[Bug] WARN [health_and_arming_checks] Preflight Fail

[kashifzr]

Describe the bug

WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable
WARN [health_and_arming_checks] Preflight Fail: height estimate error
WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable
WARN [health_and_arming_checks] Preflight Fail: velocity estimate error
WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error

To Reproduce

roslaunch px4 posix_sitl.launch vehicle:=iris_rplidar

Expected behavior

Able to Run Rplidar with Iris without core fault or segmentation falt

Screenshot / Media

roslaunch px4 posix_sitl.launch vehicle:=iris_rplidar
... logging to /home/kkg/.ros/log/18de0df0-0dd0-11ef-b0ee-99ee7f070c17/roslaunch-kkg-W530-58961.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://kkg-W530:44733/

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)
sitl (px4/px4)
vehicle_spawn_kkg_W530_58961_3758604652260686476 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [58976]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 18de0df0-0dd0-11ef-b0ee-99ee7f070c17
process[rosout-1]: started with pid [58993]
started core service [/rosout]
process[sitl-2]: started with pid [59000]

---

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

px4 starting.

INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [59012]
INFO [init] found model autostart file as SYS_AUTOSTART=1012
INFO [param] selected parameter default file parameters.bson
INFO [param] importing from 'parameters.bson'
INFO [parameters] BSON document size 274 bytes, decoded 274 bytes (INT32:11, FLOAT:3)
process[gazebo_gui-4]: started with pid [59021]
INFO [param] selected parameter backup file parameters_backup.bson
process[vehicle_spawn_kkg_W530_58961_3758604652260686476-5]: started with pid [59029]
INFO [dataman] data manager file './dataman' size is 7866640 bytes
etc/init.d-posix/rcS: 39: [: Illegal number:
INFO [init] PX4_SIM_HOSTNAME: localhost
INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
[INFO] [1715237290.664198, 0.000000]: Loading model XML from file /home/kkg/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris_rplidar/iris_rplidar.sdf
[INFO] [1715237290.666219, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1715237291.002260003]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1715237291.003297535]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1715237291.192314571]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1715237291.193527064]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1715237291.478627078]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1715237291.500344808, 0.020000000]: Physics dynamic reconfigure ready.
[INFO] [1715237291.571868, 0.088000]: Calling service /gazebo/spawn_sdf_model
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: rplidar. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[INFO] [1715237293.583409, 0.156000]: Spawn status: SpawnModel: Successfully spawned entity
INFO [simulator_mavlink] Simulator connected on TCP port 4560.
INFO [lockstep_scheduler] setting initial absolute time to 168000 us
INFO [commander] LED: open /dev/led0 failed (22)
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
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/2024-05-09/06_48_14.ulg
INFO [logger] Opened full log file: ./log/2024-05-09/06_48_14.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 [px4] Startup script returned successfully
pxh> [vehicle_spawn_kkg_W530_58961_3758604652260686476-5] process has finished cleanly
log file: /home/kkg/.ros/log/18de0df0-0dd0-11ef-b0ee-99ee7f070c17/vehicle_spawn_kkg_W530_58961_3758604652260686476-5*.log
INFO [tone_alarm] home set
INFO [mavlink] partner IP: 127.0.0.1
INFO [tone_alarm] notify negative
WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable
WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable
WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable
WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable
WARN [health_and_arming_checks] Preflight Fail: velocity estimate error
WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error
WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable
WARN [health_and_arming_checks] Preflight Fail: velocity estimate error
WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error
WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable
WARN [health_and_arming_checks] Preflight Fail: height estimate error
WARN [health_and_arming_checks] Preflight Fail: velocity estimate error

Flight Log

https://review.px4.io/plot_app?log=b022b0a0-74e2-4568-8210-450e7363b861

Software Version

px4 : v1.14
OS : Ubuntu Noetic

Flight controller

None

Vehicle type

Fixed Wing

How are the different components wired up (including port information)

No response

Additional context

No response

[mrpollo]

Hi @kashifzr I don't see a segmentation fault here, are you referring to the WARNINGS?

[kashifzr]

@mrpollo when the estimation of vertical velocity , heading estimates are unstable then my drone without any command become unstable and start bouncing and run of space configuration. I try to overcome this issue by trying to look at so many options. But in the end when i remove models specific flow-cam and simple lidar in iris_rplidar sdf file then my drone become stable,

[mrpollo]

It looks like you found the problem!

[kashifzr]

@mrpollo I did find the solution. when i used command make px4_sitl gazebo-classic_iris_rplidar without changes it run with out making issues, When i used command roslaunch px4 mavros_posix_sitl.launch vehicle:=iris_rplidar with out changes then same issues happened.

[PHChenGit]

I also face the issue too. Any solutions?

Some infomation about my environment.
OS version: Ubuntu 20.04
ROS version: noetic
PX4 version: The latest for now.

How to reproduce?
I followed the instructions from https://docs.px4.io/main/en/ros/mavros_offboard_python.html#code

[kashifzr]

@PHChenGit can show where you find issue. its not related to rplidar or sdf file.