px4+mavros仿真用官方的offboard例程一直报错

17663966762

日志如下SUMMARY
========

CLEAR PARAMETERS
* /mavros/

PARAMETERS
* /mavros/camera/frame_id: base_link
* /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/horizontal_fov_ratio: 1.0
* /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/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
* /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@127....
* /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/mission/use_mission_item_int: 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: melodic
* /rosversion: 1.14.12

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [3707]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6d1a52cc-8996-11ec-9f85-000c29ed7f0e
process[rosout-1]: started with pid [3718]
started core service [/rosout]
process[mavros-2]: started with pid [3726]
[ INFO] [1644403971.939668059]: FCU URL: udp://:14540@127.0.0.1:14557
[ INFO] [1644403971.941161222]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1644403971.941226911]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1644403971.941271526]: GCS bridge disabled
[ INFO] [1644403971.947546542]: Plugin 3dr_radio loaded
[ INFO] [1644403971.948980865]: Plugin 3dr_radio initialized
[ INFO] [1644403971.949079371]: Plugin actuator_control loaded
[ INFO] [1644403971.951224001]: Plugin actuator_control initialized
[ INFO] [1644403971.954368587]: Plugin adsb loaded
[ INFO] [1644403971.956223710]: Plugin adsb initialized
[ INFO] [1644403971.956350108]: Plugin altitude loaded
[ INFO] [1644403971.956967703]: Plugin altitude initialized
[ INFO] [1644403971.957037170]: Plugin cam_imu_sync loaded
[ INFO] [1644403971.957334118]: Plugin cam_imu_sync initialized
[ INFO] [1644403971.957444808]: Plugin camera loaded
[ INFO] [1644403971.957836275]: Plugin camera initialized
[ INFO] [1644403971.957932335]: Plugin command loaded
[ INFO] [1644403971.961670059]: Plugin command initialized
[ INFO] [1644403971.961835606]: Plugin companion_process_status loaded
[ INFO] [1644403971.962814386]: Plugin companion_process_status initialized
[ INFO] [1644403971.962900125]: Plugin debug_value loaded
[ INFO] [1644403971.964557461]: Plugin debug_value initialized
[ INFO] [1644403971.964633146]: Plugin distance_sensor blacklisted
[ INFO] [1644403971.964777315]: Plugin esc_status loaded
[ INFO] [1644403971.965344633]: Plugin esc_status initialized
[ INFO] [1644403971.965449479]: Plugin esc_telemetry loaded
[ INFO] [1644403971.965739981]: Plugin esc_telemetry initialized
[ INFO] [1644403971.965881624]: Plugin fake_gps loaded
[ INFO] [1644403971.971452520]: Plugin fake_gps initialized
[ INFO] [1644403971.971570058]: Plugin ftp loaded
[ INFO] [1644403971.975527104]: Plugin ftp initialized
[ INFO] [1644403971.975671329]: Plugin geofence loaded
[ INFO] [1644403971.977448041]: Plugin geofence initialized
[ INFO] [1644403971.977594246]: Plugin global_position loaded
[ INFO] [1644403971.985712902]: Plugin global_position initialized
[ INFO] [1644403971.985922109]: Plugin gps_input loaded
[ INFO] [1644403971.987850635]: Plugin gps_input initialized
[ INFO] [1644403971.987992103]: Plugin gps_rtk loaded
[ INFO] [1644403971.989389579]: Plugin gps_rtk initialized
[ INFO] [1644403971.989529540]: Plugin gps_status loaded
[ INFO] [1644403971.990884973]: Plugin gps_status initialized
[ INFO] [1644403971.990971790]: Plugin hil loaded
[ INFO] [1644403971.996604341]: Plugin hil initialized
[ INFO] [1644403971.996714645]: Plugin home_position loaded
[ INFO] [1644403971.998359604]: Plugin home_position initialized
[ INFO] [1644403971.998506791]: Plugin imu loaded
[ INFO] [1644403972.002944913]: Plugin imu initialized
[ INFO] [1644403972.003090030]: Plugin landing_target loaded
[ INFO] [1644403972.009732149]: Plugin landing_target initialized
[ INFO] [1644403972.009888719]: Plugin local_position loaded
[ INFO] [1644403972.014175031]: Plugin local_position initialized
[ INFO] [1644403972.014333507]: Plugin log_transfer loaded
[ INFO] [1644403972.016244772]: Plugin log_transfer initialized
[ INFO] [1644403972.016357285]: Plugin mag_calibration_status loaded
[ INFO] [1644403972.016996425]: Plugin mag_calibration_status initialized
[ INFO] [1644403972.017113248]: Plugin manual_control loaded
[ INFO] [1644403972.018281263]: Plugin manual_control initialized
