开启风插件失败 #79

LChen-99 · 2023-04-12T12:30:22Z

我在indoor1.world中加入了下面这个

base_link

1 0 0
0 1 0
4.0
0 0 0
0
0
0
world_wind

然后gazebo就报错了
[INFO] [1681302260.387756, 0.000000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1681302260.393789246]: waitForService: Service [/gazebo/set_physics_properties] is now available.
gzserver: /usr/include/boost/smart_ptr/shared_ptr.hpp:734: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = gazebo::event::Connection; typename boost::detail::sp_member_access::type = gazebo::event::Connection*]: Assertion `px != 0' failed.
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
[ERROR] [1681302261.614085, 0.000000]: Spawn service failed. Exiting.
Aborted (core dumped)
[gazebo-1] process has died [pid 102629, exit code 134, cmd /home/luochen/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -e ode /home/luochen/PX4_Firmware/Tools/sitl_gazebo/worlds/indoor1.world __name:=gazebo __log:=/home/luochen/.ros/log/45318b32-d92b-11ed-bcdd-d5d4b190bca3/gazebo-1.log].
log file: /home/luochen/.ros/log/45318b32-d92b-11ed-bcdd-d5d4b190bca3/gazebo-1*.log
[iris_0/iris_0_spawn-4] process has died [pid 102657, exit code 1, cmd /home/luochen/catkin_ws/devel/lib/gazebo_ros/spawn_model -sdf -param model_description -model iris_0 -x 0 -y -4.5 -z 1 -R 0 -P 0 -Y 1.570796 __name:=iris_0_spawn __log:=/home/luochen/.ros/log/45318b32-d92b-11ed-bcdd-d5d4b190bca3/iris_0-iris_0_spawn-4.log].
log file: /home/luochen/.ros/log/45318b32-d92b-11ed-bcdd-d5d4b190bca3/iris_0-iris_0_spawn-4*.log

LChen-99 · 2023-04-12T12:33:31Z

  <frameId>base_link</frameId>
  <robotNamespace/>
  <xyzOffset>1 0 0</xyzOffset>
  <windDirectionMean>0 1 0</windDirectionMean>
  <windVelocityMean>4.0</windVelocityMean>
  <windGustDirection>0 0 0</windGustDirection>
  <windGustDuration>0</windGustDuration>
  <windGustStart>0</windGustStart>
  <windGustVelocityMean>0</windGustVelocityMean>
  <windPubTopic>world_wind</windPubTopic>

</plugin>

LChen-99 · 2023-04-12T12:43:34Z

文档说是加这个libWindPlugin.so，但是我根本没找到这个动态库

andy-zhuo-02 · 2023-04-13T02:32:06Z

你好，正如教程里面提及的，"libWindPlugin.so"为Gazebo9自带动态共享库，而不是PX4生成的，一般该文件就在环境变量GAZEBO_PLUGIN_PATH的路径中。

如果你想要找寻该文件，可以在根目录下搜索该文件名进行查找。以我的环境为例子，这个动态库处于/usr/lib/x86_64-linux-gnu/gazebo-11/plugins下。（注：我使用的是gazebo11，但是gazebo9是类似的，这并不影响）

LChen-99 · 2023-04-13T05:12:56Z

你好，正如教程里面提及的，"libWindPlugin.so"为Gazebo9自带动态共享库，而不是PX4生成的，一般该文件就在环境变量GAZEBO_PLUGIN_PATH的路径中。

如果你想要找寻该文件，可以在根目录下搜索该文件名进行查找。以我的环境为例子，这个动态库处于/usr/lib/x86_64-linux-gnu/gazebo-11/plugins下。（注：我使用的是gazebo11，但是gazebo9是类似的，这并不影响）

你好，我成功加入了风插件，但是好像没用产生作用。无人机飞行没有受到影响

LChen-99 · 2023-04-13T05:13:21Z

你好，正如教程里面提及的，"libWindPlugin.so"为Gazebo9自带动态共享库，而不是PX4生成的，一般该文件就在环境变量GAZEBO_PLUGIN_PATH的路径中。
如果你想要找寻该文件，可以在根目录下搜索该文件名进行查找。以我的环境为例子，这个动态库处于/usr/lib/x86_64-linux-gnu/gazebo-11/plugins下。（注：我使用的是gazebo11，但是gazebo9是类似的，这并不影响）

