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[ PX4 ] SITL OFFBOARD Control
[ PX4 ] SITL OFFBOARD Control
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1. PX4 SITL 및 Gazebo 실행
swift@swift-MacBookPro:~/workspace/catkin_ws/src/PX4-Autopilot$ make px4_sitl_default gazebo [0/4] Performing build step for 'sitl_gazebo' ninja: no work to do. [3/4] cd /home/swift/workspace/catkin_ws/src/...n_ws/src/PX4-Autopilot/build/px4_sitl_default SITL ARGS sitl_bin: /home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/bin/px4 debugger: none program: gazebo model: none world: none src_path: /home/swift/workspace/catkin_ws/src/PX4-Autopilot build_path: /home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default empty model, setting iris as default GAZEBO_PLUGIN_PATH :/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo:/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo:/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo GAZEBO_MODEL_PATH :/home/swift/workspace/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo/models:/home/swift/workspace/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo/models:/home/swift/workspace/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo/models LD_LIBRARY_PATH /home/swift/workspace/catkin_ws/devel/lib:/opt/ros/noetic/lib:/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo:/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo:/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo empty world, setting empty.world as default Using: /home/swift/workspace/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo/models/iris/iris.sdf SITL COMMAND: "/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/bin/px4" "/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default"/etc -s etc/init.d-posix/rcS -t "/home/swift/workspace/catkin_ws/src/PX4-Autopilot"/test_data Creating symlink /home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/etc -> /home/swift/workspace/ _____ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0 INFO [init] found model autostart file as SYS_AUTOSTART=10016 INFO [param] selected parameter default file eeprom/parameters_10016 INFO [parameters] BSON document size 470 bytes, decoded 470 bytes [param] Loaded: eeprom/parameters_10016 INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes PX4 SIM HOST: localhost INFO [simulator] Waiting for simulator to accept connection on TCP port 4560 INFO [simulator] Simulator connected on TCP port 4560. INFO [commander] LED: open /dev/led0 failed (22) INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0 INFO [init] setting PWM_AUX_OUT none INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550 INFO [mavlink] partner IP: 127.0.0.1 INFO [commander] Failsafe mode activated INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540 INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030 INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280 INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] [logger] ./log/2021-09-25/14_19_26.ulg INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) INFO [logger] Opened full log file: ./log/2021-09-25/14_19_26.ulg INFO [px4] Startup script returned successfully pxh> Gazebo multi-robot simulator, version 11.8.1 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org [Msg] Waiting for master. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 192.168.219.114 INFO [commander] Failsafe mode deactivated INFO [tone_alarm] home set INFO [tone_alarm] notify negative [Wrn] [Publisher.cc:136] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once. pxh> pxh> INFO [mavlink] partner IP: 127.0.0.1 INFO [commander] Armed by external command INFO [commander] Takeoff detected ERROR [mavlink] [timesync] Time jump detected. Resetting time synchroniser. ERROR [mavlink] [timesync] Time jump detected. Resetting time synchroniser. ERROR [mavlink] [timesync] Time jump detected. Resetting time synchroniser.
