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!