你好，我成功加入了风插件，但是好像没用产生作用。无人机飞行没有受到影响

也没有找到和风相关的话题

andy-zhuo-02 · 2023-04-17T12:32:05Z

你可以尝试在launch文件中将gazebo config下的verbose标签打开以查看更多信息。可能会有一条关于风插件的err信息提示你是否需要设置一些参数

andy-zhuo-02 · 2023-04-17T13:02:22Z

注意，当您修改之后，建议可以采用QGC令飞机旋停的方式来检测场景中是否有风，检测无人机旋停的姿态即可

LChen-99 · 2023-04-17T13:54:53Z

你可以尝试在launch文件中将gazebo config下的verbose标签打开以查看更多信息。可能会有一条关于风插件的err信息提示你是否需要设置一些参数

您好,我打开了verbose这是终端的信息,我并没有看到和风插件相关的
[Msg] Loading world file [/home/luochen/PX4_Firmware/Tools/sitl_gazebo/worlds/indoor1_wind.world]
[INFO] [1681738541.824912, 0.000000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1681738541.834935381]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1681738541.895163, 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] [1681738541.896206, 1814.801000]: Spawn service failed. Exiting.
[ INFO] [1681738541.901278483, 1814.805000000]: Physics dynamic reconfigure ready.
Warning [parser.cc:950] XML Element[parent], child of element[sensor] not defined in SDF. Ignoring[parent]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[ INFO] [1681738542.262027808, 1814.889000000]: Camera Plugin: The 'robotNamespace' param was empty
[ INFO] [1681738542.262528579, 1814.889000000]: Camera Plugin: The 'robotNamespace' param was empty
[ INFO] [1681738542.264648502, 1814.889000000]: Camera Plugin (ns = iris_0) <tf_prefix_>, set to "iris_0"
[ INFO] [1681738542.264692706, 1814.889000000]: Camera Plugin (ns = iris_0) <tf_prefix_>, set to "iris_0"
[ INFO] [1681738542.268829294, 1814.889000000]: Camera Plugin: The 'robotNamespace' param was empty
[ INFO] [1681738542.269032388, 1814.889000000]: Camera Plugin: The 'robotNamespace' param was empty
[ INFO] [1681738542.270164016, 1814.889000000]: Camera Plugin (ns = iris_0) <tf_prefix_>, set to "iris_0"
[ INFO] [1681738542.271016486, 1814.889000000]: Camera Plugin (ns = iris_0) <tf_prefix_>, set to "iris_0"
[Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported.
[ WARN] [1681738542.275636880, 1814.889000000]: missing , set to default: /iris_0/
[ INFO] [1681738542.275685453, 1814.889000000]: set to: /iris_0/imu_gazebo
[ INFO] [1681738542.275698889, 1814.889000000]: set to: imu_link_stereo
[ INFO] [1681738542.275731912, 1814.889000000]: set to: 500
[ INFO] [1681738542.275749855, 1814.889000000]: set to: 0
[ INFO] [1681738542.275797693, 1814.889000000]: set to: 0 0 0
[ INFO] [1681738542.275909554, 1814.889000000]: set to: 0 -0 0
[Msg] Connecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
[Msg] Using MAVLink protocol v2.0
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 [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 [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] Opened full log file: ./log/2023-04-17/13_35_42.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
[ INFO] [1681738542.597654416, 1815.057000000]: udp0: Remote address: 127.0.0.1:34580
[ INFO] [1681738542.597761863, 1815.057000000]: IMU: High resolution IMU detected!
[ INFO] [1681738542.629630230, 1815.089000000]: FCU: [logger] file:./log/2023-04-17/13_35_42.ulg
[Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[multicamera] not supported.
[iris_0/iris_0_spawn-4] process has died [pid 1048575, exit code 1, cmd /home/luochen/catkin_ws/devel/lib/gazebo_ros/spawn_model -sdf -param model_description -model iris_0 -x 0 -y -4.5 -z 1 -R 0 -P 0 -Y 1.570796 __name:=iris_0_spawn __log:=/home/luochen/.ros/log/23707e24-da8c-11ed-8d0d-395337c18d5a/iris_0-iris_0_spawn-4.log].
log file: /home/luochen/.ros/log/23707e24-da8c-11ed-8d0d-395337c18d5a/iris_0-iris_0_spawn-4*.log
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1681738543.581725931, 1816.037000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1681738543.582567819, 1816.037000000]: IMU: High resolution IMU detected!
INFO [ecl/EKF] 1776000: EKF aligned, (baro height, IMU buf: 22, OBS buf: 14)
INFO [ecl/EKF] 1776000: reset position to last known position
INFO [ecl/EKF] 1776000: reset velocity to zero
[ERROR] [1681738544.387648240, 1816.841000000]: ODOM: Ex: Could not find a connection between 'iris_0/base_link' and 'base_link_frd' because they are not part of the same tree.Tf has two or more unconnected trees.
[ INFO] [1681738544.391623632, 1816.845000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1681738544.585264900, 1817.037000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1681738544.585418736, 1817.037000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1681738544.585465258, 1817.037000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1681738544.585520138, 1817.037000000]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1681738544.585561182, 1817.037000000]: VER: 1.1: Flight software: 010b0080 (746b3124ab000000)
[ INFO] [1681738544.585589894, 1817.037000000]: VER: 1.1: Middleware software: 010b0080 (746b3124ab000000)
[ INFO] [1681738544.585618304, 1817.037000000]: VER: 1.1: OS software: 050f00ff (ec417d7466666801)
[ INFO] [1681738544.585652132, 1817.037000000]: VER: 1.1: Board hardware: 00000001
[ INFO] [1681738544.585676769, 1817.037000000]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1681738544.585701997, 1817.037000000]: VER: 1.1: UID: 4954414c44494e4f
[ WARN] [1681738544.588032038, 1817.041000000]: CMD: Unexpected command 520, result 0

