Mavros_posix_sitl.launch change the arg "vehicle" to other model failed!

#1

hello,everyone!
i am using the px4 to simulation my own quadrotor model in gazebo, i am using the launch file to startup it. the mavros_posix_sitl.launch is a convenient way to start the px4 SITL and mavros in gazebo, the default arg “vehicle” is iris, and i want to change to other model, like solo or even my own model, but when i run "roslaunch px4 mavros_posix_sitl.launch " command, the gazebo and solo model is normal startup, bu the px4 is not complete start, and can not connect to QGC, the INFO in the terminal is shown below:

husky@husky-A200:~$ roslaunch px4 mavros_posix_sitl.launch
… logging to /home/husky/.ros/log/a50c9334-be10-11e8-ab6c-74fe48341869/roslaunch-husky-A200-3738.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://husky-A200:45631/

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: udp://:14540@loca…
  • /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/frame_tf/body_frame_orientation: frd
  • /mavros/odometry/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_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
  • /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
sitl (px4/px4)
vehicle_spawn_husky_A200_3738_8605367633495548656 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [3749]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a50c9334-be10-11e8-ab6c-74fe48341869
process[rosout-1]: started with pid [3762]
started core service [/rosout]
process[sitl-2]: started with pid [3787]
INFO [Unknown] Creating symlink /home/husky/px4_src/Firmware/ROMFS/px4fmu_common -> /home/husky/.ros/etc
39 WARNING: setRealtimeSched failed (not run as root?)


| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /
| |
| | / /^\ \ ___ |
_| / / |_/

px4 starting.

