# TF Buffer Error **URL:** \ **Category:** PX4 Autopilot\ **Created:** [August 10, 2022, 12:34am UTC](https://discuss.px4.io/t/tf-buffer-error/28646 "2022-08-10T00:34:23Z")\ **Posts on this page:** 1\ **Page:** 1
**Author:** ![michael\_11](https://discuss.px4.io/letter_avatar_proxy/v4/letter/m/41988e/32.png) [@michael\_11](https://discuss.px4.io/u/michael_11)\ **Post date:** [August 10, 2022, 12:34am UTC](https://discuss.px4.io/t/tf-buffer-error/28646/1 "2022-08-10T00:34:23Z")
**Describe the bug** I’m currently attempting to use my intel real sense D435 camera and PX4 Cube pilot with local planner. The error I am experiencing is [ERROR] [1660062552.700789171]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.716710617]: TF Buffer: could not retrieve requested transform from buffer, unregistered Repeated again and again. **To Reproduce** Steps to reproduce the behavior: To run PX4 avoidance I have connected a NVidia jetson nano to the cube pilot using an USB to FTDI Cable. [![Picture1](https://user-images.githubusercontent.com/49072776/183734895-b79782ea-eea5-4e11-a9c8-9d3b5e3051bf.png)](https://user-images.githubusercontent.com/49072776/183734895-b79782ea-eea5-4e11-a9c8-9d3b5e3051bf.png) I have connected to the Jetson over SSH and am attempting to launch local planner using the instructions provided on [PX4/PX4-Avoidance: PX4 avoidance ROS node for obstacle detection and avoidance. (github.com)](https://github.com/PX4/PX4-Avoidance). The command I am currently using is roslaunch local\_planner avoidance.launch fcu\_url:=/dev/ttyUSB4:57600 It is USB4 because I have a sixfab hat connected to the jetson already using the other ports. **Log Files and Screenshots** Currently I am using PX4 firmware version 1.13 and the avoidance master version Realsense Ros v2.3.2 Librealsense v2.50.0 ROS melodic [frames.pdf](https://github.com/PX4/PX4-Avoidance/files/9293794/frames.pdf) avoidance.launch can be seen here [avoidance.txt](https://github.com/PX4/PX4-Avoidance/files/9293579/avoidance.txt) px4\_config can be seen here [px4\_config.txt](https://github.com/PX4/PX4-Avoidance/files/9293580/px4_config.txt) started roslaunch server [http://michael-desktop:42637/](http://michael-desktop:42637/) # SUMMARY CLEAR PARAMETERS - /mavros/ PARAMETERS - /camera\_main/realsense2\_camera/accel\_fps: 0 - /camera\_main/realsense2\_camera/accel\_frame\_id: camera\_main\_accel… - /camera\_main/realsense2\_camera/accel\_optical\_frame\_id: camera\_main\_accel… - /camera\_main/realsense2\_camera/align\_depth: False - /camera\_main/realsense2\_camera/aligned\_depth\_to\_color\_frame\_id: camera\_main\_align… - /camera\_main/realsense2\_camera/aligned\_depth\_to\_fisheye1\_frame\_id: camera\_main\_align… - /camera\_main/realsense2\_camera/aligned\_depth\_to\_fisheye2\_frame\_id: camera\_main\_align… - /camera\_main/realsense2\_camera/aligned\_depth\_to\_fisheye\_frame\_id: camera\_main\_align… - /camera\_main/realsense2\_camera/aligned\_depth\_to\_infra1\_frame\_id: camera\_main\_align… - /camera\_main/realsense2\_camera/aligned\_depth\_to\_infra2\_frame\_id: camera\_main\_align… - /camera\_main/realsense2\_camera/allow\_no\_texture\_points: False - /camera\_main/realsense2\_camera/base\_frame\_id: camera\_main\_link - /camera\_main/realsense2\_camera/calib\_odom\_file: - /camera\_main/realsense2\_camera/clip\_distance: -1.0 - /camera\_main/realsense2\_camera/color\_fps: 15 - /camera\_main/realsense2\_camera/color\_frame\_id: camera\_main\_color… - /camera\_main/realsense2\_camera/color\_height: 480 - /camera\_main/realsense2\_camera/color\_optical\_frame\_id: camera\_main\_color… - /camera\_main/realsense2\_camera/color\_width: 640 - /camera\_main/realsense2\_camera/confidence\_fps: 30 - /camera\_main/realsense2\_camera/confidence\_height: 480 - /camera\_main/realsense2\_camera/confidence\_width: 