Mavros: serial0：接收：文件结束

问题详情

你好。
有时我在运行 mavros 时收到“serial0: receive: End of file”消息（没有其他任何连接到自动驾驶仪），但我可以通过 mavproxy、APM Planner 和 QGroundControl 正常连接。
重启自动驾驶没有帮助，只能重启电脑。

MAVROS 版本和平台

马夫罗斯：0.21.3
ROS：动力学
Ubuntu：16.04

自动驾驶仪类型和版本

[ + ] ArduPilot
[ ] PX4

版本：APMRover v3.1.2、v.3.2.0-rc1等

miniterm.py 的结果

--- Available ports:
---  1: /dev/ttyACM0         'PX4 FMU v2.x'
--- Enter port index or full name: 1
--- Miniterm on /dev/ttyACM0  9600,8,N,1 ---
--- Quit: Ctrl+] | Menu: Ctrl+T | Help: Ctrl+T followed by Ctrl+H ---
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节点日志

... logging to /home/pkolomiets/.ros/log/10acc882-c535-11e7-8699-54ee75ba8578/roslaunch-pkolomiets-lpr-11395.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://pkolomiets-lpr:34713/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /hector_trajectory_server_global/source_frame_name: base_link
 * /hector_trajectory_server_global/target_frame_name: map
 * /hector_trajectory_server_global/trajectory_publish_rate: 0.25
 * /hector_trajectory_server_global/trajectory_topic: trajectory_map
 * /hector_trajectory_server_global/trajectory_update_rate: 50.0
 * /hector_trajectory_server_local/source_frame_name: base_link_odom
 * /hector_trajectory_server_local/target_frame_name: odom
 * /hector_trajectory_server_local/trajectory_publish_rate: 0.25
 * /hector_trajectory_server_local/trajectory_topic: trajectory_odom
 * /hector_trajectory_server_local/trajectory_update_rate: 50.0
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 0.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 0.0
 * /mavros/distance_sensor/rangefinder_pub/field_of_view: 0.0
 * /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
 * /mavros/distance_sensor/rangefinder_pub/id: 0
 * /mavros/distance_sensor/rangefinder_pub/send_tf: False
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/rangefinder_sub/id: 1
 * /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
 * /mavros/distance_sensor/rangefinder_sub/subscriber: True
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 408.0
 * /mavros/fake_gps/geo_origin/lat: 47.3667
 * /mavros/fake_gps/geo_origin/lon: 8.55
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: False
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: True
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/use_mocap: False
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_url: /dev/ttyACM0:921600
 * /mavros/gcs_url: udp://<strong i="22">@localhost</strong>
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: True
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.000349065850399
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/local_position/frame_id: odom
 * /mavros/local_position/tf/child_frame_id: base_link_odom
 * /mavros/local_position/tf/frame_id: odom
 * /mavros/local_position/tf/send: True
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/estimator_type: 3
 * /mavros/odometry/frame_tf/desired_frame: ned
 * /mavros/plugin_blacklist: ['actuator_contro...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682389136
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_thrust: False
 * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /mavros/setpoint_attitude/tf/frame_id: map
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /mavros/setpoint_attitude/use_quaternion: False
 * /mavros/setpoint_position/tf/child_frame_id: target_position
 * /mavros/setpoint_position/tf/frame_id: map
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/startup_px4_usb_quirk: False
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/time/timesync_mode: NONE
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_odom
 * /mavros/vision_pose/tf/frame_id: map
 * /mavros/vision_pose/tf/listen: True
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: False
 * /rosdistro: kinetic
 * /rosversion: 1.12.7

NODES
  /
    hector_trajectory_server_global (hector_trajectory_server/hector_trajectory_server)
    hector_trajectory_server_local (hector_trajectory_server/hector_trajectory_server)
    mavros (mavros/mavros_node)
    mavsys (mavros/mavsys)

