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running /entrypoint.sh rosrun rtabmap_drone_example offboard results in segmentation fault #23

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xManjunathPatilx opened this issue Dec 1, 2024 · 1 comment

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@xManjunathPatilx
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xManjunathPatilx commented Dec 1, 2024

Hello,
gazebo, slam and rviz nodes launch properly, but the offboard.cpp results in segmentation fault.
Everything running in docker that you have provided. did not modify any file/code.
gazebo.launch : keeps on asking for "reqeusting for position"
slam.launch : works properly, rtab odom is published
rviz.launch : workd properly, shows all sensor/map data
offboard.cpp : segmentation fault
( tried debugging, probably occurs at line 159, when publishing local pose . local_pos_pub.publish(current_goal);

root@KOR-C-011PA:~# /entrypoint.sh rosrun rtabmap_drone_example offboard
GAZEBO_PLUGIN_PATH :/usr/local/px4/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/usr/local/px4/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu:/usr/local/px4/build/px4_sitl_default/build_gazebo
[ INFO] [1733053253.552182707, 188.283000000]: Setting offboard mode... (5 seconds)
[ INFO] [1733053253.933307751, 188.637000000]: Initial position=(0.001775,0.000164,0.000163) yaw=1.571537
Segmentation fault (core dumped)
root@KOR-C-011PA:~# /entrypoint.sh roslaunch rtabmap_drone_example rviz.launch
GAZEBO_PLUGIN_PATH :/usr/local/px4/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/usr/local/px4/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu:/usr/local/px4/build/px4_sitl_default/build_gazebo
... logging to /root/.ros/log/ac51c252-afd8-11ef-9a77-58ce2a4f73c4/roslaunch-KOR-C-011PA-73097.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://KOR-C-011PA:43767/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.17.0

NODES
  /
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[rviz-1]: started with pid [73152]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'

root@KOR-C-011PA:~# /entrypoint.sh roslaunch rtabmap_drone_example gazebo.launch
GAZEBO_PLUGIN_PATH :/usr/local/px4/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/usr/local/px4/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu:/usr/local/px4/build/px4_sitl_default/build_gazebo
... logging to /root/.ros/log/ac51c252-afd8-11ef-9a77-58ce2a4f73c4/roslaunch-KOR-C-011PA-70379.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://KOR-C-011PA:37919/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_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: True
 * /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: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: udp://:14540@loca...
 * /mavros/gcs_url: 
 * /mavros/global_position/child_frame_id: base_link
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/gps_uere: 1.0
 * /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: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.000349065850398...
 * /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: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /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/in/child_frame_id: base_link
 * /mavros/odometry/in/frame_id: odom
 * /mavros/odometry/in/frame_tf/body_frame_orientation: flu
 * /mavros/odometry/in/frame_tf/local_frame: local_origin_ned
 * /mavros/odometry/out/frame_tf/body_frame_orientation: frd
 * /mavros/odometry/out/frame_tf/local_frame: vision_ned
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.11868238913561441
 * /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/mav_frame: LOCAL_NED
 * /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/setpoint_raw/thrust_scaling: 1.0
 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /mavros/startup_px4_usb_quirk: True
 * /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: MAVLINK
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: map
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: True
 * /mavros/vision_speed/twist_cov: True
 * /mavros/wheel_odometry/child_frame_id: base_link
 * /mavros/wheel_odometry/count: 2
 * /mavros/wheel_odometry/frame_id: map
 * /mavros/wheel_odometry/send_raw: True
 * /mavros/wheel_odometry/send_twist: False
 * /mavros/wheel_odometry/tf/child_frame_id: base_link
 * /mavros/wheel_odometry/tf/frame_id: map
 * /mavros/wheel_odometry/tf/send: True
 * /mavros/wheel_odometry/use_rpm: False
 * /mavros/wheel_odometry/vel_error: 0.1
 * /mavros/wheel_odometry/wheel0/radius: 0.05
 * /mavros/wheel_odometry/wheel0/x: 0.0
 * /mavros/wheel_odometry/wheel0/y: -0.15
 * /mavros/wheel_odometry/wheel1/radius: 0.05
 * /mavros/wheel_odometry/wheel1/x: 0.0
 * /mavros/wheel_odometry/wheel1/y: 0.15
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: noetic
 * /rosversion: 1.17.0
 * /rotor_tf/scale: 0.6
 * /use_sim_time: True