2. MAVROS 및 OFFBOARD 제어 패키지 실행
swift@swift-MacBookPro:~/Desktop$ roslaunch mavros_offboard set_ctrl_trajectory.launch ... logging to /home/swift/.ros/log/dd01ac08-1e0b-11ec-9a65-97217867faad/roslaunch-swift-MacBookPro-41309.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://localhost:44029/ 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/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: noetic * /rosversion: 1.15.11 NODES / mavros (mavros/mavros_node) set_ctrl_trajectory_node (mavros_offboard/set_ctrl_trajectory) auto-starting new master process[master]: started with pid [41336] ROS_MASTER_URI=http://localhost:11311 setting /run_id to dd01ac08-1e0b-11ec-9a65-97217867faad process[rosout-1]: started with pid [41353] started core service [/rosout] process[mavros-2]: started with pid [41361] process[set_ctrl_trajectory_node-3]: started with pid [41362] x: 0.000 y: 0.000 yaw: 45.0 x: 0.020 y: 0.020 yaw: 44.9 x: 0.039 y: 0.039 yaw: 44.7 x: 0.059 y: 0.059 yaw: 44.4 x: 0.079 y: 0.078 yaw: 43.9 x: 0.099 y: 0.098 yaw: 43.3 x: 0.120 y: 0.117 yaw: 42.6 x: 0.141 y: 0.136 yaw: 41.7 x: 0.162 y: 0.154 yaw: 40.7 x: 0.184 y: 0.173 yaw: 39.5 x: 0.206 y: 0.191 yaw: 38.2 x: 0.229 y: 0.208 yaw: 36.7 x: 0.253 y: 0.225 yaw: 35.1 x: 0.277 y: 0.242 yaw: 33.3 x: 0.303 y: 0.258 yaw: 31.4 x: 0.328 y: 0.273 yaw: 29.2 x: 0.355 y: 0.287 yaw: 26.9 x: 0.383 y: 0.301 yaw: 24.4 x: 0.412 y: 0.313 yaw: 21.7 x: 0.441 y: 0.324 yaw: 18.9 x: 0.471 y: 0.333 yaw: 15.8 x: 0.503 y: 0.341 yaw: 12.5 x: 0.535 y: 0.347 yaw: 9.0 x: 0.568 y: 0.351 yaw: 5.3 x: 0.601 y: 0.353 yaw: 1.3 x: 0.635 y: 0.353 yaw: -2.8 x: 0.670 y: 0.350 yaw: -7.2 x: 0.704 y: 0.344 yaw: -11.9 x: 0.739 y: 0.335 yaw: -16.7 x: 0.773 y: 0.324 yaw: -21.8 x: 0.806 y: 0.308 yaw: -27.2 x: 0.838 y: 0.290 yaw: -32.7 x: 0.868 y: 0.268 yaw: -38.5 x: 0.896 y: 0.243 yaw: -44.4 x: 0.922 y: 0.215 yaw: -50.6 x: 0.945 y: 0.184 yaw: -56.9 x: 0.964 y: 0.151 yaw: -63.3 x: 0.980 y: 0.115 yaw: -69.9 x: 0.991 y: 0.078 yaw: -76.5 x: 0.998 y: 0.039 yaw: -83.3 x: 1.000 y: -0.000 yaw: 270.0 x: 0.998 y: -0.039 yaw: 263.3 x: 0.991 y: -0.078 yaw: 256.5 x: 0.980 y: -0.115 yaw: 249.9 x: 0.964 y: -0.151 yaw: 243.3 x: 0.945 y: -0.184 yaw: 236.9 x: 0.922 y: -0.215 yaw: 230.6 x: 0.896 y: -0.243 yaw: 224.4 x: 0.868 y: -0.268 yaw: 218.5 x: 0.838 y: -0.290 yaw: 212.7 x: 0.806 y: -0.308 yaw: 207.2 x: 0.773 y: -0.324 yaw: 201.8 x: 0.739 y: -0.335 yaw: 196.7 x: 0.704 y: -0.344 yaw: 191.9 x: 0.670 y: -0.350 yaw: 187.2 x: 0.635 y: -0.353 yaw: 182.8 x: 0.601 y: -0.353 yaw: 178.7 x: 0.568 y: -0.351 yaw: 174.7 x: 0.535 y: -0.347 yaw: 171.0 x: 0.503 y: -0.341 yaw: 167.5 x: 0.471 y: -0.333 yaw: 164.2 x: 0.441 y: -0.324 yaw: 161.1 x: 0.412 y: -0.313 yaw: 158.3 x: 0.383 y: -0.301 yaw: 155.6 x: 0.355 y: -0.287 yaw: 153.1 x: 0.328 y: -0.273 yaw: 150.8 x: 0.303 y: -0.258 yaw: 148.6 x: 0.277 y: -0.242 yaw: 146.7 x: 0.253 y: -0.225 yaw: 144.9 x: 0.229 y: -0.208 yaw: 143.3 x: 0.206 y: -0.191 yaw: 141.8 x: 0.184 y: -0.173 yaw: 140.5 x: 0.162 y: -0.154 yaw: 139.3 x: 0.141 y: -0.136 yaw: 138.3 x: 0.120 y: -0.117 yaw: 137.4 x: 0.099 y: -0.098 yaw: 136.7 x: 0.079 y: -0.078 yaw: 