使用 roslaunch px4 mavros_posix_sitl.launch后，mavros显示未连接

Lndulge

ubuntu16.04+gazebo9,源码用的是 1.8.0,使用 roslaunch px4 mavros_posix_sitl.launch后，gazebo能打开，但是mavros显示未连接，所以无法用rosrun控制，昨天上午一直好好的，然后运行了一次阿木实验室github上多机仿真后出现这个错误，也尝试了重新下载源码，重新编译catkin_ws工作空间，都没有解决

Lndulge

lndulge@lndulge-OMEN-by-HP-Laptop:~$ roslaunch px4 mavros_posix_sitl.launch
... logging to /home/lndulge/.ros/log/a1bfc926-6ff3-11ea-b2cd-d0577b3a0f8e/roslaunch-lndulge-OMEN-by-HP-Laptop-17445.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://lndulge-OMEN-by-HP-Laptop:39427/

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: 0.0003490659 // 0...
* /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/landing_target/camera/fov_x: 2.0071286398
* /mavros/landing_target/camera/fov_y: 2.0071286398
* /mavros/landing_target/image/height: 480
* /mavros/landing_target/image/width: 640
* /mavros/landing_target/land_target_type: VISION_FIDUCIAL
* /mavros/landing_target/listen_lt: False
* /mavros/landing_target/mav_frame: LOCAL_NED
* /mavros/landing_target/target_size/x: 0.3
* /mavros/landing_target/target_size/y: 0.3
* /mavros/landing_target/tf/child_frame_id: camera_center
* /mavros/landing_target/tf/frame_id: landing_target
* /mavros/landing_target/tf/listen: False
* /mavros/landing_target/tf/rate_limit: 10.0
* /mavros/landing_target/tf/send: True
* /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/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_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_raw/thrust_scaling: 1.0
* /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: odom
* /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
* /mavros/wheel_odometry/child_frame_id: base_link
* /mavros/wheel_odometry/count: 2
* /mavros/wheel_odometry/frame_id: odom
* /mavros/wheel_odometry/send_raw: True
* /mavros/wheel_odometry/send_twist: False
* /mavros/wheel_odometry/tf/child_frame_id: base_link
* /mavros/wheel_odometry/tf/frame_id: odom
* /mavros/wheel_odometry/tf/send: False
* /mavros/wheel_odometry/use_rpm: False
* /mavros/wheel_odometry/vel_error: 0.1
* /mavros/wheel_odometry/wheel0/radius: 0.05
* /mavros/wheel_odometry/wheel0/x: 0.0
* /mavros/wheel_odometry/wheel0/y: -0.15
* /mavros/wheel_odometry/wheel1/radius: 0.05
* /mavros/wheel_odometry/wheel1/x: 0.0
* /mavros/wheel_odometry/wheel1/y: 0.15
* /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_lndulge_OMEN_by_HP_Laptop_17445_2254105540554306520 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [17455]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a1bfc926-6ff3-11ea-b2cd-d0577b3a0f8e
process[rosout-1]: started with pid [17468]
started core service [/rosout]
process[sitl-2]: started with pid [17493]
node name: sitl
data path: /home/lndulge/src/Firmware
commands file: /home/lndulge/src/Firmware/posix-configs/SITL/init/ekf2/iris
46 WARNING: setRealtimeSched failed (not run as root?)

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

px4 starting.

