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[Bug] Multiple drones MAVROS topic /drone_1/mavros/local_position/odom all equal to (0,0,0) in the beginning #23493

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hcws opened this issue Aug 5, 2024 · 4 comments
Open

[Bug] Multiple drones MAVROS topic /drone_1/mavros/local_position/odom all equal to (0,0,0) in the beginning #23493

hcws opened this issue Aug 5, 2024 · 4 comments
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@hcws
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hcws commented Aug 5, 2024

Describe the bug

Multiple drones are being simulated using Gazebo. After starting the simulation environment, the coordinates of each drone are all set to 0. However, when I move each drone, their coordinates change. In Gazebo, the coordinates of each drone are different.

To Reproduce

1. Drone switched on : in the begining
Uploaded mission : QGC4.2.8
Took off  : No
See error ： No

Expected behavior

/drone_0/mavros/local_position/odom
/drone_1/mavros/local_position/odom
/drone_2/mavros/local_position/odom

should diffent.
image

Screenshot / Media

Selection_402
Selection_403

Flight Log

 [ INFO] [1722869475.724269800]: Plugin hil initialized
[ INFO] [1722869475.724361343]: Plugin home_position loaded
[ INFO] [1722869475.727141823]: Plugin home_position initialized
[ INFO] [1722869475.727230050]: Plugin imu loaded
[ INFO] [1722869475.730212494]: FCU URL: udp://:14542@localhost:14582
[ INFO] [1722869475.732204695]: udp0: Bind address: 0.0.0.0:14542
[ INFO] [1722869475.732263324]: udp0: Remote address: 127.0.0.1:14582
[ INFO] [1722869475.732295631]: GCS bridge disabled
[ INFO] [1722869475.737673960]: Plugin setpoint_position initialized
[ INFO] [1722869475.737812448]: Plugin setpoint_raw loaded
[ INFO] [1722869475.738241055]: Plugin 3dr_radio loaded
[ INFO] [1722869475.746235224]: Plugin 3dr_radio initialized
[ INFO] [1722869475.746324686]: Plugin actuator_control loaded
[ INFO] [1722869475.751467767]: Plugin actuator_control initialized
[ INFO] [1722869475.752017032]: Plugin imu initialized
[ INFO] [1722869475.752096765]: Plugin landing_target loaded
[ INFO] [1722869475.754096671]: Plugin adsb loaded
[ INFO] [1722869475.758508787]: Plugin adsb initialized
[ INFO] [1722869475.758599494]: Plugin altitude loaded
[ INFO] [1722869475.760336182]: Plugin altitude initialized
[ INFO] [1722869475.760403420]: Plugin cam_imu_sync loaded
[ INFO] [1722869475.761186163]: Plugin cam_imu_sync initialized
[ INFO] [1722869475.761330140]: Plugin camera loaded
[ INFO] [1722869475.763151808]: Plugin camera initialized
[ INFO] [1722869475.763336496]: Plugin cellular_status loaded
[ INFO] [1722869475.765040971]: Plugin setpoint_raw initialized
[ INFO] [1722869475.765176998]: Plugin setpoint_trajectory loaded
[INFO] [1722869475.766340, 0.000000]: Loading model XML from ros parameter model_description
[ INFO] [1722869475.767032424]: Plugin cellular_status initialized
[ INFO] [1722869475.767153522]: Plugin command loaded
[ INFO] [1722869475.768538046]: Plugin landing_target initialized
[ INFO] [1722869475.768636756]: Plugin local_position loaded
[INFO] [1722869475.780229, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1722869475.781503332]: Plugin setpoint_trajectory initialized
[ INFO] [1722869475.781651856]: Plugin setpoint_velocity loaded
[ INFO] [1722869475.785055308]: Plugin local_position initialized
[ INFO] [1722869475.785169021]: Plugin log_transfer loaded
[ INFO] [1722869475.785701409]: Plugin command initialized
[ INFO] [1722869475.785799156]: Plugin companion_process_status loaded
[ INFO] [1722869475.786105872]: Plugin setpoint_velocity initialized
[ INFO] [1722869475.786241587]: Plugin sys_status loaded
[ INFO] [1722869475.788020399]: Plugin companion_process_status initialized
[ INFO] [1722869475.788091906]: Plugin debug_value loaded
[ INFO] [1722869475.788864342]: Plugin log_transfer initialized
[ INFO] [1722869475.788957116]: Plugin mag_calibration_status loaded
[ INFO] [1722869475.790418527]: Plugin mag_calibration_status initialized
[ INFO] [1722869475.790512122]: Plugin manual_control loaded
[ INFO] [1722869475.793305157]: Plugin manual_control initialized
