您好！运行VINS-fusion时，仿真环境飞机图像和imu话题都有数据，但是vins-fusion相关的话题都没有数据 #103
Comments
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解决了吗，我vins-fusion 和 三维激光都没rviz显示，二位激光可以 |
|
是不是ceres和eigen3兼容的问题， |
是ceres1.14不行还是eigen3不行呢 |
|
我的是
https://blog.csdn.net/weixin_48093237/article/details/138862043?spm=1001.2014.3001.5501 |
您好，按照这篇博客的方法，rviz出现了轨迹，但是点云还是没有，不知道是哪里还有点问题 |
|
这个我还真没遇到过，要不试试双系统 |
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第一个问题：运行indoor1.launch后i，/iris_0/stereo_camera/right/image_raw、/iris_0/stereo_camera/right/image_raw、/iris_0/imu_gazebo三个话题都有数据， 但是vins相关的话题，/vins_estimator/image_track、/vins_estimator/camera_pose都没有数据输出，rviz图像位置不显示，EKF2已修改为视觉导航模式，因为vins无法输出位姿，因此解锁飞机时没有反应。请问这是什么问题？
以下是相关消息数据：
仿真环境与vins运行窗口为
`ssz@ssz-G5-5500:~/WorkSpace/Auto-Uav/PX4_Firmware$ roslaunch px4 indoor1.launch
... logging to /home/ssz/.ros/log/b94d2e08-eb23-11ee-8e4a-f5e9abdcc60b/roslaunch-ssz-G5-5500-3418492.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://ssz-G5-5500:44051/
SUMMARY
CLEAR PARAMETERS
PARAMETERS
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
/iris_0/
iris_0_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_0 (px4/px4)
ROS_MASTER_URI=http://localhost:11311
process[gazebo-1]: started with pid [3418523]
process[gazebo_gui-2]: started with pid [3418528]
process[iris_0/sitl_0-3]: started with pid [3418537]
Creating symlink /home/ssz/WorkSpace/Auto-Uav/PX4_Firmware/build/px4_sitl_default/etc -> /home/ssz/.ros/sitl_iris_0/etc
| ___ \ \ \ / / / |
| |/ / \ 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
process[iris_0/iris_0_spawn-4]: started with pid [3418553]
INFO [parameters] BSON document size 349 bytes, decoded 349 bytes (INT32:15, FLOAT:3)
[param] Loaded: eeprom/parameters_10016
process[iris_0/mavros-5]: started with pid [3418561]
[ INFO] [1711429132.069247521]: FCU URL: udp://:24540@localhost:34580
[ INFO] [1711429132.072063779]: udp0: Bind address: 0.0.0.0:24540
[ INFO] [1711429132.072174329]: udp0: Remote address: 127.0.0.1:34580
[ INFO] [1711429132.072236104]: GCS bridge disabled
[ INFO] [1711429132.081737972]: Plugin 3dr_radio loaded
INFO [dataman] data manager file './dataman' size is 7866640 bytes
[ INFO] [1711429132.083073863]: Plugin 3dr_radio initialized
[ INFO] [1711429132.083148962]: Plugin actuator_control loaded
[ INFO] [1711429132.085396436]: Plugin actuator_control initialized
PX4 SIM HOST: localhost
[ INFO] [1711429132.089578522]: Plugin adsb loaded
[ INFO] [1711429132.092016168]: Plugin adsb initialized
[ INFO] [1711429132.092130358]: Plugin altitude loaded
[ INFO] [1711429132.092824377]: Plugin altitude initialized
[ INFO] [1711429132.092905993]: Plugin cam_imu_sync loaded
[ INFO] [1711429132.093316961]: Plugin cam_imu_sync initialized
[ INFO] [1711429132.093394335]: Plugin camera loaded
[ INFO] [1711429132.093811183]: Plugin camera initialized
[ INFO] [1711429132.093894252]: Plugin cellular_status loaded
[ INFO] [1711429132.095683555]: Plugin cellular_status initialized
[ INFO] [1711429132.095778258]: Plugin command loaded
INFO [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1711429132.100949465]: Plugin command initialized
[ INFO] [1711429132.101067646]: Plugin companion_process_status loaded
[ INFO] [1711429132.102903007]: Plugin companion_process_status initialized
[ INFO] [1711429132.103003855]: Plugin debug_value loaded
[ INFO] [1711429132.106784696]: Plugin debug_value initialized
[ INFO] [1711429132.106820189]: Plugin distance_sensor blacklisted
[ INFO] [1711429132.106919988]: Plugin esc_status loaded
