PX4와 Mavlink로를 연동하여 군집드론 시뮬레이션하는 방법

이 과정은 px4의 공식문서를 참고해서 작성하였다.

https://docs.px4.io/master/en/simulation/multi_vehicle_simulation_gazebo.html

Multi-Vehicle Simulation with Gazebo | PX4 User Guide

Multi-Vehicle Simulation with Gazebo This topic explains how to simulate multiple UAV vehicles using Gazebo and SITL (Linux only). A different approach is used for simulation with and without ROS. Multiple Vehicle with Gazebo (No ROS) To simulate multiple

docs.px4.io

Multiple Vehicle with Gazebo(bash)

먼저 SITL 설치 및 컴파일 관련하여 아래 포스팅 과정이 수행이 되어야 한다.

https://swiftcam.tistory.com/407

PX4와 Mavlink를 연동하여 시뮬레이션하는 방법

PX4와 Gazebo, MAVLink 연동 다이어그램 mavros 설치 swift@swift-System-Product-Name:~/catkin_ws/src$ sudo apt-get install ros-noetic-mavros [sudo] password for swift: Reading package lists... Done B..

swiftcam.tistory.com

xmlstarlet 을 설치한다.

swift@swift-System-Product-Name:~/Desktop$ sudo apt-get install xmlstarlet
[sudo] password for swift: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following package was automatically installed and is no longer required:
  libllvm11
Use 'sudo apt autoremove' to remove it.
The following NEW packages will be installed:
  xmlstarlet
0 upgraded, 1 newly installed, 0 to remove and 0 not upgraded.
Need to get 267 kB of archives.
After this operation, 624 kB of additional disk space will be used.
Get:1 http://kr.archive.ubuntu.com/ubuntu focal/universe amd64 xmlstarlet amd64 1.6.1-2build1 [267 kB]
Fetched 267 kB in 1s (179 kB/s)      
Selecting previously unselected package xmlstarlet.
(Reading database ... 288950 files and directories currently installed.)
Preparing to unpack .../xmlstarlet_1.6.1-2build1_amd64.deb ...
Unpacking xmlstarlet (1.6.1-2build1) ...
Setting up xmlstarlet (1.6.1-2build1) ...
Processing triggers for man-db (2.9.1-1) ...

Offboard 제어에 필요한 소스코드를 다운받는다.

- mavlink

- simple

- eigen

- mav_comm

swift@swift-System-Product-Name:~/workspace/catkin_ws$ git clone https://github.com/Jaeyoung-Lim/mavros_controllers.git
Cloning into 'mavros_controllers'...
remote: Enumerating objects: 1670, done.
remote: Counting objects: 100% (139/139), done.
remote: Compressing objects: 100% (113/113), done.
remote: Total 1670 (delta 69), reused 71 (delta 12), pack-reused 1531
Receiving objects: 100% (1670/1670), 331.36 KiB | 1.67 MiB/s, done.
Resolving deltas: 100% (920/920), done.

swift@swift-System-Product-Name:~/workspace/catkin_ws/src$ git clone https://github.com/catkin/catkin_simple
Cloning into 'catkin_simple'...
remote: Enumerating objects: 286, done.
remote: Total 286 (delta 0), reused 0 (delta 0), pack-reused 286
Receiving objects: 100% (286/286), 47.72 KiB | 29.00 KiB/s, done.
Resolving deltas: 100% (108/108), done.

swift@swift-System-Product-Name:~/workspace/catkin_ws/src$ git clone https://github.com/ethz-asl/eigen_catkin
Cloning into 'eigen_catkin'...
remote: Enumerating objects: 222, done.
remote: Counting objects: 100% (29/29), done.
remote: Compressing objects: 100% (23/23), done.
remote: Total 222 (delta 13), reused 18 (delta 6), pack-reused 193
Receiving objects: 100% (222/222), 39.25 KiB | 4.91 MiB/s, done.
Resolving deltas: 100% (106/106), done.

swift@swift-System-Product-Name:~/workspace/catkin_ws/src$ git clone https://github.com/ethz-asl/mav_comm
Cloning into 'mav_comm'...
remote: Enumerating objects: 1949, done.
remote: Counting objects: 100% (42/42), done.
remote: Compressing objects: 100% (28/28), done.
remote: Total 1949 (delta 15), reused 31 (delta 11), pack-reused 1907
Receiving objects: 100% (1949/1949), 272.52 KiB | 8.26 MiB/s, done.
Resolving deltas: 100% (1049/1049), done.
swift@swift-System-Product-Name:~/workspace/catkin_ws/src$ 

swift@swift-System-Product-Name:~/workspace/catkin_ws/src$ git clone https://github.com/catkin/catkin_simple
Cloning into 'catkin_simple'...
remote: Enumerating objects: 286, done.
remote: Total 286 (delta 0), reused 0 (delta 0), pack-reused 286
Receiving objects: 100% (286/286), 47.72 KiB | 29.00 KiB/s, done.
Resolving deltas: 100% (108/108), done.

swift@swift-System-Product-Name:~/workspace/catkin_ws/src$ git clone https://github.com/mavlink/mavlink.git --recursive
Cloning into 'mavlink'...
remote: Enumerating objects: 18642, done.
remote: Counting objects: 100% (271/271), done.
remote: Compressing objects: 100% (124/124), done.
remote: Total 18642 (delta 146), reused 188 (delta 100), pack-reused 18371
Receiving objects: 100% (18642/18642), 10.62 MiB | 8.31 MiB/s, done.
Resolving deltas: 100% (11975/11975), done.
Submodule 'pymavlink' (https://github.com/ardupilot/pymavlink.git) registered for path 'pymavlink'
Cloning into '/home/swift/workspace/catkin_ws/src/mavlink/pymavlink'...
remote: Enumerating objects: 16252, done.        
remote: Counting objects: 100% (253/253), done.        
remote: Compressing objects: 100% (157/157), done.        
remote: Total 16252 (delta 124), reused 180 (delta 93), pack-reused 15999        
Receiving objects: 100% (16252/16252), 7.83 MiB | 8.71 MiB/s, done.
Resolving deltas: 100% (11693/11693), done.
Submodule path 'pymavlink': checked out '4dac715e4e394714d0676fa6675ff89d2871f380'


swift@swift-System-Product-Name:~/workspace/catkin_ws/src$ cm
Base path: /home/swift/workspace/catkin_ws
Source space: /home/swift/workspace/catkin_ws/src
Build space: /home/swift/workspace/catkin_ws/build
Devel space: /home/swift/workspace/catkin_ws/devel
Install space: /home/swift/workspace/catkin_ws/install
####
#### Running command: "cmake /home/swift/workspace/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/swift/workspace/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/swift/workspace/catkin_ws/install -G Unix Makefiles" in "/home/swift/workspace/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/swift/workspace/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/swift/workspace/catkin_ws/devel;/opt/ros/noetic
-- This workspace overlays: /home/swift/workspace/catkin_ws/devel;/opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/swift/workspace/catkin_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10") 
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 13 packages in topological order:
-- ~~  - catkin_simple
-- ~~  - eigen_catkin
-- ~~  - mav_comm (metapackage)
-- ~~  - mavros_controllers (metapackage)
-- ~~  - mav_state_machine_msgs
-- ~~  - mav_system_msgs
-- ~~  - mav_msgs
-- ~~  - modudculab_ros
-- ~~  - mav_planning_msgs
-- ~~  - controller_msgs
-- ~~  - px4
-- ~~  - trajectory_publisher
-- ~~  - geometric_controller
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'catkin_simple'
-- ==> add_subdirectory(catkin_simple)
-- +++ processing catkin package: 'eigen_catkin'
-- ==> add_subdirectory(eigen_catkin)
-- Suitable Eigen version found. Minimum version: 3.3.4 Found version: 3.3.7
-- eigen_catkin is configured to USE system eigen
-- Found and using system Eigen in /usr/include/eigen3
-- +++ processing catkin metapackage: 'mav_comm'
-- ==> add_subdirectory(mav_comm/mav_comm)
-- +++ processing catkin metapackage: 'mavros_controllers'
-- ==> add_subdirectory(mavros_controllers/mavros_controllers)
-- +++ processing catkin package: 'mav_state_machine_msgs'
-- ==> add_subdirectory(mav_comm/mav_state_machine_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- mav_state_machine_msgs: 1 messages, 1 services
-- +++ processing catkin package: 'mav_system_msgs'
-- ==> add_subdirectory(mav_comm/mav_system_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- mav_system_msgs: 2 messages, 0 services
-- +++ processing catkin package: 'mav_msgs'
-- ==> add_subdirectory(mav_comm/mav_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- mav_msgs: 8 messages, 0 services
-- +++ processing catkin package: 'modudculab_ros'
-- ==> add_subdirectory(modudculab_ros)
-- +++ processing catkin package: 'mav_planning_msgs'
-- ==> add_subdirectory(mav_comm/mav_planning_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- mav_planning_msgs: 9 messages, 3 services
-- +++ processing catkin package: 'controller_msgs'
-- ==> add_subdirectory(mavros_controllers/controller_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- controller_msgs: 1 messages, 0 services
-- +++ processing catkin package: 'px4'
-- ==> add_subdirectory(PX4-Autopilot)
-- PX4 version: v1.13.0-alpha1-2236-gab1c90d831
-- PX4 config file: /home/swift/workspace/catkin_ws/src/PX4-Autopilot/boards/px4/sitl/default.cmake
-- PX4 config: px4_sitl_default
-- PX4 platform: posix
-- PX4 lockstep: enabled
-- cmake build type: RelWithDebInfo
-- Building for code coverage
-- catkin ENABLED
-- ROMFS: ROMFS/px4fmu_common
-- +++ processing catkin package: 'trajectory_publisher'
-- ==> add_subdirectory(mavros_controllers/trajectory_publisher)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'geometric_controller'
-- ==> add_subdirectory(mavros_controllers/geometric_controller)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Configuring done
CMake Warning (dev) at modudculab_ros/CMakeLists.txt:143 (add_dependencies):
  Policy CMP0046 is not set: Error on non-existent dependency in
  add_dependencies.  Run "cmake --help-policy CMP0046" for policy details.
  Use the cmake_policy command to set the policy and suppress this warning.

  The dependency target "modudculab_ros_generate_messages_cpp" of target
  "test_setpoints_traj" does not exist.
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at modudculab_ros/CMakeLists.txt:140 (add_dependencies):
  Policy CMP0046 is not set: Error on non-existent dependency in
  add_dependencies.  Run "cmake --help-policy CMP0046" for policy details.
  Use the cmake_policy command to set the policy and suppress this warning.

  The dependency target "modudculab_ros_generate_messages_cpp" of target
  "pub_setpoints_att" does not exist.
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at modudculab_ros/CMakeLists.txt:134 (add_dependencies):
  Policy CMP0046 is not set: Error on non-existent dependency in
  add_dependencies.  Run "cmake --help-policy CMP0046" for policy details.
  Use the cmake_policy command to set the policy and suppress this warning.

  The dependency target "modudculab_ros_generate_messages_cpp" of target
  "pub_setpoints_pos" does not exist.
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at modudculab_ros/CMakeLists.txt:137 (add_dependencies):
  Policy CMP0046 is not set: Error on non-existent dependency in
  add_dependencies.  Run "cmake --help-policy CMP0046" for policy details.
  Use the cmake_policy command to set the policy and suppress this warning.

