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Cannot use iris_opt_flow for Auto Modes in Gazebo SITL #305

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bozkurthan opened this issue Mar 25, 2019 · 3 comments
Closed

Cannot use iris_opt_flow for Auto Modes in Gazebo SITL #305

bozkurthan opened this issue Mar 25, 2019 · 3 comments

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@bozkurthan
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bozkurthan commented Mar 25, 2019 •
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I've problem with optical flow camera in Gazebo Simulation. I tried some Flight modes in Simulation but most of them are not able to use. E.g. MISSION, HOLD. Only I can send TAKEOFF command and Optical Flow Camera works fine with this command. But somehow when I send MISSION or HOLD, Iris is rejecting these modes. Furthermore, I opened Analyze on QGroundControl and saw very different values between LOCAL_POSITION_NED.x and POSTION_TARGET_LOCAL_NED.x when I sent ALTITUDE mode command. Iris starts slowly freefall when I change mode from TAKEOFF to ALTITUDE

Screenshot from 2019-03-25 11-06-03
POSTION_TARGET_LOCAL_NED.x goes up because of mode change from TAKEOFF to ALTITUDE

Terminal LOGs:

abnasuh@abnasuh-AS:~/src/Firmware$ sudo make posix gazebo_iris_opt_flow
[2/6] Performing configure step for 'sitl_gazebo'
-- install-prefix: /usr/local
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
--   thread
--   timer
--   filesystem
--   chrono
--   date_time
--   atomic
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   thread
--   system
--   filesystem
--   program_options
--   regex
--   iostreams
--   date_time
--   chrono
--   atomic
-- Boost version: 1.58.0
-- Looking for OGRE...
-- Found Ogre Ghadamon (1.9.0)
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so (Required is at least version "2.3.0") 
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
--   Found libzmq , version 4.1.4
-- Checking for module 'uuid'
--   Found uuid, version 2.27.0
-- Checking for module 'tinyxml2'
--   Found tinyxml2, version 2.2.0
-- Looking for dlfcn.h - found
-- Looking for libdl - found
-- FreeImage.pc not found, we will search for FreeImage_INCLUDE_DIRS and FreeImage_LIBRARIES
-- Checking for module 'gts'
--   Found gts, version 0.7.6
-- Checking for module 'libswscale'
--   Found libswscale, version 3.1.101
-- Checking for module 'libavdevice >= 56.4.100'
--   Found libavdevice , version 56.4.100
-- Checking for module 'libavformat'
--   Found libavformat, version 56.40.101
-- Checking for module 'libavcodec'
--   Found libavcodec, version 56.60.100
-- Checking for module 'libavutil'
--   Found libavutil, version 54.31.100
-- Checking for module 'jsoncpp'
--   Found jsoncpp, version 1.7.2
-- Checking for module 'yaml-0.1'
--   Found yaml-0.1, version 0.1.6
-- Checking for module 'libzip'
--   Found libzip, version 1.0.1
-- Building klt_feature_tracker without catkin
-- Building OpticalFlow with OpenCV
-- catkin DISABLED
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so  
Gazebo version: 9.6
-- Using C++14 compiler
-- Configuring done
-- Generating done
-- Build files have been written to: /home/abnasuh/src/Firmware/build/px4_sitl_default/build_gazebo
[3/6] Performing build step for 'sitl_gazebo'
ninja: no work to do.
[6/6] cd /home/abnasuh/src/Firmware/bu...uh/src/Firmware/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/abnasuh/src/Firmware/build/px4_sitl_default/bin/px4
debugger: none
program: gazebo
model: iris_opt_flow
src_path: /home/abnasuh/src/Firmware
build_path: /home/abnasuh/src/Firmware/build/px4_sitl_default
GAZEBO_PLUGIN_PATH :/home/abnasuh/src/Firmware/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/abnasuh/src/Firmware/Tools/sitl_gazebo/models
LD_LIBRARY_PATH :/home/abnasuh/src/Firmware/build/px4_sitl_default/build_gazebo
Gazebo multi-robot simulator, version 9.6.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.42.116
[Dbg] [gazebo_mavlink_interface.cpp:137] <joint_name> not found for channel[0] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:137] <joint_name> not found for channel[1] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:137] <joint_name> not found for channel[2] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:137] <joint_name> not found for channel[3] no joint control will be performed for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:126] joint [zephyr_delta_wing::propeller_joint] not found for channel[4] no joint control for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:126] joint [zephyr_delta_wing::flap_left_joint] not found for channel[5] no joint control for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:126] joint [zephyr_delta_wing::flap_right_joint] not found for channel[6] no joint control for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:137] <joint_name> not found for channel[7] no joint control will be performed for this channel.
[Msg] Conecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
SITL COMMAND: "/home/abnasuh/src/Firmware/build/px4_sitl_default/bin/px4" "/home/abnasuh/src/Firmware"/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t "/home/abnasuh/src/Firmware"/test_data
INFO  [px4] Creating symlink /home/abnasuh/src/Firmware/ROMFS/px4fmu_common -> /home/abnasuh/src/Firmware/build/px4_sitl_default/tmp/rootfs/etc