NODES
  /
    base_link_imu (tf/static_transform_publisher)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    mavros (mavros/mavros_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rotor_tf (rtabmap_drone_example/rotor_tf.py)
    sitl (px4/px4)
    spawn_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [70414]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ac51c252-afd8-11ef-9a77-58ce2a4f73c4
process[rosout-1]: started with pid [70424]
started core service [/rosout]
process[gazebo-2]: started with pid [70432]
process[gazebo_gui-3]: started with pid [70434]
process[sitl-4]: started with pid [70442]
INFO  [px4] Creating symlink /usr/local/px4/build/px4_sitl_default/etc -> /root/.ros/etc
______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh /opt/ros/noetic/share/rtabmap_drone_example/config/rcS 0
process[spawn_model-5]: started with pid [70449]
process[robot_state_publisher-6]: started with pid [70453]
Info: found model autostart file as SYS_AUTOSTART=1099
INFO  [param] selected parameter default file eeprom/parameters_1099
process[mavros-7]: started with pid [70458]
INFO  [parameters] BSON document size 423 bytes, decoded 423 bytes
[param] Loaded: eeprom/parameters_1099
process[base_link_imu-8]: started with pid [70465]
process[rotor_tf-9]: started with pid [70472]
[ WARN] [1733053061.652140764]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1733053061.689825824]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1733053061.693346837]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1733053061.693477946]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1733053061.693867659]: GCS bridge disabled
[ INFO] [1733053061.706420553]: Plugin 3dr_radio loaded
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
[ INFO] [1733053061.708439776]: Plugin 3dr_radio initialized
[ INFO] [1733053061.708597785]: Plugin actuator_control loaded
PX4 SIM HOST: localhost
[ INFO] [1733053061.710603640]: Plugin actuator_control initialized
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1733053061.714803205]: Plugin adsb loaded
[ INFO] [1733053061.716641021]: Plugin adsb initialized
[ INFO] [1733053061.716777583]: Plugin altitude loaded
[ INFO] [1733053061.717346526]: Plugin altitude initialized
[ INFO] [1733053061.717424843]: Plugin cam_imu_sync loaded
[ INFO] [1733053061.717787609]: Plugin cam_imu_sync initialized
[ INFO] [1733053061.717891890]: Plugin command loaded
[ INFO] [1733053061.722361556]: Plugin command initialized
[ INFO] [1733053061.722494509]: Plugin companion_process_status loaded
[ INFO] [1733053061.723624110]: Plugin companion_process_status initialized
[ INFO] [1733053061.723738176]: Plugin debug_value loaded
[ INFO] [1733053061.726311267]: Plugin debug_value initialized
[ INFO] [1733053061.726350724]: Plugin distance_sensor blacklisted
[ INFO] [1733053061.726519225]: Plugin esc_status loaded
[ INFO] [1733053061.727263779]: Plugin esc_status initialized
[ INFO] [1733053061.727397883]: Plugin esc_telemetry loaded
[ INFO] [1733053061.727976960]: Plugin esc_telemetry initialized
[ INFO] [1733053061.728120561]: Plugin fake_gps loaded
[ INFO] [1733053061.734082590]: Plugin fake_gps initialized
[ INFO] [1733053061.734267804]: Plugin ftp loaded
[ INFO] [1733053061.738219481]: Plugin ftp initialized
[ INFO] [1733053061.738345652]: Plugin geofence loaded
[ INFO] [1733053061.740129230]: Plugin geofence initialized
[ INFO] [1733053061.740236543]: Plugin global_position loaded
[ INFO] [1733053061.746406094]: Plugin global_position initialized
[ INFO] [1733053061.746501172]: Plugin gps_input loaded
[ INFO] [1733053061.747793922]: Plugin gps_input initialized
[ INFO] [1733053061.747883649]: Plugin gps_rtk loaded
[ INFO] [1733053061.749490966]: Plugin gps_rtk initialized
[ INFO] [1733053061.749572761]: Plugin gps_status loaded
[ INFO] [1733053061.750773892]: Plugin gps_status initialized
[ INFO] [1733053061.750876933]: Plugin hil loaded
[ INFO] [1733053061.756328943]: Plugin hil initialized
[ INFO] [1733053061.756445759]: Plugin home_position loaded
[ INFO] [1733053061.757900607]: Plugin home_position initialized
[ INFO] [1733053061.758054304]: Plugin imu loaded
[ INFO] [1733053061.760864697]: Plugin imu initialized
[ INFO] [1733053061.760977979]: Plugin landing_target loaded
[ INFO] [1733053061.764171448]: Plugin landing_target initialized
[ INFO] [1733053061.764267428]: Plugin local_position loaded
[ INFO] [1733053061.766696451]: Plugin local_position initialized
[ INFO] [1733053061.766783565]: Plugin log_transfer loaded
[ INFO] [1733053061.768401872]: Plugin log_transfer initialized
[ INFO] [1733053061.768516681]: Plugin mag_calibration_status loaded
[ INFO] [1733053061.769207639]: Plugin mag_calibration_status initialized
[ INFO] [1733053061.769325945]: Plugin manual_control loaded
[ INFO] [1733053061.770656591]: Plugin manual_control initialized
[ INFO] [1733053061.770760993]: Plugin mocap_pose_estimate loaded
[ INFO] [1733053061.772152834]: Plugin mocap_pose_estimate initialized
[ INFO] [1733053061.772228192]: Plugin mount_control loaded
[ INFO] [1733053061.773817247]: Plugin mount_control initialized
[ INFO] [1733053061.773914182]: Plugin nav_controller_output loaded
[ INFO] [1733053061.774218052]: Plugin nav_controller_output initialized
[ INFO] [1733053061.774280009]: Plugin obstacle_distance loaded
[ INFO] [1733053061.775218485]: Plugin obstacle_distance initialized
[ INFO] [1733053061.775286522]: Plugin odom loaded
[ INFO] [1733053061.776582130]: Plugin odom initialized
[ INFO] [1733053061.776653245]: Plugin onboard_computer_status loaded
[ INFO] [1733053061.777569187]: Plugin onboard_computer_status initialized
[ INFO] [1733053061.777734383]: Plugin param loaded
[ INFO] [1733053061.779441710]: Plugin param initialized
[ INFO] [1733053061.779542657]: Plugin play_tune loaded
[ INFO] [1733053061.780526209]: Plugin play_tune initialized
[ INFO] [1733053061.780632097]: Plugin px4flow loaded
[ INFO] [1733053061.783311557]: Plugin px4flow initialized
[ INFO] [1733053061.783439457]: Plugin rallypoint loaded
[ INFO] [1733053061.784838738]: Plugin rallypoint initialized
[ INFO] [1733053061.784868924]: Plugin rangefinder blacklisted
[ INFO] [1733053061.785033822]: Plugin rc_io loaded
[ INFO] [1733053061.786670740]: Plugin rc_io initialized
[ INFO] [1733053061.786697193]: Plugin safety_area blacklisted
[ INFO] [1733053061.786809040]: Plugin setpoint_accel loaded
[ INFO] [1733053061.788323524]: Plugin setpoint_accel initialized
[ INFO] [1733053061.788556009]: Plugin setpoint_attitude loaded
[ INFO] [1733053061.794094334]: Plugin setpoint_attitude initialized
[ INFO] [1733053061.794272792]: Plugin setpoint_position loaded
[ INFO] [1733053061.800351513]: Plugin setpoint_position initialized
[ INFO] [1733053061.800509791]: Plugin setpoint_raw loaded
[ INFO] [1733053061.804194881]: Plugin setpoint_raw initialized
[ INFO] [1733053061.804303531]: Plugin setpoint_trajectory loaded
[ INFO] [1733053061.806489098]: Plugin setpoint_trajectory initialized
[ INFO] [1733053061.806583028]: Plugin setpoint_velocity loaded
[ INFO] [1733053061.808594795]: Plugin setpoint_velocity initialized
[ INFO] [1733053061.808794985]: Plugin sys_status loaded
[ INFO] [1733053061.813285361]: Plugin sys_status initialized
[ INFO] [1733053061.813400929]: Plugin sys_time loaded
[ INFO] [1733053061.815924369]: TM: Timesync mode: MAVLINK
[ INFO] [1733053061.816487986]: Plugin sys_time initialized
[ INFO] [1733053061.816571718]: Plugin trajectory loaded
[ INFO] [1733053061.818568878]: Plugin trajectory initialized
[ INFO] [1733053061.818658184]: Plugin vfr_hud loaded
[ INFO] [1733053061.818980913]: Plugin vfr_hud initialized
[ INFO] [1733053061.818997081]: Plugin vibration blacklisted
[ INFO] [1733053061.819064333]: Plugin vision_pose_estimate loaded
[ INFO] [1733053061.821802432]: Plugin vision_pose_estimate initialized
[ INFO] [1733053061.821895705]: Plugin vision_speed_estimate loaded
[ INFO] [1733053061.823239057]: Plugin vision_speed_estimate initialized
[ INFO] [1733053061.823318775]: Plugin waypoint loaded
[ INFO] [1733053061.825291748]: Plugin waypoint initialized
[ INFO] [1733053061.825311023]: Plugin wheel_odometry blacklisted
[ INFO] [1733053061.825377856]: Plugin wind_estimation loaded
[ INFO] [1733053061.825682356]: Plugin wind_estimation initialized
[ INFO] [1733053061.825711461]: Autostarting mavlink via USB on PX4
[ INFO] [1733053061.825836351]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1733053061.825849655]: Built-in MAVLink package version: 2024.10.10
[ INFO] [1733053061.825866423]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1733053061.825881544]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1733053061.971689758]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1733053061.972436443]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1733053062.010579331]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1733053062.011334008]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1733053062.603016243]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1733053062.614292584]: Physics dynamic reconfigure ready.
../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.
INFO  [simulator] Simulator connected on TCP port 4560.
[ INFO] [1733053064.182681548, 0.001000000]: Realsense Gazebo ROS plugin loading.