INFO  [dataman] data manager file './dataman' size is 7866640 bytes
[ INFO] [1722869475.793388319]: Plugin mocap_pose_estimate loaded
[ INFO] [1722869475.794260108]: Plugin debug_value initialized
[ INFO] [1722869475.794292313]: Plugin distance_sensor blacklisted
[ INFO] [1722869475.794367288]: Plugin esc_status loaded
PX4 SIM HOST: localhost
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4562
[ INFO] [1722869475.796584884]: Plugin esc_status initialized
[ INFO] [1722869475.796683834]: Plugin esc_telemetry loaded
[ INFO] [1722869475.797717011]: Plugin mocap_pose_estimate initialized
[ INFO] [1722869475.797814685]: Plugin mount_control loaded
[ INFO] [1722869475.800467489]: Plugin esc_telemetry initialized
[ INFO] [1722869475.800594443]: Plugin fake_gps loaded
[ WARN] [1722869475.801092985]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1722869475.802198393]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1722869475.807391670]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1722869475.809013061]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1722869475.809659306]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1722869475.809694173]: Plugin mount_control initialized
[ INFO] [1722869475.809765108]: Plugin nav_controller_output loaded
[ INFO] [1722869475.811061813]: Plugin nav_controller_output initialized
[ INFO] [1722869475.811138752]: Plugin obstacle_distance loaded
[ INFO] [1722869475.812934526]: Plugin sys_status initialized
[ INFO] [1722869475.813021657]: Plugin sys_time loaded
[ INFO] [1722869475.814924110]: Plugin obstacle_distance initialized
[ INFO] [1722869475.814999221]: Plugin odom loaded
[ INFO] [1722869475.821590172]: Plugin odom initialized
[ INFO] [1722869475.821667434]: Plugin onboard_computer_status loaded
[ INFO] [1722869475.822348405]: TM: Timesync mode: MAVLINK
[ INFO] [1722869475.822957076]: TM: Not publishing sim time
[ INFO] [1722869475.824785519]: Plugin sys_time initialized
[ INFO] [1722869475.824983763]: Plugin terrain loaded
[ INFO] [1722869475.825815293]: Plugin terrain initialized
[ INFO] [1722869475.825952062]: Plugin trajectory loaded
[ INFO] [1722869475.826442983]: Plugin onboard_computer_status initialized
[ INFO] [1722869475.826592023]: Plugin param loaded
[ INFO] [1722869475.831123300]: Plugin param initialized
[ INFO] [1722869475.831353339]: Plugin play_tune loaded
[ INFO] [1722869475.833649975]: Plugin fake_gps initialized
[ INFO] [1722869475.833746861]: Plugin ftp loaded
[ INFO] [1722869475.835492626]: Plugin play_tune initialized
[ INFO] [1722869475.835585382]: Plugin px4flow loaded
[ INFO] [1722869475.836346611]: Plugin trajectory initialized
[ INFO] [1722869475.836463165]: Plugin tunnel loaded
[ INFO] [1722869475.841627575]: Plugin tunnel initialized
[ INFO] [1722869475.841729668]: Plugin vfr_hud loaded
[ INFO] [1722869475.842769253]: Plugin vfr_hud initialized
[ INFO] [1722869475.842822996]: Plugin vibration blacklisted
[ INFO] [1722869475.842900257]: Plugin vision_pose_estimate loaded
[ INFO] [1722869475.846589531]: Plugin ftp initialized
[ INFO] [1722869475.846690759]: Plugin geofence loaded
[ INFO] [1722869475.850157039]: Plugin px4flow initialized
[ INFO] [1722869475.850263109]: Plugin rallypoint loaded
[ INFO] [1722869475.852421585]: Plugin geofence initialized
[ INFO] [1722869475.852521522]: Plugin global_position loaded
[ INFO] [1722869475.855249251]: Plugin rallypoint initialized
[ INFO] [1722869475.855287181]: Plugin rangefinder blacklisted
[ INFO] [1722869475.855375768]: Plugin rc_io loaded
[ INFO] [1722869475.857937483]: Plugin vision_pose_estimate initialized
[ INFO] [1722869475.858047544]: Plugin vision_speed_estimate loaded
[ INFO] [1722869475.861928708]: Plugin rc_io initialized
[ INFO] [1722869475.862059177]: Plugin safety_area blacklisted
[ INFO] [1722869475.862177935]: Plugin setpoint_accel loaded
[ INFO] [1722869475.867944964]: Plugin vision_speed_estimate initialized
[ INFO] [1722869475.868175698]: Plugin waypoint loaded
[ INFO] [1722869475.871891238]: Plugin setpoint_accel initialized
[ INFO] [1722869475.872015146]: Plugin setpoint_attitude loaded
[ INFO] [1722869475.880173152]: Plugin waypoint initialized
