Mavros: serial0 : recevoir : fin du fichier

Détails du problème

Salut.
Parfois, je reçois le message "serial0: receive: End of file" lors de l'exécution de mavros (rien d'autre connecté au pilote automatique), bien que je puisse me connecter normalement via mavproxy, APM Planner et QGroundControl.
Le redémarrage du pilote automatique n'aide pas, seulement le redémarrage du PC.

Version et plateforme MAVROS

Mavros : 0,21,3
ROS : cinétique
Ubuntu : 16.04

Type et version du pilote automatique

[ + ] ArduPilot
[ ] PX4

Version : APMRover v3.1.2, v.3.2.0-rc1, etc.

Résultat de miniterm.py

--- 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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Journaux de nœud

... 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

Diagnostique

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

Vérifier l'identité

rosrun mavros checkid