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SITL multi-vehicle data link issue #9439

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Ahrovan opened this issue May 8, 2018 · 2 comments
Closed

SITL multi-vehicle data link issue #9439

Ahrovan opened this issue May 8, 2018 · 2 comments

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@Ahrovan
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Ahrovan commented May 8, 2018 •
edited by AuterionWrikeBot
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Alternatively problems occur

INFO [commander] data link #0 lost
INFO [commander] data link #0 regained

and can not control vehicles truly.

  • ubuntu 16.04 - ros kinetic
  • based on multi-vehicle-simulation
  • System info:
    Processor Intel(R) Core(TM) i7-4790K CPU @ 4.00GHz, 4001 Mhz, 4 Core(s), 8 Logical Processor(s)
    Physical Memory (RAM) 24.0 GB
    NVIDIA GeForce GTX 980 Ti
roslaunch px4 multi_uav_mavros_sitl.launch gui:=false... logging to /home/cv/.ros/log/97fd1b0a-528b-11e8-adbf-cb24266246e5/roslaunch-ubuntu-11904.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:46209/

SUMMARY
========

CLEAR PARAMETERS
* /uav1/mavros/
* /uav2/mavros/
* /uav3/mavros/
* /uav4/mavros/
* /uav5/mavros/

PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.12
* /uav1/mavros/cmd/use_comp_id_system_control: False
* /uav1/mavros/conn/heartbeat_rate: 1.0
* /uav1/mavros/conn/system_time_rate: 1.0
* /uav1/mavros/conn/timeout: 10.0
* /uav1/mavros/conn/timesync_rate: 10.0
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /uav1/mavros/distance_sensor/laser_1_sub/id: 3
* /uav1/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /uav1/mavros/distance_sensor/laser_1_sub/subscriber: True
* /uav1/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /uav1/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /uav1/mavros/distance_sensor/lidarlite_pub/id: 1
* /uav1/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /uav1/mavros/distance_sensor/lidarlite_pub/send_tf: True
* /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /uav1/mavros/distance_sensor/sonar_1_sub/id: 2
* /uav1/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /uav1/mavros/distance_sensor/sonar_1_sub/subscriber: True
* /uav1/mavros/fake_gps/eph: 2.0
* /uav1/mavros/fake_gps/epv: 2.0
* /uav1/mavros/fake_gps/fix_type: 3
* /uav1/mavros/fake_gps/geo_origin/alt: 408.0
* /uav1/mavros/fake_gps/geo_origin/lat: 47.3667
* /uav1/mavros/fake_gps/geo_origin/lon: 8.55
* /uav1/mavros/fake_gps/gps_rate: 5.0
* /uav1/mavros/fake_gps/mocap_transform: True
* /uav1/mavros/fake_gps/satellites_visible: 5
* /uav1/mavros/fake_gps/tf/child_frame_id: fix
* /uav1/mavros/fake_gps/tf/frame_id: map
* /uav1/mavros/fake_gps/tf/listen: False
* /uav1/mavros/fake_gps/tf/rate_limit: 10.0
* /uav1/mavros/fake_gps/tf/send: False
* /uav1/mavros/fake_gps/use_mocap: True
* /uav1/mavros/fake_gps/use_vision: False
* /uav1/mavros/fcu_protocol: v2.0
* /uav1/mavros/fcu_url: udp://:14540@loca...
* /uav1/mavros/gcs_url:
* /uav1/mavros/global_position/child_frame_id: base_link
* /uav1/mavros/global_position/frame_id: map
* /uav1/mavros/global_position/rot_covariance: 99999.0
* /uav1/mavros/global_position/tf/child_frame_id: base_link
* /uav1/mavros/global_position/tf/frame_id: map
* /uav1/mavros/global_position/tf/global_frame_id: earth
* /uav1/mavros/global_position/tf/send: False
* /uav1/mavros/global_position/use_relative_alt: True
* /uav1/mavros/image/frame_id: px4flow
* /uav1/mavros/imu/angular_velocity_stdev: 0.000349065850399
* /uav1/mavros/imu/frame_id: base_link
* /uav1/mavros/imu/linear_acceleration_stdev: 0.0003
* /uav1/mavros/imu/magnetic_stdev: 0.0
* /uav1/mavros/imu/orientation_stdev: 1.0
* /uav1/mavros/local_position/frame_id: map
* /uav1/mavros/local_position/tf/child_frame_id: base_link
* /uav1/mavros/local_position/tf/frame_id: map
* /uav1/mavros/local_position/tf/send: False
* /uav1/mavros/local_position/tf/send_fcu: False
* /uav1/mavros/mission/pull_after_gcs: True
* /uav1/mavros/mocap/use_pose: True
* /uav1/mavros/mocap/use_tf: False
* /uav1/mavros/odometry/estimator_type: 3
* /uav1/mavros/odometry/frame_tf/desired_frame: ned
* /uav1/mavros/plugin_blacklist: ['safety_area', '...
* /uav1/mavros/plugin_whitelist: []
* /uav1/mavros/px4flow/frame_id: px4flow
* /uav1/mavros/px4flow/ranger_fov: 0.118682389136
* /uav1/mavros/px4flow/ranger_max_range: 5.0
* /uav1/mavros/px4flow/ranger_min_range: 0.3
* /uav1/mavros/safety_area/p1/x: 1.0
* /uav1/mavros/safety_area/p1/y: 1.0
* /uav1/mavros/safety_area/p1/z: 1.0
* /uav1/mavros/safety_area/p2/x: -1.0
* /uav1/mavros/safety_area/p2/y: -1.0
* /uav1/mavros/safety_area/p2/z: -1.0
* /uav1/mavros/setpoint_accel/send_force: False
* /uav1/mavros/setpoint_attitude/reverse_thrust: False
* /uav1/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /uav1/mavros/setpoint_attitude/tf/frame_id: map
* /uav1/mavros/setpoint_attitude/tf/listen: False
* /uav1/mavros/setpoint_attitude/tf/rate_limit: 50.0
* /uav1/mavros/setpoint_attitude/use_quaternion: False
* /uav1/mavros/setpoint_position/mav_frame: LOCAL_NED
* /uav1/mavros/setpoint_position/tf/child_frame_id: target_position
* /uav1/mavros/setpoint_position/tf/frame_id: map
* /uav1/mavros/setpoint_position/tf/listen: False
* /uav1/mavros/setpoint_position/tf/rate_limit: 50.0
* /uav1/mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /uav1/mavros/startup_px4_usb_quirk: True
* /uav1/mavros/sys/disable_diag: False
* /uav1/mavros/sys/min_voltage: 10.0
* /uav1/mavros/target_component_id: 1
* /uav1/mavros/target_system_id: 1
* /uav1/mavros/tdr_radio/low_rssi: 40
* /uav1/mavros/time/time_ref_source: fcu
* /uav1/mavros/time/timesync_avg_alpha: 0.6
* /uav1/mavros/time/timesync_mode: MAVLINK
* /uav1/mavros/vibration/frame_id: base_link
* /uav1/mavros/vision_pose/tf/child_frame_id: vision_estimate
* /uav1/mavros/vision_pose/tf/frame_id: map
* /uav1/mavros/vision_pose/tf/listen: False
* /uav1/mavros/vision_pose/tf/rate_limit: 10.0
* /uav1/mavros/vision_speed/listen_twist: False
* /uav1/rotors_description: <?xml version="1....
* /uav2/mavros/cmd/use_comp_id_system_control: False
* /uav2/mavros/conn/heartbeat_rate: 1.0
* /uav2/mavros/conn/system_time_rate: 1.0
* /uav2/mavros/conn/timeout: 10.0
* /uav2/mavros/conn/timesync_rate: 10.0
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /uav2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /uav2/mavros/distance_sensor/laser_1_sub/id: 3
* /uav2/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /uav2/mavros/distance_sensor/laser_1_sub/subscriber: True
* /uav2/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /uav2/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /uav2/mavros/distance_sensor/lidarlite_pub/id: 1
* /uav2/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /uav2/mavros/distance_sensor/lidarlite_pub/send_tf: True
* /uav2/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /uav2/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /uav2/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /uav2/mavros/distance_sensor/sonar_1_sub/id: 2
* /uav2/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /uav2/mavros/distance_sensor/sonar_1_sub/subscriber: True
* /uav2/mavros/fake_gps/eph: 2.0
* /uav2/mavros/fake_gps/epv: 2.0
* /uav2/mavros/fake_gps/fix_type: 3
* /uav2/mavros/fake_gps/geo_origin/alt: 408.0
* /uav2/mavros/fake_gps/geo_origin/lat: 47.3667
* /uav2/mavros/fake_gps/geo_origin/lon: 8.55
* /uav2/mavros/fake_gps/gps_rate: 5.0
* /uav2/mavros/fake_gps/mocap_transform: True
* /uav2/mavros/fake_gps/satellites_visible: 5
* /uav2/mavros/fake_gps/tf/child_frame_id: fix
* /uav2/mavros/fake_gps/tf/frame_id: map
* /uav2/mavros/fake_gps/tf/listen: False
* /uav2/mavros/fake_gps/tf/rate_limit: 10.0
* /uav2/mavros/fake_gps/tf/send: False
* /uav2/mavros/fake_gps/use_mocap: True
* /uav2/mavros/fake_gps/use_vision: False
* /uav2/mavros/fcu_protocol: v2.0
* /uav2/mavros/fcu_url: udp://:14541@loca...
* /uav2/mavros/gcs_url:
* /uav2/mavros/global_position/child_frame_id: base_link
* /uav2/mavros/global_position/frame_id: map
* /uav2/mavros/global_position/rot_covariance: 99999.0
* /uav2/mavros/global_position/tf/child_frame_id: base_link
* /uav2/mavros/global_position/tf/frame_id: map
* /uav2/mavros/global_position/tf/global_frame_id: earth
* /uav2/mavros/global_position/tf/send: False
* /uav2/mavros/global_position/use_relative_alt: True
* /uav2/mavros/image/frame_id: px4flow
* /uav2/mavros/imu/angular_velocity_stdev: 0.000349065850399
* /uav2/mavros/imu/frame_id: base_link
* /uav2/mavros/imu/linear_acceleration_stdev: 0.0003
* /uav2/mavros/imu/magnetic_stdev: 0.0
* /uav2/mavros/imu/orientation_stdev: 1.0
* /uav2/mavros/local_position/frame_id: map
* /uav2/mavros/local_position/tf/child_frame_id: base_link
* /uav2/mavros/local_position/tf/frame_id: map
* /uav2/mavros/local_position/tf/send: False
* /uav2/mavros/local_position/tf/send_fcu: False
* /uav2/mavros/mission/pull_after_gcs: True
* /uav2/mavros/mocap/use_pose: True
