์๋
ํ์ธ์.
mavros(์๋ ์กฐ์ข
์ฅ์น์ ์ฐ๊ฒฐ๋ ๋ค๋ฅธ ์ฅ์น ์์)๋ฅผ ์คํํ ๋ "serial0: receive: End of file" ๋ฉ์์ง๊ฐ ํ์๋๋ ๊ฒฝ์ฐ๊ฐ ์์ง๋ง mavproxy, APM Planner ๋ฐ QGroundControl์ ํตํด ์ ์์ ์ผ๋ก ์ฐ๊ฒฐํ ์ ์์ต๋๋ค.
์๋ ์กฐ์ข
์ฅ์น๋ฅผ ๋ค์ ์์ํด๋ ๋์์ด ๋์ง ์๊ณ PC๋ง ๋ค์ ์์ํ๋ฉด ๋ฉ๋๋ค.
๋ง๋ธ๋ก์ค: 0.21.3
ROS: ํค๋คํฑ
์ฐ๋ถํฌ: 16.04
[ + ] ์๋ํ์ผ๋ฟ
[ ] PX4
๋ฒ์ : APMRover v3.1.2, v.3.2.0-rc1 ๋ฑ
--- 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 ---
๏ฟฝ(โโโ'โ'โโโโโโ|๏ฟฝ๏ฟฝโ6โ
... 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
header:
seq: 0
stamp:
secs: 1510222328
nsecs: 459785529
frame_id: ''
status:
-
level: 0
name: mavros: FCU connection
message: Node starting up
hardware_id: ''
values: []
---
rosrun mavros checkid
์ด๊ฒ์ https://github.com/mavlink/mavros/issues/809 ๋ฐ https://github.com/mavlink/mavros/issues/566 ์ ๋ณต์ ์ ๋๋ค https://github.com/mavlink/mavros/issues/809#issuecomment -329099018 ํ์ธ
์ ๊ฒฝ์ฐ์๋ ํด๋น ๋๋ผ์ด๋ฒ๋ฅผ ๋ค์ ์์ํ๋ฉด( modprobe
) ๋์์ด ๋์์ต๋๋ค.
๋ฐ๋ผ์ ๋ ์ด์ ์ปดํจ๋์ธ ์ปดํจํฐ๋ฅผ ๋ค์ ์์ํ ํ์๊ฐ ์์ต๋๋ค - yoohoo!
๋๋ผ์ด๋ฒ๋ฅผ ์ฐพ์ ๋ค์ ์์ํ๋ ค๋ฉด ์๋ฅผ ๋ค์ด ์ด ๋งํฌ ๋ฅผ ์ฐธ์กฐํ์ญ์์ค.
์ข์ ์๋ฃจ์ ์ธ ๊ฒ ๊ฐ์ต๋๋ค. ๊ฐ์ฌ ํด์!
๋ด ๊ฒฝ์ฐ์. ์ปดํจํฐ๋ฅผ ๋ค์ ์์ํ๊ฑฐ๋ ์๋ ์กฐ์ข ์ฅ์น๊ฐ ์์ ๋์ง ์์์ต๋๋ค. modprobe๋ฅผ ๋ค์ ์์ํ๋ ๊ฒ์ ํ์ธํ๊ฒ ์ต๋๋ค!
@pavloblindnology ๋ ์ผ์์ ์ผ๋ก ์ฐ๋ฆฌ๋ฅผ ์ํด ์ผํ์ต๋๋ค.
@Pedro-Roque Troubleshooting
์น์
์ ๋ํ PR์ MAVROS Readme์ ๋ง๋ค๊ณ ์์ ๋ด์ฉ์ ์ถ๊ฐํ ์ ์์ต๋๊น?
@TSC21 ๋ค ํ ์ ์์ด์! :)
USB ์ผ์ด๋ธ์ ํ๋ฌ๊ทธ์ธํ ๋ ๋ช
์์ modprobe๊ฐ ํ์ํ์ง ์ ๋ชจ๋ฅด๊ฒ ์ต๋๋ค. ์๋์ผ๋ก ์ํ๋์ด์ผ ํฉ๋๋ค. PnP: ํ๋ฌ๊ทธ ์ค ๊ธฐ๋ :)
SoC UART ๋ชจ๋์ด ๋ด์ฅ๋์ด ์๋ ๊ฒฝ์ฐ๊ฐ ๋ง๊ธฐ ๋๋ฌธ์ ์ด ๋ฐฉ๋ฒ์ USB-UART์์๋ง ๊ฐ๋ฅํฉ๋๋ค.
@vooon USB๋ฅผ
@pavloblindnology modprobe -r
๋ถ๋ถ๋ง ์๋ ํ ์ต๋๊น(์: 3๋จ๊ณ ๊ฑด๋๋ฐ๊ธฐ)?
@vooon ๋๋ฅผ ์ํด ๋ค์ ๋จ๊ณ๊ฐ ์๋ํฉ๋๋ค.
modprobe -r
๋ ์ปค๋์ ์ ๊ฑฐํ๋ฏ๋ก ํด๋น ํฌํธ๊ฐ ์ ํ ์์ต๋๋ค( FCU: DeviceError:serial:open: No such file or directory
by mavros).
์ผ๋ฐ์ ์ผ๋ก ์๋ ๊ฐ์ง๋ ๋๋ผ์ด๋ฒ๋ฅผ ๋ก๋ํด์ผ ํ์ง๋ง ์๋ํ์ง ์๋ ๊ฒ ๊ฐ์ต๋๋ค. ๋๋ผ์ด๋ฒ ์๋ ๊ฐ์ง๋ฅผ ์๋์ผ๋ก ์ธ๋ก๋ํ๋ฉด ์๋์ด ์ค์ง๋ฉ๋๊น?
@vooon ๋งํ ์ ์์ต๋๋ค. ๊ทธ๋ฌ๋ ํ์คํ ๋ด ๊ฒฝ์ฐ์๋ ์๋ ๊ฐ์ง๊ฐ ๋ฐ์ํ์ง ์์ต๋๋ค.
๊ฐ์ฅ ์ ์ฉํ ๋๊ธ
@pavloblindnology ๋ ์ผ์์ ์ผ๋ก ์ฐ๋ฆฌ๋ฅผ ์ํด ์ผํ์ต๋๋ค.