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teleop_xbox360.launch，error occurred #202

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ddwy opened this issue May 9, 2021 · 5 comments
Open

teleop_xbox360.launch，error occurred #202

ddwy opened this issue May 9, 2021 · 5 comments

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@ddwy
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ddwy commented May 9, 2021 •
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During running, the following error occurred：

roslaunch crazyflie_demo teleop_xbox360.launch uri:=radio://0/100/2M/E7E7E7E701

SUMMARY

PARAMETERS

  • /crazyflie/crazyflie_add/enable_logging: True
  • /crazyflie/crazyflie_add/enable_logging_battery: True
  • /crazyflie/crazyflie_add/enable_logging_imu: True
  • /crazyflie/crazyflie_add/enable_logging_magnetic_field: True
  • /crazyflie/crazyflie_add/enable_logging_packets: True
  • /crazyflie/crazyflie_add/enable_logging_pose: False
  • /crazyflie/crazyflie_add/enable_logging_pressure: True
  • /crazyflie/crazyflie_add/enable_logging_temperature: True
  • /crazyflie/crazyflie_add/pitch_trim: 0
  • /crazyflie/crazyflie_add/roll_trim: 0
  • /crazyflie/crazyflie_add/tf_prefix: crazyflie
  • /crazyflie/crazyflie_add/uri: radio://0/100/2M/...
  • /crazyflie/crazyflie_add/use_ros_time: True
  • /crazyflie/joy/dev: /dev/input/js0
  • /crazyflie/quadrotor_teleop/x_axis: 5
  • /crazyflie/quadrotor_teleop/x_velocity_max: 30
  • /crazyflie/quadrotor_teleop/y_axis: 4
  • /crazyflie/quadrotor_teleop/y_velocity_max: -30
  • /crazyflie/quadrotor_teleop/yaw_axis: 1
  • /crazyflie/quadrotor_teleop/yaw_velocity_max: -200
  • /crazyflie/quadrotor_teleop/z_axis: 2
  • /crazyflie/quadrotor_teleop/z_velocity_max: 60000
  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES
/crazyflie/
crazyflie_add (crazyflie_driver/crazyflie_add)
crazyflie_demo_controller (crazyflie_demo/controller.py)
joy (joy/joy_node)
quadrotor_teleop (crazyflie_demo/quadrotor_teleop)
/
crazyflie_server (crazyflie_driver/crazyflie_server)
rqt_plot2 (rqt_plot/rqt_plot)
rqt_plot3 (rqt_plot/rqt_plot)
rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [7584]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f569062a-b06e-11eb-8f61-000c299d8ef1
process[rosout-1]: started with pid [7597]
started core service [/rosout]
process[crazyflie_server-2]: started with pid [7606]
process[crazyflie/crazyflie_add-3]: started with pid [7609]
process[crazyflie/joy-4]: started with pid [7612]
process[crazyflie/quadrotor_teleop-5]: started with pid [7624]
process[crazyflie/crazyflie_demo_controller-6]: started with pid [7666]
[ INFO] [1620527618.407122853]: wait_for_service /add_crazyflie
[ INFO] [1620527618.408546396]: found /add_crazyflie
[ERROR] [1620527618.413334124]: Couldn't open joystick force feedback!
[ INFO] [1620527618.413475019]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
process[rviz-7]: started with pid [7716]
process[rqt_plot2-8]: started with pid [7722]
[ INFO] [1620527618.439297019]: Adding radio://0/100/2M/E7E7E7E701 as crazyflie with trim(0.000000, 0.000000). Logging: 1, Parameters: 1, Use ROS time: 1
process[rqt_plot3-9]: started with pid [7732]
[ INFO] [1620527618.552576218]: Requesting parameters...
[ INFO] [1620527618.559591859]: Found variables in cache.
[crazyflie/crazyflie_add-3] process has finished cleanly
log file: /home/ubuntu/.ros/log/f569062a-b06e-11eb-8f61-000c299d8ef1/crazyflie-crazyflie_add-3*.log
[ INFO] [1620527619.247728624]: Requesting Logging variables...
[ INFO] [1620527619.250940105]: Found variables in cache.
terminate called after throwing an instance of 'std::runtime_error'
what(): Could not find acc.z in log toc!
[crazyflie_server-2] process has died [pid 7606, exit code -6, cmd /home/ubuntu/ros_ws/devel/lib/crazyflie_driver/crazyflie_server __name:=crazyflie_server __log:=/home/ubuntu/.ros/log/f569062a-b06e-11eb-8f61-000c299d8ef1/crazyflie_server-2.log].
log file: /home/ubuntu/.ros/log/f569062a-b06e-11eb-8f61-000c299d8ef1/crazyflie_server-2*.log
[rqt_plot2-8] process has died [pid 7722, exit code -11, cmd /opt/ros/kinetic/lib/rqt_plot/rqt_plot /crazyflie/battery __name:=rqt_plot2 __log:=/home/ubuntu/.ros/log/f569062a-b06e-11eb-8f61-000c299d8ef1/rqt_plot2-8.log].
log file: /home/ubuntu/.ros/log/f569062a-b06e-11eb-8f61-000c299d8ef1/rqt_plot2-8*.log
[rviz-7] process has finished cleanly
@whoenig
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whoenig commented May 12, 2021

It looks like your logging cache might be stale. Please delete your log*.csv files in your ~/.ros folder and try again.