  The dependency target "modudculab_ros_generate_messages_cpp" of target
  "pub_setpoints_traj" does not exist.
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Generating done
-- Build files have been written to: /home/swift/workspace/catkin_ws/build
####
#### Running command: "make -j12 -l12" in "/home/swift/workspace/catkin_ws/build"
####
Scanning dependencies of target _mav_state_machine_msgs_generate_messages_check_deps_RunTaskService
Scanning dependencies of target _mav_state_machine_msgs_generate_messages_check_deps_StartStopTask
Scanning dependencies of target std_msgs_generate_messages_cpp
Scanning dependencies of target std_msgs_generate_messages_py
Scanning dependencies of target _mav_msgs_generate_messages_check_deps_Actuators
Scanning dependencies of target std_msgs_generate_messages_nodejs
Scanning dependencies of target std_msgs_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_eus
Scanning dependencies of target _mav_system_msgs_generate_messages_check_deps_ProcessInfo
Scanning dependencies of target _mav_system_msgs_generate_messages_check_deps_CpuInfo
Scanning dependencies of target _mav_msgs_generate_messages_check_deps_GpsWaypoint
Scanning dependencies of target _mav_msgs_generate_messages_check_deps_AttitudeThrust
[  0%] Built target std_msgs_generate_messages_eus
[  0%] Built target std_msgs_generate_messages_cpp
[  0%] Built target std_msgs_generate_messages_nodejs
[  0%] Built target std_msgs_generate_messages_py
[  0%] Built target std_msgs_generate_messages_lisp
Scanning dependencies of target geometry_msgs_generate_messages_nodejs
Scanning dependencies of target _mav_msgs_generate_messages_check_deps_TorqueThrust
Scanning dependencies of target _mav_msgs_generate_messages_check_deps_RateThrust
Scanning dependencies of target _mav_msgs_generate_messages_check_deps_RollPitchYawrateThrust
Scanning dependencies of target _mav_msgs_generate_messages_check_deps_Status
[  0%] Built target geometry_msgs_generate_messages_nodejs
[  0%] Built target _mav_state_machine_msgs_generate_messages_check_deps_RunTaskService
[  0%] Built target _mav_msgs_generate_messages_check_deps_GpsWaypoint
[  0%] Built target _mav_state_machine_msgs_generate_messages_check_deps_StartStopTask
[  0%] Built target _mav_msgs_generate_messages_check_deps_Actuators
[  0%] Built target _mav_msgs_generate_messages_check_deps_AttitudeThrust
[  0%] Built target _mav_system_msgs_generate_messages_check_deps_ProcessInfo
Scanning dependencies of target _mav_msgs_generate_messages_check_deps_FilteredSensorData
[  0%] Built target _mav_system_msgs_generate_messages_check_deps_CpuInfo
Scanning dependencies of target geometry_msgs_generate_messages_py
Scanning dependencies of target geometry_msgs_generate_messages_lisp
Scanning dependencies of target geometry_msgs_generate_messages_cpp
[  0%] Built target geometry_msgs_generate_messages_py
Scanning dependencies of target geometry_msgs_generate_messages_eus
[  0%] Built target _mav_msgs_generate_messages_check_deps_RateThrust
[  0%] Built target geometry_msgs_generate_messages_lisp
[  0%] Built target geometry_msgs_generate_messages_cpp
[  0%] Built target _mav_msgs_generate_messages_check_deps_TorqueThrust
[  0%] Built target _mav_msgs_generate_messages_check_deps_RollPitchYawrateThrust
[  0%] Built target pub_setpoints_pos
[  0%] Built target geometry_msgs_generate_messages_eus
[  0%] Built target pub_setpoints_att
[  0%] Built target _mav_msgs_generate_messages_check_deps_Status
[  0%] Built target test_setpoints_traj
Scanning dependencies of target _mav_planning_msgs_generate_messages_check_deps_PlannerService
Scanning dependencies of target trajectory_msgs_generate_messages_py
Scanning dependencies of target _mav_planning_msgs_generate_messages_check_deps_PolynomialTrajectory
[  1%] Built target pub_setpoints_traj
Scanning dependencies of target _mav_planning_msgs_generate_messages_check_deps_PointCloudWithPose
Scanning dependencies of target _mav_planning_msgs_generate_messages_check_deps_PolynomialSegment
Scanning dependencies of target _mav_planning_msgs_generate_messages_check_deps_Point2D
Scanning dependencies of target _mav_planning_msgs_generate_messages_check_deps_PolygonWithHoles
Scanning dependencies of target sensor_msgs_generate_messages_py
Scanning dependencies of target _mav_planning_msgs_generate_messages_check_deps_Polygon2D
[  1%] Built target trajectory_msgs_generate_messages_py
[  1%] Built target _mav_msgs_generate_messages_check_deps_FilteredSensorData
Scanning dependencies of target _mav_planning_msgs_generate_messages_check_deps_PolygonWithHolesStamped
Scanning dependencies of target _mav_planning_msgs_generate_messages_check_deps_ChangeNameService
[  1%] Built target sensor_msgs_generate_messages_py
Scanning dependencies of target _mav_planning_msgs_generate_messages_check_deps_PolynomialSegment4D
Scanning dependencies of target _mav_planning_msgs_generate_messages_check_deps_PolynomialTrajectory4D
[  1%] Built target _mav_planning_msgs_generate_messages_check_deps_PointCloudWithPose
[  1%] Built target _mav_planning_msgs_generate_messages_check_deps_PlannerService
[  1%] Built target _mav_planning_msgs_generate_messages_check_deps_PolynomialTrajectory
Scanning dependencies of target _mav_planning_msgs_generate_messages_check_deps_PolygonService
[  1%] Built target _mav_planning_msgs_generate_messages_check_deps_PolynomialSegment
[  1%] Built target _mav_planning_msgs_generate_messages_check_deps_PolygonWithHoles
[  1%] Built target _mav_planning_msgs_generate_messages_check_deps_Point2D
Scanning dependencies of target trajectory_msgs_generate_messages_cpp
Scanning dependencies of target sensor_msgs_generate_messages_cpp
[  1%] Built target _mav_planning_msgs_generate_messages_check_deps_ChangeNameService
Scanning dependencies of target trajectory_msgs_generate_messages_eus
Scanning dependencies of target trajectory_msgs_generate_messages_lisp
Scanning dependencies of target sensor_msgs_generate_messages_eus
[  1%] Built target _mav_planning_msgs_generate_messages_check_deps_Polygon2D
[  1%] Built target _mav_planning_msgs_generate_messages_check_deps_PolygonWithHolesStamped
[  1%] Built target trajectory_msgs_generate_messages_cpp
[  1%] Built target _mav_planning_msgs_generate_messages_check_deps_PolynomialSegment4D
[  1%] Built target sensor_msgs_generate_messages_cpp
Scanning dependencies of target trajectory_msgs_generate_messages_nodejs
Scanning dependencies of target sensor_msgs_generate_messages_lisp
[  1%] Built target trajectory_msgs_generate_messages_eus
[  1%] Built target _mav_planning_msgs_generate_messages_check_deps_PolynomialTrajectory4D
[  1%] Built target sensor_msgs_generate_messages_eus
[  1%] Built target trajectory_msgs_generate_messages_lisp
Scanning dependencies of target sensor_msgs_generate_messages_nodejs
[  1%] Built target sensor_msgs_generate_messages_lisp
[  1%] Built target trajectory_msgs_generate_messages_nodejs
[  1%] Built target sensor_msgs_generate_messages_nodejs
[  2%] Built target flighttasks_generated
[  2%] Built target events_header
[  3%] Built target drivers_board
[  3%] Built target ver_gen
[  3%] Built target uorb_headers
[  3%] Built target parameters_xml
[  3%] Built target mixer_gen_6dof
[  3%] Built target _mav_planning_msgs_generate_messages_check_deps_PolygonService
[  3%] Built target generate_topic_listener
[  3%] Built target git_gps_devices
[  3%] Built target mixer_gen
[  3%] Built target git_mavlink_v2
[  3%] Generating ../../logs
[  3%] Built target visualization_msgs_generate_messages_py
[  3%] Built target roscpp_generate_messages_eus
[  3%] Built target roscpp_generate_messages_cpp
[  3%] Built target rosgraph_msgs_generate_messages_nodejs
[  3%] Built target roscpp_generate_messages_nodejs
[  3%] Built target roscpp_generate_messages_py
[  3%] Built target rosgraph_msgs_generate_messages_eus
[  3%] Built target rosgraph_msgs_generate_messages_lisp
[  3%] Built target rosgraph_msgs_generate_messages_cpp
[  3%] Built target _controller_msgs_generate_messages_check_deps_FlatTarget
[  3%] Built target logs_symlink
[  3%] Built target rosgraph_msgs_generate_messages_py
[  3%] Built target roscpp_generate_messages_lisp
[  3%] Built target geographic_msgs_generate_messages_nodejs
[  3%] Built target diagnostic_msgs_generate_messages_eus
[  3%] Built target mavros_msgs_generate_messages_eus
[  3%] Built target diagnostic_msgs_generate_messages_cpp
[  3%] Built target geographic_msgs_generate_messages_cpp
[  3%] Built target tf2_msgs_generate_messages_nodejs
[  3%] Built target tf2_msgs_generate_messages_cpp
[  3%] Built target geographic_msgs_generate_messages_lisp
[  3%] Built target tf_generate_messages_eus
[  3%] Built target geographic_msgs_generate_messages_eus
[  3%] Built target actionlib_generate_messages_cpp
[  3%] Built target actionlib_generate_messages_py
[  3%] Built target diagnostic_msgs_generate_messages_lisp
[  3%] Built target tf_generate_messages_cpp
[  3%] Built target tf_generate_messages_nodejs
[  3%] Built target actionlib_generate_messages_lisp
[  3%] Built target tf2_msgs_generate_messages_eus
[  3%] Built target actionlib_msgs_generate_messages_cpp
[  3%] Built target actionlib_generate_messages_eus
[  3%] Built target visualization_msgs_generate_messages_cpp
[  3%] Built target actionlib_generate_messages_nodejs
[  3%] Built target tf2_msgs_generate_messages_py
[  3%] Built target mavros_msgs_generate_messages_cpp
[  3%] Built target actionlib_msgs_generate_messages_lisp
[  3%] Built target actionlib_msgs_generate_messages_nodejs
[  3%] Built target tf2_msgs_generate_messages_lisp
[  3%] Built target tf_generate_messages_py
[  3%] Built target actionlib_msgs_generate_messages_py
[  3%] Built target mavros_msgs_generate_messages_lisp
[  3%] Built target nav_msgs_generate_messages_nodejs
[  3%] Built target diagnostic_msgs_generate_messages_py
[  3%] Built target actionlib_msgs_generate_messages_eus
[  3%] Built target uuid_msgs_generate_messages_cpp
[  3%] Built target geographic_msgs_generate_messages_py
[  3%] Built target mavros_msgs_generate_messages_py