[ INFO] [1644403972.018389490]: Plugin mocap_pose_estimate loaded
[ INFO] [1644403972.020084006]: Plugin mocap_pose_estimate initialized
[ INFO] [1644403972.020205869]: Plugin mount_control loaded
[ INFO] [1644403972.022849398]: Plugin mount_control initialized
[ INFO] [1644403972.023026187]: Plugin nav_controller_output loaded
[ INFO] [1644403972.023410849]: Plugin nav_controller_output initialized
[ INFO] [1644403972.023503068]: Plugin obstacle_distance loaded
[ INFO] [1644403972.024986621]: Plugin obstacle_distance initialized
[ INFO] [1644403972.025096505]: Plugin odom loaded
[ INFO] [1644403972.027440104]: Plugin odom initialized
[ INFO] [1644403972.027554681]: Plugin onboard_computer_status loaded
[ INFO] [1644403972.028680454]: Plugin onboard_computer_status initialized
[ INFO] [1644403972.028841954]: Plugin param loaded
[ INFO] [1644403972.030301675]: Plugin param initialized
[ INFO] [1644403972.030418883]: Plugin play_tune loaded
[ INFO] [1644403972.031302409]: Plugin play_tune initialized
[ INFO] [1644403972.031419707]: Plugin px4flow loaded
[ INFO] [1644403972.034703387]: Plugin px4flow initialized
[ INFO] [1644403972.034863268]: Plugin rallypoint loaded
[ INFO] [1644403972.036078778]: Plugin rallypoint initialized
[ INFO] [1644403972.036156586]: Plugin rangefinder blacklisted
[ INFO] [1644403972.036245049]: Plugin rc_io loaded
[ INFO] [1644403972.037781945]: Plugin rc_io initialized
[ INFO] [1644403972.038416930]: Plugin safety_area blacklisted
[ INFO] [1644403972.038502775]: Plugin setpoint_accel loaded
[ INFO] [1644403972.040026653]: Plugin setpoint_accel initialized
[ INFO] [1644403972.040214677]: Plugin setpoint_attitude loaded
[ INFO] [1644403972.043533061]: Plugin setpoint_attitude initialized
[ INFO] [1644403972.043628708]: Plugin setpoint_position loaded
[ INFO] [1644403972.049633759]: Plugin setpoint_position initialized
[ INFO] [1644403972.049790342]: Plugin setpoint_raw loaded
[ INFO] [1644403972.053169339]: Plugin setpoint_raw initialized
[ INFO] [1644403972.053326212]: Plugin setpoint_trajectory loaded
[ INFO] [1644403972.055596279]: Plugin setpoint_trajectory initialized
[ INFO] [1644403972.055708899]: Plugin setpoint_velocity loaded
[ INFO] [1644403972.059255166]: Plugin setpoint_velocity initialized
[ INFO] [1644403972.059424279]: Plugin sys_status loaded
[ INFO] [1644403972.065498587]: Plugin sys_status initialized
[ INFO] [1644403972.065657745]: Plugin sys_time loaded
[ INFO] [1644403972.067699388]: TM: Timesync mode: MAVLINK
[ INFO] [1644403972.067905779]: TM: Not publishing sim time
[ INFO] [1644403972.068445226]: Plugin sys_time initialized
[ INFO] [1644403972.068554331]: Plugin terrain loaded
[ INFO] [1644403972.068881189]: Plugin terrain initialized
[ INFO] [1644403972.068964160]: Plugin trajectory loaded
[ INFO] [1644403972.070865939]: Plugin trajectory initialized
[ INFO] [1644403972.070953289]: Plugin tunnel loaded
[ INFO] [1644403972.072550880]: Plugin tunnel initialized
[ INFO] [1644403972.072666929]: Plugin vfr_hud loaded
[ INFO] [1644403972.073089310]: Plugin vfr_hud initialized
[ INFO] [1644403972.073170247]: Plugin vibration blacklisted
[ INFO] [1644403972.073262710]: Plugin vision_pose_estimate loaded
[ INFO] [1644403972.077054330]: Plugin vision_pose_estimate initialized
[ INFO] [1644403972.077211990]: Plugin vision_speed_estimate loaded
[ INFO] [1644403972.078696831]: Plugin vision_speed_estimate initialized
[ INFO] [1644403972.078841087]: Plugin waypoint loaded
[ INFO] [1644403972.081202083]: Plugin waypoint initialized
[ INFO] [1644403972.081318297]: Plugin wheel_odometry blacklisted
[ INFO] [1644403972.081478040]: Plugin wind_estimation loaded
[ INFO] [1644403972.081752582]: Plugin wind_estimation initialized
[ INFO] [1644403972.081882617]: Autostarting mavlink via USB on PX4
[ INFO] [1644403972.081927955]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1644403972.081952923]: Built-in MAVLink package version: 2022.1.5
[ INFO] [1644403972.081980970]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1644403972.082006286]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1644403972.082076812]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1644403972.082207354]: IMU: Attitude quaternion IMU detected!
[ INFO] [1644403972.082455970]: IMU: High resolution IMU detected!