640 - /camera\_main/realsense2\_camera/depth\_fps: 30 - /camera\_main/realsense2\_camera/depth\_frame\_id: camera\_main\_depth… - /camera\_main/realsense2\_camera/depth\_height: 480 - /camera\_main/realsense2\_camera/depth\_optical\_frame\_id: camera\_main\_depth… - /camera\_main/realsense2\_camera/depth\_width: 640 - /camera\_main/realsense2\_camera/device\_type: - /camera\_main/realsense2\_camera/enable\_accel: False - /camera\_main/realsense2\_camera/enable\_color: False - /camera\_main/realsense2\_camera/enable\_confidence: True - /camera\_main/realsense2\_camera/enable\_depth: True - /camera\_main/realsense2\_camera/enable\_fisheye1: False - /camera\_main/realsense2\_camera/enable\_fisheye2: False - /camera\_main/realsense2\_camera/enable\_fisheye: False - /camera\_main/realsense2\_camera/enable\_gyro: False - /camera\_main/realsense2\_camera/enable\_infra1: True - /camera\_main/realsense2\_camera/enable\_infra2: False - /camera\_main/realsense2\_camera/enable\_infra: False - /camera\_main/realsense2\_camera/enable\_pointcloud: False - /camera\_main/realsense2\_camera/enable\_pose: False - /camera\_main/realsense2\_camera/enable\_sync: False - /camera\_main/realsense2\_camera/filters: - /camera\_main/realsense2\_camera/fisheye1\_frame\_id: camera\_main\_fishe… - /camera\_main/realsense2\_camera/fisheye1\_optical\_frame\_id: camera\_main\_fishe… - /camera\_main/realsense2\_camera/fisheye2\_frame\_id: camera\_main\_fishe… - /camera\_main/realsense2\_camera/fisheye2\_optical\_frame\_id: camera\_main\_fishe… - /camera\_main/realsense2\_camera/fisheye\_fps: 30 - /camera\_main/realsense2\_camera/fisheye\_frame\_id: camera\_main\_fishe… - /camera\_main/realsense2\_camera/fisheye\_height: 0 - /camera\_main/realsense2\_camera/fisheye\_optical\_frame\_id: camera\_main\_fishe… - /camera\_main/realsense2\_camera/fisheye\_width: 0 - /camera\_main/realsense2\_camera/gyro\_fps: 0 - /camera\_main/realsense2\_camera/gyro\_frame\_id: camera\_main\_gyro\_… - /camera\_main/realsense2\_camera/gyro\_optical\_frame\_id: camera\_main\_gyro\_… - /camera\_main/realsense2\_camera/imu\_optical\_frame\_id: camera\_main\_imu\_o… - /camera\_main/realsense2\_camera/infra1\_frame\_id: camera\_main\_infra… - /camera\_main/realsense2\_camera/infra1\_optical\_frame\_id: camera\_main\_infra… - /camera\_main/realsense2\_camera/infra2\_frame\_id: camera\_main\_infra… - /camera\_main/realsense2\_camera/infra2\_optical\_frame\_id: camera\_main\_infra… - /camera\_main/realsense2\_camera/infra\_fps: 15 - /camera\_main/realsense2\_camera/infra\_height: 480 - /camera\_main/realsense2\_camera/infra\_rgb: False - /camera\_main/realsense2\_camera/infra\_width: 640 - /camera\_main/realsense2\_camera/initial\_reset: False - /camera\_main/realsense2\_camera/json\_file\_path: /home/sixfab/catk… - /camera\_main/realsense2\_camera/linear\_accel\_cov: 0.01 - /camera\_main/realsense2\_camera/odom\_frame\_id: camera\_main\_odom\_… - /camera\_main/realsense2\_camera/ordered\_pc: False - /camera\_main/realsense2\_camera/pointcloud\_texture\_index: 0 - /camera\_main/realsense2\_camera/pointcloud\_texture\_stream: RS2\_STREAM\_COLOR - /camera\_main/realsense2\_camera/pose\_frame\_id: camera\_main\_pose\_… - /camera\_main/realsense2\_camera/pose\_optical\_frame\_id: camera\_main\_pose\_… - /camera\_main/realsense2\_camera/publish\_odom\_tf: True - /camera\_main/realsense2\_camera/publish\_tf: True - /camera\_main/realsense2\_camera/reconnect\_timeout: 6.0 - /camera\_main/realsense2\_camera/rosbag\_filename: - /camera\_main/realsense2\_camera/serial\_no: 938422076992 - /camera\_main/realsense2\_camera/stereo\_module/exposure/1: 7500 - /camera\_main/realsense2\_camera/stereo\_module/exposure/2: 1 - /camera\_main/realsense2\_camera/stereo\_module/gain/1: 16 - /camera\_main/realsense2\_camera/stereo\_module/gain/2: 16 - /camera\_main/realsense2\_camera/tf\_publish\_rate: 0.0 - /camera\_main/realsense2\_camera/topic\_odom\_in: camera\_main/odom\_in - /camera\_main/realsense2\_camera/unite\_imu\_method: none - /camera\_main/realsense2\_camera/usb\_port\_id: - /camera\_main/realsense2\_camera/wait\_for\_device\_timeout: -1.0 - /local\_planner\_node/goal\_x\_param: 0 - /local\_planner\_node/goal\_y\_param: 0 - /local\_planner\_node/goal\_z\_param: 4 - /local\_planner\_node/pointcloud\_topics: ['/camera\_main/de… - /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: ROLL\_180 - /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: ROLL\_180 - /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: ROLL\_180 - /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: ROLL\_180 - /mavros/distance\_sensor/sonar\_1\_sub/subscriber: True - /mavros/fcu\_protocol: v2.0 - /mavros/fcu\_url: /dev/ttyUSB4:57600 - /mavros/gcs\_url: - /mavros/global\_position/frame\_id: fcu - /mavros/global\_position/rot\_covariance: 99999.0 - /mavros/global\_position/tf/child\_frame\_id: fcu\_utm - /mavros/global\_position/tf/frame\_id: local\_origin - /mavros/global\_position/tf/send: True - /mavros/image/frame\_id: px4flow - /mavros/imu/angular\_velocity\_stdev: 0.0003490659 // 0… - /mavros/imu/frame\_id: fcu - /mavros/imu/linear\_acceleration\_stdev: 0.0003 - /mavros/imu/magnetic\_stdev: 0.0 - /mavros/imu/orientation\_stdev: 1.0 - /mavros/local\_position/frame\_id: local\_origin - /mavros/local\_position/tf/child\_frame\_id: fcu - /mavros/local\_position/tf/frame\_id: local\_origin - /mavros/local\_position/tf/send: True - /mavros/local\_position/tf/send\_fcu: True - /mavros/mission/pull\_after\_gcs: True - /mavros/mocap/use\_pose: False - /mavros/mocap/use\_tf: True - /mavros/odometry/fcu/odom\_child\_id\_des: base\_link - /mavros/odometry/fcu/odom\_parent\_id\_des: map - /mavros/plugin\_blacklist: [‘safety\_area’, '… - /mavros/plugin\_whitelist: - /mavros/px4flow/frame\_id: px4flow - /mavros/px4flow/ranger\_fov: 0.118682 - /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\_throttle: False - /mavros/setpoint\_attitude/tf/child\_frame\_id: attitude - /mavros/setpoint\_attitude/tf/frame\_id: local\_origin - /mavros/setpoint\_attitude/tf/listen: False - /mavros/setpoint\_attitude/tf/rate\_limit: 10.0 - /mavros/setpoint\_position/tf/child\_frame\_id: setpoint - /mavros/setpoint\_position/tf/frame\_id: local\_origin - /mavros/setpoint\_position/tf/listen: False - /mavros/setpoint\_position/tf/rate\_limit: 50.0 - /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/vibration/frame\_id: vibration - /mavros/vision\_pose/tf/child\_frame\_id: vision - /mavros/vision\_pose/tf/frame\_id: local\_origin - /mavros/vision\_pose/tf/listen: False - /mavros/vision\_pose/tf/rate\_limit: 10.0 - /mavros/vision\_speed/listen\_twist: False - /rosdistro: melodic - /rosversion: 1.14.13 NODES / drop\_camera\_main\_depth (topic\_tools/drop) drop\_camera\_main\_ir (topic\_tools/drop) dynparam (dynamic\_reconfigure/dynparam) local\_planner\_node (local\_planner/local\_planner\_node) mavros (mavros/mavros\_node) tf\_camera\_main (tf/static\_transform\_publisher) /camera\_main/ points\_xyz\_sw\_registered (nodelet/nodelet) realsense2\_camera (nodelet/nodelet) realsense2\_camera\_manager (nodelet/nodelet) auto-starting new master process[master]: started with pid [32493] ROS\_MASTER\_URI=[http://localhost:11311](http://localhost:11311/) setting /run\_id to 5e9359d0-1800-11ed-b2c1-cac311e4558e process[rosout-1]: started with pid [32533] started core service [/rosout] process[mavros-2]: started with pid [32576] [INFO] [1660062543.820368136]: FCU URL: /dev/ttyUSB4:57600 [INFO] [1660062543.838914286]: serial0: device: /dev/ttyUSB4 @ 57600 bps [INFO] [1660062543.842341420]: GCS bridge disabled [INFO] [1660062543.882886847]: Plugin 3dr\_radio loaded [INFO] [1660062543.892104295]: Plugin 3dr\_radio initialized [INFO] [1660062543.893143092]: Plugin actuator\_control loaded [INFO] [1660062543.909980155]: Plugin actuator\_control initialized [INFO] [1660062543.925024585]: Plugin adsb loaded [INFO] [1660062543.942133900]: Plugin adsb initialized [INFO] [1660062543.943290827]: Plugin altitude loaded [INFO] [1660062543.951269782]: Plugin altitude initialized [INFO] [1660062543.952404572]: Plugin cam\_imu\_sync loaded [INFO] [1660062543.958224627]: Plugin cam\_imu\_sync initialized [INFO] [1660062543.959394993]: Plugin camera loaded [INFO] [1660062543.968165962]: Plugin camera initialized [INFO] [1660062543.968903235]: Plugin command loaded [INFO] [1660062544.000914109]: Plugin command initialized [INFO] [1660062544.002167290]: Plugin companion\_process\_status loaded [INFO] [1660062544.083267413]: Plugin companion\_process\_status initialized [INFO] [1660062544.083580657]: Plugin debug\_value loaded [INFO] [1660062544.123371413]: Plugin debug\_value initialized [INFO] [1660062544.123489595]: Plugin distance\_sensor blacklisted [INFO] [1660062544.123764452]: Plugin esc\_status loaded [INFO] [1660062544.130928525]: Plugin esc\_status initialized [INFO] [1660062544.131219320]: Plugin esc\_telemetry loaded [INFO] [1660062544.135465137]: Plugin esc\_telemetry initialized [INFO] [1660062544.135870051]: Plugin fake\_gps loaded [INFO] [1660062544.195352061]: Plugin fake\_gps initialized [INFO] [1660062544.195751038]: Plugin ftp loaded [INFO] [1660062544.240823126]: Plugin ftp initialized [INFO] [1660062544.241231634]: Plugin geofence loaded [INFO] [1660062544.259559077]: Plugin geofence initialized [INFO] [1660062544.259979200]: Plugin global\_position loaded process[tf\_camera\_main-3]: started with pid [32580] [INFO] [1660062544.385788583]: Plugin global\_position initialized [INFO] [1660062544.386973428]: Plugin gps\_input loaded [INFO] [1660062544.399953025]: Plugin gps\_input initialized [INFO] [1660062544.400266737]: Plugin gps\_rtk loaded [INFO] [1660062544.440234481]: Plugin gps\_rtk initialized [INFO] [1660062544.440568558]: Plugin gps\_status loaded [INFO] [1660062544.459023194]: Plugin gps\_status initialized [INFO] [1660062544.460268042]: Plugin hil loaded [INFO] [1660062544.522349285]: Plugin hil initialized [INFO] [1660062544.523589341]: Plugin home\_position loaded [INFO] [1660062544.543649049]: Plugin home\_position initialized [INFO] [1660062544.544850406]: Plugin imu loaded [INFO] [1660062544.582063285]: Plugin imu initialized [INFO] [1660062544.583219587]: Plugin landing\_target loaded [INFO] [1660062544.635932542]: Plugin landing\_target initialized [INFO] [1660062544.637113898]: Plugin local\_position loaded [INFO] [1660062544.673446685]: Plugin local\_position initialized [INFO] [1660062544.673766439]: Plugin log\_transfer loaded [INFO] [1660062544.688705864]: Plugin log\_transfer initialized [INFO] [1660062544.689034160]: Plugin mag\_calibration\_status loaded [INFO] [1660062544.694775097]: Plugin mag\_calibration\_status initialized [INFO] [1660062544.695138603]: Plugin manual\_control loaded [INFO] [1660062544.712273492]: Plugin manual\_control initialized [INFO] [1660062544.712588246]: Plugin mocap\_pose\_estimate loaded [INFO] [1660062544.729173787]: Plugin mocap\_pose\_estimate initialized [INFO] [1660062544.729618182]: Plugin mount\_control loaded [INFO] [1660062544.747679206]: Plugin mount\_control initialized [INFO] [1660062544.748533307]: Plugin nav\_controller\_output loaded [INFO] [1660062544.751364321]: Plugin nav\_controller\_output initialized [INFO] [1660062544.751670897]: Plugin obstacle\_distance loaded [INFO] [1660062544.771954053]: Plugin obstacle\_distance initialized [INFO] [1660062544.772265473]: Plugin odom loaded [INFO] [1660062544.790581822]: Plugin odom initialized [INFO] [1660062544.791365138]: Plugin onboard\_computer\_status loaded [INFO] [1660062544.805713287]: Plugin onboard\_computer\_status initialized [INFO] [1660062544.806175651]: Plugin param loaded [INFO] [1660062544.818999720]: Plugin param initialized [INFO] [1660062544.819370050]: Plugin play\_tune loaded [INFO] [1660062544.836781409]: Plugin play\_tune initialized [INFO] [1660062544.837099236]: Plugin px4flow loaded [INFO] [1660062544.874343784]: Plugin px4flow initialized [INFO] [1660062544.875205229]: Plugin rallypoint loaded [INFO] [1660062544.889532699]: Plugin rallypoint initialized [INFO] [1660062544.889677237]: Plugin rangefinder blacklisted [INFO] [1660062544.889977146]: Plugin rc\_io loaded [INFO] [1660062544.904841412]: Plugin rc\_io initialized [INFO] [1660062544.904996627]: Plugin safety\_area blacklisted [INFO] [1660062544.905306797]: Plugin setpoint\_accel loaded [INFO] [1660062544.919449936]: Plugin setpoint\_accel initialized [INFO] [1660062544.919845631]: Plugin setpoint\_attitude loaded [INFO] [1660062544.957247686]: Plugin setpoint\_attitude initialized [INFO] [1660062544.957683331]: Plugin setpoint\_position loaded process[camera\_main/realsense2\_camera\_manager-4]: started with pid [302] [INFO] [1660062545.125452576]: Initializing nodelet with 4 worker threads. [INFO] [1660062545.170517737]: Plugin setpoint\_position initialized [INFO] [1660062545.170939892]: Plugin setpoint\_raw loaded [WARN] [1660062545.253051673]: thrust\_scaling parameter is unset. Attitude (and angular rate/thrust) setpoints will be ignored. [INFO] [1660062545.254174485]: Plugin setpoint\_raw initialized [INFO] [1660062545.254571378]: Plugin setpoint\_trajectory loaded [INFO] [1660062545.280304259]: Plugin setpoint\_trajectory initialized [INFO] [1660062545.281575931]: Plugin setpoint\_velocity loaded [INFO] [1660062545.310079041]: Plugin setpoint\_velocity initialized [INFO] [1660062545.310489581]: Plugin sys\_status loaded [INFO] [1660062545.351675712]: Plugin sys\_status initialized [INFO] [1660062545.352058125]: Plugin sys\_time loaded [INFO] [1660062545.375858679]: TM: Timesync mode: MAVLINK [INFO] [1660062545.378102687]: TM: Not publishing sim time [INFO] [1660062545.383974150]: Plugin sys\_time initialized [INFO] [1660062545.384309582]: Plugin terrain loaded [INFO] [1660062545.387948444]: Plugin terrain initialized [INFO] [1660062545.388278198]: Plugin trajectory loaded [INFO] [1660062545.411736602]: Plugin trajectory initialized [INFO] [1660062545.412069638]: Plugin tunnel loaded [INFO] [1660062545.432254768]: Plugin tunnel initialized [INFO] [1660062545.432633900]: Plugin vfr\_hud loaded [INFO] [1660062545.439551192]: Plugin vfr\_hud initialized [INFO] [1660062545.439682187]: Plugin vibration blacklisted [INFO] [1660062545.439947459]: Plugin vision\_pose\_estimate loaded [INFO] [1660062545.472715294]: Plugin vision\_pose\_estimate initialized [INFO] [1660062545.473546113]: Plugin vision\_speed\_estimate loaded [INFO] [1660062545.488257298]: Plugin vision\_speed\_estimate initialized [INFO] [1660062545.488629398]: Plugin waypoint loaded [INFO] [1660062545.507125494]: Plugin waypoint initialized [INFO] [1660062545.507720990]: Plugin wheel\_odometry blacklisted [INFO] [1660062545.508043817]: Plugin wind\_estimation loaded [INFO] [1660062545.511900918]: Plugin wind\_estimation initialized [INFO] [1660062545.512171868]: Autostarting mavlink via USB on PX4 [INFO] [1660062545.512278800]: Built-in SIMD instructions: ARM NEON [INFO] [1660062545.512357553]: Built-in MAVLink package version: 2022.3.3 [INFO] [1660062545.512429588]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta [INFO] [1660062545.512507612]: MAVROS started. MY ID 1.240, TARGET ID 1.1 