* /uav2/mavros/mocap/use_tf: False
* /uav2/mavros/odometry/estimator_type: 3
* /uav2/mavros/odometry/frame_tf/desired_frame: ned
* /uav2/mavros/plugin_blacklist: ['safety_area', '...
* /uav2/mavros/plugin_whitelist: []
* /uav2/mavros/px4flow/frame_id: px4flow
* /uav2/mavros/px4flow/ranger_fov: 0.118682389136
* /uav2/mavros/px4flow/ranger_max_range: 5.0
* /uav2/mavros/px4flow/ranger_min_range: 0.3
* /uav2/mavros/safety_area/p1/x: 1.0
* /uav2/mavros/safety_area/p1/y: 1.0
* /uav2/mavros/safety_area/p1/z: 1.0
* /uav2/mavros/safety_area/p2/x: -1.0
* /uav2/mavros/safety_area/p2/y: -1.0
* /uav2/mavros/safety_area/p2/z: -1.0
* /uav2/mavros/setpoint_accel/send_force: False
* /uav2/mavros/setpoint_attitude/reverse_thrust: False
* /uav2/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /uav2/mavros/setpoint_attitude/tf/frame_id: map
* /uav2/mavros/setpoint_attitude/tf/listen: False
* /uav2/mavros/setpoint_attitude/tf/rate_limit: 50.0
* /uav2/mavros/setpoint_attitude/use_quaternion: False
* /uav2/mavros/setpoint_position/mav_frame: LOCAL_NED
* /uav2/mavros/setpoint_position/tf/child_frame_id: target_position
* /uav2/mavros/setpoint_position/tf/frame_id: map
* /uav2/mavros/setpoint_position/tf/listen: False
* /uav2/mavros/setpoint_position/tf/rate_limit: 50.0
* /uav2/mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /uav2/mavros/startup_px4_usb_quirk: True
* /uav2/mavros/sys/disable_diag: False
* /uav2/mavros/sys/min_voltage: 10.0
* /uav2/mavros/target_component_id: 1
* /uav2/mavros/target_system_id: 2
* /uav2/mavros/tdr_radio/low_rssi: 40
* /uav2/mavros/time/time_ref_source: fcu
* /uav2/mavros/time/timesync_avg_alpha: 0.6
* /uav2/mavros/time/timesync_mode: MAVLINK
* /uav2/mavros/vibration/frame_id: base_link
* /uav2/mavros/vision_pose/tf/child_frame_id: vision_estimate
* /uav2/mavros/vision_pose/tf/frame_id: map
* /uav2/mavros/vision_pose/tf/listen: False
* /uav2/mavros/vision_pose/tf/rate_limit: 10.0
* /uav2/mavros/vision_speed/listen_twist: False
* /uav2/rotors_description: <?xml version="1....
* /uav3/mavros/cmd/use_comp_id_system_control: False
* /uav3/mavros/conn/heartbeat_rate: 1.0
* /uav3/mavros/conn/system_time_rate: 1.0
* /uav3/mavros/conn/timeout: 10.0
* /uav3/mavros/conn/timesync_rate: 10.0
* /uav3/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /uav3/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /uav3/mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /uav3/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /uav3/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /uav3/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /uav3/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /uav3/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /uav3/mavros/distance_sensor/laser_1_sub/id: 3
* /uav3/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /uav3/mavros/distance_sensor/laser_1_sub/subscriber: True
* /uav3/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /uav3/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /uav3/mavros/distance_sensor/lidarlite_pub/id: 1
* /uav3/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /uav3/mavros/distance_sensor/lidarlite_pub/send_tf: True
* /uav3/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /uav3/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /uav3/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /uav3/mavros/distance_sensor/sonar_1_sub/id: 2
* /uav3/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /uav3/mavros/distance_sensor/sonar_1_sub/subscriber: True
* /uav3/mavros/fake_gps/eph: 2.0
* /uav3/mavros/fake_gps/epv: 2.0
* /uav3/mavros/fake_gps/fix_type: 3
* /uav3/mavros/fake_gps/geo_origin/alt: 408.0
* /uav3/mavros/fake_gps/geo_origin/lat: 47.3667
* /uav3/mavros/fake_gps/geo_origin/lon: 8.55
* /uav3/mavros/fake_gps/gps_rate: 5.0
* /uav3/mavros/fake_gps/mocap_transform: True
* /uav3/mavros/fake_gps/satellites_visible: 5
* /uav3/mavros/fake_gps/tf/child_frame_id: fix
* /uav3/mavros/fake_gps/tf/frame_id: map
* /uav3/mavros/fake_gps/tf/listen: False
* /uav3/mavros/fake_gps/tf/rate_limit: 10.0
* /uav3/mavros/fake_gps/tf/send: False
* /uav3/mavros/fake_gps/use_mocap: True
* /uav3/mavros/fake_gps/use_vision: False
* /uav3/mavros/fcu_protocol: v2.0
* /uav3/mavros/fcu_url: udp://:14571@loca...
* /uav3/mavros/gcs_url:
* /uav3/mavros/global_position/child_frame_id: base_link
* /uav3/mavros/global_position/frame_id: map
* /uav3/mavros/global_position/rot_covariance: 99999.0
* /uav3/mavros/global_position/tf/child_frame_id: base_link
* /uav3/mavros/global_position/tf/frame_id: map
* /uav3/mavros/global_position/tf/global_frame_id: earth
* /uav3/mavros/global_position/tf/send: False
* /uav3/mavros/global_position/use_relative_alt: True
* /uav3/mavros/image/frame_id: px4flow
* /uav3/mavros/imu/angular_velocity_stdev: 0.000349065850399
* /uav3/mavros/imu/frame_id: base_link
* /uav3/mavros/imu/linear_acceleration_stdev: 0.0003
* /uav3/mavros/imu/magnetic_stdev: 0.0
* /uav3/mavros/imu/orientation_stdev: 1.0
* /uav3/mavros/local_position/frame_id: map
* /uav3/mavros/local_position/tf/child_frame_id: base_link
* /uav3/mavros/local_position/tf/frame_id: map
* /uav3/mavros/local_position/tf/send: False
* /uav3/mavros/local_position/tf/send_fcu: False
* /uav3/mavros/mission/pull_after_gcs: True
* /uav3/mavros/mocap/use_pose: True
* /uav3/mavros/mocap/use_tf: False
* /uav3/mavros/odometry/estimator_type: 3
* /uav3/mavros/odometry/frame_tf/desired_frame: ned
* /uav3/mavros/plugin_blacklist: ['safety_area', '...
* /uav3/mavros/plugin_whitelist: []
* /uav3/mavros/px4flow/frame_id: px4flow
* /uav3/mavros/px4flow/ranger_fov: 0.118682389136
* /uav3/mavros/px4flow/ranger_max_range: 5.0
* /uav3/mavros/px4flow/ranger_min_range: 0.3
* /uav3/mavros/safety_area/p1/x: 1.0
* /uav3/mavros/safety_area/p1/y: 1.0
* /uav3/mavros/safety_area/p1/z: 1.0
* /uav3/mavros/safety_area/p2/x: -1.0
* /uav3/mavros/safety_area/p2/y: -1.0
* /uav3/mavros/safety_area/p2/z: -1.0
* /uav3/mavros/setpoint_accel/send_force: False
* /uav3/mavros/setpoint_attitude/reverse_thrust: False
* /uav3/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /uav3/mavros/setpoint_attitude/tf/frame_id: map
* /uav3/mavros/setpoint_attitude/tf/listen: False
* /uav3/mavros/setpoint_attitude/tf/rate_limit: 50.0
* /uav3/mavros/setpoint_attitude/use_quaternion: False
* /uav3/mavros/setpoint_position/mav_frame: LOCAL_NED
* /uav3/mavros/setpoint_position/tf/child_frame_id: target_position
* /uav3/mavros/setpoint_position/tf/frame_id: map
* /uav3/mavros/setpoint_position/tf/listen: False
* /uav3/mavros/setpoint_position/tf/rate_limit: 50.0
* /uav3/mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /uav3/mavros/startup_px4_usb_quirk: True
* /uav3/mavros/sys/disable_diag: False
* /uav3/mavros/sys/min_voltage: 10.0
* /uav3/mavros/target_component_id: 1
* /uav3/mavros/target_system_id: 3
* /uav3/mavros/tdr_radio/low_rssi: 40
* /uav3/mavros/time/time_ref_source: fcu
* /uav3/mavros/time/timesync_avg_alpha: 0.6
* /uav3/mavros/time/timesync_mode: MAVLINK
* /uav3/mavros/vibration/frame_id: base_link
* /uav3/mavros/vision_pose/tf/child_frame_id: vision_estimate
* /uav3/mavros/vision_pose/tf/frame_id: map
* /uav3/mavros/vision_pose/tf/listen: False
* /uav3/mavros/vision_pose/tf/rate_limit: 10.0
* /uav3/mavros/vision_speed/listen_twist: False
* /uav3/rotors_description: <?xml version="1....
* /uav4/mavros/cmd/use_comp_id_system_control: False
* /uav4/mavros/conn/heartbeat_rate: 1.0
* /uav4/mavros/conn/system_time_rate: 1.0
* /uav4/mavros/conn/timeout: 10.0
* /uav4/mavros/conn/timesync_rate: 10.0
* /uav4/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /uav4/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /uav4/mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /uav4/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /uav4/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /uav4/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /uav4/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /uav4/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /uav4/mavros/distance_sensor/laser_1_sub/id: 3
* /uav4/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /uav4/mavros/distance_sensor/laser_1_sub/subscriber: True
* /uav4/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /uav4/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /uav4/mavros/distance_sensor/lidarlite_pub/id: 1
* /uav4/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /uav4/mavros/distance_sensor/lidarlite_pub/send_tf: True
* /uav4/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /uav4/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /uav4/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /uav4/mavros/distance_sensor/sonar_1_sub/id: 2
* /uav4/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /uav4/mavros/distance_sensor/sonar_1_sub/subscriber: True
* /uav4/mavros/fake_gps/eph: 2.0
* /uav4/mavros/fake_gps/epv: 2.0
* /uav4/mavros/fake_gps/fix_type: 3
* /uav4/mavros/fake_gps/geo_origin/alt: 408.0