andy-zhuo-02 · 2023-04-18T14:54:14Z

你可能弄混了一点：风速信息是以gazebo内部的topic类型发布的，而非ROS的消息发布，用rostopic是无法找到的。

首先，你可以通过（比如）在QGC中令无人机起飞并旋停，通过观察无人机的旋停姿态来确认当前场景内部有没有风；
其次，你可以通过在命令行中输入gz topic --list来查看发布的风速信息话题。

LChen-99 · 2023-04-19T05:02:14Z

你可能弄混了一点：风速信息是以gazebo内部的topic类型发布的，而非ROS的消息发布，用rostopic是无法找到的。

首先，你可以通过（比如）在QGC中令无人机起飞并旋停，通过观察无人机的旋停姿态来确认当前场景内部有没有风；其次，你可以通过在命令行中输入gz topic --list来查看发布的风速信息话题。

您好，这是悬停时候的姿态，应该是没有风的。
orientation:
x: -3.9238795157346366e-05
y: -5.5042287043711194e-05
z: 0.7072721693686018
w: 0.7069413510803392
下面是gz topic --list： /gazebo/default/wind只有这个跟风有关，但是这个话题是没有信息的

/gazebo/default/atmosphere
/gazebo/default/cinder_block_wide/link/wrench
/gazebo/default/coke_can/link/wrench
/gazebo/default/diagnostics
/gazebo/default/factory
/gazebo/default/factory/light
/gazebo/default/grey_tote/link/wrench
/gazebo/default/gui
/gazebo/default/gzclient_camera/cmd
/gazebo/default/iris_0/baro
/gazebo/default/iris_0/base_link/wrench
/gazebo/default/iris_0/camera/link/irlock
/gazebo/default/iris_0/gazebo/command/motor_speed
/gazebo/default/iris_0/gps
/gazebo/default/iris_0/groundtruth
/gazebo/default/iris_0/imu
/gazebo/default/iris_0/imu_gazebo/link/imu_sensor/imu
/gazebo/default/iris_0/imu_gazebo/link/wrench
/gazebo/default/iris_0/imu_link/wrench
/gazebo/default/iris_0/joint_cmd
/gazebo/default/iris_0/mag
/gazebo/default/iris_0/px4flow/link/opticalFlow
/gazebo/default/iris_0/rotor_0/wrench
/gazebo/default/iris_0/rotor_1/wrench
/gazebo/default/iris_0/rotor_2/wrench
/gazebo/default/iris_0/rotor_3/wrench
/gazebo/default/iris_0/stereo_camera/link/camera/images
/gazebo/default/iris_0/stereo_camera/link/wrench
/gazebo/default/iris_0/stereo_camera_down/link/camera/images
/gazebo/default/iris_0/stereo_camera_down/link/wrench
/gazebo/default/iris_0/vision_odom
/gazebo/default/iris_0::imu_gazebo::link
/gazebo/default/joint
/gazebo/default/left/cmd
/gazebo/default/light/modify
/gazebo/default/log/control
/gazebo/default/log/status
/gazebo/default/model/info
/gazebo/default/model/modify
/gazebo/default/physics
/gazebo/default/physics/contacts
/gazebo/default/playback_control
/gazebo/default/pose/info
/gazebo/default/pose/local/info
/gazebo/default/pose/modify
/gazebo/default/request
/gazebo/default/response
/gazebo/default/right/cmd
/gazebo/default/roads
/gazebo/default/scene
/gazebo/default/selection
/gazebo/default/sensor
/gazebo/default/skeleton_pose/info
/gazebo/default/sky
/gazebo/default/undo_redo
/gazebo/default/user_camera/joy_pose
/gazebo/default/user_camera/joy_twist
/gazebo/default/user_camera/pose
/gazebo/default/user_cmd
/gazebo/default/user_cmd_stats
/gazebo/default/visual
/gazebo/default/wind
/gazebo/default/world_control
/gazebo/default/world_stats
/gazebo/motor_failure_num
/gazebo/performance_metrics
/gazebo/server/control
/gazebo/world/modify

