I tried MAVROS Offboard control example (Python) | PX4 User Guide this instruction, but i have a error, i’m newbee, help pease.
roslaunch offboard_py start_offb.launch
… logging to /home/srenko/.ros/log/c41d3698-62a7-11ee-b450-5fb9fa97300b/roslaunch-DESKTOP-42LG1PM-868.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://DESKTOP-42LG1PM:42555/
SUMMARY
PARAMETERS
- /gazebo/enable_ros_network: True
- /rosdistro: noetic
- /rosversion: 1.16.0
- /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
offb_node_py (offboard_py/offb_node.py)
sitl (px4/px4)
vehicle_spawn_DESKTOP_42LG1PM_868_7107240241439613323 (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [889]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to c41d3698-62a7-11ee-b450-5fb9fa97300b
process[rosout-1]: started with pid [910]
started core service [/rosout]
process[sitl-2]: started with pid [917]
process[gazebo-3]: started with pid [918]
| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /| |
| | / /^\ \ ___ |
_| / / |_/
px4 starting.
INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo_gui-4]: started with pid [931]
INFO [init] found model autostart file as SYS_AUTOSTART=10015
process[vehicle_spawn_DESKTOP_42LG1PM_868_7107240241439613323-5]: started with pid [943]
INFO [param] selected parameter default file parameters.bson
INFO [param] importing from ‘parameters.bson’
INFO [parameters] BSON document size 316 bytes, decoded 316 bytes (INT32:13, FLOAT:3)
process[offb_node_py-6]: started with pid [948]
INFO [param] selected parameter backup file parameters_backup.bson
/usr/bin/env: ‘python’: No such file or directory
================================================================================REQUIRED process [offb_node_py-6] has died!
process has died [pid 948, exit code 127, cmd /home/srenko/catkin_ws/src/offboard_py/scripts/offb_node.py __name:=offb_node_py __log:=/home/srenko/.ros/log/c41d3698-62a7-11ee-b450-5fb9fa97300b/offb_node_py-6.log].
log file: /home/srenko/.ros/log/c41d3698-62a7-11ee-b450-5fb9fa97300b/offb_node_py-6*.log
Initiating shutdown!
[vehicle_spawn_DESKTOP_42LG1PM_868_7107240241439613323-5] killing on exit
[offb_node_py-6] killing on exit
[gazebo_gui-4] killing on exit
Exception ignored in: <function _get_module_lock..cb at 0x7f91899519d0>
Traceback (most recent call last):
File “”, line 177, in cb
[gazebo-3] killing on exit
[sitl-2] killing on exit
KeyboardInterrupt:
ERROR [px4] Startup script returned with return value: 2
[INFO] [1696418321.120733, 0.000000]: Loading model XML from file /home/srenko/src/Firmware/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf
[INFO] [1696418321.125647, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[vehicle_spawn_DESKTOP_42LG1PM_868_7107240241439613323-5] escalating to SIGTERM
Traceback (most recent call last):
File “/opt/ros/noetic/lib/gazebo_ros/spawn_model”, line 239, in
exit_code = sm.run()
File “/opt/ros/noetic/lib/gazebo_ros/spawn_model”, line 187, in run
success = gazebo_interface.spawn_sdf_model_client(self.args.model, model_xml, self.args.robot_namespace,
File “/opt/ros/noetic/lib/python3/dist-packages/gazebo_ros/gazebo_interface.py”, line 16, in spawn_sdf_model_client
rospy.wait_for_service(gazebo_namespace+‘/spawn_sdf_model’)
File “/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py”, line 166, in wait_for_service
raise ROSInterruptException(“rospy shutdown”)
rospy.exceptions.ROSInterruptException: rospy shutdown
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor…
… shutting down processing monitor complete
done