[ INFO] [1711429132.107732109]: Plugin esc_status initialized
[ INFO] [1711429132.107826142]: Plugin esc_telemetry loaded
[ INFO] [1711429132.108247497]: Plugin esc_telemetry initialized
[ INFO] [1711429132.108341665]: Plugin fake_gps loaded
[ INFO] [1711429132.119753697]: Plugin fake_gps initialized
[ INFO] [1711429132.119922851]: Plugin ftp loaded
[ INFO] [1711429132.125269589]: Plugin ftp initialized
[ INFO] [1711429132.125467582]: Plugin geofence loaded
[ INFO] [1711429132.127801069]: Plugin geofence initialized
[ INFO] [1711429132.127947469]: Plugin global_position loaded
[ INFO] [1711429132.140098902]: Plugin global_position initialized
[ INFO] [1711429132.140213564]: Plugin gps_input loaded
[ INFO] [1711429132.142468327]: Plugin gps_input initialized
[ INFO] [1711429132.142553601]: Plugin gps_rtk loaded
[ INFO] [1711429132.144663489]: Plugin gps_rtk initialized
[ INFO] [1711429132.144748032]: Plugin gps_status loaded
[ INFO] [1711429132.146381321]: Plugin gps_status initialized
[ INFO] [1711429132.146470232]: Plugin guided_target loaded
[ INFO] [1711429132.149629322]: Plugin guided_target initialized
[ INFO] [1711429132.149725154]: Plugin hil loaded
[ INFO] [1711429132.158979252]: Plugin hil initialized
[ INFO] [1711429132.159108784]: Plugin home_position loaded
[ INFO] [1711429132.161673795]: Plugin home_position initialized
[ INFO] [1711429132.161772442]: Plugin imu loaded
[ INFO] [1711429132.165715977]: Plugin imu initialized
[ INFO] [1711429132.165790995]: Plugin landing_target loaded
[ INFO] [1711429132.173684281]: Plugin landing_target initialized
[ INFO] [1711429132.173790866]: Plugin local_position loaded
[ INFO] [1711429132.177232176]: Plugin local_position initialized
[ INFO] [1711429132.177314186]: Plugin log_transfer loaded
[ INFO] [1711429132.178958080]: Plugin log_transfer initialized
[ INFO] [1711429132.179022549]: Plugin mag_calibration_status loaded
[ INFO] [1711429132.179601937]: Plugin mag_calibration_status initialized
[ INFO] [1711429132.179667319]: Plugin manual_control loaded
[ INFO] [1711429132.181150360]: Plugin manual_control initialized
[ INFO] [1711429132.181203092]: Plugin mocap_pose_estimate loaded
[ INFO] [1711429132.183372085]: Plugin mocap_pose_estimate initialized
[ INFO] [1711429132.183445511]: Plugin mount_control loaded
[ WARN] [1711429132.186263525]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1711429132.186485388]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1711429132.186694728]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1711429132.187475621]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1711429132.187687880]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1711429132.187733250]: Plugin mount_control initialized
[ INFO] [1711429132.187822495]: Plugin nav_controller_output loaded
[ INFO] [1711429132.188359285]: Plugin nav_controller_output initialized
[ INFO] [1711429132.188449102]: Plugin obstacle_distance loaded
[ INFO] [1711429132.190214558]: Plugin obstacle_distance initialized
[ INFO] [1711429132.190358627]: Plugin odom loaded
[ INFO] [1711429132.193300003]: Plugin odom initialized
[ INFO] [1711429132.193418449]: Plugin onboard_computer_status loaded
[ INFO] [1711429132.195062195]: Plugin onboard_computer_status initialized
[ INFO] [1711429132.195164517]: Plugin param loaded
[ INFO] [1711429132.197221235]: Plugin param initialized
[ INFO] [1711429132.197308293]: Plugin play_tune loaded
[ INFO] [1711429132.199111556]: Plugin play_tune initialized
[ INFO] [1711429132.199196308]: Plugin px4flow loaded
