[ PX4 ] SITL OFFBOARD Control

 

 

 

1. PX4 SITL 및 Gazebo 실행

swift@swift-MacBookPro:~/workspace/catkin_ws/src/PX4-Autopilot$ make px4_sitl_default gazebo
[0/4] Performing build step for 'sitl_gazebo'
ninja: no work to do.
[3/4] cd /home/swift/workspace/catkin_ws/src/...n_ws/src/PX4-Autopilot/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/bin/px4
debugger: none
program: gazebo
model: none
world: none
src_path: /home/swift/workspace/catkin_ws/src/PX4-Autopilot
build_path: /home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default
empty model, setting iris as default
GAZEBO_PLUGIN_PATH :/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo:/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo:/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/swift/workspace/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo/models:/home/swift/workspace/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo/models:/home/swift/workspace/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /home/swift/workspace/catkin_ws/devel/lib:/opt/ros/noetic/lib:/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo:/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo:/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo
empty world, setting empty.world as default
Using: /home/swift/workspace/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo/models/iris/iris.sdf
SITL COMMAND: "/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/bin/px4" "/home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default"/etc -s etc/init.d-posix/rcS -t "/home/swift/workspace/catkin_ws/src/PX4-Autopilot"/test_data
Creating symlink /home/swift/workspace/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/etc -> /home/swift/workspace/

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [init] found model autostart file as SYS_AUTOSTART=10016
INFO  [param] selected parameter default file eeprom/parameters_10016
INFO  [parameters] BSON document size 470 bytes, decoded 470 bytes
[param] Loaded: eeprom/parameters_10016
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
PX4 SIM HOST: localhost
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] setting PWM_AUX_OUT none
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [mavlink] partner IP: 127.0.0.1
INFO  [commander] Failsafe mode activated	
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2021-09-25/14_19_26.ulg	
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [logger] Opened full log file: ./log/2021-09-25/14_19_26.ulg
INFO  [px4] Startup script returned successfully
pxh> Gazebo multi-robot simulator, version 11.8.1
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: 192.168.219.114
INFO  [commander] Failsafe mode deactivated	
INFO  [tone_alarm] home set
INFO  [tone_alarm] notify negative
[Wrn] [Publisher.cc:136] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.

pxh> 
pxh> INFO  [mavlink] partner IP: 127.0.0.1
INFO  [commander] Armed by external command	
INFO  [commander] Takeoff detected	
ERROR [mavlink] [timesync] Time jump detected. Resetting time synchroniser.
ERROR [mavlink] [timesync] Time jump detected. Resetting time synchroniser.
ERROR [mavlink] [timesync] Time jump detected. Resetting time synchroniser.

 

 

 