RealSensePlugin: The realsense_camera plugin is attach to model drone
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [ekf2] starting instance 0, IMU:0 (1310988), MAG:0 (197388)
INFO  [ekf2] starting instance 1, IMU:1 (1310996), MAG:0 (197388)
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [ekf2] starting instance 2, IMU:2 (1311004), MAG:0 (197388)
INFO  [ekf2] starting instance 3, IMU:0 (1310988), MAG:1 (197644)
INFO  [ekf2] starting instance 4, IMU:1 (1310996), MAG:1 (197644)
INFO  [ekf2] starting instance 5, IMU:2 (1311004), MAG:1 (197644)
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2024-12-01/11_37_44.ulg
INFO  [logger] Opened full log file: ./log/2024-12-01/11_37_44.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
[ INFO] [1733053064.435397314, 0.179000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1733053064.435761237, 0.179000000]: IMU: High resolution IMU detected!
INFO  [px4] Startup script returned successfully
pxh> INFO  [mavlink] partner IP: 127.0.0.1
[spawn_model-5] process has finished cleanly
log file: /root/.ros/log/ac51c252-afd8-11ef-9a77-58ce2a4f73c4/spawn_model-5*.log
INFO  [ecl/EKF] reset position to last known position
INFO  [ecl/EKF] INFO  [ecl/EKF] reset position to last known positionreset velocity to zero