[  3%] Built target uuid_msgs_generate_messages_eus
[  3%] Built target diagnostic_msgs_generate_messages_nodejs
[  3%] Built target uuid_msgs_generate_messages_lisp
[  3%] Built target uuid_msgs_generate_messages_nodejs
[  3%] Built target uuid_msgs_generate_messages_py
[  3%] Built target mavros_msgs_generate_messages_nodejs
[  3%] Built target visualization_msgs_generate_messages_eus
[  3%] Built target nav_msgs_generate_messages_cpp
[  3%] Built target nav_msgs_generate_messages_lisp
[  3%] Built target nav_msgs_generate_messages_eus
[  3%] Built target tf_generate_messages_lisp
[  3%] Built target visualization_msgs_generate_messages_nodejs
[  3%] Built target dynamic_reconfigure_gencfg
[  3%] Built target nav_msgs_generate_messages_py
[  3%] Built target visualization_msgs_generate_messages_lisp
[  3%] Built target dynamic_reconfigure_generate_messages_py
[  3%] Built target dynamic_reconfigure_generate_messages_lisp
[  3%] Built target dynamic_reconfigure_generate_messages_cpp
Scanning dependencies of target mav_state_machine_msgs_generate_messages_cpp
Scanning dependencies of target mav_state_machine_msgs_generate_messages_nodejs
[  3%] Built target geometric_controller_gencfg
[  3%] Built target dynamic_reconfigure_generate_messages_nodejs
[  3%] Built target dynamic_reconfigure_generate_messages_eus
Scanning dependencies of target mav_state_machine_msgs_generate_messages_py
Scanning dependencies of target mav_state_machine_msgs_generate_messages_lisp
Scanning dependencies of target mav_state_machine_msgs_generate_messages_eus
Scanning dependencies of target mav_system_msgs_generate_messages_py
Scanning dependencies of target mav_system_msgs_generate_messages_cpp
Scanning dependencies of target mav_system_msgs_generate_messages_eus
[  3%] Generating C++ code from mav_state_machine_msgs/StartStopTask.msg
[  3%] Generating C++ code from mav_state_machine_msgs/RunTaskService.srv
Scanning dependencies of target mav_system_msgs_generate_messages_nodejs
[  3%] Generating Javascript code from mav_state_machine_msgs/StartStopTask.msg
Scanning dependencies of target mav_system_msgs_generate_messages_lisp
[  3%] Generating Lisp code from mav_state_machine_msgs/StartStopTask.msg
[  3%] Generating Python from MSG mav_state_machine_msgs/StartStopTask
Scanning dependencies of target mav_msgs_generate_messages_nodejs
[  3%] Generating EusLisp code from mav_state_machine_msgs/StartStopTask.msg
[  3%] Generating Python from MSG mav_system_msgs/CpuInfo
[  3%] Generating C++ code from mav_system_msgs/CpuInfo.msg
[  3%] Generating EusLisp code from mav_system_msgs/CpuInfo.msg
[  4%] Generating Javascript code from mav_system_msgs/CpuInfo.msg
[  4%] Generating Lisp code from mav_system_msgs/CpuInfo.msg
[  4%] Generating Javascript code from mav_msgs/Actuators.msg
[  4%] Generating Lisp code from mav_state_machine_msgs/RunTaskService.srv
[  5%] Generating Javascript code from mav_state_machine_msgs/RunTaskService.srv
[  5%] Generating Lisp code from mav_system_msgs/ProcessInfo.msg
[  5%] Generating Javascript code from mav_msgs/AttitudeThrust.msg
[  5%] Generating Javascript code from mav_system_msgs/ProcessInfo.msg
[  5%] Generating EusLisp code from mav_state_machine_msgs/RunTaskService.srv
[  5%] Generating EusLisp code from mav_system_msgs/ProcessInfo.msg
[  5%] Built target mav_state_machine_msgs_generate_messages_lisp
[  5%] Built target mav_state_machine_msgs_generate_messages_nodejs
[  5%] Generating EusLisp manifest code for mav_state_machine_msgs
[  5%] Built target mav_system_msgs_generate_messages_nodejs
[  5%] Built target mav_system_msgs_generate_messages_lisp
[  5%] Generating EusLisp manifest code for mav_system_msgs
[  5%] Generating C++ code from mav_system_msgs/ProcessInfo.msg
[  5%] Generating Python from MSG mav_system_msgs/ProcessInfo
[  5%] Generating Python code from SRV mav_state_machine_msgs/RunTaskService
[  5%] Generating Javascript code from mav_msgs/RateThrust.msg
Scanning dependencies of target mav_msgs_generate_messages_py
[  5%] Generating Python from MSG mav_msgs/Actuators
Scanning dependencies of target mav_msgs_generate_messages_cpp
[  6%] Generating Javascript code from mav_msgs/RollPitchYawrateThrust.msg
[  6%] Generating C++ code from mav_msgs/Actuators.msg
Scanning dependencies of target mav_msgs_generate_messages_lisp
[  6%] Generating Javascript code from mav_msgs/TorqueThrust.msg
[  6%] Built target mav_state_machine_msgs_generate_messages_cpp
[  6%] Generating Lisp code from mav_msgs/Actuators.msg
[  7%] Generating Javascript code from mav_msgs/Status.msg
[  7%] Generating Lisp code from mav_msgs/AttitudeThrust.msg
[  7%] Built target mav_system_msgs_generate_messages_cpp
[  7%] Generating Lisp code from mav_msgs/RateThrust.msg
Scanning dependencies of target mav_msgs_generate_messages_eus
[  7%] Generating EusLisp code from mav_msgs/Actuators.msg
[  7%] Built target controller_msgs_generate_messages_nodejs
[  7%] Built target controller_msgs_generate_messages_cpp
[  7%] Generating Lisp code from mav_msgs/RollPitchYawrateThrust.msg
[  7%] Built target controller_msgs_generate_messages_eus
[  7%] Generating Javascript code from mav_msgs/FilteredSensorData.msg
[  7%] Generating C++ code from mav_msgs/AttitudeThrust.msg
[  7%] Generating Python msg __init__.py for mav_system_msgs
[  7%] Generating Python msg __init__.py for mav_state_machine_msgs
[  7%] Generating Lisp code from mav_msgs/TorqueThrust.msg
[  7%] Built target controller_msgs_generate_messages_py
[  7%] Built target controller_msgs_generate_messages_lisp
[  7%] Generating Lisp code from mav_msgs/Status.msg
[  7%] Generating Python from MSG mav_msgs/AttitudeThrust
[  7%] Generating C++ code from mav_msgs/RateThrust.msg
[  7%] Generating Python from MSG mav_msgs/RateThrust
[  7%] Generating Javascript code from mav_msgs/GpsWaypoint.msg
[  7%] Generating EusLisp code from mav_msgs/AttitudeThrust.msg
[  7%] Generating Python from MSG mav_msgs/RollPitchYawrateThrust
[  7%] Generating Lisp code from mav_msgs/FilteredSensorData.msg
[  7%] Built target mav_msgs_generate_messages_nodejs
[  7%] Generating EusLisp code from mav_msgs/RollPitchYawrateThrust.msg
[  7%] Generating EusLisp code from mav_msgs/RateThrust.msg
[  7%] Generating Lisp code from mav_msgs/GpsWaypoint.msg
[  7%] Built target tinybson
[  7%] Generating C++ code from mav_msgs/RollPitchYawrateThrust.msg
[  7%] Built target mav_system_msgs_generate_messages_py
[  7%] Built target perf
[  7%] Generating EusLisp code from mav_msgs/TorqueThrust.msg
[  7%] Generating EusLisp code from mav_msgs/Status.msg
[  7%] Built target mav_state_machine_msgs_generate_messages_eus
[  7%] Generating Python from MSG mav_msgs/TorqueThrust
[  7%] Built target mav_msgs_generate_messages_lisp
[  7%] Generating Python from MSG mav_msgs/Status
[  7%] Built target mav_system_msgs_generate_messages_eus
[  8%] Built target work_queue
[  8%] Generating Python srv __init__.py for mav_state_machine_msgs
[  8%] Built target geo
[  8%] Built target events_json
[ 25%] Built target uorb_msgs
[ 26%] Built target MixerBase
[ 26%] Built target output_limit
[ 27%] Generating Python from MSG mav_msgs/FilteredSensorData
[ 28%] Built target rc
[ 28%] Generating Python from MSG mav_msgs/GpsWaypoint
[ 28%] Generating EusLisp code from mav_msgs/FilteredSensorData.msg
[ 29%] Built target version
[ 29%] Generating EusLisp code from mav_msgs/GpsWaypoint.msg
[ 29%] Built target wind_estimator
[ 29%] Generating EusLisp manifest code for mav_msgs
[ 29%] Generating C++ code from mav_msgs/TorqueThrust.msg
[ 29%] Generating C++ code from mav_msgs/FilteredSensorData.msg
[ 29%] Generating C++ code from mav_msgs/Status.msg
[ 29%] Built target world_magnetic_model
[ 30%] Generating C++ code from mav_msgs/GpsWaypoint.msg
[ 30%] Built target geometric_controller
Scanning dependencies of target mav_system_msgs_generate_messages
[ 30%] Built target mav_state_machine_msgs_generate_messages_py
[ 31%] Built target trajectory_publisher
[ 31%] Built target mav_system_msgs_generate_messages
Scanning dependencies of target mav_planning_msgs_generate_messages_lisp
Scanning dependencies of target mav_planning_msgs_generate_messages_nodejs
[ 31%] Generating Lisp code from mav_planning_msgs/Point2D.msg
[ 31%] Built target controller_msgs_generate_messages
[ 31%] Generating Javascript code from mav_planning_msgs/Point2D.msg
[ 31%] Built target AllocatedActuatorMixer
[ 31%] Built target component_general_json
[ 31%] Generating Javascript code from mav_planning_msgs/PointCloudWithPose.msg
[ 32%] Generating Javascript code from mav_planning_msgs/Polygon2D.msg
[ 34%] Built target parameters
[ 34%] Generating Lisp code from mav_planning_msgs/PointCloudWithPose.msg
[ 34%] Generating Python msg __init__.py for mav_msgs
[ 34%] Built target HelicopterMixer
[ 34%] Generating Javascript code from mav_planning_msgs/PolygonWithHoles.msg
[ 34%] Built target NullMixer
[ 34%] Built target MultirotorMixer
[ 34%] Generating Lisp code from mav_planning_msgs/Polygon2D.msg
[ 34%] Generating Javascript code from mav_planning_msgs/PolygonWithHolesStamped.msg
[ 34%] Built target mav_msgs_generate_messages_cpp
[ 35%] Generating Lisp code from mav_planning_msgs/PolygonWithHolesStamped.msg
[ 35%] Generating Lisp code from mav_planning_msgs/PolynomialSegment.msg
[ 35%] Generating Lisp code from mav_planning_msgs/PolygonWithHoles.msg
[ 36%] Built target SimpleMixer
[ 36%] Generating Javascript code from mav_planning_msgs/PolynomialSegment.msg
[ 36%] Built target geometric_controller_node
[ 36%] Generating Javascript code from mav_planning_msgs/PolynomialTrajectory.msg
Scanning dependencies of target mav_state_machine_msgs_generate_messages
Scanning dependencies of target mav_planning_msgs_generate_messages_cpp
[ 36%] Built target mav_state_machine_msgs_generate_messages
[ 36%] Generating C++ code from mav_planning_msgs/Point2D.msg
[ 36%] Generating C++ code from mav_planning_msgs/PointCloudWithPose.msg
[ 36%] Generating C++ code from mav_planning_msgs/Polygon2D.msg
[ 36%] Built target px4_work_queue
[ 36%] Generating Javascript code from mav_planning_msgs/PolynomialSegment4D.msg