* /uav4/mavros/fake_gps/geo_origin/lat: 47.3667
* /uav4/mavros/fake_gps/geo_origin/lon: 8.55
* /uav4/mavros/fake_gps/gps_rate: 5.0
* /uav4/mavros/fake_gps/mocap_transform: True
* /uav4/mavros/fake_gps/satellites_visible: 5
* /uav4/mavros/fake_gps/tf/child_frame_id: fix
* /uav4/mavros/fake_gps/tf/frame_id: map
* /uav4/mavros/fake_gps/tf/listen: False
* /uav4/mavros/fake_gps/tf/rate_limit: 10.0
* /uav4/mavros/fake_gps/tf/send: False
* /uav4/mavros/fake_gps/use_mocap: True
* /uav4/mavros/fake_gps/use_vision: False
* /uav4/mavros/fcu_protocol: v2.0
* /uav4/mavros/fcu_url: udp://:14572@loca...
* /uav4/mavros/gcs_url:
* /uav4/mavros/global_position/child_frame_id: base_link
* /uav4/mavros/global_position/frame_id: map
* /uav4/mavros/global_position/rot_covariance: 99999.0
* /uav4/mavros/global_position/tf/child_frame_id: base_link
* /uav4/mavros/global_position/tf/frame_id: map
* /uav4/mavros/global_position/tf/global_frame_id: earth
* /uav4/mavros/global_position/tf/send: False
* /uav4/mavros/global_position/use_relative_alt: True
* /uav4/mavros/image/frame_id: px4flow
* /uav4/mavros/imu/angular_velocity_stdev: 0.000349065850399
* /uav4/mavros/imu/frame_id: base_link
* /uav4/mavros/imu/linear_acceleration_stdev: 0.0003
* /uav4/mavros/imu/magnetic_stdev: 0.0
* /uav4/mavros/imu/orientation_stdev: 1.0
* /uav4/mavros/local_position/frame_id: map
* /uav4/mavros/local_position/tf/child_frame_id: base_link
* /uav4/mavros/local_position/tf/frame_id: map
* /uav4/mavros/local_position/tf/send: False
* /uav4/mavros/local_position/tf/send_fcu: False
* /uav4/mavros/mission/pull_after_gcs: True
* /uav4/mavros/mocap/use_pose: True
* /uav4/mavros/mocap/use_tf: False
* /uav4/mavros/odometry/estimator_type: 3
* /uav4/mavros/odometry/frame_tf/desired_frame: ned
* /uav4/mavros/plugin_blacklist: ['safety_area', '...
* /uav4/mavros/plugin_whitelist: []
* /uav4/mavros/px4flow/frame_id: px4flow
* /uav4/mavros/px4flow/ranger_fov: 0.118682389136
* /uav4/mavros/px4flow/ranger_max_range: 5.0
* /uav4/mavros/px4flow/ranger_min_range: 0.3
* /uav4/mavros/safety_area/p1/x: 1.0
* /uav4/mavros/safety_area/p1/y: 1.0
* /uav4/mavros/safety_area/p1/z: 1.0
* /uav4/mavros/safety_area/p2/x: -1.0
* /uav4/mavros/safety_area/p2/y: -1.0
* /uav4/mavros/safety_area/p2/z: -1.0
* /uav4/mavros/setpoint_accel/send_force: False
* /uav4/mavros/setpoint_attitude/reverse_thrust: False
* /uav4/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /uav4/mavros/setpoint_attitude/tf/frame_id: map
* /uav4/mavros/setpoint_attitude/tf/listen: False
* /uav4/mavros/setpoint_attitude/tf/rate_limit: 50.0
* /uav4/mavros/setpoint_attitude/use_quaternion: False
* /uav4/mavros/setpoint_position/mav_frame: LOCAL_NED
* /uav4/mavros/setpoint_position/tf/child_frame_id: target_position
* /uav4/mavros/setpoint_position/tf/frame_id: map
* /uav4/mavros/setpoint_position/tf/listen: False
* /uav4/mavros/setpoint_position/tf/rate_limit: 50.0
* /uav4/mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /uav4/mavros/startup_px4_usb_quirk: True
* /uav4/mavros/sys/disable_diag: False
* /uav4/mavros/sys/min_voltage: 10.0
* /uav4/mavros/target_component_id: 1
* /uav4/mavros/target_system_id: 4
* /uav4/mavros/tdr_radio/low_rssi: 40
* /uav4/mavros/time/time_ref_source: fcu
* /uav4/mavros/time/timesync_avg_alpha: 0.6
* /uav4/mavros/time/timesync_mode: MAVLINK
* /uav4/mavros/vibration/frame_id: base_link
* /uav4/mavros/vision_pose/tf/child_frame_id: vision_estimate
* /uav4/mavros/vision_pose/tf/frame_id: map
* /uav4/mavros/vision_pose/tf/listen: False
* /uav4/mavros/vision_pose/tf/rate_limit: 10.0
* /uav4/mavros/vision_speed/listen_twist: False
* /uav4/rotors_description: <?xml version="1....
* /uav5/mavros/cmd/use_comp_id_system_control: False
* /uav5/mavros/conn/heartbeat_rate: 1.0
* /uav5/mavros/conn/system_time_rate: 1.0
* /uav5/mavros/conn/timeout: 10.0
* /uav5/mavros/conn/timesync_rate: 10.0
* /uav5/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /uav5/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /uav5/mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /uav5/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /uav5/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /uav5/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /uav5/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /uav5/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /uav5/mavros/distance_sensor/laser_1_sub/id: 3
* /uav5/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /uav5/mavros/distance_sensor/laser_1_sub/subscriber: True
* /uav5/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /uav5/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /uav5/mavros/distance_sensor/lidarlite_pub/id: 1
* /uav5/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /uav5/mavros/distance_sensor/lidarlite_pub/send_tf: True
* /uav5/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /uav5/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /uav5/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /uav5/mavros/distance_sensor/sonar_1_sub/id: 2
* /uav5/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /uav5/mavros/distance_sensor/sonar_1_sub/subscriber: True
* /uav5/mavros/fake_gps/eph: 2.0
* /uav5/mavros/fake_gps/epv: 2.0
* /uav5/mavros/fake_gps/fix_type: 3
* /uav5/mavros/fake_gps/geo_origin/alt: 408.0
* /uav5/mavros/fake_gps/geo_origin/lat: 47.3667
* /uav5/mavros/fake_gps/geo_origin/lon: 8.55
* /uav5/mavros/fake_gps/gps_rate: 5.0
* /uav5/mavros/fake_gps/mocap_transform: True
* /uav5/mavros/fake_gps/satellites_visible: 5
* /uav5/mavros/fake_gps/tf/child_frame_id: fix
* /uav5/mavros/fake_gps/tf/frame_id: map
* /uav5/mavros/fake_gps/tf/listen: False
* /uav5/mavros/fake_gps/tf/rate_limit: 10.0
* /uav5/mavros/fake_gps/tf/send: False
* /uav5/mavros/fake_gps/use_mocap: True
* /uav5/mavros/fake_gps/use_vision: False
* /uav5/mavros/fcu_protocol: v2.0
* /uav5/mavros/fcu_url: udp://:14573@loca...
* /uav5/mavros/gcs_url:
* /uav5/mavros/global_position/child_frame_id: base_link
* /uav5/mavros/global_position/frame_id: map
* /uav5/mavros/global_position/rot_covariance: 99999.0
* /uav5/mavros/global_position/tf/child_frame_id: base_link
* /uav5/mavros/global_position/tf/frame_id: map
* /uav5/mavros/global_position/tf/global_frame_id: earth
* /uav5/mavros/global_position/tf/send: False
* /uav5/mavros/global_position/use_relative_alt: True
* /uav5/mavros/image/frame_id: px4flow
* /uav5/mavros/imu/angular_velocity_stdev: 0.000349065850399
* /uav5/mavros/imu/frame_id: base_link
* /uav5/mavros/imu/linear_acceleration_stdev: 0.0003
* /uav5/mavros/imu/magnetic_stdev: 0.0
* /uav5/mavros/imu/orientation_stdev: 1.0
* /uav5/mavros/local_position/frame_id: map
* /uav5/mavros/local_position/tf/child_frame_id: base_link
* /uav5/mavros/local_position/tf/frame_id: map
* /uav5/mavros/local_position/tf/send: False
* /uav5/mavros/local_position/tf/send_fcu: False
* /uav5/mavros/mission/pull_after_gcs: True
* /uav5/mavros/mocap/use_pose: True
* /uav5/mavros/mocap/use_tf: False
* /uav5/mavros/odometry/estimator_type: 3
* /uav5/mavros/odometry/frame_tf/desired_frame: ned
* /uav5/mavros/plugin_blacklist: ['safety_area', '...
* /uav5/mavros/plugin_whitelist: []
* /uav5/mavros/px4flow/frame_id: px4flow
* /uav5/mavros/px4flow/ranger_fov: 0.118682389136
* /uav5/mavros/px4flow/ranger_max_range: 5.0
* /uav5/mavros/px4flow/ranger_min_range: 0.3
* /uav5/mavros/safety_area/p1/x: 1.0
* /uav5/mavros/safety_area/p1/y: 1.0
* /uav5/mavros/safety_area/p1/z: 1.0
* /uav5/mavros/safety_area/p2/x: -1.0
* /uav5/mavros/safety_area/p2/y: -1.0
* /uav5/mavros/safety_area/p2/z: -1.0
* /uav5/mavros/setpoint_accel/send_force: False
* /uav5/mavros/setpoint_attitude/reverse_thrust: False
* /uav5/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /uav5/mavros/setpoint_attitude/tf/frame_id: map
* /uav5/mavros/setpoint_attitude/tf/listen: False
* /uav5/mavros/setpoint_attitude/tf/rate_limit: 50.0
* /uav5/mavros/setpoint_attitude/use_quaternion: False
* /uav5/mavros/setpoint_position/mav_frame: LOCAL_NED
* /uav5/mavros/setpoint_position/tf/child_frame_id: target_position
* /uav5/mavros/setpoint_position/tf/frame_id: map
* /uav5/mavros/setpoint_position/tf/listen: False
* /uav5/mavros/setpoint_position/tf/rate_limit: 50.0
* /uav5/mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /uav5/mavros/startup_px4_usb_quirk: True
* /uav5/mavros/sys/disable_diag: False
* /uav5/mavros/sys/min_voltage: 10.0
* /uav5/mavros/target_component_id: 1
* /uav5/mavros/target_system_id: 5
* /uav5/mavros/tdr_radio/low_rssi: 40
* /uav5/mavros/time/time_ref_source: fcu
* /uav5/mavros/time/timesync_avg_alpha: 0.6
* /uav5/mavros/time/timesync_mode: MAVLINK
* /uav5/mavros/vibration/frame_id: base_link
* /uav5/mavros/vision_pose/tf/child_frame_id: vision_estimate
* /uav5/mavros/vision_pose/tf/frame_id: map
* /uav5/mavros/vision_pose/tf/listen: False
* /uav5/mavros/vision_pose/tf/rate_limit: 10.0
* /uav5/mavros/vision_speed/listen_twist: False
* /uav5/rotors_description: <?xml version="1....
* /use_sim_time: True