INFO  [ecl/EKF] reset velocity to zero
[ INFO] [1733053065.414180421, 1.155000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1733053065.415306919, 1.156000000]: IMU: High resolution IMU detected!
INFO  [ecl/EKF] reset position to last known position
INFO  [ecl/EKF] reset velocity to zero
INFO  [ecl/EKF] reset position to last known position
INFO  INFO  [ecl/EKF] reset position to last known position[ecl/EKF] reset velocity to zero

INFO  [ecl/EKF] reset velocity to zero
INFO  [ecl/EKF] reset position to last known position
INFO  [ecl/EKF] reset velocity to zero
[ INFO] [1733053066.423700547, 2.163000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1733053066.423755214, 2.163000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1733053066.423769161, 2.163000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1733053066.423790709, 2.163000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1733053066.423810024, 2.163000000]: VER: 1.1: Flight software:     010c03ff (2e8918da66000000)
[ INFO] [1733053066.423826155, 2.163000000]: VER: 1.1: Middleware software: 010c03ff (2e8918da66000000)
[ INFO] [1733053066.423843667, 2.163000000]: VER: 1.1: OS software:         060500ff (bf660cba2af81f05)
[ INFO] [1733053066.423858785, 2.163000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1733053066.423875290, 2.163000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1733053066.423889944, 2.163000000]: VER: 1.1: UID:                 4954414c44494e4f
INFO  [ecl/EKF] 4088000: EKF aligned, (baro hgt, IMU buf: 21, OBS buf: 15)
[ INFO] [1733053068.562840167, 4.299000000]: IMU: Attitude quaternion IMU detected!
INFO  [ecl/EKF] 4144000: EKF aligned, (baro hgt, IMU buf: 21, OBS buf: 15)
INFO  [ecl/EKF] 6812000: EKF aligned, (baro hgt, IMU buf: 21, OBS buf: 15)
INFO  [ecl/EKF] 7084000: EKF aligned, (baro hgt, IMU buf: 21, OBS buf: 15)
INFO  [ecl/EKF] 7088000: EKF aligned, (baro hgt, IMU buf: 21, OBS buf: 15)
INFO  [ecl/EKF] 7088000: EKF aligned, (baro hgt, IMU buf: 21, OBS buf: 15)
../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.
[ INFO] [1733053075.429270511, 11.155000000]: HP: requesting home position
[ INFO] [1733053080.439018460, 16.155000000]: RP: mission received
[ INFO] [1733053080.439296232, 16.156000000]: GF: mission received
[ INFO] [1733053080.439606600, 16.156000000]: WP: mission received
[ INFO] [1733053085.447085677, 21.155000000]: HP: requesting home position
[ INFO] [1733053095.465151502, 31.155000000]: HP: requesting home position
[ INFO] [1733053105.484380152, 41.155000000]: HP: requesting home position
[ INFO] [1733053115.502241157, 51.155000000]: HP: requesting home position
[ INFO] [1733053125.520818193, 61.155000000]: HP: requesting home position
[ INFO] [1733053135.540020143, 71.155000000]: HP: requesting home position
@matlabbe
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matlabbe commented Dec 4, 2024

I tried the docker instructions again and I cannot reproduce your issue.

To debug the seg fault, you could install gdb and run the node with it.

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