/frame_tf/body_frame_orientation: frd
 * /mavros/odometry/out/frame_tf/local_frame: vision_ned
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682389136
 * /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: 0.0
 * /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: map
 * /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
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [13032]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 19615b24-1ebb-11e9-9965-163907109e89
process[rosout-1]: started with pid [13045]
started core service [/rosout]
process[mavros-2]: started with pid [13063]
[ INFO] [1548212457.727367405]: FCU URL: /dev/ttyTHS2:921600
[ INFO] [1548212457.732013640]: serial0: device: /dev/ttyTHS2 @ 921600 bps
[ INFO] [1548212457.742443433]: GCS bridge disabled
[ INFO] [1548212457.779277000]: Plugin 3dr_radio loaded
[ INFO] [1548212457.784984897]: Plugin 3dr_radio initialized
[ INFO] [1548212457.785291319]: Plugin actuator_control loaded
[ INFO] [1548212457.799544737]: Plugin actuator_control initialized
[ INFO] [1548212457.809009399]: Plugin adsb loaded
[ INFO] [1548212457.818807399]: Plugin adsb initialized
[ INFO] [1548212457.819310849]: Plugin altitude loaded
[ INFO] [1548212457.823661352]: Plugin altitude initialized
[ INFO] [1548212457.824179012]: Plugin cam_imu_sync loaded
[ INFO] [1548212457.826897288]: Plugin cam_imu_sync initialized
[ INFO] [1548212457.827606758]: Plugin command loaded
[ INFO] [1548212457.847717635]: Plugin command initialized
[ INFO] [1548212457.848253763]: Plugin companion_process_status loaded
[ INFO] [1548212457.861428557]: Plugin companion_process_status initialized
[ INFO] [1548212457.861852184]: Plugin debug_value loaded
[ INFO] [1548212457.877034536]: Plugin debug_value initialized
[ INFO] [1548212457.877129945]: Plugin distance_sensor blacklisted
[ INFO] [1548212457.877634098]: Plugin fake_gps loaded
[ INFO] [1548212457.925876481]: Plugin fake_gps initialized
[ INFO] [1548212457.926465066]: Plugin ftp loaded
[ INFO] [1548212457.960550463]: Plugin ftp initialized
[ INFO] [1548212457.961063450]: Plugin global_position loaded
[ INFO] [1548212458.012098616]: Plugin global_position initialized
[ INFO] [1548212458.012525316]: Plugin gps_rtk loaded
[ INFO] [1548212458.024259817]: Plugin gps_rtk initialized
[ INFO] [1548212458.024749536]: Plugin hil loaded
[ INFO] [1548212458.069289612]: Plugin hil initialized
[ INFO] [1548212458.069779267]: Plugin home_position loaded
[ INFO] [1548212458.086401613]: Plugin home_position initialized
[ INFO] [1548212458.086845819]: Plugin imu loaded
[ INFO] [1548212458.113438897]: Plugin imu initialized
[ INFO] [1548212458.113891042]: Plugin local_position loaded
[ INFO] [1548212458.134595649]: Plugin local_position initialized
[ INFO] [1548212458.135197676]: Plugin log_transfer loaded
[ INFO] [1548212458.149563525]: Plugin log_transfer initialized
[ INFO] [1548212458.150051996]: Plugin manual_control loaded
[ INFO] [1548212458.159647877]: Plugin manual_control initialized
[ INFO] [1548212458.160059278]: Plugin mocap_pose_estimate loaded
[ INFO] [1548212458.175023025]: Plugin mocap_pose_estimate initialized
[ INFO] [1548212458.175546895]: Plugin obstacle_distance loaded
[ INFO] [1548212458.183697367]: Plugin obstacle_distance initialized
[ INFO] [1548212458.184137445]: Plugin odom loaded
[ INFO] [1548212458.209387436]: Plugin odom initialized
[ INFO] [1548212458.210028094]: Plugin param loaded