auto-starting new master
process[master]: started with pid [11409]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 10acc882-c535-11e7-8699-54ee75ba8578
process[rosout-1]: started with pid [11422]
started core service [/rosout]
process[hector_trajectory_server_global-2]: started with pid [11440]
process[hector_trajectory_server_local-3]: started with pid [11441]
process[mavsys-4]: started with pid [11447]
process[mavros-5]: started with pid [11464]
[ INFO] [1510221736.739028903]: Waiting for tf transform data between frames map and base_link to become available
[ INFO] [1510221736.742784172]: Waiting for tf transform data between frames odom and base_link_odom to become available
[ INFO] [1510221736.820985512]: FCU URL: /dev/ttyACM0:921600
[ WARN] [1510221736.821534018]: init: message from ASLUAV, MSG-ID 201 ignored! Table has different entry.
[ WARN] [1510221736.821699377]: init: message from autoquad, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1510221736.821724942]: init: message from autoquad, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1510221736.821865188]: init: message from matrixpilot, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1510221736.821888720]: init: message from matrixpilot, MSG-ID 151 ignored! Table has different entry.
[ WARN] [1510221736.821910795]: init: message from matrixpilot, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1510221736.821932609]: init: message from matrixpilot, MSG-ID 153 ignored! Table has different entry.
[ WARN] [1510221736.821954138]: init: message from matrixpilot, MSG-ID 155 ignored! Table has different entry.
[ WARN] [1510221736.821975282]: init: message from matrixpilot, MSG-ID 156 ignored! Table has different entry.
[ WARN] [1510221736.821996649]: init: message from matrixpilot, MSG-ID 157 ignored! Table has different entry.
[ WARN] [1510221736.822042689]: init: message from matrixpilot, MSG-ID 158 ignored! Table has different entry.
[ WARN] [1510221736.822068488]: init: message from matrixpilot, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1510221736.822090306]: init: message from matrixpilot, MSG-ID 171 ignored! Table has different entry.
[ WARN] [1510221736.822111863]: init: message from matrixpilot, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1510221736.822133390]: init: message from matrixpilot, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1510221736.822163896]: init: message from matrixpilot, MSG-ID 174 ignored! Table has different entry.
[ WARN] [1510221736.822186319]: init: message from matrixpilot, MSG-ID 175 ignored! Table has different entry.
[ WARN] [1510221736.822208124]: init: message from matrixpilot, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1510221736.822229553]: init: message from matrixpilot, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1510221736.822250988]: init: message from matrixpilot, MSG-ID 178 ignored! Table has different entry.
[ WARN] [1510221736.822272443]: init: message from matrixpilot, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1510221736.822294297]: init: message from matrixpilot, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1510221736.822315594]: init: message from matrixpilot, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1510221736.822336904]: init: message from matrixpilot, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1510221736.822358181]: init: message from matrixpilot, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1510221736.822379685]: init: message from matrixpilot, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1510221736.822401544]: init: message from matrixpilot, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1510221736.822422853]: init: message from matrixpilot, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1510221736.822563483]: init: message from paparazzi, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1510221736.822585741]: init: message from paparazzi, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1510221736.822607734]: init: message from paparazzi, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1510221736.822628220]: init: message from paparazzi, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1510221736.822648454]: init: message from paparazzi, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1510221736.822786698]: init: message from slugs, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1510221736.822808975]: init: message from slugs, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1510221736.822830494]: init: message from slugs, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1510221736.822852307]: init: message from slugs, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1510221736.822873616]: init: message from slugs, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1510221736.822894861]: init: message from slugs, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1510221736.822916178]: init: message from slugs, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1510221736.822937334]: init: message from slugs, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1510221736.822958814]: init: message from slugs, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1510221736.822980350]: init: message from slugs, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1510221736.823001716]: init: message from slugs, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1510221736.823022970]: init: message from slugs, MSG-ID 188 ignored! Table has different entry.
[ WARN] [1510221736.823045237]: init: message from slugs, MSG-ID 191 ignored! Table has different entry.
[ WARN] [1510221736.823066378]: init: message from slugs, MSG-ID 192 ignored! Table has different entry.
[ WARN] [1510221736.823087641]: init: message from slugs, MSG-ID 193 ignored! Table has different entry.
[ WARN] [1510221736.823108891]: init: message from slugs, MSG-ID 194 ignored! Table has different entry.
[ INFO] [1510221736.823435234]: serial0: device: /dev/ttyACM0 @ 921600 bps
[ INFO] [1510221736.824000079]: GCS URL: udp://<strong i="23">@localhost</strong>
[ERROR] [1510221736.824069534]: serial0: receive: End of file
[ INFO] [1510221736.824233108]: udp1: Bind address: 0.0.0.0:14555
[ INFO] [1510221736.824342427]: udp1: Remote address: 127.0.0.1:14550
terminate called after throwing an instance of 'std::system_error'
  what():  Resource deadlock avoided
================================================================================REQUIRED process [mavros-5] has died!
process has died [pid 11464, exit code -6, cmd /home/pkolomiets/eyeguide-main/app/ros/devel/lib/mavros/mavros_node __name:=mavros __log:=/home/pkolomiets/.ros/log/10acc882-c535-11e7-8699-54ee75ba8578/mavros-5.log].
log file: /home/pkolomiets/.ros/log/10acc882-c535-11e7-8699-54ee75ba8578/mavros-5*.log
Initiating shutdown!
================================================================================
[mavros-5] killing on exit
[hector_trajectory_server_global-2] killing on exit
[hector_trajectory_server_local-3] killing on exit
[mavsys-4] killing on exit
service [/mavros/set_stream_rate] unavailable
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

诊断

header: 
  seq: 0
  stamp: 
    secs: 1510222328
    nsecs: 459785529
  frame_id: ''
status: 
  - 
    level: 0
    name: mavros: FCU connection
    message: Node starting up
    hardware_id: ''
    values: []
---

查身份证

rosrun mavros checkid