Ubuntu 20.04, Px4-v1.13, Ros2 foxy.
Hi,
i’m running a gazebo simulation with iris model and this is done through a launch file like the one in this discussion ros2-px4 launch file. In the last 3 months i had no problem but from yesterday i continuously get the following error whenever i try to arm the vehicle, which prevent me to take-off, do missions etc…:
[PreFlightCheck] Preflight Fail: vertical velocity estimate not stable
This was confirmed by the mavlink inspector in QGround control for LOCAL_POSITION_NED. When the vehicle is spawn on the ground the value of the z position and velocity are not consistent:
- z = -3.48… and is constant
- vz = -1.8… and it is also constant
The strange thing is that if i launch the simulation with the standard:
make px4_sitl_rtps gazebo
everything work fine.
This is the output of the launch file:
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [38433]
[INFO] [gzclient --verbose -2]: process started with pid [38435]
[INFO] [gz-3]: process started with pid [38439]
[INFO] [px4-4]: process started with pid [38441]
[INFO] [micrortps_agent-5]: process started with pid [38443]
[px4-4] Creating symlink /home/fede/PX4-Autopilot/ROMFS/px4fmu_common/ -> /home/fede/tmp/px4_run_dir/etc
[px4-4]
[px4-4] ______ __ __ ___
[px4-4] | ___ \ \ \ / / / |
[px4-4] | |_/ / \ V / / /| |
[px4-4] | __/ / \ / /_| |
[px4-4] | | / /^\ \ \___ |
[px4-4] \_| \/ \/ |_/
[px4-4]
[px4-4] px4 starting.
[px4-4]
[px4-4] INFO [px4] Calling startup script: /bin/sh /home/fede/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/rcS 0
[px4-4] INFO [init] found model autostart file as SYS_AUTOSTART=10016
[px4-4] INFO [param] selected parameter default file eeprom/parameters_10016
[px4-4] INFO [parameters] BSON document size 802 bytes, decoded 802 bytes
[px4-4] [param] Loaded: eeprom/parameters_10016
[px4-4] INFO [dataman] data manager file './dataman' size is 11798680 bytes
[px4-4] PX4 SIM HOST: localhost
[px4-4] INFO [simulator] Waiting for simulator to accept connection on TCP port 4560
[micrortps_agent-5] --- MicroRTPS Agent ---
[micrortps_agent-5] [ micrortps_agent ] Starting link...
[micrortps_agent-5] [ micrortps_agent ] UDP transport: ip address: 127.0.0.1; recv port: 2020; send port: 2019
[micrortps_agent-5] [ micrortps_transport ] UDP transport: Trying to connect...
[micrortps_agent-5] [ micrortps_transport ] UDP transport: Connected to server!
[micrortps_agent-5]
[micrortps_agent-5] --- Subscribers ---
[micrortps_agent-5] - DebugArray subscriber started
[micrortps_agent-5] - DebugKeyValue subscriber started
[micrortps_agent-5] - DebugValue subscriber started
[micrortps_agent-5] - DebugVect subscriber started
[micrortps_agent-5] - OffboardControlMode subscriber started
[micrortps_agent-5] - OpticalFlow subscriber started
[micrortps_agent-5] - PositionSetpoint subscriber started
[micrortps_agent-5] - PositionSetpointTriplet subscriber started
[micrortps_agent-5] - TelemetryStatus subscriber started
[micrortps_agent-5] - Timesync subscriber started
[micrortps_agent-5] - VehicleCommand subscriber started
[micrortps_agent-5] - VehicleLocalPositionSetpoint subscriber started
[gzclient --verbose -2] Gazebo multi-robot simulator, version 11.9.0
[gzclient --verbose -2] Copyright (C) 2012 Open Source Robotics Foundation.
[gzclient --verbose -2] Released under the Apache 2 License.