[ INFO] [1722869475.880215677]: Plugin wheel_odometry blacklisted
[ INFO] [1722869475.880288962]: Plugin wind_estimation loaded
[ INFO] [1722869475.881334068]: Plugin wind_estimation initialized
[ INFO] [1722869475.881463969]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1722869475.881568722]: Built-in MAVLink package version: 2024.3.3
[ INFO] [1722869475.881651817]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1722869475.881731601]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1722869475.883885, 0.000000]: Loading model XML from ros parameter model_description
[ INFO] [1722869475.887747225]: Plugin global_position initialized
[ INFO] [1722869475.887832815]: Plugin gps_input loaded
[ INFO] [1722869475.889232739]: Plugin setpoint_attitude initialized
[ INFO] [1722869475.889329858]: Plugin setpoint_position loaded
[INFO] [1722869475.890149, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1722869475.892311186]: Plugin gps_input initialized
[ INFO] [1722869475.892391575]: Plugin gps_rtk loaded
[ INFO] [1722869475.895086800]: Plugin gps_rtk initialized
[ INFO] [1722869475.895240812]: Plugin gps_status loaded
[ INFO] [1722869475.897037799]: Plugin gps_status initialized
[ INFO] [1722869475.897172886]: Plugin guided_target loaded
[ INFO] [1722869475.900842076]: Plugin guided_target initialized
[ INFO] [1722869475.901009055]: Plugin hil loaded
[ INFO] [1722869475.904923310]: Plugin setpoint_position initialized
[ INFO] [1722869475.906133121]: Plugin setpoint_raw loaded
[ INFO] [1722869475.908320889]: Plugin hil initialized
[ INFO] [1722869475.908419433]: Plugin home_position loaded
[ INFO] [1722869475.914280309]: Plugin setpoint_raw initialized
[ INFO] [1722869475.914372158]: Plugin setpoint_trajectory loaded
[ INFO] [1722869475.916386660]: Plugin home_position initialized
[ INFO] [1722869475.916480840]: Plugin imu loaded
[ INFO] [1722869475.923096651]: Plugin setpoint_trajectory initialized
[ INFO] [1722869475.923192244]: Plugin setpoint_velocity loaded
[INFO] [1722869475.924015, 0.000000]: Loading model XML from ros parameter model_description
[ INFO] [1722869475.930257252]: Plugin imu initialized
[ INFO] [1722869475.930332649]: Plugin landing_target loaded
[ INFO] [1722869475.931613059]: Plugin setpoint_velocity initialized
[ INFO] [1722869475.931723606]: Plugin sys_status loaded
[INFO] [1722869475.933388, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1722869475.939587971]: Plugin landing_target initialized
[ INFO] [1722869475.939706625]: Plugin local_position loaded
[ INFO] [1722869475.939806704]: Plugin sys_status initialized
[ INFO] [1722869475.939882074]: Plugin sys_time loaded
[ INFO] [1722869475.942775805]: TM: Timesync mode: MAVLINK
[ INFO] [1722869475.943085907]: TM: Not publishing sim time
[ INFO] [1722869475.943974135]: Plugin sys_time initialized
[ INFO] [1722869475.944028372]: Plugin terrain loaded
[ INFO] [1722869475.944325454]: Plugin terrain initialized
[ INFO] [1722869475.944368911]: Plugin trajectory loaded
[ INFO] [1722869475.944469940]: Plugin local_position initialized
[ INFO] [1722869475.944558719]: Plugin log_transfer loaded
[ INFO] [1722869475.947112055]: Plugin log_transfer initialized
[ INFO] [1722869475.947187016]: Plugin trajectory initialized
[ INFO] [1722869475.947201082]: Plugin mag_calibration_status loaded
[ INFO] [1722869475.947247674]: Plugin tunnel loaded
[ INFO] [1722869475.948207688]: Plugin mag_calibration_status initialized
[ INFO] [1722869475.948273533]: Plugin manual_control loaded
[ INFO] [1722869475.949543247]: Plugin tunnel initialized
[ INFO] [1722869475.949613046]: Plugin vfr_hud loaded
[ INFO] [1722869475.949991418]: Plugin vfr_hud initialized
[ INFO] [1722869475.950006928]: Plugin vibration blacklisted
[ INFO] [1722869475.950060386]: Plugin vision_pose_estimate loaded
[ INFO] [1722869475.950352724]: Plugin manual_control initialized
[ INFO] [1722869475.950404977]: Plugin mocap_pose_estimate loaded
[ INFO] [1722869475.953725211]: Plugin mocap_pose_estimate initialized
[ INFO] [1722869475.953784197]: Plugin mount_control loaded
[ INFO] [1722869475.956430160]: Plugin vision_pose_estimate initialized
[ INFO] [1722869475.956483624]: Plugin vision_speed_estimate loaded