[ INFO] [1548212458.221359612]: Plugin param initialized
[ INFO] [1548212458.221766148]: Plugin px4flow loaded
[ INFO] [1548212458.246469290]: Plugin px4flow initialized
[ INFO] [1548212458.246567708]: Plugin rangefinder blacklisted
[ INFO] [1548212458.247203373]: Plugin rc_io loaded
[ INFO] [1548212458.259133045]: Plugin rc_io initialized
[ INFO] [1548212458.259234087]: Plugin safety_area blacklisted
[ INFO] [1548212458.259687063]: Plugin setpoint_accel loaded
[ INFO] [1548212458.273809701]: Plugin setpoint_accel initialized
[ INFO] [1548212458.274703684]: Plugin setpoint_attitude loaded
[ INFO] [1548212458.309570904]: Plugin setpoint_attitude initialized
[ INFO] [1548212458.310200616]: Plugin setpoint_position loaded
[ INFO] [1548212458.356101797]: Plugin setpoint_position initialized
[ INFO] [1548212458.356595933]: Plugin setpoint_raw loaded
[ INFO] [1548212458.388516997]: Plugin setpoint_raw initialized
[ INFO] [1548212458.389055941]: Plugin setpoint_velocity loaded
[ INFO] [1548212458.407839247]: Plugin setpoint_velocity initialized
[ INFO] [1548212458.408740047]: Plugin sys_status loaded
[ INFO] [1548212458.444222065]: Plugin sys_status initialized
[ INFO] [1548212458.444737932]: Plugin sys_time loaded
[ INFO] [1548212458.465626796]: TM: Timesync mode: MAVLINK
[ INFO] [1548212458.469652632]: Plugin sys_time initialized
[ INFO] [1548212458.470047678]: Plugin trajectory loaded
[ INFO] [1548212458.491579825]: Plugin trajectory initialized
[ INFO] [1548212458.492012253]: Plugin vfr_hud loaded
[ INFO] [1548212458.494349085]: Plugin vfr_hud initialized
[ INFO] [1548212458.494447694]: Plugin vibration blacklisted
[ INFO] [1548212458.494796172]: Plugin vision_pose_estimate loaded
[ INFO] [1548212458.523175231]: Plugin vision_pose_estimate initialized
[ INFO] [1548212458.523599275]: Plugin vision_speed_estimate loaded
[ INFO] [1548212458.538863907]: Plugin vision_speed_estimate initialized
[ INFO] [1548212458.539508918]: Plugin waypoint loaded
[ INFO] [1548212458.556364073]: Plugin waypoint initialized
[ INFO] [1548212458.556832092]: Plugin wind_estimation loaded
[ INFO] [1548212458.559478547]: Plugin wind_estimation initialized
[ INFO] [1548212458.559653586]: Autostarting mavlink via USB on PX4
[ INFO] [1548212458.560117316]: Built-in SIMD instructions: ARM NEON
[ INFO] [1548212458.560336427]: Built-in MAVLink package version: 2018.12.12
[ INFO] [1548212458.560396566]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1548212458.560462882]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1548212458.568491893]: IMU: Attitude quaternion IMU detected!
[ INFO] [1548212458.574456344]: IMU: High resolution IMU detected!
mavros_node: /usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:70: Eigen::internal::variable_if_dynamic<T, Value>::variable_if_dynamic(T) [with T = long int; int Value = 4]: Assertion `v == T(Value)' failed.
================================================================================REQUIRED process [mavros-2] has died!
process has died [pid 13063, exit code -6, cmd /home/nvidia/cch/catkin_ws/devel/lib/mavros/mavros_node __name:=mavros __log:=/home/nvidia/.ros/log/19615b24-1ebb-11e9-9965-163907109e89/mavros-2.log].
log file: /home/nvidia/.ros/log/19615b24-1ebb-11e9-9965-163907109e89/mavros-2*.log
Initiating shutdown!
================================================================================
[mavros-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Can someone help me? Thanks!