[ INFO] [1711429132.204380954]: Plugin px4flow initialized
[ INFO] [1711429132.204482010]: Plugin rallypoint loaded
[ INFO] [1711429132.206574502]: Plugin rallypoint initialized
[ INFO] [1711429132.206604836]: Plugin rangefinder blacklisted
[ INFO] [1711429132.206678453]: Plugin rc_io loaded
[ INFO] [1711429132.209075968]: Plugin rc_io initialized
[ INFO] [1711429132.209105533]: Plugin safety_area blacklisted
[ INFO] [1711429132.209174919]: Plugin setpoint_accel loaded
[ INFO] [1711429132.211074662]: Plugin setpoint_accel initialized
[ INFO] [1711429132.211199330]: Plugin setpoint_attitude loaded
[ INFO] [1711429132.216365076]: Plugin setpoint_attitude initialized
[ INFO] [1711429132.216444185]: Plugin setpoint_position loaded
[ INFO] [1711429132.224841652]: Plugin setpoint_position initialized
[ INFO] [1711429132.224929652]: Plugin setpoint_raw loaded
[ INFO] [1711429132.229904249]: Plugin setpoint_raw initialized
[ INFO] [1711429132.230022385]: Plugin setpoint_trajectory loaded
[ INFO] [1711429132.232569903]: Plugin setpoint_trajectory initialized
[ INFO] [1711429132.232681107]: Plugin setpoint_velocity loaded
[ INFO] [1711429132.235582430]: Plugin setpoint_velocity initialized
[ INFO] [1711429132.235718537]: Plugin sys_status loaded
[ INFO] [1711429132.241171963]: Plugin sys_status initialized
[ INFO] [1711429132.241266883]: Plugin sys_time loaded
[ INFO] [1711429132.244230564]: TM: Timesync mode: MAVLINK
[ INFO] [1711429132.244434953]: TM: Not publishing sim time
[ INFO] [1711429132.245028304]: Plugin sys_time initialized
[ INFO] [1711429132.245092239]: Plugin terrain loaded
[ INFO] [1711429132.245381556]: Plugin terrain initialized
[ INFO] [1711429132.245437228]: Plugin trajectory loaded
[ INFO] [1711429132.248073583]: Plugin trajectory initialized
[ INFO] [1711429132.248140975]: Plugin tunnel loaded
[ INFO] [1711429132.249577455]: Plugin tunnel initialized
[ INFO] [1711429132.249647710]: Plugin vfr_hud loaded
[ INFO] [1711429132.249948943]: Plugin vfr_hud initialized
[ INFO] [1711429132.249968246]: Plugin vibration blacklisted
[ INFO] [1711429132.250022907]: Plugin vision_pose_estimate loaded
[ INFO] [1711429132.254083638]: Plugin vision_pose_estimate initialized
[ INFO] [1711429132.254180424]: Plugin vision_speed_estimate loaded
[ INFO] [1711429132.256317692]: Plugin vision_speed_estimate initialized
[ INFO] [1711429132.256524099]: Plugin waypoint loaded
[ INFO] [1711429132.259395098]: Plugin waypoint initialized
[ INFO] [1711429132.259438714]: Plugin wheel_odometry blacklisted
[ INFO] [1711429132.259552898]: Plugin wind_estimation loaded
[ INFO] [1711429132.259878260]: Plugin wind_estimation initialized
[ INFO] [1711429132.259980837]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1711429132.260010421]: Built-in MAVLink package version: 2024.3.3
[ INFO] [1711429132.260040409]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1711429132.260066544]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1711429132.382758, 0.000000]: Loading model XML from ros parameter model_description
[INFO] [1711429132.388242, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1711429132.519168085]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1711429132.520087413]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1711429132.602655696]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1711429132.604162326]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ WARN] [1711429132.675978313, 5947.033000000]: Shutdown request received.