NODES
/uav1/
iris_1_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_1 (px4/px4)
/
gazebo (gazebo_ros/gzserver)
/uav4/
iris_4_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_4 (px4/px4)
/uav3/
iris_3_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_3 (px4/px4)
/uav2/
iris_2_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_2 (px4/px4)
/uav5/
iris_5_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_5 (px4/px4)

auto-starting new master
process[master]: started with pid [11932]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 97fd1b0a-528b-11e8-adbf-cb24266246e5
process[rosout-1]: started with pid [11945]
started core service [/rosout]
process[gazebo-2]: started with pid [11967]
process[uav1/sitl_1-3]: started with pid [11972]
node name: sitl_1
data path: /home/cv/src/Firmware
commands file: /home/cv/src/Firmware/posix-configs/SITL/init/ekf2/iris_1
52 WARNING: setRealtimeSched failed (not run as root?)

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

px4 starting.

process[uav1/iris_1_spawn-4]: started with pid [11980]
process[uav1/mavros-5]: started with pid [11981]
INFO [dataman] Unknown restart, data manager file 'rootfs/fs/microsd/dataman' size is 11405132 bytes
+ MAV_SYS_ID: curr: 4 -> new: 1
+ SITL_UDP_PRT: curr: 14576 -> new: 14560
INFO [simulator] Waiting for initial data on UDP port 14560. Please start the flight simulator to proceed..
process[uav2/sitl_2-6]: started with pid [12007]
node name: sitl_2
data path: /home/cv/src/Firmware
commands file: /home/cv/src/Firmware/posix-configs/SITL/init/ekf2/iris_2
58 WARNING: setRealtimeSched failed (not run as root?)

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

px4 starting.

process[uav2/iris_2_spawn-7]: started with pid [12015]
process[uav2/mavros-8]: started with pid [12019]
INFO [dataman] Unknown restart, data manager file 'rootfs/fs/microsd/dataman' size is 11405132 bytes
+ MAV_SYS_ID: curr: 4 -> new: 2
+ SITL_UDP_PRT: curr: 14576 -> new: 14562
INFO [simulator] Waiting for initial data on UDP port 14562. Please start the flight simulator to proceed..
process[uav3/sitl_3-9]: started with pid [12071]
node name: sitl_3
data path: /home/cv/src/Firmware
commands file: /home/cv/src/Firmware/posix-configs/SITL/init/ekf2/iris_3
78 WARNING: setRealtimeSched failed (not run as root?)
[ INFO] [1525762015.437470319]: FCU URL: udp://:14540@localhost:14557

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

px4 starting.

[ INFO] [1525762015.441325478]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1525762015.441451893]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1525762015.441799745]: GCS bridge disabled
process[uav3/iris_3_spawn-10]: started with pid [12081]
process[uav3/mavros-11]: started with pid [12095]
[ INFO] [1525762015.467186754]: Plugin 3dr_radio loaded
[ INFO] [1525762015.471036857]: Plugin 3dr_radio initialized
[ INFO] [1525762015.471432683]: Plugin actuator_control loaded
[ INFO] [1525762015.482978524]: Plugin actuator_control initialized
INFO [dataman] Unknown restart, data manager file 'rootfs/fs/microsd/dataman' size is 11405132 bytes
+ MAV_SYS_ID: curr: 4 -> new: 3
+ SITL_UDP_PRT: curr: 14576 -> new: 14575
INFO [simulator] Waiting for initial data on UDP port 14575. Please start the flight simulator to proceed..
[ INFO] [1525762015.487081294]: Plugin adsb loaded
[ INFO] [1525762015.501711964]: Plugin adsb initialized
[ INFO] [1525762015.501932824]: Plugin altitude loaded
[ INFO] [1525762015.505660690]: Plugin altitude initialized
[ INFO] [1525762015.505869633]: Plugin cam_imu_sync loaded
[ INFO] [1525762015.507138810]: Plugin cam_imu_sync initialized
[ INFO] [1525762015.507357154]: Plugin command loaded
node name: sitl_4
data path: /home/cv/src/Firmware
commands file: /home/cv/src/Firmware/posix-configs/SITL/init/ekf2/iris_4

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

px4 starting.

process[uav4/sitl_4-12]: started with pid [12204]
1725 WARNING: setRealtimeSched failed (not run as root?)
[ INFO] [1525762015.528523044]: Plugin command initialized
[ INFO] [1525762015.528728080]: Plugin debug_value loaded
process[uav4/iris_4_spawn-13]: started with pid [12217]
[ INFO] [1525762015.532062311]: FCU URL: udp://:14541@localhost:14559
[ INFO] [1525762015.534813417]: udp0: Bind address: 0.0.0.0:14541
[ INFO] [1525762015.534955711]: udp0: Remote address: 127.0.0.1:14559
[ INFO] [1525762015.535246717]: GCS bridge disabled
process[uav4/mavros-14]: started with pid [12226]
[ INFO] [1525762015.562148809]: Plugin debug_value initialized
[ INFO] [1525762015.562227134]: Plugin distance_sensor blacklisted
[ INFO] [1525762015.562481127]: Plugin fake_gps loaded
INFO [dataman] Unknown restart, data manager file 'rootfs/fs/microsd/dataman' size is 11405132 bytes
INFO [simulator] Waiting for initial data on UDP port 14576. Please start the flight simulator to proceed..
[ INFO] [1525762015.567337879]: Plugin 3dr_radio loaded
[ INFO] [1525762015.576062937]: Plugin 3dr_radio initialized
[ INFO] [1525762015.576284139]: Plugin actuator_control loaded
[ INFO] [1525762015.592132004]: Plugin actuator_control initialized
[ INFO] [1525762015.596134170]: Plugin adsb loaded
node name: sitl_5
data path: /home/cv/src/Firmware
commands file: /home/cv/src/Firmware/posix-configs/SITL/init/ekf2/iris_5
68 WARNING: setRealtimeSched failed (not run as root?)

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

px4 starting.