[ 36%] Generating C++ code from mav_planning_msgs/PolygonWithHoles.msg
[ 36%] Generating Lisp code from mav_planning_msgs/PolynomialTrajectory.msg
[ 36%] Generating Javascript code from mav_planning_msgs/PolynomialTrajectory4D.msg
[ 36%] Generating Lisp code from mav_planning_msgs/PolynomialSegment4D.msg
[ 36%] Generating Lisp code from mav_planning_msgs/PolynomialTrajectory4D.msg
[ 36%] Generating C++ code from mav_planning_msgs/PolygonWithHolesStamped.msg
[ 36%] Generating C++ code from mav_planning_msgs/PolynomialSegment.msg
[ 37%] Generating C++ code from mav_planning_msgs/PolynomialSegment4D.msg
[ 37%] Generating C++ code from mav_planning_msgs/PolynomialTrajectory.msg
[ 37%] Generating Javascript code from mav_planning_msgs/PlannerService.srv
[ 37%] Generating Lisp code from mav_planning_msgs/PlannerService.srv
[ 37%] Generating Javascript code from mav_planning_msgs/PolygonService.srv
[ 37%] Generating Javascript code from mav_planning_msgs/ChangeNameService.srv
[ 37%] Generating C++ code from mav_planning_msgs/PolynomialTrajectory4D.msg
[ 37%] Built target mav_msgs_generate_messages_py
[ 37%] Generating Lisp code from mav_planning_msgs/PolygonService.srv
[ 37%] Generating C++ code from mav_planning_msgs/PlannerService.srv
[ 37%] Generating Lisp code from mav_planning_msgs/ChangeNameService.srv
[ 37%] Generating C++ code from mav_planning_msgs/PolygonService.srv
[ 37%] Generating C++ code from mav_planning_msgs/ChangeNameService.srv
[ 37%] Built target mav_msgs_generate_messages_eus
[ 37%] Built target romfs_gen_files_target
[ 37%] Built target mav_planning_msgs_generate_messages_nodejs
Scanning dependencies of target mav_msgs_generate_messages
[ 38%] Built target mixer
Scanning dependencies of target mav_planning_msgs_generate_messages_eus
Scanning dependencies of target mav_planning_msgs_generate_messages_py
[ 38%] Built target mav_msgs_generate_messages
[ 38%] Generating EusLisp code from mav_planning_msgs/PointCloudWithPose.msg
[ 38%] Built target mav_planning_msgs_generate_messages_lisp
[ 38%] Generating EusLisp code from mav_planning_msgs/Polygon2D.msg
[ 38%] Generating EusLisp code from mav_planning_msgs/Point2D.msg
[ 38%] Generating EusLisp code from mav_planning_msgs/PolygonWithHoles.msg
[ 38%] Generating EusLisp code from mav_planning_msgs/PolygonWithHolesStamped.msg
[ 38%] Generating Python from MSG mav_planning_msgs/Point2D
[ 38%] Built target uORB
[ 39%] Generating Python from MSG mav_planning_msgs/PointCloudWithPose
[ 39%] Generating Python from MSG mav_planning_msgs/Polygon2D
[ 39%] Generating EusLisp code from mav_planning_msgs/PolynomialSegment.msg
[ 40%] Generating EusLisp code from mav_planning_msgs/PolynomialSegment4D.msg
[ 40%] Generating EusLisp code from mav_planning_msgs/PolynomialTrajectory.msg
[ 40%] Generating EusLisp code from mav_planning_msgs/PolynomialTrajectory4D.msg
[ 40%] Generating EusLisp code from mav_planning_msgs/PlannerService.srv
[ 40%] Generating Python from MSG mav_planning_msgs/PolygonWithHoles
[ 40%] Generating Python from MSG mav_planning_msgs/PolygonWithHolesStamped
[ 40%] Generating Python from MSG mav_planning_msgs/PolynomialSegment
[ 40%] Generating Python from MSG mav_planning_msgs/PolynomialTrajectory
[ 40%] Generating EusLisp code from mav_planning_msgs/PolygonService.srv
[ 40%] Generating EusLisp code from mav_planning_msgs/ChangeNameService.srv
[ 40%] Built target mav_planning_msgs_generate_messages_cpp
[ 40%] Generating Python from MSG mav_planning_msgs/PolynomialTrajectory4D
[ 40%] Generating Python from MSG mav_planning_msgs/PolynomialSegment4D
[ 40%] Generating Python code from SRV mav_planning_msgs/PlannerService
[ 40%] Generating EusLisp manifest code for mav_planning_msgs
[ 40%] Generating Python code from SRV mav_planning_msgs/PolygonService
[ 42%] Built target px4_platform
[ 43%] Generating Python code from SRV mav_planning_msgs/ChangeNameService
[ 45%] Built target lockstep_scheduler
[ 46%] Built target px4_daemon
[ 46%] Built target px4_layer
[ 47%] Built target cdev
[ 47%] Built target airspeed
[ 47%] Built target hysteresis
[ 47%] Built target bezier
[ 47%] Built target battery
[ 47%] Built target systemlib
[ 47%] Built target circuit_breaker
[ 47%] Built target CollisionPrevention
[ 47%] Built target conversion
[ 47%] Built target drivers__device
[ 49%] Built target controllib
[ 49%] Built target drivers_barometer
[ 49%] Built target landing_slope
[ 49%] Built target mixer_module
[ 49%] Built target l1
[ 49%] Built target motion_planning
[ 49%] Built target mathlib
[ 50%] Built target lib__rc__rc_tests
[ 50%] Built target tecs
[ 50%] Built target pid
[ 51%] Built target tunes
[ 51%] Built target WeatherVane
[ 51%] Built target arch_tone_alarm
[ 52%] Built target sensor_calibration
[ 52%] Generating Python srv __init__.py for mav_planning_msgs
[ 52%] Generating Python msg __init__.py for mav_planning_msgs
[ 52%] Built target drivers__camera_capture
[ 52%] Built target modules__uORB__uORB_tests
[ 53%] Built target lib__work_queue__test__wqueue_test
[ 53%] Built target drivers__pwm_out_sim
[ 54%] Built target drivers__camera_trigger
[ 56%] Built target drivers__gps
[ 57%] Built target examples__rpm_simulator
[ 57%] Built target modules__airship_att_control
[ 57%] Built target modules__airspeed_selector
[ 58%] Built target modules__attitude_estimator_q
[ 58%] Built target modules__camera_feedback
[ 58%] Built target failure_detector
[ 58%] Built target EKF2Utility
[ 58%] Built target ArmAuthorization
[ 58%] Built target modules__dataman
[ 59%] Built target modules__commander__commander_tests
[ 59%] Built target HealthFlags
[ 60%] Built target modules__events
[ 61%] Built target FlightTask
[ 62%] Built target launchdetection
[ 63%] Built target runway_takeoff
[ 63%] Built target modules__fw_att_control
[ 63%] Built target modules__gyro_calibration
[ 64%] Built target modules__gyro_fft
[ 65%] Built target modules__landing_target_estimator
[ 67%] Built target modules__land_detector
[ 67%] Built target modules__load_mon
[ 68%] Built target zero_order_hover_thrust_ekf
[ 68%] Built target AttitudeControl
[ 69%] Built target modules__logger
[ 69%] Built target PositionControl
[ 69%] Built target Takeoff
[ 69%] Built target RateControl
[ 70%] Built target modules__local_position_estimator
[ 71%] Built target modules__mavlink__mavlink_tests
[ 71%] Built target modules__replay
[ 71%] Built target data_validator
[ 73%] Built target geofence_breach_avoidance
[ 73%] Built target vehicle_angular_velocity
[ 73%] Built target vehicle_acceleration
[ 73%] Built target modules__rc_update
[ 74%] Built target modules__rover_pos_control
[ 74%] Built target vehicle_air_data
[ 74%] Built target vehicle_gps_position
[ 74%] Built target vehicle_imu
[ 74%] Built target vehicle_magnetometer
[ 75%] Built target systemcmds__dyn
[ 75%] Built target modules__simulator__battery_simulator
[ 75%] Built target modules__uuv_pos_control
[ 76%] Built target modules__temperature_compensation
[ 78%] Built target modules__uuv_att_control
[ 79%] Built target drivers__vmount
[ 79%] Built target modules__vtol_att_control
[ 79%] Built target systemcmds__failure
[ 79%] Built target mav_planning_msgs_generate_messages_eus
[ 80%] Built target systemcmds__motor_ramp
[ 80%] Built target systemcmds__led_control
[ 80%] Built target systemcmds__motor_test
[ 80%] Built target systemcmds__mixer
[ 80%] Built target systemcmds__esc_calib
[ 80%] Built target systemcmds__perf
[ 80%] Built target systemcmds__param
[ 80%] Built target systemcmds__pwm
[ 80%] Built target systemcmds__shutdown
[ 81%] Built target systemcmds__sd_bench
[ 81%] Built target mav_planning_msgs_generate_messages_py
[ 81%] Built target systemcmds__system_time
[ 81%] Built target systemcmds__uorb
[ 82%] Built target systemcmds__tests__hrt_test
[ 82%] Built target systemcmds__tune_control
[ 82%] Built target systemcmds__work_queue
[ 83%] Built target systemcmds__ver
[ 83%] Built target systemcmds__topic_listener
[ 86%] Built target systemcmds__tests
[ 86%] Built target modules__fake_gps
[ 87%] Built target examples__fixedwing_control
Scanning dependencies of target mav_planning_msgs_generate_messages
[ 87%] Built target examples__px4_mavlink_debug
[ 87%] Built target examples__hello
[ 87%] Built target examples__work_item
[ 87%] Built target examples__px4_simple_app
[ 87%] Built target mav_planning_msgs_generate_messages
[ 87%] Built target examples__uuv_example_app
[ 87%] Built target examples__rover_steering_control
[ 87%] Built target avoidance
[ 87%] Built target lib__controllib__controllib_test
[ 87%] Built target lib__cdev__test__cdev_test
[ 87%] Built target drivers_gyroscope
[ 87%] Built target drivers_accelerometer
[ 87%] Built target drivers_magnetometer
[ 87%] Built target SlewRate
[ 87%] Built target drivers__tone_alarm
[ 89%] Built target FlightTaskDescend
[ 89%] Built target FlightTaskFailsafe
[ 89%] Built target modules__mc_att_control
[ 89%] Built target modules__fw_pos_control_l1
[ 89%] Built target modules__mc_hover_thrust_estimator
[ 89%] Built target FlightTaskTransition
[ 91%] Built target PreFlightCheck
[ 93%] Built target modules__ekf2
[ 93%] Built target modules__mc_rate_control
[ 93%] Built target modules__fake_imu
[ 93%] Built target modules__sensors
[ 93%] Built target examples__fake_magnetometer
[ 93%] Built target modules__simulator
[ 93%] Built target modules__mc_pos_control
[ 94%] Built target FlightTaskUtility
[ 96%] Built target modules__navigator
[ 97%] Built target modules__commander
[ 97%] Built target FlightTaskManualAltitude
[ 97%] Built target FlightTaskAuto
[ 98%] Built target FlightTaskManualPosition
[ 98%] Built target FlightTaskManualAltitudeSmoothVel
[100%] Built target modules__mavlink
[100%] Built target FlightTaskAutoMapper
[100%] Built target FlightTaskAutoFollowMe
[100%] Built target FlightTaskManualAcceleration
[100%] Built target FlightTaskOrbit
[100%] Built target FlightTaskManualPositionSmoothVel
[100%] Built target FlightTaskAutoLineSmoothVel
[100%] Built target modules__flight_mode_manager
[100%] Built target px4
[100%] Built target examples__dyn_hello
swift@swift-System-Product-Name:~/workspace/catkin_ws$