INFO [Unknown] Calling startup script: bash etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [3788]
Unknown model
WARN [Unknown] Startup script returned with return value: 65280
pxh> process[gazebo_gui-4]: started with pid [3803]
process[vehicle_spawn_husky_A200_3738_8605367633495548656-5]: started with pid [3808]
process[mavros-6]: started with pid [3809]
[ INFO] [1537583935.259696752]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1537583935.270299753]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1537583935.270687984]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1537583935.271505170]: GCS bridge disabled
[ INFO] [1537583935.457497350]: Plugin 3dr_radio loaded
[ INFO] [1537583935.460287948]: Plugin 3dr_radio initialized
[ INFO] [1537583935.460461942]: Plugin actuator_control loaded
[ INFO] [1537583935.465057822]: Plugin actuator_control initialized
[ INFO] [1537583935.521240509]: Plugin adsb loaded
[ INFO] [1537583935.526043809]: Plugin adsb initialized
[ INFO] [1537583935.526266906]: Plugin altitude loaded
[ INFO] [1537583935.527764819]: Plugin altitude initialized
[ INFO] [1537583935.527936844]: Plugin cam_imu_sync loaded
[ INFO] [1537583935.528843997]: Plugin cam_imu_sync initialized
[ INFO] [1537583935.529052597]: Plugin command loaded
[ INFO] [1537583935.538255318]: Plugin command initialized
[ INFO] [1537583935.538434648]: Plugin debug_value loaded
[ INFO] [1537583935.544945106]: Plugin debug_value initialized
[ INFO] [1537583935.545047094]: Plugin distance_sensor blacklisted
[ INFO] [1537583935.545256801]: Plugin fake_gps loaded
[ INFO] [1537583935.566345210]: Plugin fake_gps initialized
[ INFO] [1537583935.566603637]: Plugin ftp loaded
[ INFO] [1537583935.578809869]: Plugin ftp initialized
[ INFO] [1537583935.579007732]: Plugin global_position loaded
[ INFO] [1537583935.600575037]: Plugin global_position initialized
[ INFO] [1537583935.600783115]: Plugin hil loaded
[ INFO] [1537583935.625803691]: Plugin hil initialized
[ INFO] [1537583935.626249578]: Plugin home_position loaded
[ INFO] [1537583935.633248313]: Plugin home_position initialized
[ INFO] [1537583935.633438319]: Plugin imu loaded
[ INFO] [1537583935.642986213]: Plugin imu initialized
[ INFO] [1537583935.643180741]: Plugin local_position loaded
[ INFO] [1537583935.655660224]: Plugin local_position initialized
[ INFO] [1537583935.655923674]: Plugin manual_control loaded
[ INFO] [1537583935.660482187]: Plugin manual_control initialized
[ INFO] [1537583935.660688528]: Plugin mocap_pose_estimate loaded
[ INFO] [1537583935.666910124]: Plugin mocap_pose_estimate initialized
[ INFO] [1537583935.667107274]: Plugin obstacle_distance loaded
[ INFO] [1537583935.671126857]: Plugin obstacle_distance initialized
[ INFO] [1537583935.671329551]: Plugin odom loaded
[ INFO] [1537583935.682636622]: Plugin odom initialized
[ INFO] [1537583935.683025086]: Plugin param loaded
[ INFO] [1537583935.690642659]: Plugin param initialized
[ INFO] [1537583935.690822003]: Plugin px4flow loaded
[ INFO] [1537583935.706490076]: Plugin px4flow initialized
[ INFO] [1537583935.706539419]: Plugin rangefinder blacklisted
[ INFO] [1537583935.706841545]: Plugin rc_io loaded
[ INFO] [1537583935.715702648]: Plugin rc_io initialized
[ INFO] [1537583935.715750613]: Plugin safety_area blacklisted
[ INFO] [1537583935.715996853]: Plugin setpoint_accel loaded
[ INFO] [1537583935.720597941]: Plugin setpoint_accel initialized
[ INFO] [1537583935.724716445]: Plugin setpoint_attitude loaded
[ INFO] [1537583935.758055896]: Plugin setpoint_attitude initialized
[ INFO] [1537583935.758342874]: Plugin setpoint_position loaded
[ INFO] [1537583935.782645983]: Plugin setpoint_position initialized
[ INFO] [1537583935.782933818]: Plugin setpoint_raw loaded
[ INFO] [1537583935.798791666]: Plugin setpoint_raw initialized
[ INFO] [1537583935.799002646]: Plugin setpoint_velocity loaded
[ INFO] [1537583935.810959903]: Plugin setpoint_velocity initialized
[ INFO] [1537583935.811332991]: Plugin sys_status loaded
[ INFO] [1537583935.825846722]: Plugin sys_status initialized
[ INFO] [1537583935.826137158]: Plugin sys_time loaded
[ INFO] [1537583935.834142937]: TM: Timesync mode: MAVLINK
[ INFO] [1537583935.836178328]: Plugin sys_time initialized
[ INFO] [1537583935.836369938]: Plugin trajectory loaded
[ INFO] [1537583935.849354147]: Plugin trajectory initialized
[ INFO] [1537583935.849590996]: Plugin vfr_hud loaded
[ INFO] [1537583935.851008760]: Plugin vfr_hud initialized
[ INFO] [1537583935.851214027]: Plugin vibration blacklisted
[ INFO] [1537583935.851576450]: Plugin vision_pose_estimate loaded
[ INFO] [1537583935.865353845]: Plugin vision_pose_estimate initialized
[ INFO] [1537583935.865621880]: Plugin vision_speed_estimate loaded
[ INFO] [1537583935.873516078]: Plugin vision_speed_estimate initialized
[ INFO] [1537583935.873763879]: Plugin waypoint loaded
[ INFO] [1537583935.882237016]: Plugin waypoint initialized
[ INFO] [1537583935.882490827]: Plugin wind_estimation loaded
[ INFO] [1537583935.883742526]: Plugin wind_estimation initialized
[ INFO] [1537583935.883817142]: Autostarting mavlink via USB on PX4
[ INFO] [1537583935.884002211]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1537583935.884061940]: Built-in MAVLink package version: 2018.7.18
[ INFO] [1537583935.884092450]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1537583935.884125855]: MAVROS started. MY ID 1.240, TARGET ID 1.1
SpawnModel script started
[ INFO] [1537583936.179754111]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1537583936.181231621]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting…
[ INFO] [1537583936.215234903]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1537583936.216276068]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting…
[INFO] [1537583936.339921, 0.000000]: Loading model XML from file
[INFO] [1537583936.341404, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1537583936.868185344, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1537583936.902485762, 0.056000000]: Physics dynamic reconfigure ready.
[INFO] [1537583936.948391, 0.100000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1537583937.118579, 0.148000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1537583937.206819049, 0.170000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1537583937.244245073, 0.206000000]: Physics dynamic reconfigure ready.
[vehicle_spawn_husky_A200_3738_8605367633495548656-5] process has finished cleanly
log file: /home/husky/.ros/log/a50c9334-be10-11e8-ab6c-74fe48341869/vehicle_spawn_husky_A200_3738_8605367633495548656-5*.log

is anyone try it?
I will be grateful for any answer.
thanks!

1 Like