process[uav5/sitl_5-15]: started with pid [12305]
[ INFO] [1525762015.631110751]: Plugin adsb initialized
[ INFO] [1525762015.631730447]: Plugin altitude loaded
process[uav5/iris_5_spawn-16]: started with pid [12326]
process[uav5/mavros-17]: started with pid [12327]
[ INFO] [1525762015.655929887]: Plugin altitude initialized
[ INFO] [1525762015.658562797]: Plugin cam_imu_sync loaded
[ INFO] [1525762015.666097206]: Plugin cam_imu_sync initialized
[ INFO] [1525762015.666567575]: Plugin command loaded
INFO [dataman] Unknown restart, data manager file 'rootfs/fs/microsd/dataman' size is 11405132 bytes
+ MAV_SYS_ID: curr: 4 -> new: 5
+ SITL_UDP_PRT: curr: 14576 -> new: 14574
INFO [simulator] Waiting for initial data on UDP port 14574. Please start the flight simulator to proceed..
[ INFO] [1525762015.705735466]: FCU URL: udp://:14571@localhost:14579
[ INFO] [1525762015.708771579]: udp0: Bind address: 0.0.0.0:14571
[ INFO] [1525762015.708918566]: udp0: Remote address: 127.0.0.1:14579
[ INFO] [1525762015.709283518]: GCS bridge disabled
[ INFO] [1525762015.710784547]: Plugin command initialized
[ INFO] [1525762015.711058624]: Plugin debug_value loaded
[ INFO] [1525762015.739677252]: Plugin fake_gps initialized
[ INFO] [1525762015.740205471]: Plugin ftp loaded
[ INFO] [1525762015.762878178]: Plugin 3dr_radio loaded
[ INFO] [1525762015.784713445]: Plugin debug_value initialized
[ INFO] [1525762015.784882634]: Plugin distance_sensor blacklisted
[ INFO] [1525762015.785322467]: Plugin fake_gps loaded
[ INFO] [1525762015.795308495]: Plugin 3dr_radio initialized
[ INFO] [1525762015.795592695]: Plugin actuator_control loaded
[ INFO] [1525762015.800673101]: Plugin ftp initialized
[ INFO] [1525762015.800811934]: Plugin global_position loaded
[ INFO] [1525762015.806403590]: Plugin actuator_control initialized
[ INFO] [1525762015.816534721]: Plugin fake_gps initialized
[ INFO] [1525762015.816716163]: Plugin ftp loaded
[ INFO] [1525762015.823941423]: Plugin ftp initialized
[ INFO] [1525762015.824045635]: Plugin global_position loaded
[ INFO] [1525762015.840662789]: Plugin adsb loaded
[ INFO] [1525762015.862421498]: Plugin global_position initialized
[ INFO] [1525762015.862621428]: Plugin hil loaded
[ INFO] [1525762015.887084867]: Plugin adsb initialized
[ INFO] [1525762015.887362696]: Plugin altitude loaded
[ INFO] [1525762015.889636539]: FCU URL: udp://:14572@localhost:14578
[ INFO] [1525762015.892505449]: Plugin altitude initialized
[ INFO] [1525762015.892760524]: Plugin cam_imu_sync loaded
[ INFO] [1525762015.892874104]: udp0: Bind address: 0.0.0.0:14572
[ INFO] [1525762015.893046524]: udp0: Remote address: 127.0.0.1:14578
[ INFO] [1525762015.895913305]: Plugin cam_imu_sync initialized
[ INFO] [1525762015.896060518]: GCS bridge disabled
[ INFO] [1525762015.896190310]: Plugin command loaded
[ INFO] [1525762015.915129607]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1525762015.922594584]: Plugin command initialized
[ INFO] [1525762015.922796036]: Plugin debug_value loaded
[ INFO] [1525762015.923359293]: Plugin global_position initialized
[ INFO] [1525762015.924596619]: Plugin hil loaded
[ INFO] [1525762015.979630947]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1525762015.989240485]: Plugin debug_value initialized
[ INFO] [1525762015.989813757]: Plugin distance_sensor blacklisted
[ INFO] [1525762015.990116450]: Plugin fake_gps loaded
[ INFO] [1525762016.001348360]: Plugin hil initialized
[ INFO] [1525762016.001649750]: Plugin home_position loaded
[ INFO] [1525762016.040788640]: Plugin home_position initialized
[ INFO] [1525762016.042781082]: Plugin imu loaded
[ INFO] [1525762016.068306239]: Plugin 3dr_radio loaded
[ INFO] [1525762016.088335940]: Plugin hil initialized
[ INFO] [1525762016.088645212]: Plugin home_position loaded
[ INFO] [1525762016.100968036]: Plugin 3dr_radio initialized
[ INFO] [1525762016.101078209]: Plugin actuator_control loaded
[ INFO] [1525762016.114623616]: Plugin imu initialized
[ INFO] [1525762016.114770324]: Plugin local_position loaded
[ INFO] [1525762016.123364120]: Plugin home_position initialized
[ INFO] [1525762016.124067163]: Plugin imu loaded
[ INFO] [1525762016.132371382]: Plugin actuator_control initialized
[ INFO] [1525762016.144993135]: Plugin local_position initialized
[ INFO] [1525762016.145191072]: Plugin manual_control loaded
[ INFO] [1525762016.161513145]: Plugin fake_gps initialized
[ INFO] [1525762016.161766258]: Plugin ftp loaded
[ INFO] [1525762016.162922387]: Plugin manual_control initialized
[ INFO] [1525762016.163021833]: Plugin mocap_pose_estimate loaded
[ INFO] [1525762016.219757031]: Plugin imu initialized
[ INFO] [1525762016.220617124]: Plugin local_position loaded
[ INFO] [1525762016.240731678]: Plugin adsb loaded
[ INFO] [1525762016.256317918]: Plugin mocap_pose_estimate initialized
[ INFO] [1525762016.256514898]: Plugin obstacle_distance loaded
[ INFO] [1525762016.265843903]: Plugin adsb initialized
[ INFO] [1525762016.266005302]: Plugin altitude loaded
[ INFO] [1525762016.268528540]: Plugin obstacle_distance initialized
[ INFO] [1525762016.268710665]: Plugin odom loaded
[ INFO] [1525762016.270176944]: Plugin altitude initialized
[ INFO] [1525762016.270289505]: Plugin cam_imu_sync loaded
[ INFO] [1525762016.271616576]: Plugin ftp initialized
[ INFO] [1525762016.271761284]: Plugin global_position loaded
[ INFO] [1525762016.274691057]: Plugin cam_imu_sync initialized
[ INFO] [1525762016.274864615]: Plugin command loaded
[ INFO] [1525762016.280175722]: Plugin local_position initialized
[ INFO] [1525762016.280304123]: Plugin manual_control loaded
[ INFO] [1525762016.297862070]: Plugin odom initialized
[ INFO] [1525762016.298567642]: Plugin param loaded
[ INFO] [1525762016.299806829]: Plugin manual_control initialized
[ INFO] [1525762016.299971582]: Plugin mocap_pose_estimate loaded
[ INFO] [1525762016.301431924]: Plugin command initialized
[ INFO] [1525762016.301539648]: Plugin debug_value loaded
[ INFO] [1525762016.308455805]: Plugin param initialized
[ INFO] [1525762016.308779138]: Plugin px4flow loaded
[ INFO] [1525762016.335314008]: Plugin mocap_pose_estimate initialized
[ INFO] [1525762016.335672363]: Plugin obstacle_distance loaded
[ INFO] [1525762016.354978003]: Plugin debug_value initialized
[ INFO] [1525762016.355026459]: Plugin distance_sensor blacklisted
[ INFO] [1525762016.355169130]: Plugin fake_gps loaded
[ INFO] [1525762016.388453387]: Plugin obstacle_distance initialized
[ INFO] [1525762016.388616294]: Plugin odom loaded
[ INFO] [1525762016.416529535]: Plugin px4flow initialized
[ INFO] [1525762016.416593353]: Plugin rangefinder blacklisted
[ INFO] [1525762016.418227934]: Plugin rc_io loaded
[ INFO] [1525762016.432317627]: Plugin rc_io initialized
[ INFO] [1525762016.432354290]: Plugin safety_area blacklisted
[ INFO] [1525762016.438267415]: Plugin setpoint_accel loaded
[ INFO] [1525762016.441280431]: Plugin odom initialized
[ INFO] [1525762016.441577005]: Plugin param loaded
SpawnModel script started
[ INFO] [1525762016.484626958]: Plugin param initialized
[ INFO] [1525762016.484793349]: Plugin px4flow loaded
[ INFO] [1525762016.511096805]: Plugin setpoint_accel initialized
[ INFO] [1525762016.511365074]: Plugin setpoint_attitude loaded
[ INFO] [1525762016.530475922]: Plugin global_position initialized
[ INFO] [1525762016.530721179]: Plugin hil loaded
[ INFO] [1525762016.539368748]: Plugin px4flow initialized
[ INFO] [1525762016.539416752]: Plugin rangefinder blacklisted
[ INFO] [1525762016.540808775]: Plugin rc_io loaded
[ INFO] [1525762016.550022299]: Plugin fake_gps initialized
[ INFO] [1525762016.550239265]: Plugin ftp loaded
[ INFO] [1525762016.567378009]: Plugin rc_io initialized
[ INFO] [1525762016.567451012]: Plugin safety_area blacklisted
[ INFO] [1525762016.567725798]: Plugin setpoint_accel loaded
[INFO] [1525762016.571356, 0.000000]: Loading model XML from ros parameter
[INFO] [1525762016.602403, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1525762016.625946580]: Plugin setpoint_accel initialized
[ INFO] [1525762016.626174196]: Plugin setpoint_attitude loaded
[ INFO] [1525762016.631371940]: Plugin setpoint_attitude initialized
[ INFO] [1525762016.632724152]: Plugin setpoint_position loaded
[ INFO] [1525762016.635673712]: Plugin ftp initialized
[ INFO] [1525762016.635803634]: Plugin global_position loaded
[ INFO] [1525762016.688209289]: Plugin hil initialized
[ INFO] [1525762016.688682385]: Plugin home_position loaded
[ INFO] [1525762016.723783483]: Plugin setpoint_attitude initialized
[ INFO] [1525762016.724920426]: Plugin setpoint_position loaded
[ INFO] [1525762016.744729790]: Plugin home_position initialized
[ INFO] [1525762016.745118028]: Plugin imu loaded
[ INFO] [1525762016.766709889]: Plugin setpoint_position initialized
[ INFO] [1525762016.767049193]: Plugin setpoint_raw loaded
[ INFO] [1525762016.794015393]: Plugin global_position initialized
[ INFO] [1525762016.794188036]: Plugin hil loaded
[ INFO] [1525762016.806826627]: Plugin imu initialized
[ INFO] [1525762016.807039641]: Plugin local_position loaded
[ INFO] [1525762016.844488734]: Plugin local_position initialized
[ INFO] [1525762016.844648654]: Plugin manual_control loaded
[ INFO] [1525762016.864647988]: Plugin setpoint_raw initialized
[ INFO] [1525762016.864812693]: Plugin setpoint_velocity loaded
[ INFO] [1525762016.868127097]: Plugin setpoint_position initialized
[ INFO] [1525762016.870171219]: Plugin setpoint_raw loaded
[ INFO] [1525762016.878779952]: Plugin manual_control initialized
[ INFO] [1525762016.878909324]: Plugin mocap_pose_estimate loaded
[ INFO] [1525762016.902702588]: Plugin mocap_pose_estimate initialized
[ INFO] [1525762016.902826510]: Plugin obstacle_distance loaded
[ INFO] [1525762016.906270613]: Plugin hil initialized
[ INFO] [1525762016.906473234]: Plugin home_position loaded
[ INFO] [1525762016.912985785]: Plugin setpoint_velocity initialized
[ INFO] [1525762016.913269092]: Plugin sys_status loaded
[ INFO] [1525762016.921060040]: Plugin obstacle_distance initialized
[ INFO] [1525762016.921233044]: Plugin odom loaded