136.1 x: 0.059 y: -0.059 yaw: 135.6 x: 0.039 y: -0.039 yaw: 135.3 x: 0.020 y: -0.020 yaw: 135.1 x: 0.000 y: -0.000 yaw: 135.0 x: -0.020 y: 0.020 yaw: 135.1 x: -0.039 y: 0.039 yaw: 135.3 x: -0.059 y: 0.059 yaw: 135.6 x: -0.079 y: 0.078 yaw: 136.1 x: -0.099 y: 0.098 yaw: 136.7 x: -0.120 y: 0.117 yaw: 137.4 x: -0.141 y: 0.136 yaw: 138.3 x: -0.162 y: 0.154 yaw: 139.3 x: -0.184 y: 0.173 yaw: 140.5 x: -0.206 y: 0.191 yaw: 141.8 x: -0.229 y: 0.208 yaw: 143.3 x: -0.253 y: 0.225 yaw: 144.9 x: -0.277 y: 0.242 yaw: 146.7 x: -0.303 y: 0.258 yaw: 148.6 x: -0.328 y: 0.273 yaw: 150.8 x: -0.355 y: 0.287 yaw: 153.1 x: -0.383 y: 0.301 yaw: 155.6 x: -0.412 y: 0.313 yaw: 158.3 x: -0.441 y: 0.324 yaw: 161.1 x: -0.471 y: 0.333 yaw: 164.2 x: -0.503 y: 0.341 yaw: 167.5 x: -0.535 y: 0.347 yaw: 171.0 x: -0.568 y: 0.351 yaw: 174.7 x: -0.601 y: 0.353 yaw: 178.7 x: -0.635 y: 0.353 yaw: 182.8 x: -0.670 y: 0.350 yaw: 187.2 x: -0.704 y: 0.344 yaw: 191.9 x: -0.739 y: 0.335 yaw: 196.7 x: -0.773 y: 0.324 yaw: 201.8 x: -0.806 y: 0.308 yaw: 207.2 x: -0.838 y: 0.290 yaw: 212.7 x: -0.868 y: 0.268 yaw: 218.5 x: -0.896 y: 0.243 yaw: 224.4 x: -0.922 y: 0.215 yaw: 230.6 x: -0.945 y: 0.184 yaw: 236.9 x: -0.964 y: 0.151 yaw: 243.3 x: -0.980 y: 0.115 yaw: 249.9 x: -0.991 y: 0.078 yaw: 256.5 x: -0.998 y: 0.039 yaw: 263.3 x: -1.000 y: 0.000 yaw: 270.0 x: -0.998 y: -0.039 yaw: -83.3 x: -0.991 y: -0.078 yaw: -76.5 x: -0.980 y: -0.115 yaw: -69.9 x: -0.964 y: -0.151 yaw: -63.3 x: -0.945 y: -0.184 yaw: -56.9 x: -0.922 y: -0.215 yaw: -50.6 x: -0.896 y: -0.243 yaw: -44.4 x: -0.868 y: -0.268 yaw: -38.5 x: -0.838 y: -0.290 yaw: -32.7 x: -0.806 y: -0.308 yaw: -27.2 x: -0.773 y: -0.324 yaw: -21.8 x: -0.739 y: -0.335 yaw: -16.7 x: -0.704 y: -0.344 yaw: -11.9 x: -0.670 y: -0.350 yaw: -7.2 x: -0.635 y: -0.353 yaw: -2.8 x: -0.601 y: -0.353 yaw: 1.3 x: -0.568 y: -0.351 yaw: 5.3 x: -0.535 y: -0.347 yaw: 9.0 x: -0.503 y: -0.341 yaw: 12.5 x: -0.471 y: -0.333 yaw: 15.8 x: -0.441 y: -0.324 yaw: 18.9 x: -0.412 y: -0.313 yaw: 21.7 x: -0.383 y: -0.301 yaw: 24.4 x: -0.355 y: -0.287 yaw: 26.9 x: -0.328 y: -0.273 yaw: 29.2 x: -0.303 y: -0.258 yaw: 31.4 x: -0.277 y: -0.242 yaw: 33.3 x: -0.253 y: -0.225 yaw: 35.1 x: -0.229 y: -0.208 yaw: 36.7 x: -0.206 y: -0.191 yaw: 38.2 x: -0.184 y: -0.173 yaw: 39.5 x: -0.162 y: -0.154 yaw: 40.7 x: -0.141 y: -0.136 yaw: 41.7 x: -0.120 y: -0.117 yaw: 42.6 x: -0.099 y: -0.098 yaw: 43.3 x: -0.079 y: -0.078 yaw: 43.9 x: -0.059 y: -0.059 yaw: 44.4 x: -0.039 y: -0.039 yaw: 44.7 x: -0.020 y: -0.020 yaw: 44.9 [ INFO] [1632579689.399767975]: FCU URL: udp://:[email protected]:14557 [ INFO] [1632579689.410290526]: udp0: Bind address: 0.0.0.0:14540 [ INFO] [1632579689.411040040]: udp0: Remote address: 127.0.0.1:14557 [ INFO] [1632579689.411718572]: GCS bridge disabled [ INFO] [1632579689.416150442]: udp0: Remote address: 127.0.0.1:14580 [ INFO] [1632579689.453760923]: Plugin 3dr_radio loaded [ INFO] [1632579689.467392971]: Plugin 3dr_radio initialized [ INFO] [1632579689.468109062]: Plugin actuator_control loaded [ INFO] [1632579689.494746248]: Plugin actuator_control initialized [ INFO] [1632579689.495518173]: Plugin altitude loaded [ INFO] [1632579689.500516557]: Plugin altitude initialized [ INFO] [1632579689.500884270]: Plugin command loaded [ INFO] [1632579689.534835583]: Plugin command initialized [ INFO] [1632579689.535672658]: Plugin ftp loaded [ INFO] [1632579689.577180611]: Plugin ftp initialized [ INFO] [1632579689.577531966]: Plugin geofence loaded [ INFO] [1632579689.592358846]: Plugin geofence initialized [ INFO] [1632579689.592849774]: Plugin global_position loaded [ INFO] [1632579689.678171437]: Plugin global_position initialized [ INFO] [1632579689.678813674]: Plugin hil loaded [ INFO] [1632579689.743105698]: Plugin hil initialized [ INFO] [1632579689.743886849]: Plugin home_position loaded [ INFO] [1632579689.765275948]: Plugin home_position initialized [ INFO] [1632579689.765754718]: Plugin imu loaded [ INFO] [1632579689.795724628]: Plugin imu initialized [ INFO] [1632579689.796090457]: Plugin local_position loaded [ INFO] [1632579689.840235811]: Plugin local_position initialized [ INFO] [1632579689.840806504]: Plugin manual_control loaded [ INFO] [1632579689.859404079]: Plugin manual_control initialized [ INFO] [1632579689.859801737]: Plugin param loaded [ INFO] [1632579689.874653293]: Plugin param initialized [ INFO] [1632579689.875486863]: Plugin rallypoint loaded [ INFO] [1632579689.890567156]: Plugin rallypoint initialized [ INFO] [1632579689.891311947]: Plugin rc_io loaded [ INFO] [1632579689.908480170]: Plugin rc_io initialized [ INFO] [1632579689.908802266]: Plugin safety_area blacklisted [ INFO] [1632579689.909127497]: Plugin setpoint_accel loaded [ INFO] [1632579689.920615506]: Plugin setpoint_accel initialized [ INFO] [1632579689.921107503]: Plugin setpoint_attitude loaded [ INFO] [1632579689.966252549]: Plugin setpoint_attitude initialized [ INFO] [1632579689.966904772]: Plugin setpoint_position loaded [ INFO] [1632579690.002953581]: Plugin setpoint_position initialized [ INFO] [1632579690.003227327]: Plugin setpoint_raw loaded [ INFO] [1632579690.030286077]: Plugin setpoint_raw initialized [ INFO] [1632579690.030585160]: Plugin setpoint_trajectory loaded [ INFO] [1632579690.048820970]: Plugin setpoint_trajectory initialized [ INFO] [1632579690.049151241]: Plugin setpoint_velocity loaded [ INFO] [1632579690.067097122]: Plugin setpoint_velocity initialized [ INFO] [1632579690.067574241]: Plugin sys_status loaded [ INFO] [1632579690.118102413]: Plugin sys_status initialized [ INFO] [1632579690.118815342]: Plugin sys_time loaded [ INFO] [1632579690.143173813]: TM: Timesync mode: MAVLINK [ INFO] [1632579690.148628262]: Plugin sys_time initialized [ INFO] [1632579690.149264718]: Plugin vfr_hud loaded [ INFO] [1632579690.153623016]: Plugin vfr_hud initialized [ INFO] [1632579690.154026945]: Plugin waypoint loaded [ INFO] [1632579690.184150415]: Plugin waypoint initialized [ INFO] [1632579690.184583896]: Plugin wind_estimation loaded [ INFO] [1632579690.186485032]: Plugin wind_estimation initialized [ INFO] [1632579690.186731914]: Autostarting mavlink via USB on PX4 [ INFO] [1632579690.186944261]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1632579690.187004703]: