Hello,
I’m working with PX4+Gazebo(version 11.14.0)+ROS Noetic on Ubuntu (20.04).
I am trying to train an agent to make the UAV land autonomously based on Reinforcement Learning algorithm.
This system has always been working properly, but starting today, it always fails.
Launched PX4 SITL firstly:
roslaunch px4 mavros_posix_sitl.launch
then run my script to enter OFFBOARD mode and control the UAV:
rosrun offboard_run uav_rl.py
PX4 always tips “poll timeout 0, 22” since today, and the UAV can’t be takeoff and controled by my script at all.
pxh> INFO [mavlink] partner IP: 127.0.0.1
[vehicle_spawn_ubuntu_33250_9032870139523201024-5] process has finished cleanly
log file: /home/ubuntu/.ros/log/55829588-0ffa-11ef-b492-03cd1d857df6/vehicle_spawn_ubuntu_33250_9032870139523201024-5*.log
INFO [tone_alarm] home set
[ INFO] [1715475336.482159124, 1.372000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1715475336.484226740, 1.372000000]: IMU: High resolution IMU detected!
[ INFO] [1715475337.491604715, 2.376000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1715475337.491733853, 2.376000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1715475337.491782315, 2.380000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1715475337.491834544, 2.380000000]: VER: 1.1: Capabilities 0x000000000000e8ff
[ INFO] [1715475337.491877583, 2.380000000]: VER: 1.1: Flight software: 010f0040 (cf840ff373000000)
[ INFO] [1715475337.491916927, 2.380000000]: VER: 1.1: Middleware software: 010f0040 (cf840ff373000000)
[ INFO] [1715475337.491948851, 2.380000000]: VER: 1.1: OS software: 050f00ff (1e58d29f37b1954b)
[ INFO] [1715475337.491979289, 2.380000000]: VER: 1.1: Board hardware: 00000001
[ INFO] [1715475337.492010474, 2.380000000]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1715475337.492041956, 2.380000000]: VER: 1.1: UID: 4954414c44494e4f
[ INFO] [1715475341.006277999, 5.892000000]: IMU: Attitude quaternion IMU detected!
INFO [commander] Ready for takeoff!
[ INFO] [1715475351.495120171, 16.372000000]: GF: mission received
[ INFO] [1715475351.495358640, 16.372000000]: RP: mission received
[ INFO] [1715475351.495446883, 16.372000000]: WP: mission received
[ERROR] [1715475386.069356827, 50.916000000]: TM : Time jump detected. Resetting time synchroniser.
[ WARN] [1715475394.320055056, 59.164000000]: CMD: Unexpected command 176, result 0
ERROR [simulator_mavlink] poll timeout 0, 22
poll timeout
ERROR [simulator_mavlink] poll timeout 0, 22
poll timeout
ERROR [simulator_mavlink] poll timeout 0, 22
poll timeout
ERROR [simulator_mavlink] poll timeout 0, 22
poll timeout
What’s going on? Can you help me please?
Thanks in advance.