然后这是我的world文件的前面部分，·我还是没找到哪里出了问题：

<plugin name='wind_plugin' filename='libWindPlugin.so'>
  <frameId>base_link</frameId>
  <robotNamespace/>
  <xyzOffset>0 1 0</xyzOffset>
  <!-- wind -->
  <windDirectionMean>1 1 0</windDirectionMean>
  <windDirectionVariance>0.1 0.1 0</windDirectionVariance>
  <windVelocityMean>5</windVelocityMean>
  <windVelocityMax>8</windVelocityMax>
  <windVelocityVariance>1</windVelocityVariance>
  <!--”wind gust“  optional config-->
  <windGustDuration>1</windGustDuration>
  <windGustStart>1</windGustStart>
  <windGustDirectionMean>0.2 0.2 0</windGustDirectionMean>
  <windGustDirectionVariance>0.2 0.2 0</windGustDirectionVariance>
  <windGustVeloctiyMean>2</windGustVeloctiyMean>
  <windGustVelocityMax>2.5</windGustVelocityMax>
  <windGustVelocityVariance>0.5</windGustVelocityVariance>

  <!--topic-->
  <windPubTopic>world_wind</windPubTopic>
</plugin>

andy-zhuo-02 · 2023-04-21T01:32:45Z

请问你的PX4用的是什么版本？

LChen-99 · 2023-04-21T15:13:54Z

您好，是1.11版本的
746b3124ab (HEAD -> xtdrone/dev, tag: v1.11.0-beta1) HEAD@{0}: checkout: moving from master to xtdrone/dev

andy-zhuo-02 · 2023-04-22T07:31:48Z

直接使用windy.world也是没有风的状态吗

LChen-99 · 2023-04-22T07:33:55Z

直接使用windy.world也是没有风的状态吗

我的电脑上没有找到windy.world这个文件
不知道是怎么回事，这个文件是在哪里

andy-zhuo-02 · 2023-04-23T08:51:42Z

默认环境下，世界文件都应该处于路径 ~/PX4_Firmware/Tools/sitl_gazebo/worlds 下。你在进行launch文件的配置时，应该修改其中的world参数为你所需要的世界

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

开启风插件失败 #79

开启风插件失败 #79

LChen-99 commented Apr 12, 2023

LChen-99 commented Apr 12, 2023

LChen-99 commented Apr 12, 2023

andy-zhuo-02 commented Apr 13, 2023

LChen-99 commented Apr 13, 2023

LChen-99 commented Apr 13, 2023

andy-zhuo-02 commented Apr 17, 2023

andy-zhuo-02 commented Apr 17, 2023

LChen-99 commented Apr 17, 2023

andy-zhuo-02 commented Apr 18, 2023

LChen-99 commented Apr 19, 2023

andy-zhuo-02 commented Apr 21, 2023

LChen-99 commented Apr 21, 2023

andy-zhuo-02 commented Apr 22, 2023

LChen-99 commented Apr 22, 2023

andy-zhuo-02 commented Apr 23, 2023

开启风插件失败 #79

开启风插件失败 #79

Comments

LChen-99 commented Apr 12, 2023

LChen-99 commented Apr 12, 2023

LChen-99 commented Apr 12, 2023

andy-zhuo-02 commented Apr 13, 2023

LChen-99 commented Apr 13, 2023

LChen-99 commented Apr 13, 2023

andy-zhuo-02 commented Apr 17, 2023

andy-zhuo-02 commented Apr 17, 2023

LChen-99 commented Apr 17, 2023

andy-zhuo-02 commented Apr 18, 2023

LChen-99 commented Apr 19, 2023

andy-zhuo-02 commented Apr 21, 2023

LChen-99 commented Apr 21, 2023

andy-zhuo-02 commented Apr 22, 2023

LChen-99 commented Apr 22, 2023

andy-zhuo-02 commented Apr 23, 2023