[ INFO] [1722869475.961171113]: Plugin vision_speed_estimate initialized
[ INFO] [1722869475.961293629]: Plugin waypoint loaded
[ WARN] [1722869475.961741808]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1722869475.961964540]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1722869475.962190939]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1722869475.963074479]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1722869475.963321373]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1722869475.963364989]: Plugin mount_control initialized
[ INFO] [1722869475.963464661]: Plugin nav_controller_output loaded
[ INFO] [1722869475.963896510]: Plugin nav_controller_output initialized
[ INFO] [1722869475.963952872]: Plugin obstacle_distance loaded
[ INFO] [1722869475.964909368]: Plugin waypoint initialized
[ INFO] [1722869475.964931671]: Plugin wheel_odometry blacklisted
[ INFO] [1722869475.964988144]: Plugin wind_estimation loaded
[ INFO] [1722869475.965005292]: Plugin obstacle_distance initialized
[ INFO] [1722869475.965085814]: Plugin odom loaded
[ INFO] [1722869475.965374909]: Plugin wind_estimation initialized
[ INFO] [1722869475.965438131]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1722869475.965450016]: Built-in MAVLink package version: 2024.3.3
[ INFO] [1722869475.965468268]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1722869475.965480516]: MAVROS started. MY ID 1.240, TARGET ID 2.1
[ INFO] [1722869475.966736289]: Plugin odom initialized
[ INFO] [1722869475.966817218]: Plugin onboard_computer_status loaded
[ INFO] [1722869475.967510840]: Plugin onboard_computer_status initialized
[ INFO] [1722869475.967570199]: Plugin param loaded
[ INFO] [1722869475.968499165]: Plugin param initialized
[ INFO] [1722869475.968538223]: Plugin play_tune loaded
[ INFO] [1722869475.969313250]: Plugin play_tune initialized
[ INFO] [1722869475.969347238]: Plugin px4flow loaded
[ INFO] [1722869475.971591041]: Plugin px4flow initialized
[ INFO] [1722869475.971686381]: Plugin rallypoint loaded
[ INFO] [1722869475.972770767]: Plugin rallypoint initialized
[ INFO] [1722869475.972798133]: Plugin rangefinder blacklisted
[ INFO] [1722869475.972873108]: Plugin rc_io loaded
[ INFO] [1722869475.975205368]: Plugin rc_io initialized
[ INFO] [1722869475.975231284]: Plugin safety_area blacklisted
[ INFO] [1722869475.975306128]: Plugin setpoint_accel loaded
[ INFO] [1722869475.977286503]: Plugin setpoint_accel initialized
[ INFO] [1722869475.977401256]: Plugin setpoint_attitude loaded
[ INFO] [1722869475.981145330]: Plugin setpoint_attitude initialized
[ INFO] [1722869475.981248023]: Plugin setpoint_position loaded
[ INFO] [1722869475.991017194]: Plugin setpoint_position initialized
[ INFO] [1722869475.991121792]: Plugin setpoint_raw loaded
[ INFO] [1722869475.994771921]: Plugin setpoint_raw initialized
[ INFO] [1722869475.994948264]: Plugin setpoint_trajectory loaded
[ INFO] [1722869475.997812909]: Plugin setpoint_trajectory initialized
[ INFO] [1722869475.997922621]: Plugin setpoint_velocity loaded
[ INFO] [1722869476.001330478]: Plugin setpoint_velocity initialized
[ INFO] [1722869476.001425240]: Plugin sys_status loaded
[ INFO] [1722869476.007485448]: Plugin sys_status initialized
[ INFO] [1722869476.007548380]: Plugin sys_time loaded
[ INFO] [1722869476.010703115]: TM: Timesync mode: MAVLINK
[ INFO] [1722869476.010927909]: TM: Not publishing sim time
[ INFO] [1722869476.011656522]: Plugin sys_time initialized
[ INFO] [1722869476.011748571]: Plugin terrain loaded
[ INFO] [1722869476.012119067]: Plugin terrain initialized
[ INFO] [1722869476.012200757]: Plugin trajectory loaded
[ INFO] [1722869476.015604694]: Plugin trajectory initialized
[ INFO] [1722869476.015681799]: Plugin tunnel loaded
[ INFO] [1722869476.017468775]: Plugin tunnel initialized
[ INFO] [1722869476.017551774]: Plugin vfr_hud loaded
[ INFO] [1722869476.017908272]: Plugin vfr_hud initialized
[ INFO] [1722869476.017924595]: Plugin vibration blacklisted
[ INFO] [1722869476.017980718]: Plugin vision_pose_estimate loaded
[ INFO] [1722869476.020211954]: Plugin vision_pose_estimate initialized
[ INFO] [1722869476.020267064]: Plugin vision_speed_estimate loaded