[ INFO] [1525762016.936715345]: Plugin home_position initialized
[ INFO] [1525762016.936848198]: Plugin imu loaded
[ INFO] [1525762016.957441259]: Plugin odom initialized
[ INFO] [1525762016.957603283]: Plugin setpoint_raw initialized
[ INFO] [1525762016.957722021]: Plugin param loaded
[ INFO] [1525762016.958996103]: Plugin setpoint_velocity loaded
[ INFO] [1525762017.029214630]: Plugin param initialized
[ INFO] [1525762017.029787564]: Plugin px4flow loaded
[ INFO] [1525762017.036126068]: Plugin sys_status initialized
[ INFO] [1525762017.043901454]: Plugin sys_time loaded
[ INFO] [1525762017.047922935]: Plugin setpoint_velocity initialized
[ INFO] [1525762017.048286025]: Plugin sys_status loaded
[ INFO] [1525762017.054325529]: Plugin imu initialized
[ INFO] [1525762017.054533216]: Plugin local_position loaded
[ INFO] [1525762017.067877979]: TM: Timesync mode: MAVLINK
[ INFO] [1525762017.071217379]: Plugin sys_time initialized
[ INFO] [1525762017.071706346]: Plugin vfr_hud loaded
[ INFO] [1525762017.077982379]: Plugin vfr_hud initialized
[ INFO] [1525762017.078014613]: Plugin vibration blacklisted
[ INFO] [1525762017.078600565]: Plugin vision_pose_estimate loaded
[ INFO] [1525762017.094113187]: Plugin local_position initialized
[ INFO] [1525762017.094376920]: Plugin manual_control loaded
[ INFO] [1525762017.109739771]: Plugin px4flow initialized
[ INFO] [1525762017.109817066]: Plugin rangefinder blacklisted
[ INFO] [1525762017.110207440]: Plugin sys_status initialized
[ INFO] [1525762017.110535448]: Plugin rc_io loaded
[ INFO] [1525762017.112844499]: Plugin sys_time loaded
[ INFO] [1525762017.144282587]: Plugin manual_control initialized
[ INFO] [1525762017.144437102]: Plugin mocap_pose_estimate loaded
[ INFO] [1525762017.145875618]: TM: Timesync mode: MAVLINK
[ INFO] [1525762017.157687675]: Plugin sys_time initialized
[ INFO] [1525762017.157843554]: Plugin vfr_hud loaded
[ INFO] [1525762017.161004079]: Plugin vision_pose_estimate initialized
[ INFO] [1525762017.162778326]: Plugin vision_speed_estimate loaded
[ INFO] [1525762017.164025427]: Plugin rc_io initialized
[ INFO] [1525762017.164066133]: Plugin safety_area blacklisted
[ INFO] [1525762017.164211545]: Plugin setpoint_accel loaded
[ INFO] [1525762017.172575519]: Plugin vfr_hud initialized
[ INFO] [1525762017.172651036]: Plugin vibration blacklisted
[ INFO] [1525762017.174119389]: Plugin vision_pose_estimate loaded
[ INFO] [1525762017.189698656]: Plugin setpoint_accel initialized
[ INFO] [1525762017.190088022]: Plugin setpoint_attitude loaded
[ INFO] [1525762017.191145748]: Plugin vision_speed_estimate initialized
[ INFO] [1525762017.191346068]: Plugin waypoint loaded
[ INFO] [1525762017.198755264]: Plugin mocap_pose_estimate initialized
[ INFO] [1525762017.198969694]: Plugin obstacle_distance loaded
[ INFO] [1525762017.239704304]: Plugin waypoint initialized
[ INFO] [1525762017.242596608]: Autostarting mavlink via USB on PX4
[ INFO] [1525762017.242854115]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1525762017.244325279]: Built-in MAVLink package version: 2018.2.2
[ INFO] [1525762017.244365082]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1525762017.244764396]: MAVROS started. MY ID 1.240, TARGET ID 2.1
[ INFO] [1525762017.284524371]: Plugin obstacle_distance initialized
[ INFO] [1525762017.284795522]: Plugin odom loaded
[ INFO] [1525762017.289756439]: Plugin vision_pose_estimate initialized
[ INFO] [1525762017.289905370]: Plugin vision_speed_estimate loaded
[ INFO] [1525762017.303960879]: Plugin vision_speed_estimate initialized
[ INFO] [1525762017.304192792]: Plugin waypoint loaded
[ INFO] [1525762017.312165535]: Plugin odom initialized
[ INFO] [1525762017.312472141]: Plugin param loaded
[ INFO] [1525762017.324783509]: Plugin setpoint_attitude initialized
[ INFO] [1525762017.325343416]: Plugin setpoint_position loaded
[ INFO] [1525762017.356614291]: Plugin param initialized
[ INFO] [1525762017.356811832]: Plugin px4flow loaded
[ INFO] [1525762017.358135808]: Plugin waypoint initialized
[ INFO] [1525762017.358187616]: Autostarting mavlink via USB on PX4
[ INFO] [1525762017.359887586]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1525762017.359920692]: Built-in MAVLink package version: 2018.2.2
[ INFO] [1525762017.361803548]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1525762017.361850840]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1525762017.390269230]: Plugin setpoint_position initialized
[ INFO] [1525762017.392653902]: Plugin px4flow initialized
[ INFO] [1525762017.392705639]: Plugin rangefinder blacklisted
[ INFO] [1525762017.392717250]: Plugin setpoint_raw loaded
[ INFO] [1525762017.393108242]: Plugin rc_io loaded
[ INFO] [1525762017.404725430]: Plugin rc_io initialized
[ INFO] [1525762017.404773373]: Plugin safety_area blacklisted
[ INFO] [1525762017.405225227]: Plugin setpoint_accel loaded
[ INFO] [1525762017.414349871]: Plugin setpoint_raw initialized
[ INFO] [1525762017.414537857]: Plugin setpoint_velocity loaded
[ INFO] [1525762017.424153987]: Plugin setpoint_accel initialized
[ INFO] [1525762017.424414604]: Plugin setpoint_attitude loaded
[ INFO] [1525762017.432422849]: Plugin setpoint_velocity initialized
[ INFO] [1525762017.432953182]: Plugin sys_status loaded
[ INFO] [1525762017.472652758]: Plugin sys_status initialized
[ INFO] [1525762017.480106296]: Plugin sys_time loaded
[ INFO] [1525762017.489928219]: Plugin setpoint_attitude initialized
[ INFO] [1525762017.490558415]: TM: Timesync mode: MAVLINK
[ INFO] [1525762017.492036227]: Plugin setpoint_position loaded
[ INFO] [1525762017.494136251]: Plugin sys_time initialized
[ INFO] [1525762017.494312269]: Plugin vfr_hud loaded
[ INFO] [1525762017.497579882]: Plugin vfr_hud initialized
[ INFO] [1525762017.497631326]: Plugin vibration blacklisted
[ INFO] [1525762017.497798186]: Plugin vision_pose_estimate loaded
[ INFO] [1525762017.529792312]: Plugin vision_pose_estimate initialized
[ INFO] [1525762017.530005327]: Plugin vision_speed_estimate loaded
[ INFO] [1525762017.534801915]: Plugin vision_speed_estimate initialized
[ INFO] [1525762017.534944823]: Plugin waypoint loaded
[ INFO] [1525762017.556802280]: Plugin waypoint initialized
[ INFO] [1525762017.557621713]: Autostarting mavlink via USB on PX4
[ INFO] [1525762017.557810062]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1525762017.557874462]: Built-in MAVLink package version: 2018.2.2
[ INFO] [1525762017.558805744]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1525762017.558870996]: MAVROS started. MY ID 1.240, TARGET ID 3.1
[ INFO] [1525762017.567803497]: Plugin setpoint_position initialized
[ INFO] [1525762017.568047944]: Plugin setpoint_raw loaded
[ INFO] [1525762017.599628836]: FCU URL: udp://:14573@localhost:14577
[ INFO] [1525762017.603309827]: udp0: Bind address: 0.0.0.0:14573
[ INFO] [1525762017.603451711]: udp0: Remote address: 127.0.0.1:14577
[ INFO] [1525762017.610114354]: GCS bridge disabled
[ INFO] [1525762017.612800684]: Plugin setpoint_raw initialized
[ INFO] [1525762017.613005477]: Plugin setpoint_velocity loaded
[ INFO] [1525762017.630924485]: Plugin setpoint_velocity initialized
[ INFO] [1525762017.631332214]: Plugin sys_status loaded
[ INFO] [1525762017.650196787]: Plugin sys_status initialized
[ INFO] [1525762017.650558199]: Plugin sys_time loaded
[ INFO] [1525762017.654628025]: TM: Timesync mode: MAVLINK
[ INFO] [1525762017.655710118]: Plugin sys_time initialized
[ INFO] [1525762017.655957006]: Plugin vfr_hud loaded
[ INFO] [1525762017.667649113]: Plugin vfr_hud initialized
[ INFO] [1525762017.667768131]: Plugin vibration blacklisted
[ INFO] [1525762017.676183436]: Plugin vision_pose_estimate loaded
[ INFO] [1525762017.688814891]: Plugin vision_pose_estimate initialized
[ INFO] [1525762017.689102418]: Plugin vision_speed_estimate loaded
[ INFO] [1525762017.702123958]: Plugin vision_speed_estimate initialized
[ INFO] [1525762017.703292508]: Plugin waypoint loaded
[ INFO] [1525762017.712009118]: Plugin waypoint initialized
[ INFO] [1525762017.714348996]: Autostarting mavlink via USB on PX4
[ INFO] [1525762017.714928098]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1525762017.715066853]: Built-in MAVLink package version: 2018.2.2
[ INFO] [1525762017.715203944]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1525762017.715871678]: MAVROS started. MY ID 1.240, TARGET ID 4.1
[ INFO] [1525762017.721439182]: Plugin 3dr_radio loaded
[ INFO] [1525762017.744162172]: Plugin 3dr_radio initialized
[ INFO] [1525762017.744352674]: Plugin actuator_control loaded
[ INFO] [1525762017.750956270]: Plugin actuator_control initialized
[ INFO] [1525762017.784830807]: Plugin adsb loaded
[ INFO] [1525762017.788825258]: Plugin adsb initialized
[ INFO] [1525762017.788992946]: Plugin altitude loaded
[ INFO] [1525762017.790080043]: Plugin altitude initialized
[ INFO] [1525762017.790190561]: Plugin cam_imu_sync loaded
[ INFO] [1525762017.790866766]: Plugin cam_imu_sync initialized
[ INFO] [1525762017.790991873]: Plugin command loaded
[ INFO] [1525762017.798001738]: Plugin command initialized
[ INFO] [1525762017.798155186]: Plugin debug_value loaded
[ INFO] [1525762017.805330316]: Plugin debug_value initialized
[ INFO] [1525762017.805404381]: Plugin distance_sensor blacklisted
[ INFO] [1525762017.805593139]: Plugin fake_gps loaded
[ INFO] [1525762017.825184493]: Plugin fake_gps initialized
[ INFO] [1525762017.825388498]: Plugin ftp loaded
[ INFO] [1525762017.847098237]: Plugin ftp initialized
[ INFO] [1525762017.850603990]: Plugin global_position loaded
[ INFO] [1525762017.900738750]: Plugin global_position initialized
[ INFO] [1525762017.909465125]: Plugin hil loaded
[ INFO] [1525762017.931670135]: Plugin hil initialized
[ INFO] [1525762017.931844065]: Plugin home_position loaded
[ INFO] [1525762017.949509068]: Plugin home_position initialized
[ INFO] [1525762017.957632591]: Plugin imu loaded
[ INFO] [1525762017.970055074]: Plugin imu initialized
[ INFO] [1525762017.970238110]: Plugin local_position loaded