process[camera\_main/realsense2\_camera-5]: started with pid [605] [INFO] [1660062546.151923003]: RealSense ROS v2.3.2 [INFO] [1660062546.154127113]: Built with LibRealSense v2.50.0 [INFO] [1660062546.156021157]: Running with LibRealSense v2.50.0 [INFO] [1660062546.244475828]: [INFO] [1660062546.257444904]: Device with serial number 938422076992 was found. [INFO] [1660062546.257547669]: Device with physical ID /sys/devices/70090000.xusb/usb2/2-1/2-1.4/2-1.4:1.0/video4linux/video0 was found. [INFO] [1660062546.257599181]: Device with name Intel RealSense D435 was found. [INFO] [1660062546.259237849]: Device with port number 2-1.4 was found. [INFO] [1660062546.259784801]: Device USB type: 3.2 [INFO] [1660062546.270422990]: getParameters… process[camera\_main/points\_xyz\_sw\_registered-6]: started with pid [846] process[drop\_camera\_main\_depth-7]: started with pid [953] process[drop\_camera\_main\_ir-8]: started with pid [1049] [INFO] [1660062548.358786277]: setupDevice… [INFO] [1660062548.720993820]: JSON file is loaded! (/home/sixfab/catkin\_ws/src/PX4-Avoidance/local\_planner/resource/stereo\_calib.json) [INFO] [1660062548.722007980]: ROS Node Namespace: camera\_main [INFO] [1660062548.722351016]: Device Name: Intel RealSense D435 [INFO] [1660062548.723482317]: Device Serial No: 938422076992 [INFO] [1660062548.723925150]: Device physical port: /sys/devices/70090000.xusb/usb2/2-1/2-1.4/2-1.4:1.0/video4linux/video0 [INFO] [1660062548.724265530]: Device FW version: 05.13.00.50 [INFO] [1660062548.724904361]: Device Product ID: 0x0B07 [INFO] [1660062548.726675847]: Enable PointCloud: Off [INFO] [1660062548.727114252]: Align Depth: Off [INFO] [1660062548.727851942]: Sync Mode: Off [INFO] [1660062548.728301754]: Device Sensors: [INFO] [1660062548.736047364]: Stereo Module was found. process[dynparam-9]: started with pid [1200] [INFO] [1660062548.784578512]: RGB Camera was found. [INFO] [1660062548.784734196]: (Confidence, 0) sensor isn’t supported by current device! – Skipping… [INFO] [1660062548.784836024]: num\_filters: 0 [INFO] [1660062548.784905037]: Setting Dynamic reconfig parameters. [WARN] [1660062549.110504781]: Param ‘/camera\_main/rgb\_camera/power\_line\_frequency’ has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options. [INFO] [1660062549.134554355]: Done Setting Dynamic reconfig parameters. [INFO] [1660062549.136643877]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [INFO] [1660062549.140464570]: infra1 stream is enabled - width: 640, height: 480, fps: 15, Format: Y8 [INFO] [1660062549.142286787]: setupPublishers… [INFO] [1660062549.159642987]: Expected frequency for depth = 30.00000 [INFO] [1660062549.181482826]: Expected frequency for infra1 = 15.00000 [INFO] [1660062549.204653403]: setupStreams… [INFO] [1660062549.295352859]: SELECTED BASE:Depth, 0 [WARN] [1660062549.378283840]: [INFO] [1660062549.439705933]: RealSense Node Is Up! process[local\_planner\_node-10]: started with pid [1233] [INFO] [1660062549.661772253]: Initializing nodelet with 4 worker threads. [ERROR] [1660062550.811455564]: PR: Unknown parameter to get: MPC\_ACC\_HOR [ERROR] [1660062550.823305890]: PR: Unknown parameter to get: MPC\_ACC\_DOWN\_MAX [ERROR] [1660062550.831665747]: PR: Unknown parameter to get: MPC\_ACC\_UP\_MAX [ERROR] [1660062550.845937067]: PR: Unknown parameter to get: MPC\_XY\_CRUISE [ERROR] [1660062550.857003452]: PR: Unknown parameter to get: MPC\_Z\_VEL\_MAX\_DN [ERROR] [1660062550.865318618]: PR: Unknown parameter to get: MPC\_Z\_VEL\_MAX\_UP [ERROR] [1660062550.872254348]: PR: Unknown parameter to get: CP\_DIST [ERROR] [1660062550.879760051]: PR: Unknown parameter to get: MPC\_LAND\_SPEED [ERROR] [1660062550.889658310]: PR: Unknown parameter to get: MPC\_JERK\_MAX [ERROR] [1660062550.899009982]: PR: Unknown parameter to