[ INFO] [1722869476.021349858]: Plugin vision_speed_estimate initialized
[ INFO] [1722869476.021410948]: Plugin waypoint loaded
[ INFO] [1722869476.023646540]: Plugin waypoint initialized
[ INFO] [1722869476.023688469]: Plugin wheel_odometry blacklisted
[ INFO] [1722869476.023762003]: Plugin wind_estimation loaded
[ INFO] [1722869476.024093450]: Plugin wind_estimation initialized
[ INFO] [1722869476.024187697]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1722869476.024208361]: Built-in MAVLink package version: 2024.3.3
[ INFO] [1722869476.024226607]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1722869476.024243315]: MAVROS started. MY ID 1.240, TARGET ID 3.1
[ INFO] [1722869476.047748182]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1722869476.048430684]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1722869476.122656088]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1722869476.123596502]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1722869476.458071358, 633.195000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1722869476.472292339, 633.209000000]: Physics dynamic reconfigure ready.
[INFO] [1722869476.493940, 0.000000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1722869476.538271, 633.273000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1722869476.687103, 633.341000]: Calling service /gazebo/spawn_sdf_model
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[ INFO] [1722869479.457852358, 633.341000000]: Velodyne laser plugin missing <organize_cloud>, defaults to false
[ INFO] [1722869479.457894669, 633.341000000]: Velodyne laser plugin missing <min_range>, defaults to 0
[ INFO] [1722869479.457905309, 633.341000000]: Velodyne laser plugin missing <max_range>, defaults to infinity
[ INFO] [1722869479.457914548, 633.341000000]: Velodyne laser plugin missing <min_intensity>, defaults to no clipping
[ INFO] [1722869479.459245647, 633.341000000]: Velodyne laser plugin ready, 32 lasers
[INFO] [1722869479.463492, 633.341000]: Spawn status: SpawnModel: Successfully spawned entity
INFO  [simulator] Simulator connected on TCP port 4561.
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] setting PWM_AUX_OUT none
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18571 remote port 14550
INFO  [mavlink] partner IP: 127.0.0.1
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[drone_1/iris_1_spawn-8] process has finished cleanly
log file: /home/ly/.ros/log/29e7616e-533a-11ef-98a5-e39add9e852e/drone_1-iris_1_spawn-8*.log
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
[ INFO] [1722869483.090219792, 633.530000000]: Velodyne laser plugin missing <organize_cloud>, defaults to false
[ INFO] [1722869483.090252500, 633.530000000]: Velodyne laser plugin missing <min_range>, defaults to 0
[ INFO] [1722869483.090262131, 633.530000000]: Velodyne laser plugin missing <max_range>, defaults to infinity
[ INFO] [1722869483.090270723, 633.530000000]: Velodyne laser plugin missing <min_intensity>, defaults to no clipping
[ INFO] [1722869483.091418190, 633.530000000]: Velodyne laser plugin ready, 32 lasers
[INFO] [1722869483.095015, 633.530000]: Spawn status: SpawnModel: Successfully spawned entity
INFO  [simulator] Simulator connected on TCP port 4562.
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14581 remote port 14541
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14281 remote port 14031
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13031 remote port 13281
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2024-08-05/14_51_23.ulg	
INFO  [logger] Opened full log file: ./log/2024-08-05/14_51_23.ulg
INFO  [mavlink] partner IP: 127.0.0.1
[ INFO] [1722869483.244153606, 633.582000000]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1722869483.244553490, 633.583000000]: IMU: High resolution IMU detected!
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  [px4] Startup script returned successfully
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] setting PWM_AUX_OUT none
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18572 remote port 14550
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[drone_2/iris_2_spawn-11] process has finished cleanly