[ INFO] [1525762017.985127488]: Plugin local_position initialized
[ INFO] [1525762017.985389116]: Plugin manual_control loaded
[ INFO] [1525762017.990084441]: Plugin manual_control initialized
[ INFO] [1525762017.990347201]: Plugin mocap_pose_estimate loaded
[ INFO] [1525762017.999509408]: Plugin mocap_pose_estimate initialized
[ INFO] [1525762017.999773953]: Plugin obstacle_distance loaded
[ INFO] [1525762018.003827786]: Plugin obstacle_distance initialized
[ INFO] [1525762018.004002026]: Plugin odom loaded
[ INFO] [1525762018.013010912]: Plugin odom initialized
[ INFO] [1525762018.013501814]: Plugin param loaded
[ INFO] [1525762018.018481541]: Plugin param initialized
[ INFO] [1525762018.018698074]: Plugin px4flow loaded
[ INFO] [1525762018.033402091]: Plugin px4flow initialized
[ INFO] [1525762018.033553269]: Plugin rangefinder blacklisted
[ INFO] [1525762018.034843318]: Plugin rc_io loaded
[ INFO] [1525762018.043530349]: Plugin rc_io initialized
[ INFO] [1525762018.043812620]: Plugin safety_area blacklisted
[ INFO] [1525762018.044415501]: Plugin setpoint_accel loaded
[ INFO] [1525762018.049789334]: Plugin setpoint_accel initialized
[ INFO] [1525762018.050659530]: Plugin setpoint_attitude loaded
[ INFO] [1525762018.068416185]: Plugin setpoint_attitude initialized
[ INFO] [1525762018.068689524]: Plugin setpoint_position loaded
[ INFO] [1525762018.112279439]: Plugin setpoint_position initialized
[ INFO] [1525762018.112514267]: Plugin setpoint_raw loaded
[ INFO] [1525762018.150732908]: Plugin setpoint_raw initialized
[ INFO] [1525762018.158689837]: Plugin setpoint_velocity loaded
[ INFO] [1525762018.196106691]: Plugin setpoint_velocity initialized
[ INFO] [1525762018.197009638]: Plugin sys_status loaded
[ INFO] [1525762018.232539686]: Plugin sys_status initialized
[ INFO] [1525762018.233956504]: Plugin sys_time loaded
[ INFO] [1525762018.237842737]: TM: Timesync mode: MAVLINK
[ INFO] [1525762018.241246325]: Plugin sys_time initialized
[ INFO] [1525762018.241708423]: Plugin vfr_hud loaded
[ INFO] [1525762018.243449981]: Plugin vfr_hud initialized
[ INFO] [1525762018.243656570]: Plugin vibration blacklisted
[ INFO] [1525762018.243879802]: Plugin vision_pose_estimate loaded
[ INFO] [1525762018.263401338]: Plugin vision_pose_estimate initialized
[ INFO] [1525762018.263645274]: Plugin vision_speed_estimate loaded
[ INFO] [1525762018.268486044]: Plugin vision_speed_estimate initialized
[ INFO] [1525762018.268778352]: Plugin waypoint loaded
[ INFO] [1525762018.275927840]: Plugin waypoint initialized
[ INFO] [1525762018.276338335]: Autostarting mavlink via USB on PX4
[ INFO] [1525762018.278559219]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1525762018.278625366]: Built-in MAVLink package version: 2018.2.2
[ INFO] [1525762018.278651383]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1525762018.278701583]: MAVROS started. MY ID 1.240, TARGET ID 5.1
SpawnModel script started
[INFO] [1525762018.664163, 0.000000]: Loading model XML from ros parameter
[INFO] [1525762018.696010, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
SpawnModel script started
[INFO] [1525762020.003324, 0.000000]: Loading model XML from ros parameter
[INFO] [1525762020.008943, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
SpawnModel script started
SpawnModel script started
[ INFO] [1525762020.124657048, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1525762020.164529134, 0.058000000]: Physics dynamic reconfigure ready.
[INFO] [1525762020.205344, 0.098000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1525762020.206019, 0.000000]: Loading model XML from ros parameter
[INFO] [1525762020.211908, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1525762020.214172, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1525762020.234270, 0.000000]: Loading model XML from ros parameter
[INFO] [1525762020.237341, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1525762020.238786, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1525762020.272795, 0.162000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1525762020.312375, 0.202000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1525762020.458038, 0.300000]: Spawn status: SpawnModel: Successfully spawned entity
[uav2/iris_2_spawn-7] process has finished cleanly
log file: /home/cv/.ros/log/97fd1b0a-528b-11e8-adbf-cb24266246e5/uav2-iris_2_spawn-7*.log
[INFO] [1525762020.726259, 0.502000]: Spawn status: SpawnModel: Successfully spawned entity
[uav4/iris_4_spawn-13] process has finished cleanly
log file: /home/cv/.ros/log/97fd1b0a-528b-11e8-adbf-cb24266246e5/uav4-iris_4_spawn-13*.log
[INFO] [1525762020.973425, 0.704000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1525762021.222431, 0.906000]: Spawn status: SpawnModel: Successfully spawned entity
[uav5/iris_5_spawn-16] process has finished cleanly
log file: /home/cv/.ros/log/97fd1b0a-528b-11e8-adbf-cb24266246e5/uav5-iris_5_spawn-16*.log
[uav1/iris_1_spawn-4] process has finished cleanly
log file: /home/cv/.ros/log/97fd1b0a-528b-11e8-adbf-cb24266246e5/uav1-iris_1_spawn-4*.log
[INFO] [1525762021.471793, 1.108000]: Spawn status: SpawnModel: Successfully spawned entity
INFO [simulator] Got initial simulation data, running sim..
INFO [pwm_out_sim] MODE_12PWM
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14558 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14559 remote port 14541
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
pxh> INFO [logger] logger started (mode=all)
INFO [logger] Start file log
INFO [logger] Opened log file: rootfs/fs/microsd/log/2018-05-08/06_47_01.ulg
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1525762021.679842427, 1.312000000]: udp0: Remote address: 127.0.0.1:14559
ERROR [mavlink] [timesync] Hard setting offset.
INFO [simulator] Got initial simulation data, running sim..
INFO [pwm_out_sim] MODE_12PWM
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14580 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14578 remote port 14572
[uav3/iris_3_spawn-10] process has finished cleanly
log file: /home/cv/.ros/log/97fd1b0a-528b-11e8-adbf-cb24266246e5/uav3-iris_3_spawn-10*.log
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1525762021.792912067, 1.426000000]: IMU: High resolution IMU detected!
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO [logger] logger started (mode=all)
pxh> INFO [logger] Start file log
INFO [logger] Opened log file: rootfs/fs/microsd/log/2018-05-08/06_47_01.ulg
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1525762021.858642120, 1.490000000]: udp0: Remote address: 127.0.0.1:14578
ERROR [mavlink] [timesync] Hard setting offset.
INFO [simulator] Got initial simulation data, running sim..
INFO [mavlink] partner IP: 127.0.0.1
INFO [pwm_out_sim] MODE_12PWM
[ INFO] [1525762022.032937431, 1.664000000]: IMU: High resolution IMU detected!
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14581 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14577 remote port 14573
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
pxh> INFO [logger] logger started (mode=all)
INFO [logger] Start file log
INFO [logger] Opened log file: rootfs/fs/microsd/log/2018-05-08/06_47_02.ulg
INFO [lib__ecl] EKF aligned, (pressure height, IMU buf: 14, OBS buf: 9)
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1525762022.159427901, 1.792000000]: udp0: Remote address: 127.0.0.1:14577
ERROR [mavlink] [timesync] Hard setting offset.
INFO [simulator] Got initial simulation data, running sim..
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1525762022.279212887, 1.912000000]: IMU: High resolution IMU detected!
INFO [pwm_out_sim] MODE_12PWM
INFO [lib__ecl] EKF aligned, (pressure height, IMU buf: 14, OBS buf: 9)
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14556 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14557 remote port 14540
[ INFO] [1525762022.334468668, 1.966000000]: IMU: Attitude quaternion IMU detected!
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO [logger] logger started (mode=all)
pxh> INFO [logger] Start file log
INFO [logger] Opened log file: rootfs/fs/microsd/log/2018-05-08/06_47_02.ulg
[ INFO] [1525762022.394829914, 2.026000000]: IMU: Attitude quaternion IMU detected!
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1525762022.419128674, 2.050000000]: udp0: Remote address: 127.0.0.1:14557
ERROR [mavlink] [timesync] Hard setting offset.
INFO [simulator] Got initial simulation data, running sim..
INFO [pwm_out_sim] MODE_12PWM
[ INFO] [1525762022.530501134, 2.160000000]: IMU: High resolution IMU detected!
INFO [mavlink] partner IP: 127.0.0.1
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14570 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14579 remote port 14571
[ INFO] [1525762022.588967519, 2.218000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1525762022.590773834, 2.220000000]: IMU: High resolution IMU detected!
[ INFO] [1525762022.591062196, 2.220000000]: IMU: Attitude quaternion IMU detected!
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO [logger] logger started (mode=all)
pxh> INFO [logger] Start file log
INFO [logger] Opened log file: rootfs/fs/microsd/log/2018-05-08/06_47_02.ulg
INFO [lib__ecl] EKF aligned, (pressure height, IMU buf: 14, OBS buf: 9)
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1525762022.646087778, 2.276000000]: udp0: Remote address: 127.0.0.1:14579
ERROR [mavlink] [timesync] Hard setting offset.
[ INFO] [1525762022.766432183, 2.396000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1525762022.767932086, 2.398000000]: IMU: High resolution IMU detected!
[ INFO] [1525762022.768620764, 2.398000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1525762022.781235336, 2.410000000]: IMU: High resolution IMU detected!
INFO [lib__ecl] EKF aligned, (pressure height, IMU buf: 14, OBS buf: 9)
[ INFO] [1525762022.885338443, 2.514000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1525762023.069845904, 2.698000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1525762023.072171884, 2.700000000]: IMU: High resolution IMU detected!