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to connect on TCP port 4560
INFO  [simulator] Simulator connected on TCP port 4560.
[Msg] Using MAVLink protocol v2.0
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/iris_opt_flow/motor_speed/0, deleting message. This warning is printed only once.
[Wrn] [RaySensor.cc:288] ranges not constructed yet (zero sized)
Gazebo multi-robot simulator, version 9.6.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.42.116
INFO  [commander] Mission #2 loaded, 4 WPs, curr: 0
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [ekf2] Found range finder with instance 0
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 14580 remote port 14540
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] Opened full log file: ./log/2019-03-25/08_04_37.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh> INFO  [mavlink] partner IP: 127.0.0.1
INFO  [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14)
WARN  [mc_pos_control] Auto activation failed with error: Activation Failed
INFO  [commander] Takeoff detected
Number of good matches: 1, desired: 14
Number of good matches: 1, desired: 12
Number of good matches: 3, desired: 6
Number of good matches: 1, desired: 3
Number of good matches: 3, desired: 3
Number of good matches: 3, desired: 3
Number of good matches: 3, desired: 3
Number of good matches: 1, desired: 1
Number of good matches: 3, desired: 3
Number of good matches: 3, desired: 3
Number of good matches: 2, desired: 2
Number of good matches: 3, desired: 3
Number of good matches: 2, desired: 2
Number of good matches: 4, desired: 4
Number of good matches: 3, desired: 3
Number of good matches: 5, desired: 5
Number of good matches: 3, desired: 3
Number of good matches: 1, desired: 9
Number of good matches: 1, desired: 16
Number of good matches: 1, desired: 15
INFO  [commander] Landing detected
INFO  [logger] closed logfile, bytes written: 3314637
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/iris_opt_flow/motor_speed/1, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/iris_opt_flow/motors, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/iris_opt_flow/motor_speed/2, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/iris_opt_flow/motor_speed/3, deleting message. This warning is printed only once.
WARN  [commander] MANUAL CONTROL LOST (at t=196748ms)
WARN  [commander] MANUAL CONTROL LOST (at t=205880ms)
WARN  [commander] MANUAL CONTROL LOST (at t=235700ms)

Flight log with same state but another flight:
https://review.px4.io/plot_app?log=e80b5741-550d-4d93-b04b-9395d53e5197
@bozkurthan
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OK. The problem is that mission needs Home Position for flight. On the other hand, I don't know why Iris doesn't receive HOLD mode without GPS.

In order to perform Mission I changed parameter that named EKF2_AID_MASK.
Before change:
Screenshot from 2019-03-26 08-55-24

After change:
Screenshot from 2019-03-26 08-55-38

And waited for home position. Then, closed gps from terminal.
Screenshot from 2019-03-26 09-31-52

After all this step, Iris accepted HOLD and MISSION modes.

The whole steps should be like this or is this problem?

@lamping7
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I think it's a problem. Mentioned here --> PX4/PX4-Autopilot#11665

@bozkurthan
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I'm closing thanks @lamping7

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@lamping7 @bozkurthan