[gzclient --verbose -2] http://gazebosim.org
[gzclient --verbose -2]
[micrortps_agent-5] - VehicleTrajectoryWaypoint subscriber started
[micrortps_agent-5] - OnboardComputerStatus subscriber started
[micrortps_agent-5] - TrajectoryBezier subscriber started
[micrortps_agent-5] - VehicleTrajectoryBezier subscriber started
[micrortps_agent-5] - TrajectorySetpoint subscriber started
[micrortps_agent-5] - VehicleMocapOdometry subscriber started
[micrortps_agent-5] - VehicleVisualOdometry subscriber started
[micrortps_agent-5] -----------------------
[micrortps_agent-5]
[micrortps_agent-5] ---- Publishers ----
[micrortps_agent-5] - MissionResult publisher started
[gzserver-1] Gazebo multi-robot simulator, version 11.9.0
[gzserver-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gzserver-1] Released under the Apache 2 License.
[gzserver-1] http://gazebosim.org
[gzserver-1]
[micrortps_agent-5] - Timesync publishers started
[micrortps_agent-5] - TrajectoryWaypoint publisher started
[micrortps_agent-5] - VehicleCommandAck publisher started
[micrortps_agent-5] - VehicleControlMode publisher started
[micrortps_agent-5] - VehicleLocalPosition publisher started
[micrortps_agent-5] - VehicleOdometry publisher started
[micrortps_agent-5] - VehicleStatus publisher started
[micrortps_agent-5] - CollisionConstraints publisher started
[micrortps_agent-5] - TimesyncStatus publisher started
[micrortps_agent-5] - SensorCombined publisher started
[micrortps_agent-5] - VehicleTrajectoryWaypointDesired publisher started
[micrortps_agent-5] -----------------------
[INFO] [gz-3]: process has finished cleanly [pid 38439]
[gzserver-1] [Msg] Waiting for master.
[gzserver-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-1] [Msg] Publicized address: 192.168.1.220
[gzserver-1] [Msg] Loading world file [/home/fede/px4_ros_com_ros2/install/airdrone_navigation/share/airdrone_navigation/worlds/ADS_worlds/empty.world]
[gzserver-1] [Wrn] [gazebo_gps_plugin.cpp:78] [gazebo_gps_plugin]: drone::gps0 using gps topic "gps0"
[gzserver-1] [Wrn] [gazebo_gps_plugin.cpp:203] [gazebo_gps_plugin] Using default update rate of 5hz
[gzserver-1] [INFO] [1637315512.472939789] [camera_plugin]: Publishing camera info to [/camera/camera_info]
[px4-4] INFO [simulator] Simulator connected on TCP port 4560.
[px4-4] INFO [commander] Mission #2 loaded, 4 WPs, curr: 0
[px4-4] INFO [commander] LED: open /dev/led0 failed (22)
[px4-4] INFO [micrortps_client] UDP transport: ip address: 127.0.0.1; recv port: 2019; send port: 2020
[px4-4] INFO [micrortps_client] UDP transport: Trying to connect...
[px4-4] INFO [micrortps_client] UDP transport: Connected to server!
[px4-4] INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
[px4-4] INFO [init] setting PWM_AUX_OUT none
[px4-4] INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
[px4-4] INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
[px4-4] INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
[px4-4] INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
[px4-4] INFO [logger] logger started (mode=all)
[px4-4] INFO [logger] Start file log (type: full)
[px4-4] INFO [logger] [logger] ./log/2021-11-19/09_51_52.ulg
[px4-4] INFO [logger] Opened full log file: ./log/2021-11-19/09_51_52.ulg
[px4-4] INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
[px4-4] INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
[px4-4] INFO [px4] Startup script returned successfully
[px4-4] pxh> INFO [mavlink] partner IP: 127.0.0.1
[px4-4] INFO [tone_alarm] home set
[px4-4] WARN [mc_pos_control] invalid setpoints
[px4-4] INFO [tone_alarm] notify positive
[px4-4] WARN [PreFlightCheck] Preflight Fail: vertical velocity estimate not stable*
[px4-4] INFO [tone_alarm] notify negative
[gzclient --verbose -2] [Msg] Waiting for master.
[gzclient --verbose -2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient --verbose -2] [Msg] Publicized address: 192.168.1.220
[gzclient --verbose -2] [Wrn] [Publisher.cc:136] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
any help would be appreciated.