@ddwy
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ddwy commented May 13, 2021 •
edited
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It looks like your logging cache might be stale. Please delete your log*.csv files in your ~/.ros folder and try again.

I've tried it once,but the following errors will happen.

setting /run_id to 7b5af434-b388-11eb-9be4-000c299d8ef1
process[rosout-1]: started with pid [6755]
started core service [/rosout]
process[crazyflie_server-2]: started with pid [6772]
process[crazyflie/crazyflie_add-3]: started with pid [6774]
process[crazyflie/joy-4]: started with pid [6781]
process[crazyflie/quadrotor_teleop-5]: started with pid [6808]
process[crazyflie/crazyflie_demo_controller-6]: started with pid [6814]
process[rviz-7]: started with pid [6815]
[ INFO] [1620868434.054842522]: wait_for_service /add_crazyflie
[ INFO] [1620868434.059550461]: found /add_crazyflie
[ INFO] [1620868434.074709192]: Adding radio://0/100/2M/E7E7E7E701 as crazyflie with trim(0.000000, 0.000000). Logging: 1, Parameters: 1, Use ROS time: 1
[ERROR] [1620868434.134494574]: Couldn't open joystick force feedback!
[ INFO] [1620868434.134563865]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
[ INFO] [1620868434.219783275]: Requesting parameters...
[ INFO] [1620868434.230003728]: Params: 228
[crazyflie/crazyflie_add-3] process has finished cleanly
log file: /home/ubuntu/.ros/log/7b5af434-b388-11eb-9be4-000c299d8ef1/crazyflie-crazyflie_add-3*.log
[ INFO] [1620868435.142632142]: Requesting Logging variables...
[ INFO] [1620868435.146542661]: Log: 465
[INFO] [1620868435.261383]: found update_params service
[INFO] [1620868435.261684]: waiting for emergency service
[INFO] [1620868435.263056]: found emergency service
terminate called after throwing an instance of 'std::runtime_error'
what(): Could not find acc.x in log toc!
[crazyflie_server-2] process has died [pid 6772, exit code -6, cmd /home/ubuntu/ros_ws/devel/lib/crazyflie_driver/crazyflie_server __name:=crazyflie_server __log:=/home/ubuntu/.ros/log/7b5af434-b388-11eb-9be4-000c299d8ef1/crazyflie_server-2.log].
log file: /home/ubuntu/.ros/log/7b5af434-b388-11eb-9be4-000c299d8ef1/crazyflie_server-2.log*

@whoenig
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whoenig commented May 15, 2021

Can you run rosrun crazyflie_tool listLogVariables --uri radio://0/100/2M/E7E7E7E701 and check if acc.x is listed there?

@Shirleytyf
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when I run rosrun crazyflie_tools listLogVariables --uri radio://0/80/2M/0xE7E7E7E7 , it shows timeout, when I run rosrun crazyflie_tools listLogVariables acc.x is listed.

@Shirleytyf
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Shirleytyf commented May 16, 2021 •
edited
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I renumbered it.When I run rosrun crazyflie_tools listLogVariables --uri radio://0/80/2M/0xE7E7E7E7E1 acc.x and acc.y are listed.
During running, the following error occurred：
roslaunch crazyflie_demo teleop_xbox360.launch uri:=radio://0/80/2M/E7E7E7E7E1