log file: /home/ly/.ros/log/29e7616e-533a-11ef-98a5-e39add9e852e/drone_2-iris_2_spawn-11*.log
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
[ INFO] [1722869486.621328558, 633.726000000]: Velodyne laser plugin missing <organize_cloud>, defaults to false
[ INFO] [1722869486.621379535, 633.726000000]: Velodyne laser plugin missing <min_range>, defaults to 0
[ INFO] [1722869486.621397932, 633.726000000]: Velodyne laser plugin missing <max_range>, defaults to infinity
[ INFO] [1722869486.621410225, 633.726000000]: Velodyne laser plugin missing <min_intensity>, defaults to no clipping
[ INFO] [1722869486.622814094, 633.726000000]: Velodyne laser plugin ready, 32 lasers
[INFO] [1722869486.624569, 633.726000]: Spawn status: SpawnModel: Successfully spawned entity
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] setting PWM_AUX_OUT none
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14582 remote port 14542
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14282 remote port 14032
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13032 remote port 13282
[ INFO] [1722869486.890244918, 633.832000000]: udp0: Remote address: 127.0.0.1:14582
[ INFO] [1722869486.891107828, 633.832000000]: IMU: High resolution IMU detected!
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2024-08-05/14_51_26.ulg	
INFO  [logger] Opened full log file: ./log/2024-08-05/14_51_26.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  [px4] Startup script returned successfully
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [mavlink] partner IP: 127.0.0.1
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  [mavlink] partner IP: 127.0.0.1
[ INFO] [1722869487.025029908, 633.936000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1722869487.025248747, 633.936000000]: IMU: High resolution IMU detected!
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2024-08-05/14_51_27.ulg	
INFO  [logger] Opened full log file: ./log/2024-08-05/14_51_27.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  [px4] Startup script returned successfully
INFO  [mavlink] partner IP: 127.0.0.1
[drone_0/iris_0_spawn-5] process has finished cleanly
log file: /home/ly/.ros/log/29e7616e-533a-11ef-98a5-e39add9e852e/drone_0-iris_0_spawn-5*.log
INFO  [mavlink] partner IP: 127.0.0.1
INFO  [commander] Failsafe mode activated	
[ INFO] [1722869487.738095627, 634.563000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1722869487.739333954, 634.564000000]: IMU: High resolution IMU detected!
[ INFO] [1722869487.755980651, 634.583000000]: IMU: Attitude quaternion IMU detected!
[ WARN] [1722869487.965340760, 634.767000000]: CMD: Unexpected command 512, result 4
[ WARN] [1722869487.966189238, 634.768000000]: CMD: Unexpected command 512, result 4
[ WARN] [1722869487.969954876, 634.772000000]: CMD: Unexpected command 512, result 0
[ INFO] [1722869487.970070468, 634.772000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1722869488.010839723, 634.812000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1722869488.012129185, 634.813000000]: IMU: High resolution IMU detected!
[ INFO] [1722869488.012192349, 634.813000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1722869488.119170749, 634.916000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1722869488.119845278, 634.916000000]: IMU: High resolution IMU detected!
[ INFO] [1722869488.188458804, 634.968000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1722869488.755884958, 635.491000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1722869488.755921859, 635.491000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1722869488.755934012, 635.491000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1722869488.755959287, 635.491000000]: VER: 2.1: Capabilities         0x000000000000e4ff
[ INFO] [1722869488.755977481, 635.491000000]: VER: 2.1: Flight software:     010d0000 (8cc6d02af3000000)
[ INFO] [1722869488.755990555, 635.491000000]: VER: 2.1: Middleware software: 010d0000 (8cc6d02af3000000)
[ INFO] [1722869488.756006470, 635.491000000]: VER: 2.1: OS software:         050f00ff (91bece51afbe7da9)
[ INFO] [1722869488.756015108, 635.491000000]: VER: 2.1: Board hardware:      00000001