Built-in MAVLink package version: 2021.8.8 [ INFO] [1632579690.187175477]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta [ INFO] [1632579690.187338869]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1632579690.195768271]: IMU: High resolution IMU detected! [ INFO] [1632579690.199921748]: IMU: Attitude quaternion IMU detected! [ INFO] [1632579691.161169929]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1632579691.167309052]: IMU: High resolution IMU detected! [ INFO] [1632579691.167975018]: IMU: Attitude quaternion IMU detected! [ INFO] [1632579692.186403456]: GF: Using MISSION_ITEM_INT [ INFO] [1632579692.186674750]: RP: Using MISSION_ITEM_INT [ INFO] [1632579692.187008712]: WP: Using MISSION_ITEM_INT [ INFO] [1632579692.187226895]: VER: 1.1: Capabilities 0x000000000000e4ef [ INFO] [1632579692.187426700]: VER: 1.1: Flight software: 010d0040 (f01cab3be1000000) [ INFO] [1632579692.187599716]: VER: 1.1: Middleware software: 010d0040 (f01cab3be1000000) [ INFO] [1632579692.187705003]: VER: 1.1: OS software: 050b00ff (80b730cdb35570b3) [ INFO] [1632579692.188300784]: VER: 1.1: Board hardware: 00000001 [ INFO] [1632579692.188397505]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1632579692.188461097]: VER: 1.1: UID: 4954414c44494e4f [ WARN] [1632579692.191670573]: CMD: Unexpected command 520, result 0 [ INFO] [1632579694.203683670]: waiting for offboard mode [ INFO] [1632579706.163612714]: GF: mission received [ INFO] [1632579706.166312612]: RP: mission received [ INFO] [1632579706.168045178]: WP: mission received [ WARN] [1632579732.462241557]: CMD: Unexpected command 176, result 0 [ INFO] [1632579733.753794037]: going home [ INFO] [1632579735.755361948]: following path [ERROR] [1632579742.255148579]: TM : Time jump detected. Resetting time synchroniser. [ WARN] [1632579767.475073581]: CMD: Unexpected command 176, result 0 [ INFO] [1632579767.953596130]: waiting for offboard mode [ERROR] [1632579806.449101902]: TM : Time jump detected. Resetting time synchroniser. [ WARN] [1632579817.548643413]: CMD: Unexpected command 176, result 0 [ INFO] [1632579818.403477029]: going home [ INFO] [1632579820.403569758]: following path [ERROR] [1632579866.249734191]: TM : Time jump detected. Resetting time synchroniser. [ERROR] [1632579945.049236138]: TM : Time jump detected. Resetting time synchroniser. [ERROR] [1632579995.949486898]: TM : Time jump detected. Resetting time synchroniser. [ERROR] [1632580046.549459514]: TM : Time jump detected. Resetting time synchroniser.
3. 제어
wift@swift-MacBookPro:~/workspace/catkin_ws$ rosrun mavros mavsafety arm swift@swift-MacBookPro:~/workspace/catkin_ws$ rosrun mavros mavsys mode -c OFFBOARD Mode changed. swift@swift-MacBookPro:~/workspace/catkin_ws$ rosrun mavros mavsys mode -c POSCTL Mode changed. swift@swift-MacBookPro:~/workspace/catkin_ws$ rosrun mavros mavsys mode -c OFFBOARD
4. 결과
Offboard 모드와 ARM 두가지 조건이 만족되면 현재 위치의 path를 초기화(going home)하고 8자 비행을 시작함
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from http://swiftcam.tistory.com/453 by ccl(A) rewrite - 2021-09-26 00:01:06