./Tools/gazebo_sitl_multiple_run.sh

<model>: The vehicle type/model to spawn, e.g.: iris (default), plane, standard_vtol.
<number_of_vehicles>: The number of vehicles to spawn. Default is 3. Maximum is 255.
<world>: The world that the vehicle should be spawned into, e.g.: empty (default)
<script>: Spawn multiple vehicles of different types (overriding the values in -m and -n). For example:
- Supported vehicle types are: iris, plane, standard_vtol.
- The number after the colon indicates the number of vehicles (of that type) to spawn.
- Maximum number of vehicles is 255.
-s "iris:3,plane:2,standard_vtol:3"
<target>: build target, e.g: px4_sitl_default (default), px4_sitl_rtps
<label> : specific label for model, e.g: rtps

swift@swift-HP-Pavilion-dv6-Notebook-PC:~/workspace/project/ros/catkin_ws/src/PX4-Autopilot$ ./Tools/gazebo_sitl_multiple_run.sh -n 2

killing running instances
GAZEBO_PLUGIN_PATH :/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/buildpx4_sitl_default/build_gazebo:/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/../build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo/models:/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/../Tools/sitl_gazebo/models
LD_LIBRARY_PATH /home/swift/workspace/project/ros/catkin_ws/devel/lib:/opt/ros/noetic/lib:/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/buildpx4_sitl_default/build_gazebo:/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/../build/px4_sitl_default/build_gazebo
Starting gazebo
Gazebo multi-robot simulator, version 11.5.1
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: 192.168.219.139
[Msg] Loading world file [/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/../Tools/sitl_gazebo/worlds/empty.world]

starting instance 0 in /home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/instance_0
/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/../Tools/sitl_gazebo/models/iris/iris.sdf.jinja -> /tmp/iris_0.sdf
Spawning iris_0 at 0.0 0
starting instance 1 in /home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/instance_1
[Wrn] [gazebo_gps_plugin.cpp:78] [gazebo_gps_plugin]: iris_0::gps0 using gps topic "gps0"
[Wrn] [gazebo_gps_plugin.cpp:203] [gazebo_gps_plugin] Using default update rate of 5hz 
/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/../Tools/sitl_gazebo/models/iris/iris.sdf.jinja -> /tmp/iris_1.sdf
Spawning iris_1 at 0.0 3
[Msg] Connecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
[Msg] Using MAVLink protocol v2.0
starting instance 2 in /home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/instance_2
[Wrn] [gazebo_gps_plugin.cpp:78] [gazebo_gps_plugin]: iris_1::gps0 using gps topic "gps0"
[Wrn] [gazebo_gps_plugin.cpp:203] [gazebo_gps_plugin] Using default update rate of 5hz 
[Msg] Connecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
[Msg] Using MAVLink protocol v2.0
/home/swift/workspace/project/ros/catkin_ws/src/PX4-Autopilot/Tools/../Tools/sitl_gazebo/models/iris/iris.sdf.jinja -> /tmp/iris_2.sdf
Spawning iris_2 at 0.0 6
Starting gazebo client
[Wrn] [gazebo_gps_plugin.cpp:78] [gazebo_gps_plugin]: iris_2::gps0 using gps topic "gps0"
[Wrn] [gazebo_gps_plugin.cpp:203] [gazebo_gps_plugin] Using default update rate of 5hz 
[Msg] Connecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
[Msg] Using MAVLink protocol v2.0

새 창에서 Offboard 명령을 수행합니다.

swift@swift-System-Product-Name:~/Desktop$ roslaunch geometric_controller sitl_multi_vehicle_track_circle.launch 
... logging to /home/swift/.ros/log/14ad2696-0868-11ec-b1e9-db520851d108/roslaunch-swift-System-Product-Name-7811.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://localhost:34197/