[ WARN] [1711429132.676085076, 5947.033000000]: Reason given for shutdown: [[/gazebo_gui] Reason: new node registered with same name]
[ INFO] [1711429132.971313523]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1711429132.992726, 0.000000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1711429133.001951894]: Physics dynamic reconfigure ready.
Trace/breakpoint trap (core dumped)
[INFO] [1711429133.033231, 1814.801000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name iris_0
[ERROR] [1711429133.034560, 1814.801000]: Spawn service failed. Exiting.
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.
[iris_0/iris_0_spawn-4] process has died [pid 3418553, exit code 1, cmd /home/ssz/WorkSpace/Auto-Uav/uav_sim/devel/lib/gazebo_ros/spawn_model -sdf -param model_description -model iris_0 -x 0 -y 7.5 -z 0.5 -R 0 -P 0 -Y 0 _name:=iris_0_spawn log:=/home/ssz/.ros/log/b94d2e08-eb23-11ee-8e4a-f5e9abdcc60b/iris_0-iris_0_spawn-4.log].
log file: /home/ssz/.ros/log/b94d2e08-eb23-11ee-8e4a-f5e9abdcc60b/iris_0-iris_0_spawn-4*.log
[ INFO] [1711429134.868184157, 1814.857000000]: Camera Plugin: The 'robotNamespace' param was empty
[ INFO] [1711429134.868710812, 1814.857000000]: Camera Plugin: The 'robotNamespace' param was empty
[ INFO] [1711429134.871037654, 1814.857000000]: Camera Plugin (ns = iris_0) <tf_prefix>, set to "iris_0"
[ INFO] [1711429134.871107412, 1814.857000000]: Camera Plugin (ns = iris_0) <tf_prefix>, set to "iris_0"
[ INFO] [1711429134.878689616, 1814.857000000]: is unset, using default value of false to comply with REP 145 (world as orientation reference)
[ WARN] [1711429134.878761318, 1814.857000000]: missing , set to default: /iris_0/
[ INFO] [1711429134.878792294, 1814.857000000]: set to: imu_gazebo
[ INFO] [1711429134.878809645, 1814.857000000]: set to: imu_link_stereo
[ INFO] [1711429134.878842927, 1814.857000000]: set to: 500
[ INFO] [1711429134.878875166, 1814.857000000]: set to: 0
[ INFO] [1711429134.878913057, 1814.857000000]: set to: 0 0 0
[ INFO] [1711429134.878960517, 1814.857000000]: set to: 0 -0 0
[ INFO] [1711429136.460509552, 1814.857000000]: bumper plugin missing , defaults to world
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] mode: Onboard, data rate: 4000000 B/s on udp port 34580 remote port 24540
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] [1711429136.833180672, 1815.125000000]: udp0: Remote address: 127.0.0.1:34580
[ INFO] [1711429136.833380357, 1815.125000000]: IMU: High resolution IMU detected!
INFO [mavlink] partner IP: 127.0.0.1
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2024-03-26/04_58_56.ulg
INFO [logger] Opened full log file: ./log/2024-03-26/04_58_56.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
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1711429137.820706743, 1816.105000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1711429137.821932180, 1816.105000000]: IMU: High resolution IMU detected!