[ INFO] [1644403972.790440412]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1644403972.794194585]: IMU: High resolution IMU detected!
[ INFO] [1644403972.796084610]: IMU: Attitude quaternion IMU detected!
[ INFO] [1644403973.803026735]: GF: Using MISSION_ITEM_INT
[ INFO] [1644403973.803154994]: RP: Using MISSION_ITEM_INT
[ INFO] [1644403973.803209448]: WP: Using MISSION_ITEM_INT
[ INFO] [1644403973.803251115]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1644403973.803336398]: VER: 1.1: Flight software:     010d0000 (01db98fccf000000)
[ INFO] [1644403973.803375213]: VER: 1.1: Middleware software: 010d0000 (01db98fccf000000)
[ INFO] [1644403973.803434698]: VER: 1.1: OS software:         050400ff (d4c06e9dfb7bb14d)
[ INFO] [1644403973.803484007]: VER: 1.1: Board hardware:      00000001
[ INFO] [1644403973.803513666]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1644403973.803552036]: VER: 1.1: UID:                 4954414c44494e4f
[ WARN] [1644403973.803938268]: CMD: Unexpected command 520, result 0
[ INFO] [1644403987.793521645]: GF: mission received
[ WARN] [1644403988.485136070]: CMD: Unexpected command 176, result 0
[ WARN] [1644403988.794299134]: WP: timeout, retries left 2
[ WARN] [1644403988.794759864]: RP: timeout, retries left 2
[ WARN] [1644403989.794630526]: WP: timeout, retries left 1
[ WARN] [1644403989.795066897]: RP: timeout, retries left 1
[ WARN] [1644403990.795117703]: WP: timeout, retries left 0
[ WARN] [1644403990.795466809]: RP: timeout, retries left 0
[ERROR] [1644403991.795513735]: WP: timed out.
[ERROR] [1644403991.795913249]: RP: timed out.
[ WARN] [1644403998.585239029]: CMD: Unexpected command 176, result 0
[ WARN] [1644404008.677427984]: CMD: Unexpected command 176, result 0
[ WARN] [1644404018.787338774]: CMD: Unexpected command 176, result 0
[ WARN] [1644404028.881431275]: CMD: Unexpected command 176, result 0
[ WARN] [1644404038.987364860]: CMD: Unexpected command 176, result 0
[ WARN] [1644404049.078220278]: CMD: Unexpected command 176, result 0
[ WARN] [1644404059.175814352]: CMD: Unexpected command 176, result 0
[ WARN] [1644404069.277355831]: CMD: Unexpected command 176, result 0
[ WARN] [1644404079.378336304]: CMD: Unexpected command 176, result 0
[ WARN] [1644404089.480727240]: CMD: Unexpected command 176, result 0
[ WARN] [1644404099.586205119]: CMD: Unexpected command 176, result 0
[ WARN] [1644404109.675122757]: CMD: Unexpected command 176, result 0
[ WARN] [1644404119.782365274]: CMD: Unexpected command 176, result 0
[ WARN] [1644404129.880905122]: CMD: Unexpected command 176, result 0
[ WARN] [1644404139.978925957]: CMD: Unexpected command 176, result 0
[ WARN] [1644404150.083960886]: CMD: Unexpected command 176, result 0
[ WARN] [1644404160.181490906]: CMD: Unexpected command 176, result 0
[ WARN] [1644404170.281273885]: CMD: Unexpected command 176, result 0
[ WARN] [1644404180.386227250]: CMD: Unexpected command 176, result 0
[ WARN] [1644404190.479848025]: CMD: Unexpected command 176, result 0
[ WARN] [1644404200.586513858]: CMD: Unexpected command 176, result 0
[ WARN] [1644404210.678967854]: CMD: Unexpected command 176, result 0
[ WARN] [1644404220.788641596]: CMD: Unexpected command 176, result 0
[ WARN] [1644404230.883227117]: CMD: Unexpected command 176, result 0
[ WARN] [1644404240.982363614]: CMD: Unexpected command 176, result 0
[ WARN] [1644404251.080083933]: CMD: Unexpected command 176, result 0
[ WARN] [1644404261.191239073]: CMD: Unexpected command 176, result 0
[ WARN] [1644404271.276740842]: CMD: Unexpected command 176, result 0
[ WARN] [1644404281.383834895]: CMD: Unexpected command 176, result 0
[ WARN] [1644404291.486711842]: CMD: Unexpected command 176, result 0
[ WARN] [1644404301.583242714]: CMD: Unexpected command 176, result 0
[ WARN] [1644404311.688255949]: CMD: Unexpected command 176, result 0
[ WARN] [1644404321.781417829]: CMD: Unexpected command 176, result 0
[ WARN] [1644404331.880916142]: CMD: Unexpected command 176, result 0
[ WARN] [1644404341.979815655]: CMD: Unexpected command 176, result 0
[ERROR] [1644404349.869024866]: TM : Time jump detected. Resetting time synchroniser.

17663966762已获得悬赏 3 阿木币

最佳答案

主要是一直timed out

• 17663966762
• 发表于2022-02-09
• 详细答案 >

17663966762

主要是一直timed out