SUMMARY
========

CLEAR PARAMETERS
 * /uav0/mavros/
 * /uav1/mavros/

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.11
 * /uav0/geometric_controller/Kp_x: 8.0
 * /uav0/geometric_controller/Kp_y: 8.0
 * /uav0/geometric_controller/Kp_z: 10.0
 * /uav0/geometric_controller/ctrl_mode: 2
 * /uav0/geometric_controller/enable_gazebo_state: True
 * /uav0/geometric_controller/enable_sim: True
 * /uav0/geometric_controller/max_acc: 10.0
 * /uav0/mavros/cmd/use_comp_id_system_control: False
 * /uav0/mavros/conn/heartbeat_rate: 1.0
 * /uav0/mavros/conn/system_time_rate: 1.0
 * /uav0/mavros/conn/timeout: 10.0
 * /uav0/mavros/conn/timesync_rate: 10.0
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /uav0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /uav0/mavros/distance_sensor/laser_1_sub/id: 3
 * /uav0/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /uav0/mavros/distance_sensor/laser_1_sub/subscriber: True
 * /uav0/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /uav0/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /uav0/mavros/distance_sensor/lidarlite_pub/id: 1
 * /uav0/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /uav0/mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /uav0/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /uav0/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /uav0/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /uav0/mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
 * /uav0/mavros/distance_sensor/sonar_1_sub/id: 2
 * /uav0/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /uav0/mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /uav0/mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /uav0/mavros/fake_gps/eph: 2.0
 * /uav0/mavros/fake_gps/epv: 2.0
 * /uav0/mavros/fake_gps/fix_type: 3
 * /uav0/mavros/fake_gps/geo_origin/alt: 408.0
 * /uav0/mavros/fake_gps/geo_origin/lat: 47.3667
 * /uav0/mavros/fake_gps/geo_origin/lon: 8.55
 * /uav0/mavros/fake_gps/gps_rate: 5.0
 * /uav0/mavros/fake_gps/mocap_transform: True
 * /uav0/mavros/fake_gps/satellites_visible: 5
 * /uav0/mavros/fake_gps/tf/child_frame_id: fix
 * /uav0/mavros/fake_gps/tf/frame_id: map
 * /uav0/mavros/fake_gps/tf/listen: False
 * /uav0/mavros/fake_gps/tf/rate_limit: 10.0
 * /uav0/mavros/fake_gps/tf/send: False
 * /uav0/mavros/fake_gps/use_mocap: True
 * /uav0/mavros/fake_gps/use_vision: False
 * /uav0/mavros/fcu_protocol: v2.0
 * /uav0/mavros/fcu_url: udp://:14540@loca...
 * /uav0/mavros/gcs_url: 
 * /uav0/mavros/global_position/child_frame_id: base_link
 * /uav0/mavros/global_position/frame_id: map
 * /uav0/mavros/global_position/gps_uere: 1.0
 * /uav0/mavros/global_position/rot_covariance: 99999.0
 * /uav0/mavros/global_position/tf/child_frame_id: base_link
 * /uav0/mavros/global_position/tf/frame_id: map
 * /uav0/mavros/global_position/tf/global_frame_id: earth
 * /uav0/mavros/global_position/tf/send: False
 * /uav0/mavros/global_position/use_relative_alt: True
 * /uav0/mavros/image/frame_id: px4flow
 * /uav0/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /uav0/mavros/imu/frame_id: base_link
 * /uav0/mavros/imu/linear_acceleration_stdev: 0.0003
 * /uav0/mavros/imu/magnetic_stdev: 0.0
 * /uav0/mavros/imu/orientation_stdev: 1.0
 * /uav0/mavros/landing_target/camera/fov_x: 2.0071286398
 * /uav0/mavros/landing_target/camera/fov_y: 2.0071286398
 * /uav0/mavros/landing_target/image/height: 480
 * /uav0/mavros/landing_target/image/width: 640
 * /uav0/mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /uav0/mavros/landing_target/listen_lt: False
 * /uav0/mavros/landing_target/mav_frame: LOCAL_NED
 * /uav0/mavros/landing_target/target_size/x: 0.3
 * /uav0/mavros/landing_target/target_size/y: 0.3
 * /uav0/mavros/landing_target/tf/child_frame_id: camera_center
 * /uav0/mavros/landing_target/tf/frame_id: landing_target
 * /uav0/mavros/landing_target/tf/listen: False
 * /uav0/mavros/landing_target/tf/rate_limit: 10.0
 * /uav0/mavros/landing_target/tf/send: True
 * /uav0/mavros/local_position/frame_id: map
 * /uav0/mavros/local_position/tf/child_frame_id: base_link
 * /uav0/mavros/local_position/tf/frame_id: map
 * /uav0/mavros/local_position/tf/send: False
 * /uav0/mavros/local_position/tf/send_fcu: False
 * /uav0/mavros/mission/pull_after_gcs: True
 * /uav0/mavros/mission/use_mission_item_int: True
 * /uav0/mavros/mocap/use_pose: True
 * /uav0/mavros/mocap/use_tf: False
 * /uav0/mavros/odometry/fcu/odom_child_id_des: base_link
 * /uav0/mavros/odometry/fcu/odom_parent_id_des: map
 * /uav0/mavros/plugin_blacklist: ['safety_area', '...
 * /uav0/mavros/plugin_whitelist: []
 * /uav0/mavros/px4flow/frame_id: px4flow
 * /uav0/mavros/px4flow/ranger_fov: 0.118682
 * /uav0/mavros/px4flow/ranger_max_range: 5.0
 * /uav0/mavros/px4flow/ranger_min_range: 0.3
 * /uav0/mavros/safety_area/p1/x: 1.0
 * /uav0/mavros/safety_area/p1/y: 1.0
 * /uav0/mavros/safety_area/p1/z: 1.0
 * /uav0/mavros/safety_area/p2/x: -1.0
 * /uav0/mavros/safety_area/p2/y: -1.0
 * /uav0/mavros/safety_area/p2/z: -1.0
 * /uav0/mavros/setpoint_accel/send_force: False
 * /uav0/mavros/setpoint_attitude/reverse_thrust: False
 * /uav0/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /uav0/mavros/setpoint_attitude/tf/frame_id: map
 * /uav0/mavros/setpoint_attitude/tf/listen: False
 * /uav0/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /uav0/mavros/setpoint_attitude/use_quaternion: False
 * /uav0/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /uav0/mavros/setpoint_position/tf/child_frame_id: target_position
 * /uav0/mavros/setpoint_position/tf/frame_id: map
 * /uav0/mavros/setpoint_position/tf/listen: False
 * /uav0/mavros/setpoint_position/tf/rate_limit: 50.0
 * /uav0/mavros/setpoint_raw/thrust_scaling: 1.0
 * /uav0/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /uav0/mavros/startup_px4_usb_quirk: True
 * /uav0/mavros/sys/disable_diag: False
 * /uav0/mavros/sys/min_voltage: 10.0
 * /uav0/mavros/target_component_id: 1
 * /uav0/mavros/target_system_id: 1
 * /uav0/mavros/tdr_radio/low_rssi: 40
 * /uav0/mavros/time/time_ref_source: fcu
 * /uav0/mavros/time/timesync_avg_alpha: 0.6
 * /uav0/mavros/time/timesync_mode: MAVLINK
 * /uav0/mavros/vibration/frame_id: base_link
 * /uav0/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /uav0/mavros/vision_pose/tf/frame_id: odom
 * /uav0/mavros/vision_pose/tf/listen: False
 * /uav0/mavros/vision_pose/tf/rate_limit: 10.0
 * /uav0/mavros/vision_speed/listen_twist: True
 * /uav0/mavros/vision_speed/twist_cov: True
 * /uav0/mavros/wheel_odometry/child_frame_id: base_link
 * /uav0/mavros/wheel_odometry/count: 2
 * /uav0/mavros/wheel_odometry/frame_id: odom
 * /uav0/mavros/wheel_odometry/send_raw: True
 * /uav0/mavros/wheel_odometry/send_twist: False
 * /uav0/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /uav0/mavros/wheel_odometry/tf/frame_id: odom
 * /uav0/mavros/wheel_odometry/tf/send: False
 * /uav0/mavros/wheel_odometry/use_rpm: False
 * /uav0/mavros/wheel_odometry/vel_error: 0.1
 * /uav0/mavros/wheel_odometry/wheel0/radius: 0.05
 * /uav0/mavros/wheel_odometry/wheel0/x: 0.0
 * /uav0/mavros/wheel_odometry/wheel0/y: -0.15
 * /uav0/mavros/wheel_odometry/wheel1/radius: 0.05
 * /uav0/mavros/wheel_odometry/wheel1/x: 0.0
 * /uav0/mavros/wheel_odometry/wheel1/y: 0.15
 * /uav0/model_description: <?xml version="1....
 * /uav0/trajectory_publisher/initpos_z: 1.0
 * /uav0/trajectory_publisher/reference_type: 2
 * /uav0/trajectory_publisher/shape_omega: 1.0
 * /uav0/trajectory_publisher/trajectory_type: 1
 * /uav1/geometric_controller/Kp_x: 8.0
 * /uav1/geometric_controller/Kp_y: 8.0
 * /uav1/geometric_controller/Kp_z: 10.0
 * /uav1/geometric_controller/ctrl_mode: 2
 * /uav1/geometric_controller/enable_gazebo_state: True
 * /uav1/geometric_controller/enable_sim: True
 * /uav1/geometric_controller/max_acc: 10.0
 * /uav1/mavros/cmd/use_comp_id_system_control: False
 * /uav1/mavros/conn/heartbeat_rate: 1.0
 * /uav1/mavros/conn/system_time_rate: 1.0
 * /uav1/mavros/conn/timeout: 10.0
 * /uav1/mavros/conn/timesync_rate: 10.0
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /uav1/mavros/distance_sensor/laser_1_sub/id: 3
 * /uav1/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /uav1/mavros/distance_sensor/laser_1_sub/subscriber: True
 * /uav1/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /uav1/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /uav1/mavros/distance_sensor/lidarlite_pub/id: 1
 * /uav1/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /uav1/mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /uav1/mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
 * /uav1/mavros/distance_sensor/sonar_1_sub/id: 2
 * /uav1/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /uav1/mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /uav1/mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /uav1/mavros/fake_gps/eph: 2.0
 * /uav1/mavros/fake_gps/epv: 2.0
 * /uav1/mavros/fake_gps/fix_type: 3
 * /uav1/mavros/fake_gps/geo_origin/alt: 408.0
 * /uav1/mavros/fake_gps/geo_origin/lat: 47.3667
 * /uav1/mavros/fake_gps/geo_origin/lon: 8.55
 * /uav1/mavros/fake_gps/gps_rate: 5.0
 * /uav1/mavros/fake_gps/mocap_transform: True
 * /uav1/mavros/fake_gps/satellites_visible: 5
 * /uav1/mavros/fake_gps/tf/child_frame_id: fix
 * /uav1/mavros/fake_gps/tf/frame_id: map
 * /uav1/mavros/fake_gps/tf/listen: False
 * /uav1/mavros/fake_gps/tf/rate_limit: 10.0
 * /uav1/mavros/fake_gps/tf/send: False
 * /uav1/mavros/fake_gps/use_mocap: True
 * /uav1/mavros/fake_gps/use_vision: False
 * /uav1/mavros/fcu_protocol: v2.0
 * /uav1/mavros/fcu_url: udp://:14541@loca...
 * /uav1/mavros/gcs_url: 
 * /uav1/mavros/global_position/child_frame_id: base_link
 * /uav1/mavros/global_position/frame_id: map
 * /uav1/mavros/global_position/gps_uere: 1.0
 * /uav1/mavros/global_position/rot_covariance: 99999.0
 * /uav1/mavros/global_position/tf/child_frame_id: base_link
 * /uav1/mavros/global_position/tf/frame_id: map
 * /uav1/mavros/global_position/tf/global_frame_id: earth
 * /uav1/mavros/global_position/tf/send: False
 * /uav1/mavros/global_position/use_relative_alt: True
 * /uav1/mavros/image/frame_id: px4flow
 * /uav1/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /uav1/mavros/imu/frame_id: base_link
 * /uav1/mavros/imu/linear_acceleration_stdev: 0.0003
 * /uav1/mavros/imu/magnetic_stdev: 0.0
 * /uav1/mavros/imu/orientation_stdev: 1.0
 * /uav1/mavros/landing_target/camera/fov_x: 2.0071286398
 * /uav1/mavros/landing_target/camera/fov_y: 2.0071286398
 * /uav1/mavros/landing_target/image/height: 480
 * /uav1/mavros/landing_target/image/width: 640
 * /uav1/mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /uav1/mavros/landing_target/listen_lt: False
 * /uav1/mavros/landing_target/mav_frame: LOCAL_NED
 * /uav1/mavros/landing_target/target_size/x: 0.3
 * /uav1/mavros/landing_target/target_size/y: 0.3
 * /uav1/mavros/landing_target/tf/child_frame_id: camera_center
 * /uav1/mavros/landing_target/tf/frame_id: landing_target
 * /uav1/mavros/landing_target/tf/listen: False
 * /uav1/mavros/landing_target/tf/rate_limit: 10.0
 * /uav1/mavros/landing_target/tf/send: True
 * /uav1/mavros/local_position/frame_id: map
 * /uav1/mavros/local_position/tf/child_frame_id: base_link
 * /uav1/mavros/local_position/tf/frame_id: map
 * /uav1/mavros/local_position/tf/send: False
 * /uav1/mavros/local_position/tf/send_fcu: False
 * /uav1/mavros/mission/pull_after_gcs: True
 * /uav1/mavros/mission/use_mission_item_int: True
 * /uav1/mavros/mocap/use_pose: True
 * /uav1/mavros/mocap/use_tf: False
 * /uav1/mavros/odometry/fcu/odom_child_id_des: base_link
 * /uav1/mavros/odometry/fcu/odom_parent_id_des: map
 * /uav1/mavros/plugin_blacklist: ['safety_area', '...
 * /uav1/mavros/plugin_whitelist: []
 * /uav1/mavros/px4flow/frame_id: px4flow
 * /uav1/mavros/px4flow/ranger_fov: 0.118682
 * /uav1/mavros/px4flow/ranger_max_range: 5.0
 * /uav1/mavros/px4flow/ranger_min_range: 0.3
 * /uav1/mavros/safety_area/p1/x: 1.0
 * /uav1/mavros/safety_area/p1/y: 1.0
 * /uav1/mavros/safety_area/p1/z: 1.0
 * /uav1/mavros/safety_area/p2/x: -1.0
 * /uav1/mavros/safety_area/p2/y: -1.0
 * /uav1/mavros/safety_area/p2/z: -1.0
 * /uav1/mavros/setpoint_accel/send_force: False
 * /uav1/mavros/setpoint_attitude/reverse_thrust: False
 * /uav1/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /uav1/mavros/setpoint_attitude/tf/frame_id: map
 * /uav1/mavros/setpoint_attitude/tf/listen: False
 * /uav1/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /uav1/mavros/setpoint_attitude/use_quaternion: False
 * /uav1/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /uav1/mavros/setpoint_position/tf/child_frame_id: target_position
 * /uav1/mavros/setpoint_position/tf/frame_id: map
 * /uav1/mavros/setpoint_position/tf/listen: False
 * /uav1/mavros/setpoint_position/tf/rate_limit: 50.0
 * /uav1/mavros/setpoint_raw/thrust_scaling: 1.0
 * /uav1/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /uav1/mavros/startup_px4_usb_quirk: True
 * /uav1/mavros/sys/disable_diag: False
 * /uav1/mavros/sys/min_voltage: 10.0
 * /uav1/mavros/target_component_id: 1
 * /uav1/mavros/target_system_id: 2
 * /uav1/mavros/tdr_radio/low_rssi: 40
 * /uav1/mavros/time/time_ref_source: fcu
 * /uav1/mavros/time/timesync_avg_alpha: 0.6
 * /uav1/mavros/time/timesync_mode: MAVLINK
 * /uav1/mavros/vibration/frame_id: base_link
 * /uav1/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /uav1/mavros/vision_pose/tf/frame_id: odom
 * /uav1/mavros/vision_pose/tf/listen: False
 * /uav1/mavros/vision_pose/tf/rate_limit: 10.0
 * /uav1/mavros/vision_speed/listen_twist: True
 * /uav1/mavros/vision_speed/twist_cov: True
 * /uav1/mavros/wheel_odometry/child_frame_id: base_link
 * /uav1/mavros/wheel_odometry/count: 2
 * /uav1/mavros/wheel_odometry/frame_id: odom
 * /uav1/mavros/wheel_odometry/send_raw: True
 * /uav1/mavros/wheel_odometry/send_twist: False
 * /uav1/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /uav1/mavros/wheel_odometry/tf/frame_id: odom
 * /uav1/mavros/wheel_odometry/tf/send: False
 * /uav1/mavros/wheel_odometry/use_rpm: False
 * /uav1/mavros/wheel_odometry/vel_error: 0.1
 * /uav1/mavros/wheel_odometry/wheel0/radius: 0.05
 * /uav1/mavros/wheel_odometry/wheel0/x: 0.0
 * /uav1/mavros/wheel_odometry/wheel0/y: -0.15
 * /uav1/mavros/wheel_odometry/wheel1/radius: 0.05
 * /uav1/mavros/wheel_odometry/wheel1/x: 0.0
 * /uav1/mavros/wheel_odometry/wheel1/y: 0.15
 * /uav1/model_description: <?xml version="1....
 * /uav1/trajectory_publisher/initpos_z: 2.0
 * /uav1/trajectory_publisher/reference_type: 2
 * /uav1/trajectory_publisher/shape_omega: 1.5
 * /uav1/trajectory_publisher/trajectory_type: 1