[ INFO] [1525762023.072497660, 2.700000000]: IMU: Attitude quaternion IMU detected!
INFO [lib__ecl] EKF aligned, (pressure height, IMU buf: 14, OBS buf: 9)
[ INFO] [1525762023.139568696, 2.768000000]: IMU: Attitude quaternion IMU detected!
INFO [mavlink] partner IP: 127.0.0.1
[ INFO] [1525762023.334689948, 2.962000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1525762023.335936740, 2.962000000]: IMU: High resolution IMU detected!
[ INFO] [1525762023.336118616, 2.962000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1525762023.394990387, 3.020000000]: IMU: Attitude quaternion IMU detected!
WARN [commander] MANUAL CONTROL LOST (at t=1264ms)
[ INFO] [1525762023.564119152, 3.190000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1525762023.565829208, 3.190000000]: IMU: High resolution IMU detected!
[ INFO] [1525762023.566129413, 3.190000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1525762023.595292482, 3.220000000]: VER: 2.1: Capabilities 0x000000000000e4ef
[ INFO] [1525762023.595401037, 3.220000000]: VER: 2.1: Flight software: 01070300 (000000007A7EAE57)
[ INFO] [1525762023.595435964, 3.220000000]: VER: 2.1: Middleware software: 01070300 (000000007A7EAE57)
[ INFO] [1525762023.595472541, 3.220000000]: VER: 2.1: OS software: 040400ff (0000000000000000)
[ INFO] [1525762023.595507513, 3.220000000]: VER: 2.1: Board hardware: 00000001
[ INFO] [1525762023.595543579, 3.220000000]: VER: 2.1: VID/PID: 0000:0000
[ INFO] [1525762023.595578463, 3.220000000]: VER: 2.1: UID: 0000000100000002
[ INFO] [1525762023.775371767, 3.398000000]: VER: 4.1: Capabilities 0x000000000000e4ef
[ INFO] [1525762023.775472278, 3.398000000]: VER: 4.1: Flight software: 01070300 (000000007A7EAE57)
[ INFO] [1525762023.775528887, 3.398000000]: VER: 4.1: Middleware software: 01070300 (000000007A7EAE57)
[ INFO] [1525762023.775579882, 3.398000000]: VER: 4.1: OS software: 040400ff (0000000000000000)
[ INFO] [1525762023.775605136, 3.398000000]: VER: 4.1: Board hardware: 00000001
[ INFO] [1525762023.775651542, 3.398000000]: VER: 4.1: VID/PID: 0000:0000
[ INFO] [1525762023.775712716, 3.398000000]: VER: 4.1: UID: 0000000100000002
[ INFO] [1525762024.076877083, 3.698000000]: VER: 5.1: Capabilities 0x000000000000e4ef
[ INFO] [1525762024.076989960, 3.698000000]: VER: 5.1: Flight software: 01070300 (000000007A7EAE57)
[ INFO] [1525762024.077079987, 3.698000000]: VER: 5.1: Middleware software: 01070300 (000000007A7EAE57)
[ INFO] [1525762024.077115535, 3.698000000]: VER: 5.1: OS software: 040400ff (0000000000000000)
[ INFO] [1525762024.077152397, 3.700000000]: VER: 5.1: Board hardware: 00000001
[ INFO] [1525762024.077225315, 3.700000000]: VER: 5.1: VID/PID: 0000:0000
[ INFO] [1525762024.077285462, 3.700000000]: VER: 5.1: UID: 0000000100000002
[ INFO] [1525762024.340962230, 3.964000000]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1525762024.341052078, 3.964000000]: VER: 1.1: Flight software: 01070300 (000000007A7EAE57)
[ INFO] [1525762024.341112463, 3.964000000]: VER: 1.1: Middleware software: 01070300 (000000007A7EAE57)
[ INFO] [1525762024.341348540, 3.964000000]: VER: 1.1: OS software: 040400ff (0000000000000000)
[ INFO] [1525762024.341440956, 3.964000000]: VER: 1.1: Board hardware: 00000001
[ INFO] [1525762024.341472414, 3.964000000]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1525762024.341488663, 3.964000000]: VER: 1.1: UID: 0000000100000002
[ INFO] [1525762024.570735884, 4.192000000]: VER: 3.1: Capabilities 0x000000000000e4ef
[ INFO] [1525762024.570819544, 4.192000000]: VER: 3.1: Flight software: 01070300 (000000007A7EAE57)
[ INFO] [1525762024.570847527, 4.192000000]: VER: 3.1: Middleware software: 01070300 (000000007A7EAE57)
[ INFO] [1525762024.570891667, 4.192000000]: VER: 3.1: OS software: 040400ff (0000000000000000)
[ INFO] [1525762024.570912025, 4.192000000]: VER: 3.1: Board hardware: 00000001
[ INFO] [1525762024.570942395, 4.192000000]: VER: 3.1: VID/PID: 0000:0000
[ INFO] [1525762024.570959166, 4.192000000]: VER: 3.1: UID: 0000000100000002
WARN [commander] MANUAL CONTROL LOST (at t=2955ms)
WARN [commander] MANUAL CONTROL LOST (at t=5317ms)
ERROR [mavlink] [timesync] Hard setting offset.
ERROR [sensors] Gyro #0 fail: STALE!
ERROR [mavlink] [timesync] Hard setting offset.
ERROR [sensors] Accel #0 fail: STALE!
ERROR [sensors] Accel #0 fail: TIMEOUT!
ERROR [mavlink] [timesync] Hard setting offset.
ERROR [mavlink] [timesync] Hard setting offset.
WARN [ekf2] accel id changed, resetting IMU bias
ERROR [mavlink] [timesync] Hard setting offset.
ERROR [mavlink] [timesync] Hard setting offset.
WARN [commander] MANUAL CONTROL LOST (at t=6027ms)
WARN [commander] MANUAL CONTROL LOST (at t=7462ms)
INFO [lib__ecl] EKF GPS checks passed (WGS-84 origin set)
INFO [lib__ecl] EKF commencing GPS fusion
INFO [lib__ecl] EKF GPS checks passed (WGS-84 origin set)
INFO [lib__ecl] EKF commencing GPS fusion
INFO [lib__ecl] EKF GPS checks passed (WGS-84 origin set)
INFO [lib__ecl] EKF commencing GPS fusion
INFO [lib__ecl] EKF GPS checks passed (WGS-84 origin set)
INFO [lib__ecl] EKF commencing GPS fusion
[ INFO] [1525762032.891331648, 12.218000000]: HP: requesting home position
ERROR [mavlink] [timesync] Hard setting offset.
INFO [lib__ecl] EKF GPS checks passed (WGS-84 origin set)
INFO [lib__ecl] EKF commencing GPS fusion
ERROR [mavlink] [timesync] Hard setting offset.
[ WARN] [1525762032.972398952, 12.300000000]: TM: Clock skew detected (-0.029220914 s). Hard syncing clocks.
[ WARN] [1525762032.972695554, 12.300000000]: TM: Clock skew detected (-0.030524679 s). Hard syncing clocks.
[ WARN] [1525762032.973041970, 12.300000000]: TM: Clock skew detected (-0.028618562 s). Hard syncing clocks.
[ WARN] [1525762032.973462264, 12.300000000]: TM: Clock skew detected (-0.028138568 s). Hard syncing clocks.
[ WARN] [1525762032.973550623, 12.300000000]: TM: Clock skew detected (-0.029891396 s). Hard syncing clocks.
ERROR [mavlink] [timesync] Hard setting offset.
ERROR [mavlink] [timesync] Hard setting offset.
ERROR [mavlink] [timesync] Hard setting offset.
[ INFO] [1525762033.071399153, 12.396000000]: HP: requesting home position
[ INFO] [1525762033.374095254, 12.698000000]: HP: requesting home position
[ INFO] [1525762033.639056061, 12.962000000]: HP: requesting home position
[ WARN] [1525762033.641708669, 12.964000000]: CMD: Unexpected command 519, result 4
[ INFO] [1525762033.869384287, 13.190000000]: HP: requesting home position
[ WARN] [1525762033.883589546, 13.204000000]: CMD: Unexpected command 519, result 4
ERROR [sensors] Accel #0 fail: TIMEOUT!
ERROR [sensors] Gyro #0 fail: TIMEOUT!
ERROR [mavlink] [timesync] Hard setting offset.
ERROR [mavlink] [timesync] Hard setting offset.
WARN [ekf2] accel id changed, resetting IMU bias
WARN [commander] MANUAL CONTROL LOST (at t=12634ms)
WARN [commander] MANUAL CONTROL LOST (at t=13179ms)
WARN [commander] MANUAL CONTROL LOST (at t=13885ms)
[ WARN] [1525762036.735543090, 15.994000000]: CMD: Unexpected command 519, result 4
[ INFO] [1525762037.963205576, 17.218000000]: WP: mission received
WARN [commander] MANUAL CONTROL LOST (at t=15537ms)
[ INFO] [1525762038.141162752, 17.396000000]: WP: mission received
[ INFO] [1525762038.444225099, 17.698000000]: WP: mission received
[ INFO] [1525762038.707850940, 17.962000000]: WP: mission received
[ INFO] [1525762038.937165747, 18.192000000]: WP: mission received
WARN [commander] MANUAL CONTROL LOST (at t=16493ms)
[ WARN] [1525762039.642007422, 18.896000000]: CMD: Unexpected command 519, result 0
WARN [commander] MANUAL CONTROL LOST (at t=17209ms)
INFO [commander] data link #0 lost
WARN [commander] MANUAL CONTROL LOST (at t=18143ms)
INFO [commander] data link #0 regained
ERROR [mavlink] [timesync] Hard setting offset.
ERROR [sensors] Accel #0 fail: TIMEOUT!
ERROR [sensors] Gyro #0 fail: TIMEOUT!
ERROR [mavlink] [timesync] Hard setting offset.
[ WARN] [1525762043.829051821, 23.036000000]: TM: Clock skew detected (0.041450809 s). Hard syncing clocks.
WARN [ekf2] accel id changed, resetting IMU bias
[ WARN] [1525762043.850166260, 23.100000000]: TM: Clock skew detected (-0.022236563 s). Hard syncing clocks.
ERROR [mavlink] [timesync] Hard setting offset.
[ WARN] [1525762043.922059616, 23.170000000]: TM: Clock skew detected (-0.057237628 s). Hard syncing clocks.
ERROR [mavlink] [timesync] Hard setting offset.
ERROR [mavlink] [timesync] Hard setting offset.
WARN [commander] MANUAL CONTROL LOST (at t=22161ms)
WARN [commander] MANUAL CONTROL LOST (at t=23339ms)
INFO [commander] data link #0 lost
pxh> ~INFO [commander] data link #0 regained
WARN [commander] MANUAL CONTROL LOST (at t=26457ms)
pxh> ~WARN [commander] MANUAL CONTROL LOST (at t=28583ms)
WARN [commander] MANUAL CONTROL LOST (at t=30471ms)
WARN [commander] MANUAL CONTROL LOST (at t=31174ms)
INFO [commander] data link #0 lost
WARN [commander] MANUAL CONTROL LOST (at t=32836ms)
INFO [commander] data link #0 regained
WARN [commander] MANUAL CONTROL LOST (at t=34493ms)
WARN [commander] MANUAL CONTROL LOST (at t=38044ms)
INFO [commander] data link #0 lost
INFO [commander] data link #0 regained
INFO [commander] data link #0 lost
WARN [commander] MANUAL CONTROL LOST (at t=41600ms)
WARN [commander] MANUAL CONTROL LOST (at t=43974ms)
WARN [commander] MANUAL CONTROL LOST (at t=44915ms)
INFO [commander] data link #0 lost
WARN [commander] MANUAL CONTROL LOST (at t=47266ms)
WARN [commander] MANUAL CONTROL LOST (at t=49618ms)
INFO [commander] data link #0 regained
WARN [commander] MANUAL CONTROL LOST (at t=50321ms)
@lamping7
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Hard to say. Port issue? Also note all the sensor failures. How does this work with less vehicles? 2? 3?

@Ahrovan
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Ahrovan commented May 13, 2018 •
edited
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I installed a new os and problem solved. please close this issue
but every thing is slow and connection is not stable too

@mrpollo mrpollo mentioned this issue Jun 5, 2018
Closed
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@Ahrovan @lamping7