process[gazebo-3]: started with pid [17501]
process[gazebo_gui-4]: started with pid [17508]
process[vehicle_spawn_lndulge_OMEN_by_HP_Laptop_17445_2254105540554306520-5]: started with pid [17513]
process[mavros-6]: started with pid [17514]
INFO  [dataman] Unknown restart, data manager file 'rootfs/fs/microsd/dataman' size is 11405132 bytes
INFO  [simulator] Waiting for initial data on UDP port 14562. Please start the flight simulator to proceed..
[ INFO] [1585290278.287325335]: FCU URL: udp://:14540@localhost:14559
[ INFO] [1585290278.290995159]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1585290278.291220858]: udp0: Remote address: 127.0.0.1:14559
[ INFO] [1585290278.291408264]: GCS bridge disabled
[ INFO] [1585290278.306636408]: Plugin 3dr_radio loaded
[ INFO] [1585290278.309869881]: Plugin 3dr_radio initialized
[ INFO] [1585290278.310007159]: Plugin actuator_control loaded
[ INFO] [1585290278.314259357]: Plugin actuator_control initialized
[ INFO] [1585290278.317910209]: Plugin adsb loaded
[ INFO] [1585290278.323054906]: Plugin adsb initialized
[ INFO] [1585290278.323308128]: Plugin altitude loaded
[ INFO] [1585290278.325762260]: Plugin altitude initialized
[ INFO] [1585290278.325938787]: Plugin cam_imu_sync loaded
[ INFO] [1585290278.326842731]: Plugin cam_imu_sync initialized
[ INFO] [1585290278.326994153]: Plugin command loaded
[ INFO] [1585290278.335833123]: Plugin command initialized
[ INFO] [1585290278.335983535]: Plugin companion_process_status loaded
[ INFO] [1585290278.339869611]: Plugin companion_process_status initialized
[ INFO] [1585290278.340031429]: Plugin debug_value loaded
[ INFO] [1585290278.349176838]: Plugin debug_value initialized
[ INFO] [1585290278.349266667]: Plugin distance_sensor blacklisted
[ INFO] [1585290278.349402755]: Plugin fake_gps loaded
[ INFO] [1585290278.387361204]: Plugin fake_gps initialized
[ INFO] [1585290278.387537512]: Plugin ftp loaded
[ INFO] [1585290278.402655981]: Plugin ftp initialized
[ INFO] [1585290278.402832957]: Plugin global_position loaded
[ INFO] [1585290278.444971866]: Plugin global_position initialized
[ INFO] [1585290278.445173786]: Plugin gps_rtk loaded
[ INFO] [1585290278.457566787]: Plugin gps_rtk initialized
[ INFO] [1585290278.457826685]: Plugin hil loaded
[ INFO] [1585290278.486332404]: Plugin hil initialized
[ INFO] [1585290278.486559393]: Plugin home_position loaded
[ INFO] [1585290278.495094868]: Plugin home_position initialized
[ INFO] [1585290278.495261062]: Plugin imu loaded
[ INFO] [1585290278.530890295]: Plugin imu initialized
[ INFO] [1585290278.531022758]: Plugin landing_target loaded
[ INFO] [1585290278.573901665]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1585290278.578998129]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1585290278.581520878]: Plugin landing_target initialized
[ INFO] [1585290278.581673479]: Plugin local_position loaded
[ INFO] [1585290278.585498764]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1585290278.590279105]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1585290278.605768589]: Plugin local_position initialized
[ INFO] [1585290278.605892240]: Plugin log_transfer loaded
[ INFO] [1585290278.612759786]: Plugin log_transfer initialized
[ INFO] [1585290278.612998700]: Plugin manual_control loaded
[ INFO] [1585290278.620126158]: Plugin manual_control initialized
[ INFO] [1585290278.620345783]: Plugin mocap_pose_estimate loaded
[ INFO] [1585290278.628856345]: Plugin mocap_pose_estimate initialized
[ INFO] [1585290278.628982286]: Plugin mount_control loaded
[ INFO] [1585290278.633824220]: Plugin mount_control initialized
[ INFO] [1585290278.633952747]: Plugin obstacle_distance loaded
[ INFO] [1585290278.637668033]: Plugin obstacle_distance initialized
[ INFO] [1585290278.637835199]: Plugin odom loaded
[ INFO] [1585290278.643871350]: Plugin odom initialized