NODES
  /
    rviz (rviz/rviz)
  /uav0/
    geometric_controller (geometric_controller/geometric_controller_node)
    iris_0_spawn (gazebo_ros/spawn_model)
    mavros (mavros/mavros_node)
    sitl_0 (px4/px4)
    trajectory_publisher (trajectory_publisher/trajectory_publisher)
  /uav1/
    geometric_controller (geometric_controller/geometric_controller_node)
    iris_1_spawn (gazebo_ros/spawn_model)
    mavros (mavros/mavros_node)
    sitl_1 (px4/px4)
    trajectory_publisher (trajectory_publisher/trajectory_publisher)

auto-starting new master
process[master]: started with pid [7821]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 14ad2696-0868-11ec-b1e9-db520851d108
process[rosout-1]: started with pid [7831]
started core service [/rosout]
process[uav0/sitl_0-2]: started with pid [7839]
INFO  [px4] PX4 daemon already running for instance 0 (Success)
process[uav0/iris_0_spawn-3]: started with pid [7840]
process[uav0/mavros-4]: started with pid [7841]
process[uav0/geometric_controller-5]: started with pid [7842]
process[uav0/trajectory_publisher-6]: started with pid [7843]
[uav0/sitl_0-2] process has died [pid 7839, exit code 255, cmd /home/swift/workspace/catkin_ws/devel/lib/px4/px4 /home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i 0 -w sitl_iris_0 -d __name:=sitl_0 __log:=/home/swift/.ros/log/14ad2696-0868-11ec-b1e9-db520851d108/uav0-sitl_0-2.log].
log file: /home/swift/.ros/log/14ad2696-0868-11ec-b1e9-db520851d108/uav0-sitl_0-2*.log
[ INFO] [1630200366.857513413]: Reconfigure request : max_acc = 8.00 
[ INFO] [1630200366.860139841]: Waiting for home pose...
[ INFO] [1630200366.900600636]: FCU URL: udp://:14540@localhost:14580
[ INFO] [1630200366.902151917]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1630200366.902229277]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1630200366.902301549]: GCS bridge disabled
[ INFO] [1630200366.906537449]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1630200366.914207133]: Plugin 3dr_radio loaded
[ INFO] [1630200366.915148566]: Plugin 3dr_radio initialized
[ INFO] [1630200366.915207275]: Plugin actuator_control loaded
[ INFO] [1630200366.916721403]: Plugin actuator_control initialized
[ INFO] [1630200366.922323226]: Plugin adsb loaded
[ INFO] [1630200366.924037821]: Plugin adsb initialized
[ INFO] [1630200366.924107679]: Plugin altitude loaded
[ INFO] [1630200366.924556827]: Plugin altitude initialized
[ INFO] [1630200366.924603886]: Plugin cam_imu_sync loaded
[ INFO] [1630200366.924859024]: Plugin cam_imu_sync initialized
[ INFO] [1630200366.924914332]: Plugin command loaded
[ INFO] [1630200366.927885772]: Plugin command initialized
[ INFO] [1630200366.927963371]: Plugin companion_process_status loaded
[ INFO] [1630200366.929201958]: Plugin companion_process_status initialized
[ INFO] [1630200366.929268759]: Plugin debug_value loaded
[ INFO] [1630200366.931779522]: Plugin debug_value initialized
[ INFO] [1630200366.931805424]: Plugin distance_sensor blacklisted
[ INFO] [1630200366.931869933]: Plugin esc_status loaded
[ INFO] [1630200366.932576590]: Plugin esc_status initialized
[ INFO] [1630200366.932661744]: Plugin fake_gps loaded
[ INFO] [1630200366.940538845]: Plugin fake_gps initialized
[ INFO] [1630200366.940612173]: Plugin ftp loaded
[ INFO] [1630200366.943999338]: Plugin ftp initialized
[ INFO] [1630200366.944065034]: Plugin geofence loaded
[ INFO] [1630200366.945410941]: Plugin geofence initialized
[ INFO] [1630200366.945462124]: Plugin global_position loaded
[ INFO] [1630200366.953323242]: Plugin global_position initialized
[ INFO] [1630200366.953391307]: Plugin gps_rtk loaded
[ INFO] [1630200366.954842722]: Plugin gps_rtk initialized
[ INFO] [1630200366.954892049]: Plugin gps_status loaded
[ INFO] [1630200366.955948612]: Plugin gps_status initialized
[ INFO] [1630200366.956003354]: Plugin hil loaded
[ INFO] [1630200366.961884099]: Plugin hil initialized
[ INFO] [1630200366.961946505]: Plugin home_position loaded
[ INFO] [1630200366.963927140]: Plugin home_position initialized
[ INFO] [1630200366.963988231]: Plugin imu loaded
[ INFO] [1630200366.968485570]: Plugin imu initialized
[ INFO] [1630200366.968555061]: Plugin landing_target loaded
[ INFO] [1630200366.974980141]: Plugin landing_target initialized
[ INFO] [1630200366.975054052]: Plugin local_position loaded
[ INFO] [1630200366.978167603]: Plugin local_position initialized
[ INFO] [1630200366.978223221]: Plugin log_transfer loaded
[ INFO] [1630200366.979671028]: Plugin log_transfer initialized
[ INFO] [1630200366.979737292]: Plugin manual_control loaded
[ INFO] [1630200366.981130100]: Plugin manual_control initialized
[ INFO] [1630200366.981186170]: Plugin mocap_pose_estimate loaded
[ INFO] [1630200366.983014219]: Plugin mocap_pose_estimate initialized
[ INFO] [1630200366.983074930]: Plugin mount_control loaded
[ INFO] [1630200366.984551621]: Plugin mount_control initialized
[ INFO] [1630200366.984600484]: Plugin obstacle_distance loaded
[ INFO] [1630200366.985729584]: Plugin obstacle_distance initialized
[ INFO] [1630200366.985772602]: Plugin odom loaded
[ INFO] [1630200366.987841285]: Plugin odom initialized
[ INFO] [1630200366.987897373]: Plugin onboard_computer_status loaded
[ INFO] [1630200366.989190429]: Plugin onboard_computer_status initialized
[ INFO] [1630200366.989246357]: Plugin param loaded
[ INFO] [1630200366.990862137]: Plugin param initialized
[ INFO] [1630200366.990942199]: Plugin play_tune loaded
[ INFO] [1630200366.992036384]: Plugin play_tune initialized
[ INFO] [1630200366.992102051]: Plugin px4flow loaded
[ INFO] [1630200366.995548354]: Plugin px4flow initialized
[ INFO] [1630200366.995631391]: Plugin rallypoint loaded
[ INFO] [1630200366.996971597]: Plugin rallypoint initialized
[ INFO] [1630200366.996997486]: Plugin rangefinder blacklisted
[ INFO] [1630200366.997060065]: Plugin rc_io loaded
[ INFO] [1630200366.998821287]: Plugin rc_io initialized
[ INFO] [1630200366.998845944]: Plugin safety_area blacklisted
[ INFO] [1630200366.998899165]: Plugin setpoint_accel loaded
[ INFO] [1630200367.000703207]: Plugin setpoint_accel initialized
[ INFO] [1630200367.000805591]: Plugin setpoint_attitude loaded
[ INFO] [1630200367.005899942]: Plugin setpoint_attitude initialized
[ INFO] [1630200367.005963670]: Plugin setpoint_position loaded
[ INFO] [1630200367.014644440]: Plugin setpoint_position initialized
[ INFO] [1630200367.014719307]: Plugin setpoint_raw loaded
[ INFO] [1630200367.020855266]: Plugin setpoint_raw initialized
[ INFO] [1630200367.020927643]: Plugin setpoint_trajectory loaded
[ INFO] [1630200367.024298318]: Plugin setpoint_trajectory initialized
[ INFO] [1630200367.024376788]: Plugin setpoint_velocity loaded
[ INFO] [1630200367.028010798]: Plugin setpoint_velocity initialized
[ INFO] [1630200367.028131050]: Plugin sys_status loaded
[ INFO] [1630200367.033830564]: Plugin sys_status initialized
[ INFO] [1630200367.033911297]: Plugin sys_time loaded
[ INFO] [1630200367.037117749]: TM: Timesync mode: MAVLINK
[ INFO] [1630200367.037797059]: Plugin sys_time initialized
[ INFO] [1630200367.037856313]: Plugin trajectory loaded
process[uav1/sitl_1-7]: started with pid [7865]
INFO  [px4] PX4 daemon already running for instance 1 (Success)
[ INFO] [1630200367.040683690]: Plugin trajectory initialized
[ INFO] [1630200367.040754823]: Plugin vfr_hud loaded
[ INFO] [1630200367.041019878]: Plugin vfr_hud initialized
[ INFO] [1630200367.041039373]: Plugin vibration blacklisted
[ INFO] [1630200367.041084515]: Plugin vision_pose_estimate loaded
process[uav1/iris_1_spawn-8]: started with pid [7866]
process[uav1/mavros-9]: started with pid [7867]
[ INFO] [1630200367.047152427]: Plugin vision_pose_estimate initialized
[ INFO] [1630200367.047275867]: Plugin vision_speed_estimate loaded
[uav1/sitl_1-7] process has died [pid 7865, exit code 255, cmd /home/swift/workspace/catkin_ws/devel/lib/px4/px4 /home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i 1 -w sitl_iris_1 -d __name:=sitl_1 __log:=/home/swift/.ros/log/14ad2696-0868-11ec-b1e9-db520851d108/uav1-sitl_1-7.log].
log file: /home/swift/.ros/log/14ad2696-0868-11ec-b1e9-db520851d108/uav1-sitl_1-7*.log
[ INFO] [1630200367.049378428]: Plugin vision_speed_estimate initialized
[ INFO] [1630200367.049465918]: Plugin waypoint loaded
process[uav1/geometric_controller-10]: started with pid [7868]
[ INFO] [1630200367.053067957]: Plugin waypoint initialized
[ INFO] [1630200367.053107711]: Plugin wheel_odometry blacklisted
[ INFO] [1630200367.053181961]: Plugin wind_estimation loaded
[ INFO] [1630200367.053508321]: Plugin wind_estimation initialized
[ INFO] [1630200367.053536205]: Autostarting mavlink via USB on PX4
[ INFO] [1630200367.053569043]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1630200367.053586117]: Built-in MAVLink package version: 2021.8.8
[ INFO] [1630200367.053614346]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1630200367.053633955]: MAVROS started. MY ID 1.240, TARGET ID 1.1
process[uav1/trajectory_publisher-11]: started with pid [7869]
[ INFO] [1630200367.058326064]: IMU: High resolution IMU detected!
process[rviz-12]: started with pid [7879]
[ INFO] [1630200367.066211499]: IMU: Attitude quaternion IMU detected!
[ INFO] [1630200367.091870823]: Reconfigure request : max_acc = 8.00 
[ INFO] [1630200367.095724206]: Waiting for home pose...
[ INFO] [1630200367.117742277]: FCU URL: udp://:14541@localhost:14581
[ INFO] [1630200367.119004523]: udp0: Bind address: 0.0.0.0:14541
[ INFO] [1630200367.119062270]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1630200367.119132357]: GCS bridge disabled
[ INFO] [1630200367.122286602]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1630200367.125410731]: Plugin 3dr_radio loaded
[ INFO] [1630200367.126457875]: Plugin 3dr_radio initialized
[ INFO] [1630200367.126507042]: Plugin actuator_control loaded
[ INFO] [1630200367.128483224]: Plugin actuator_control initialized
[ INFO] [1630200367.130589918]: Plugin adsb loaded
[ INFO] [1630200367.132548927]: Plugin adsb initialized
[ INFO] [1630200367.132603798]: Plugin altitude loaded
[ INFO] [1630200367.133218970]: Plugin altitude initialized
[ INFO] [1630200367.133258737]: Plugin cam_imu_sync loaded
[ INFO] [1630200367.133628871]: Plugin cam_imu_sync initialized
[ INFO] [1630200367.133689677]: Plugin command loaded
[ INFO] [1630200367.137616972]: Plugin command initialized
[ INFO] [1630200367.137674290]: Plugin companion_process_status loaded
[ INFO] [1630200367.139105888]: Plugin companion_process_status initialized
[ INFO] [1630200367.139158819]: Plugin debug_value loaded
[ INFO] [1630200367.141294920]: Plugin debug_value initialized
[ INFO] [1630200367.141313653]: Plugin distance_sensor blacklisted
[ INFO] [1630200367.141358144]: Plugin esc_status loaded
[ INFO] [1630200367.141951568]: Plugin esc_status initialized
[ INFO] [1630200367.142009633]: Plugin fake_gps loaded
[ INFO] [1630200367.151567970]: Plugin fake_gps initialized
[ INFO] [1630200367.151635268]: Plugin ftp loaded
[ INFO] [1630200367.156012402]: Plugin ftp initialized
[ INFO] [1630200367.156083158]: Plugin geofence loaded
[ INFO] [1630200367.157478330]: Plugin geofence initialized
[ INFO] [1630200367.157558225]: Plugin global_position loaded
[ INFO] [1630200367.164882204]: Plugin global_position initialized
[ INFO] [1630200367.164949891]: Plugin gps_rtk loaded
[ INFO] [1630200367.166192488]: Plugin gps_rtk initialized
[ INFO] [1630200367.166252112]: Plugin gps_status loaded
[ INFO] [1630200367.167322508]: Plugin gps_status initialized
[ INFO] [1630200367.167381045]: Plugin hil loaded
[ INFO] [1630200367.172991759]: Plugin hil initialized
[ INFO] [1630200367.173068574]: Plugin home_position loaded
[ INFO] [1630200367.174834027]: Plugin home_position initialized
[ INFO] [1630200367.174906151]: Plugin imu loaded
[ INFO] [1630200367.180605074]: Plugin imu initialized
[INFO] [1630200367.180618]: Loading model XML from ros parameter model_description
[ INFO] [1630200367.180674242]: Plugin landing_target loaded
[INFO] [1630200367.185892]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1630200367.191446531]: Plugin landing_target initialized
[ INFO] [1630200367.191522281]: Plugin local_position loaded
[ INFO] [1630200367.195563504]: Plugin local_position initialized
[ INFO] [1630200367.195636175]: Plugin log_transfer loaded
[ INFO] [1630200367.196892169]: Plugin log_transfer initialized
[ INFO] [1630200367.196953889]: Plugin manual_control loaded
[ INFO] [1630200367.198464680]: Plugin manual_control initialized
[ INFO] [1630200367.198551834]: Plugin mocap_pose_estimate loaded
[ INFO] [1630200367.200563183]: Plugin mocap_pose_estimate initialized
[ INFO] [1630200367.200628970]: Plugin mount_control loaded
[ INFO] [1630200367.202393454]: Plugin mount_control initialized
[ INFO] [1630200367.202470286]: Plugin obstacle_distance loaded
[ INFO] [1630200367.203771264]: Plugin obstacle_distance initialized
[ INFO] [1630200367.203833678]: Plugin odom loaded
[ INFO] [1630200367.206012629]: Plugin odom initialized
[ INFO] [1630200367.206172432]: Plugin onboard_computer_status loaded
[ INFO] [1630200367.207735252]: Plugin onboard_computer_status initialized
[ INFO] [1630200367.207797816]: Plugin param loaded
[ INFO] [1630200367.209900977]: Plugin param initialized
[ INFO] [1630200367.209968909]: Plugin play_tune loaded
[ INFO] [1630200367.211216902]: Plugin play_tune initialized
[ INFO] [1630200367.211298243]: Plugin px4flow loaded
[ INFO] [1630200367.214379392]: Plugin px4flow initialized
[ INFO] [1630200367.214446886]: Plugin rallypoint loaded
[ INFO] [1630200367.215741894]: Plugin rallypoint initialized
[ INFO] [1630200367.215764570]: Plugin rangefinder blacklisted
[ INFO] [1630200367.215817784]: Plugin rc_io loaded
[ INFO] [1630200367.217455457]: Plugin rc_io initialized
[ INFO] [1630200367.217474564]: Plugin safety_area blacklisted
[ INFO] [1630200367.217523642]: Plugin setpoint_accel loaded
[ INFO] [1630200367.219041185]: Plugin setpoint_accel initialized
[ INFO] [1630200367.219112747]: Plugin setpoint_attitude loaded
[ INFO] [1630200367.223193999]: Plugin setpoint_attitude initialized
[ INFO] [1630200367.223288883]: Plugin setpoint_position loaded
[ INFO] [1630200367.230383638]: Plugin setpoint_position initialized
[ INFO] [1630200367.230463310]: Plugin setpoint_raw loaded
[ INFO] [1630200367.234487292]: Plugin setpoint_raw initialized
[ INFO] [1630200367.234561629]: Plugin setpoint_trajectory loaded
[ INFO] [1630200367.236723713]: Plugin setpoint_trajectory initialized
[ INFO] [1630200367.236785693]: Plugin setpoint_velocity loaded
[ INFO] [1630200367.239585770]: Plugin setpoint_velocity initialized
[ INFO] [1630200367.239679267]: Plugin sys_status loaded
[ INFO] [1630200367.244479295]: Plugin sys_status initialized
[ INFO] [1630200367.244552090]: Plugin sys_time loaded
[ INFO] [1630200367.247432585]: TM: Timesync mode: MAVLINK
[ INFO] [1630200367.247998945]: Plugin sys_time initialized
[ INFO] [1630200367.248059774]: Plugin trajectory loaded
[ INFO] [1630200367.250545833]: Plugin trajectory initialized
[ INFO] [1630200367.250608641]: Plugin vfr_hud loaded
[ INFO] [1630200367.250957626]: Plugin vfr_hud initialized
[ INFO] [1630200367.250983694]: Plugin vibration blacklisted
[ INFO] [1630200367.251040700]: Plugin vision_pose_estimate loaded
[ INFO] [1630200367.255777835]: Plugin vision_pose_estimate initialized
[ INFO] [1630200367.255856531]: Plugin vision_speed_estimate loaded
[ INFO] [1630200367.258454262]: Plugin vision_speed_estimate initialized
[ INFO] [1630200367.258532165]: Plugin waypoint loaded
[ INFO] [1630200367.260992320]: Plugin waypoint initialized
[ INFO] [1630200367.261017285]: Plugin wheel_odometry blacklisted
[ INFO] [1630200367.261073264]: Plugin wind_estimation loaded
[ INFO] [1630200367.261405384]: Plugin wind_estimation initialized
[ INFO] [1630200367.261429937]: Autostarting mavlink via USB on PX4
[ INFO] [1630200367.261465640]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1630200367.261488420]: Built-in MAVLink package version: 2021.8.8
[ INFO] [1630200367.261507490]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1630200367.261521736]: MAVROS started. MY ID 1.240, TARGET ID 2.1
[ INFO] [1630200367.266094236]: IMU: High resolution IMU detected!
[ INFO] [1630200367.274106166]: IMU: Attitude quaternion IMU detected!
[INFO] [1630200367.288439]: Loading model XML from ros parameter model_description
[INFO] [1630200367.292295]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1630200367.360254635]: Home pose initialized to: position: 
  x: 0.00102135
  y: 0.0131193
  z: 0.032782
orientation: 
  x: 0.000451413
  y: -0.0017201
  z: 0.0270811
  w: -0.999632