[ INFO] [1722869488.756030983, 635.491000000]: VER: 2.1: VID/PID:             0000:0000
[ INFO] [1722869488.756044497, 635.491000000]: VER: 2.1: UID:                 4954414c44494e50
[ INFO] [1722869489.021496618, 635.724000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1722869489.021744971, 635.724000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1722869489.021851978, 635.724000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1722869489.022089393, 635.724000000]: VER: 3.1: Capabilities         0x000000000000e4ff
[ INFO] [1722869489.022159770, 635.724000000]: VER: 3.1: Flight software:     010d0000 (8cc6d02af3000000)
[ INFO] [1722869489.022195499, 635.724000000]: VER: 3.1: Middleware software: 010d0000 (8cc6d02af3000000)
[ INFO] [1722869489.022290865, 635.724000000]: VER: 3.1: OS software:         050f00ff (91bece51afbe7da9)
[ INFO] [1722869489.022437459, 635.725000000]: VER: 3.1: Board hardware:      00000001
[ INFO] [1722869489.022541815, 635.725000000]: VER: 3.1: VID/PID:             0000:0000
[ INFO] [1722869489.022642334, 635.725000000]: VER: 3.1: UID:                 4954414c44494e51
[ INFO] [1722869489.131941280, 635.820000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1722869489.132019096, 635.820000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1722869489.132058563, 635.820000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1722869489.132115882, 635.820000000]: VER: 1.1: Capabilities         0x000000000000e4ff
[ INFO] [1722869489.132170040, 635.820000000]: VER: 1.1: Flight software:     010d0000 (8cc6d02af3000000)
[ INFO] [1722869489.132204878, 635.820000000]: VER: 1.1: Middleware software: 010d0000 (8cc6d02af3000000)
[ INFO] [1722869489.132241002, 635.820000000]: VER: 1.1: OS software:         050f00ff (91bece51afbe7da9)
[ INFO] [1722869489.132273066, 635.820000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1722869489.132306333, 635.820000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1722869489.132336397, 635.820000000]: VER: 1.1: UID:                 4954414c44494e4f
WARN  [PreFlightCheck] Manual control unavailable
WARN  [PreFlightCheck] Manual control unavailable
INFO  [tone_alarm] home set
INFO  [tone_alarm] notify negative
INFO  [tone_alarm] home set
INFO  [tone_alarm] home set
INFO  [tone_alarm] notify negative
INFO  [tone_alarm] notify negative
INFO  [commander] Failsafe mode deactivated	
[ INFO] [1722869505.154563300, 649.564000000]: RP: mission received
[ INFO] [1722869505.154739865, 649.564000000]: GF: mission received
[ INFO] [1722869505.155545584, 649.565000000]: WP: mission received
[ INFO] [1722869505.428717722, 649.812000000]: GF: mission received
[ INFO] [1722869505.428827653, 649.812000000]: RP: mission received
[ INFO] [1722869505.429777614, 649.813000000]: WP: mission received
[ INFO] [1722869505.536740107, 649.917000000]: GF: mission received
[ INFO] [1722869505.536814110, 649.917000000]: RP: mission received
[ INFO] [1722869505.536843144, 649.917000000]: WP: mission received
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
WARN  [commander] Manual control lost	
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
[ WARN] [1722869702.031763499, 705.766000000]: CON: Lost connection, HEARTBEAT timed out.
[ WARN] [1722869702.209703355, 705.766000000]: CON: Lost connection, HEARTBEAT timed out.
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
ERROR [simulator] poll timeout 0, 22
[ INFO] [1722869703.997482887, 705.855000000]: IMU: High resolution IMU detected!
[ INFO] [1722869703.997480737, 705.855000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1722869704.056054825, 705.896000000]: IMU: High resolution IMU detected!
[ INFO] [1722869704.085872263, 705.896000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1722869704.173656990, 705.964000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1722869704.173667051, 705.964000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1722869704.262945036, 706.017000000]: IMU: High resolution IMU detected!
[ INFO] [1722869704.263184365, 706.017000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1722869704.263361708, 706.017000000]: IMU: High resolution IMU detected!