get: NAV\_ACC\_RAD [ERROR] [1660062550.910957447]: PR: Unknown parameter to get: MPC\_YAWRAUTO\_MAX advertised as /camera\_main/depth/image\_rect\_raw\_drop advertised as /camera\_main/infra1/image\_rect\_raw\_drop [dynparam-9] process has finished cleanly log file: /home/sixfab/.ros/log/5e9359d0-1800-11ed-b2c1-cac311e4558e/dynparam-9\*.log [ERROR] [1660062552.700789171]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.915929752]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.921487971]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.927237137]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.931420294]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.936466980]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.941596325]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.946709993]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.951844339]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.956963216]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.962083603]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.967384154]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.972415162]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.977662013]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.982987774]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.988254730]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.994136089]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062552.999288509]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.004425876]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.009553815]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.014689463]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.019838601]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.026528642]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.031548869]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.036718372]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.041984287]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.051134751]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.056327693]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.061449018]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.068991232]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.071940636]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.077080503]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.084584956]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.089480124]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.094608324]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.099711992]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.104879881]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.110003757]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.115164511]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.120386308]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.125515133]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.130620415]: TF Buffer: could not retrieve requested transform from buffer, unregistered [ERROR] [1660062553.292990856]: TF Buffer: could not retrieve requested transform from buffer, unregistered [drop\_camera\_main\_depth-7] killing on exit [mavros-2] killing on exit [camera\_main/realsense2\_camera-5] killing on exit [drop\_camera\_main\_ir-8] killing on exit [camera\_main/points\_xyz\_sw\_registered-6] killing on exit [camera\_main/realsense2\_camera\_manager-4] killing on exit [tf\_camera\_main-3] killing on exit terminate called after throwing an instance of ‘boost::exception\_detail::clone\_impl\’ what(): boost: mutex lock failed in pthread\_mutex\_lock: Invalid argument [rosout-1] killing on exit [master] killing on exit shutting down processing monitor… … shutting down processing monitor complete done