[ INFO] [1630200367.366184131]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1630200367.366969657]: IMU: High resolution IMU detected!
[ INFO] [1630200367.374135221]: IMU: Attitude quaternion IMU detected!
[ INFO] [1630200367.595835616]: Home pose initialized to: position: 
  x: -0.0208936
  y: -1.79035e-06
  z: 0.0446482
orientation: 
  x: 0.000287975
  y: -0.00185481
  z: 0.0269508
  w: -0.999635

[ INFO] [1630200367.758745006]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1630200367.759607464]: IMU: High resolution IMU detected!
[ INFO] [1630200367.766698877]: IMU: Attitude quaternion IMU detected!
[ INFO] [1630200367.860199172]: Got pose! Drone Ready to be armed.
[ INFO] [1630200367.861220539]: Offboard enabled
[ WARN] [1630200367.870891864]: CMD: Unexpected command 176, result 0
[ INFO] [1630200368.095778771]: Got pose! Drone Ready to be armed.
[ INFO] [1630200368.096764912]: Offboard enabled
[ WARN] [1630200368.103029231]: CMD: Unexpected command 176, result 0
[ INFO] [1630200368.375073509]: GF: Using MISSION_ITEM_INT
[ INFO] [1630200368.375109987]: RP: Using MISSION_ITEM_INT
[ INFO] [1630200368.375134088]: WP: Using MISSION_ITEM_INT
[ INFO] [1630200368.375161270]: VER: 2.1: Capabilities         0x000000000000e4ef
[ INFO] [1630200368.375180015]: VER: 2.1: Flight software:     010d0040 (ab1c90d831000000)
[ INFO] [1630200368.375196412]: VER: 2.1: Middleware software: 010d0040 (ab1c90d831000000)
[ INFO] [1630200368.375217334]: VER: 2.1: OS software:         050b00ff (8660572a3c69e0e2)
[ INFO] [1630200368.375247880]: VER: 2.1: Board hardware:      00000001
[ INFO] [1630200368.375267596]: VER: 2.1: VID/PID:             0000:0000
[ INFO] [1630200368.375287990]: VER: 2.1: UID:                 4954414c44494e50
[ INFO] [1630200368.767509635]: GF: Using MISSION_ITEM_INT
[ INFO] [1630200368.767618479]: RP: Using MISSION_ITEM_INT
[ INFO] [1630200368.767701189]: WP: Using MISSION_ITEM_INT
[ INFO] [1630200368.767783962]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1630200368.767853459]: VER: 1.1: Flight software:     010d0040 (ab1c90d831000000)
[ INFO] [1630200368.767913918]: VER: 1.1: Middleware software: 010d0040 (ab1c90d831000000)
[ INFO] [1630200368.768003357]: VER: 1.1: OS software:         050b00ff (8660572a3c69e0e2)
[ INFO] [1630200368.768086582]: VER: 1.1: Board hardware:      00000001
[ INFO] [1630200368.768145932]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1630200368.768196359]: VER: 1.1: UID:                 4954414c44494e4f
[ INFO] [1630200373.850181503]: Vehicle armed
[ INFO] [1630200374.094021632]: Vehicle armed
[ INFO] [1630200382.366667591]: GF: mission received
[ INFO] [1630200382.367077131]: RP: mission received
[ INFO] [1630200382.367212130]: WP: mission received
[ INFO] [1630200382.759040868]: GF: mission received
[ INFO] [1630200382.759314883]: RP: mission received
[ INFO] [1630200382.759470689]: WP: mission received

Gazebo에서 2대의 IRIS가 mavlink 를 통하여 circle 형태의 비행을 시작한다.

UAV 비행궤적을 예측경로와 비교해서 잘 이동하는 Rviz를 통해 확인할 수 있다.

728x90

저작자표시

'엔지니어링 > 드론' 카테고리의 다른 글

[ PX4 SITL ] MAVROS를 이용한 SITL OFFBOARD 제어 (0)	2021.09.08
[ PX4 ] 조이스틱으로 PX4 시뮬레이션 조종하기 (0)	2021.08.31
PX4와 Mavlink를 연동하여 시뮬레이션하는 방법 (4)	2021.08.22
SWaP-C? (0)	2021.08.11
[ VOXL ] VOXL-DFS-SERVER 컴파일 완료 (0)	2021.07.17

Hello, World!

PX4와 Mavlink로를 연동하여 군집드론 시뮬레이션하는 방법

Multiple Vehicle with Gazebo(bash)

'엔지니어링 > 드론' 카테고리의 다른 글

댓글

티스토리툴바

PX4와 Mavlink로를 연동하여 군집드론 시뮬레이션하는 방법

Multiple Vehicle with Gazebo(bash)

'엔지니어링 > 드론' 카테고리의 다른 글

관련글

댓글

티스토리툴바