[ INFO] [1722869704.263521462, 706.017000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1722869705.623269808, 706.488000000]: VER: 1.1: Capabilities         0x000000000000e4ff
[ INFO] [1722869705.623294105, 706.488000000]: VER: 3.1: Capabilities         0x000000000000e4ff
[ INFO] [1722869705.643542923, 706.488000000]: VER: 1.1: Flight software:     010d0000 (8cc6d02af3000000)
[ INFO] [1722869705.643602796, 706.488000000]: VER: 3.1: Flight software:     010d0000 (8cc6d02af3000000)
[ INFO] [1722869705.643672570, 706.488000000]: VER: 1.1: Middleware software: 010d0000 (8cc6d02af3000000)
[ INFO] [1722869705.643697385, 706.488000000]: VER: 3.1: Middleware software: 010d0000 (8cc6d02af3000000)
[ INFO] [1722869705.643731558, 706.488000000]: VER: 1.1: OS software:         050f00ff (91bece51afbe7da9)
[ INFO] [1722869705.643778995, 706.488000000]: VER: 3.1: OS software:         050f00ff (91bece51afbe7da9)
[ INFO] [1722869705.643817261, 706.488000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1722869705.643851260, 706.488000000]: VER: 3.1: Board hardware:      00000001
[ INFO] [1722869705.643895818, 706.488000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1722869705.643934905, 706.488000000]: VER: 3.1: VID/PID:             0000:0000
[ INFO] [1722869705.643980836, 706.488000000]: VER: 1.1: UID:                 4954414c44494e4f
[ INFO] [1722869705.644147704, 706.488000000]: VER: 3.1: UID:                 4954414c44494e51
[ WARN] [1722869705.644243179, 706.488000000]: CMD: Unexpected command 520, result 0
[ WARN] [1722869705.644451567, 706.488000000]: CMD: Unexpected command 520, result 0
INFO  [commander] Manual control regained after 3.5s	
WARN  [commander] Manual control lost	
INFO  [commander] Manual control regained after 0.4s	
WARN  [commander] Manual control lost	
INFO  [commander] Manual control regained after 0.9s	
WARN  [commander] Manual control lost	
INFO  [commander] Manual control regained after 0.3s	
[ INFO] [1722869757.968899068, 721.009000000]: GF: mission received
[ INFO] [1722869757.968885335, 721.009000000]: GF: mission received
[ INFO] [1722869758.018100086, 721.017000000]: RP: mission received
[ INFO] [1722869758.018809801, 721.017000000]: WP: mission received
[ INFO] [1722869758.019681518, 721.018000000]: RP: mission received
[ INFO] [1722869758.019740673, 721.018000000]: WP: mission received
WARN  [commander] Manual control lost	
INFO  [commander] Manual control regained after 0.6s	
WARN  [commander] Manual control lost	
INFO  [commander] Manual control regained after 0.6s	
WARN  [commander] Manual control lost	
INFO  [commander] Manual control regained after 0.6s

Software Version

QGC : V4.2.8

Gazebo
user@pc:~$ gazebo --version
Gazebo multi-robot simulator, version 11.14.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 11.14.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Flight controller

3DR Iris Quadrotor

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

No response
@hcws hcws added the bug-report label Aug 5, 2024
@hcws hcws changed the title [Bug] Multiple drones MAVROS topic /drone_1/mavros/local_position/odom all to 0 [Bug] Multiple drones MAVROS topic /drone_1/mavros/local_position/odom all equal to (0,0,0) in the beginning Aug 5, 2024
@XXLiu-HNU
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Try ros topic echo /drone_1/mavros/local_position/local?

@hcws
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hcws commented Sep 1, 2024 •
edited
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Try ros topic echo /drone_1/mavros/local_position/local?

They are all (0,0,0). Finally I use other ways to solve it

@XXLiu-HNU
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How did you solve it? We also encountered this problem when doing outdoor cluster experiments. The local position coordinate system of the drone was not uniform...

@hcws
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hcws commented Sep 1, 2024

How did you solve it? We also encountered this problem when doing outdoor cluster experiments. The local position coordinate system of the drone was not uniform...

Set offsets

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@hcws @XXLiu-HNU