[ INFO] [1711429138.443485212, 1816.721000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1711429138.831757039, 1817.109000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1711429138.832217439, 1817.109000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1711429138.832456838, 1817.109000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1711429138.832803037, 1817.109000000]: VER: 1.1: Capabilities 0x000000000000e4ff
[ INFO] [1711429138.833412898, 1817.109000000]: VER: 1.1: Flight software: 010d0200 (46a12a09bf000000)
[ INFO] [1711429138.833748243, 1817.109000000]: VER: 1.1: Middleware software: 010d0200 (46a12a09bf000000)
[ INFO] [1711429138.833889119, 1817.109000000]: VER: 1.1: OS software: 050f00ff (91bece51afbe7da9)
[ INFO] [1711429138.834028074, 1817.109000000]: VER: 1.1: Board hardware: 00000001
[ INFO] [1711429138.834201315, 1817.109000000]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1711429138.834308221, 1817.109000000]: VER: 1.1: UID: 4954414c44494e4f
[ WARN] [1711429138.836554245, 1817.113000000]: CMD: Unexpected command 520, result 0
INFO [tone_alarm] home set
INFO [tone_alarm] notify negative
[ INFO] [1711429152.862584552, 1831.105000000]: GF: mission received
[ INFO] [1711429152.862730047, 1831.105000000]: RP: mission received
[ INFO] [1711429152.862784508, 1831.105000000]: WP: mission received
`
里面有一个报错，
[iris_0/iris_0_spawn-4] process has died [pid 3418553, exit code 1, cmd /home/ssz/WorkSpace/Auto-Uav/uav_sim/devel/lib/gazebo_ros/spawn_model -sdf -param model_description -model iris_0 -x 0 -y 7.5 -z 0.5 -R 0 -P 0 -Y 0 __name:=iris_0_spawn __log:=/home/ssz/.ros/log/b94d2e08-eb23-11ee-8e4a-f5e9abdcc60b/iris_0-iris_0_spawn-4.log]. log file: /home/ssz/.ros/log/b94d2e08-eb23-11ee-8e4a-f5e9abdcc60b/iris_0-iris_0_spawn-4*.log`ssz@ssz-G5-5500:~/WorkSpace/Auto-Uav/uav_sim$ bash scripts/xtdrone_run_vio.sh
[ INFO] [1711424936.583679628]: init begins
config_file: /home/ssz/WorkSpace/Auto-Uav/uav_sim/src/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_imu_config.yaml
USE_IMU: 1
IMU_TOPIC: /iris_0/imu_gazebo
result path /home/ssz/WorkSpace/Auto-Uav/uav_sim/vins_output/vio.csv
[ WARN] [1711424936.616103346]: fix extrinsic param
camera number 2
[ INFO] [1711424936.619258060]: Synchronized sensors, fix time offset: 0
[ INFO] [1711424936.619312802]: ROW: 480 COL: 752
exitrinsic cam 0
0 0 1
-1 0 0
0 -1 0
0 0.12 -0.3
exitrinsic cam 1
0 0 1
-1 0 0
0 -1 0
0 0 -0.3
set g 0 0 9.81007
[ INFO] [1711424936.619430516]: reading paramerter of camera /home/ssz/WorkSpace/Auto-Uav/uav_sim/src/VINS-Fusion/config/xtdrone_sitl/cam0_pinhole_p1.yaml
[ INFO] [1711424936.619646728]: reading paramerter of camera /home/ssz/WorkSpace/Auto-Uav/uav_sim/src/VINS-Fusion/config/xtdrone_sitl/cam1_pinhole_p1.yaml
MULTIPLE_THREAD is 1
[ WARN] [1711424936.619819237]: waiting for image and imu...
... logging to /home/ssz/.ros/log/b94d2e08-eb23-11ee-8e4a-f5e9abdcc60b/roslaunch-ssz-G5-5500-3392020.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://ssz-G5-5500:39389/
SUMMARY
PARAMETERS
NODES
/
rvizvisualisation (rviz/rviz)
ROS_MASTER_URI=http://localhost:11311
process[rvizvisualisation-1]: started with pid [3392081]
`
第二个问题：ekf2为gps和气压计模式时，运行indoor1.launch，使用键盘控制飞机，解锁后，飞机会出现乱飞的情况，请问这是什么原因
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