PARAMETERS

  • /crazyflie/crazyflie_add/enable_logging: True
  • /crazyflie/crazyflie_add/enable_logging_battery: True
  • /crazyflie/crazyflie_add/enable_logging_imu: True
  • /crazyflie/crazyflie_add/enable_logging_magnetic_field: True
  • /crazyflie/crazyflie_add/enable_logging_packets: True
  • /crazyflie/crazyflie_add/enable_logging_pose: False
  • /crazyflie/crazyflie_add/enable_logging_pressure: True
  • /crazyflie/crazyflie_add/enable_logging_temperature: True
  • /crazyflie/crazyflie_add/pitch_trim: 0
  • /crazyflie/crazyflie_add/roll_trim: 0
  • /crazyflie/crazyflie_add/tf_prefix: crazyflie
  • /crazyflie/crazyflie_add/uri: radio://0/80/2M/E...
  • /crazyflie/crazyflie_add/use_ros_time: True
  • /crazyflie/joy/dev: /dev/input/js0
  • /crazyflie/quadrotor_teleop/x_axis: 5
  • /crazyflie/quadrotor_teleop/x_velocity_max: 30
  • /crazyflie/quadrotor_teleop/y_axis: 4
  • /crazyflie/quadrotor_teleop/y_velocity_max: -30
  • /crazyflie/quadrotor_teleop/yaw_axis: 1
  • /crazyflie/quadrotor_teleop/yaw_velocity_max: -200
  • /crazyflie/quadrotor_teleop/z_axis: 2
  • /crazyflie/quadrotor_teleop/z_velocity_max: 60000
  • /rosdistro: melodic
  • /rosversion: 1.14.10

NODES
/
crazyflie_server (crazyflie_driver/crazyflie_server)
rqt_plot2 (rqt_plot/rqt_plot)
rqt_plot3 (rqt_plot/rqt_plot)
rviz (rviz/rviz)
/crazyflie/
crazyflie_add (crazyflie_driver/crazyflie_add)
crazyflie_demo_controller (crazyflie_demo/controller.py)
joy (joy/joy_node)
quadrotor_teleop (crazyflie_demo/quadrotor_teleop)

auto-starting new master
process[master]: started with pid [20888]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 53425d96-b619-11eb-b269-3cf862e573dd
process[rosout-1]: started with pid [20899]
started core service [/rosout]
process[crazyflie_server-2]: started with pid [20906]
process[crazyflie/crazyflie_add-3]: started with pid [20907]
ERROR: cannot launch node of type [joy/joy_node]: joy
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/ypp/crazyflie_ws/src
ROS path [2]=/opt/ros/melodic/share
process[crazyflie/quadrotor_teleop-5]: started with pid [20913]
process[crazyflie/crazyflie_demo_controller-6]: started with pid [20919]
process[rviz-7]: started with pid [20925]
process[rqt_plot2-8]: started with pid [20926]
[ INFO] [1621150546.170649352]: wait_for_service /add_crazyflie
[ INFO] [1621150546.174141873]: found /add_crazyflie
[ INFO] [1621150546.179627610]: Adding radio://0/80/2M/E7E7E7E7E1 as crazyflie with trim(0.000000, 0.000000). Logging: 1, Parameters: 1, Use ROS time: 1
process[rqt_plot3-9]: started with pid [20927]
[ WARN] [1621150546.309762982]: Received unrequested data for block: 87
[ WARN] [1621150546.311247078]: Received unrequested data for block: 87
[ INFO] [1621150546.312106069]: Requesting parameters...
[ INFO] [1621150546.317560038]: Found variables in cache.
[crazyflie/crazyflie_add-3] process has finished cleanly
log file: /home/ypp/.ros/log/53425d96-b619-11eb-b269-3cf862e573dd/crazyflie-crazyflie_add-3*.log
[ INFO] [1621150546.712558824]: Requesting Logging variables...
[ INFO] [1621150546.715569613]: Found variables in cache.
terminate called after throwing an instance of 'std::runtime_error'
what(): Could not find acc.y in log toc!
[INFO] [1621150546.764116]: found update_params service
[INFO] [1621150546.765897]: waiting for emergency service
[INFO] [1621150546.769599]: found emergency service
[crazyflie_server-2] process has died [pid 20906, exit code -6, cmd /home/ypp/crazyflie_ws/devel/lib/crazyflie_driver/crazyflie_server __name:=crazyflie_server __log:=/home/ypp/.ros/log/53425d96-b619-11eb-b269-3cf862e573dd/crazyflie_server-2.log].
log file: /home/ypp/.ros/log/53425d96-b619-11eb-b269-3cf862e573dd/crazyflie_server-2*.log

jpreiss added a commit to jpreiss/crazyflie_ros that referenced this issue Jun 23, 2021
@jpreiss @MauroPfister
fix cmdVelocityWorld and notifySetpointsStop (whoenig#202)
53e5058 
* notifySetpointsStop crazyflieSim command
* Add missing code for cmdVelocityWorld in crazyswarm_server.cpp
* Add missing code for notifySetpointsStop in crazyswarm_server.cpp
* Fix typo and add groupMask to notifySetpointsStop service call
* Update crazyflie_ros
* Account for FP error in sim sleep assert
* Use cmdFullState.py to test notifySetpointsStop

Co-authored-by: Mauro Pfister <[email protected]>
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3 participants
@whoenig @Shirleytyf @ddwy