Have you looked at the log files that are mentioned in the output?

Thanks for your reply! I checked the dir > 19615b24-1ebb-11e9-9965-163907109e89 but I cannot find the mavros-2.log* or mavros-2.log.


I can only find some messages in the roslaunch-tegra-ubuntu-13019.log:

[roslaunch.pmon][INFO] 2019-01-23 11:00:57,521: ProcessMonitor.register[mavros-2] complete
[roslaunch][INFO] 2019-01-23 11:00:57,521: ... registered process [mavros-2]
[roslaunch][INFO] 2019-01-23 11:00:57,521: process[mavros-2]: starting os process
[roslaunch][INFO] 2019-01-23 11:00:57,522: process[mavros-2]: start w/ args [[u'/home/nvidia/cch/catkin_ws/devel/lib/mavros/mavros_node', u'__name:=mavros', u'__log:=/home/nvidia/.ros/log/19615b24-1ebb-11e9-9965-163907109e89/mavros-2.log']]
[roslaunch][INFO] 2019-01-23 11:00:57,522: process[mavros-2]: cwd will be [/home/nvidia/.ros]
[roslaunch][INFO] 2019-01-23 11:00:57,531: process[mavros-2]: started with pid [13063]
[roslaunch][INFO] 2019-01-23 11:00:57,532: ... successfully launched [mavros-2]
[roslaunch][INFO] 2019-01-23 11:00:57,532: ... launch_nodes complete
[roslaunch.pmon][INFO] 2019-01-23 11:00:57,533: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon 548491788800)>
[roslaunch.parent][INFO] 2019-01-23 11:00:57,533: ... roslaunch parent running, waiting for process exit
[roslaunch][INFO] 2019-01-23 11:00:57,533: spin
[roslaunch][ERROR] 2019-01-23 11:00:59,007: ================================================================================REQUIRED process [mavros-2] has died!
process has died [pid 13063, exit code -6, cmd /home/nvidia/cch/catkin_ws/devel/lib/mavros/mavros_node __name:=mavros __log:=/home/nvidia/.ros/log/19615b24-1ebb-11e9-9965-163907109e89/mavros-2.log].
log file: /home/nvidia/.ros/log/19615b24-1ebb-11e9-9965-163907109e89/mavros-2*.log
Initiating shutdown!
================================================================================
[roslaunch.pmon][INFO] 2019-01-23 11:00:59,108: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 548491788800)>
[roslaunch.pmon][INFO] 2019-01-23 11:00:59,108: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 548491788800)>: remaining procs are [<roslaunch.nodeprocess.LocalProcess object at 0x7fb4b512d0>, <roslaunch.nodeprocess.LocalProcess object at 0x7fb4276fd0>, <roslaunch.nodeprocess.LocalProcess object at 0x7fb421a490>]
[roslaunch.pmon][INFO] 2019-01-23 11:00:59,109: ProcessMonitor exit: killing mavros-2
[roslaunch][INFO] 2019-01-23 11:00:59,109: [mavros-2] killing on exit
[roslaunch.pmon][INFO] 2019-01-23 11:00:59,111: ProcessMonitor exit: killing rosout-1
[roslaunch][INFO] 2019-01-23 11:00:59,112: [rosout-1] killing on exit
[roslaunch][INFO] 2019-01-23 11:00:59,112: process[rosout-1]: killing os process with pid[13045] pgid[13045]
[roslaunch][INFO] 2019-01-23 11:00:59,112: [rosout-1] sending SIGINT to pgid [13045]
[roslaunch][INFO] 2019-01-23 11:00:59,112: [rosout-1] sent SIGINT to pgid [13045]
[roslaunch][INFO] 2019-01-23 11:00:59,213: process[rosout-1]: SIGINT killed with return value 0
[roslaunch.pmon][INFO] 2019-01-23 11:00:59,213: ProcessMonitor exit: killing master
[roslaunch][INFO] 2019-01-23 11:00:59,213: [master] killing on exit
[roslaunch][INFO] 2019-01-23 11:00:59,213: process[master]: killing os process with pid[13032] pgid[13032]
[roslaunch][INFO] 2019-01-23 11:00:59,214: [master] sending SIGINT to pgid [13032]
[roslaunch][INFO] 2019-01-23 11:00:59,214: [master] sent SIGINT to pgid [13032]
[roslaunch][INFO] 2019-01-23 11:00:59,414: process[master]: SIGINT killed with return value 0
[roslaunch.pmon][INFO] 2019-01-23 11:00:59,415: ProcessMonitor exit: cleaning up data structures and signals
[roslaunch.pmon][INFO] 2019-01-23 11:00:59,415: ProcessMonitor exit: pmon has shutdown
[roslaunch][INFO] 2019-01-23 11:00:59,436: process monitor is done spinning, initiating full shutdown
[roslaunch][INFO] 2019-01-23 11:00:59,436: runner.stop()
[roslaunch][INFO] 2019-01-23 11:00:59,436: shutting down processing monitor...
[roslaunch][INFO] 2019-01-23 11:00:59,436: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon 548491788800)>
[roslaunch.pmon][INFO] 2019-01-23 11:00:59,436: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 548491788800)>
[roslaunch][INFO] 2019-01-23 11:00:59,436: ... shutting down processing monitor complete
[roslaunch][INFO] 2019-01-23 11:00:59,437: done
[roslaunch.pmon][INFO] 2019-01-23 11:00:59,437: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 548491788800)>
[rospy.core][INFO] 2019-01-23 11:00:59,437: signal_shutdown [atexit]

Hello,

I don’t know if you’re still running into this issue (and if you still care to be running the master branch), but I discovered this problem myself a few days ago. It seems to be quite re-producable with the master firmware and a TX2. I have been talking with the maintainers of MAVROS, and it seems there will need to be a fix in MAVROS implemented: https://github.com/mavlink/mavros/issues/1223

For now, what has worked for me is to build MAVROS from source, and to blacklist the Odom plugin, as that is the culprit for raising the assertion. It seems unlikely that this is an issue with the Firmware itself, but it’s an issue that is going to have to be looked at more closely.