[ INFO] [1585290278.643990900]: Plugin onboard_computer_status loaded
[ INFO] [1585290278.646643187]: Plugin onboard_computer_status initialized
[ INFO] [1585290278.646779420]: Plugin param loaded
[ INFO] [1585290278.649782090]: Plugin param initialized
[ INFO] [1585290278.649893723]: Plugin px4flow loaded
[ INFO] [1585290278.658361416]: Plugin px4flow initialized
[ INFO] [1585290278.658398284]: Plugin rangefinder blacklisted
[ INFO] [1585290278.658527058]: Plugin rc_io loaded
[ INFO] [1585290278.662803000]: Plugin rc_io initialized
[ INFO] [1585290278.662840784]: Plugin safety_area blacklisted
[ INFO] [1585290278.662954336]: Plugin setpoint_accel loaded
[ INFO] [1585290278.667154416]: Plugin setpoint_accel initialized
[ INFO] [1585290278.667294757]: Plugin setpoint_attitude loaded
[ INFO] [1585290278.678110003]: Plugin setpoint_attitude initialized
[ INFO] [1585290278.678245258]: Plugin setpoint_position loaded
SpawnModel script started
[ INFO] [1585290278.706947182]: Plugin setpoint_position initialized
[ INFO] [1585290278.707078087]: Plugin setpoint_raw loaded
[ INFO] [1585290278.718495780]: Plugin setpoint_raw initialized
[ INFO] [1585290278.718639298]: Plugin setpoint_trajectory loaded
[ INFO] [1585290278.723979015]: Plugin setpoint_trajectory initialized
[ INFO] [1585290278.724140193]: Plugin setpoint_velocity loaded
[ INFO] [1585290278.730516415]: Plugin setpoint_velocity initialized
[ INFO] [1585290278.730653242]: Plugin sys_status loaded
[ INFO] [1585290278.743994520]: Plugin sys_status initialized
[ INFO] [1585290278.744153910]: Plugin sys_time loaded
[ INFO] [1585290278.751115073]: TM: Timesync mode: MAVLINK
[ INFO] [1585290278.752498682]: Plugin sys_time initialized
[ INFO] [1585290278.752657685]: Plugin trajectory loaded
[ INFO] [1585290278.759274039]: Plugin trajectory initialized
[ INFO] [1585290278.759425183]: Plugin vfr_hud loaded
[ INFO] [1585290278.760053619]: Plugin vfr_hud initialized
[ INFO] [1585290278.760079924]: Plugin vibration blacklisted
[ INFO] [1585290278.760179040]: Plugin vision_pose_estimate loaded
[ INFO] [1585290278.769673019]: Plugin vision_pose_estimate initialized
[ INFO] [1585290278.769786106]: Plugin vision_speed_estimate loaded
[ INFO] [1585290278.776730458]: Plugin vision_speed_estimate initialized
[ INFO] [1585290278.776882392]: Plugin waypoint loaded
[ INFO] [1585290278.781330132]: Plugin waypoint initialized
[ INFO] [1585290278.781380793]: Plugin wheel_odometry blacklisted
[ INFO] [1585290278.781490957]: Plugin wind_estimation loaded
[ INFO] [1585290278.782201317]: Plugin wind_estimation initialized
[ INFO] [1585290278.782249009]: Autostarting mavlink via USB on PX4
[ INFO] [1585290278.782295884]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1585290278.782327416]: Built-in MAVLink package version: 2020.3.3
[ INFO] [1585290278.782359968]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1585290278.782376793]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1585290278.852543, 0.000000]: Loading model XML from file
[INFO] [1585290278.853064, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1585290279.395948969, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1585290279.435080384, 0.060000000]: Physics dynamic reconfigure ready.
[INFO] [1585290279.460121, 0.080000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1585290279.637409, 0.140000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1585290279.730763160, 0.164000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1585290279.794163524, 0.212000000]: Physics dynamic reconfigure ready.
[vehicle_spawn_lndulge_OMEN_by_HP_Laptop_17445_2254105540554306520-5] process has finished cleanly
log file: /home/lndulge/.ros/log/a1bfc926-6ff3-11ea-b2cd-d0577b3a0f8e/vehicle_spawn_lndulge_OMEN_by_HP_Laptop_17445_2254105540554306520-5*.log