2. MAVROS 및 OFFBOARD 제어 패키지 실행

swift@swift-MacBookPro:~/Desktop$ roslaunch mavros_offboard set_ctrl_trajectory.launch 
... logging to /home/swift/.ros/log/dd01ac08-1e0b-11ec-9a65-97217867faad/roslaunch-swift-MacBookPro-41309.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:44029/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 408.0
 * /mavros/fake_gps/geo_origin/lat: 47.3667
 * /mavros/fake_gps/geo_origin/lon: 8.55
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: True
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: udp://:14540@127....
 * /mavros/gcs_url: 
 * /mavros/global_position/child_frame_id: base_link
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/gps_uere: 1.0
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/landing_target/camera/fov_x: 2.0071286398
 * /mavros/landing_target/camera/fov_y: 2.0071286398
 * /mavros/landing_target/image/height: 480
 * /mavros/landing_target/image/width: 640
 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /mavros/landing_target/listen_lt: False
 * /mavros/landing_target/mav_frame: LOCAL_NED
 * /mavros/landing_target/target_size/x: 0.3
 * /mavros/landing_target/target_size/y: 0.3
 * /mavros/landing_target/tf/child_frame_id: camera_center
 * /mavros/landing_target/tf/frame_id: landing_target
 * /mavros/landing_target/tf/listen: False
 * /mavros/landing_target/tf/rate_limit: 10.0
 * /mavros/landing_target/tf/send: True
 * /mavros/local_position/frame_id: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mission/use_mission_item_int: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/fcu/odom_child_id_des: base_link
 * /mavros/odometry/fcu/odom_parent_id_des: map
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_thrust: False
 * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /mavros/setpoint_attitude/tf/frame_id: map
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /mavros/setpoint_attitude/use_quaternion: False
 * /mavros/setpoint_position/mav_frame: LOCAL_NED
 * /mavros/setpoint_position/tf/child_frame_id: target_position
 * /mavros/setpoint_position/tf/frame_id: map
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/setpoint_raw/thrust_scaling: 1.0
 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /mavros/startup_px4_usb_quirk: True
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/time/timesync_mode: MAVLINK
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: odom
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: True
 * /mavros/vision_speed/twist_cov: True
 * /mavros/wheel_odometry/child_frame_id: base_link
 * /mavros/wheel_odometry/count: 2
 * /mavros/wheel_odometry/frame_id: odom
 * /mavros/wheel_odometry/send_raw: True
 * /mavros/wheel_odometry/send_twist: False
 * /mavros/wheel_odometry/tf/child_frame_id: base_link
 * /mavros/wheel_odometry/tf/frame_id: odom
 * /mavros/wheel_odometry/tf/send: False
 * /mavros/wheel_odometry/use_rpm: False
 * /mavros/wheel_odometry/vel_error: 0.1
 * /mavros/wheel_odometry/wheel0/radius: 0.05
 * /mavros/wheel_odometry/wheel0/x: 0.0
 * /mavros/wheel_odometry/wheel0/y: -0.15
 * /mavros/wheel_odometry/wheel1/radius: 0.05
 * /mavros/wheel_odometry/wheel1/x: 0.0
 * /mavros/wheel_odometry/wheel1/y: 0.15
 * /rosdistro: noetic
 * /rosversion: 1.15.11

NODES
  /
    mavros (mavros/mavros_node)
    set_ctrl_trajectory_node (mavros_offboard/set_ctrl_trajectory)

auto-starting new master
process[master]: started with pid [41336]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to dd01ac08-1e0b-11ec-9a65-97217867faad
process[rosout-1]: started with pid [41353]
started core service [/rosout]
process[mavros-2]: started with pid [41361]
process[set_ctrl_trajectory_node-3]: started with pid [41362]
x:  0.000 y:  0.000 yaw:   45.0
x:  0.020 y:  0.020 yaw:   44.9
x:  0.039 y:  0.039 yaw:   44.7
x:  0.059 y:  0.059 yaw:   44.4
x:  0.079 y:  0.078 yaw:   43.9
x:  0.099 y:  0.098 yaw:   43.3
x:  0.120 y:  0.117 yaw:   42.6
x:  0.141 y:  0.136 yaw:   41.7
x:  0.162 y:  0.154 yaw:   40.7
x:  0.184 y:  0.173 yaw:   39.5
x:  0.206 y:  0.191 yaw:   38.2
x:  0.229 y:  0.208 yaw:   36.7
x:  0.253 y:  0.225 yaw:   35.1
x:  0.277 y:  0.242 yaw:   33.3
x:  0.303 y:  0.258 yaw:   31.4
x:  0.328 y:  0.273 yaw:   29.2
x:  0.355 y:  0.287 yaw:   26.9
x:  0.383 y:  0.301 yaw:   24.4
x:  0.412 y:  0.313 yaw:   21.7
x:  0.441 y:  0.324 yaw:   18.9
x:  0.471 y:  0.333 yaw:   15.8
x:  0.503 y:  0.341 yaw:   12.5
x:  0.535 y:  0.347 yaw:    9.0
x:  0.568 y:  0.351 yaw:    5.3
x:  0.601 y:  0.353 yaw:    1.3
x:  0.635 y:  0.353 yaw:   -2.8
x:  0.670 y:  0.350 yaw:   -7.2
x:  0.704 y:  0.344 yaw:  -11.9
x:  0.739 y:  0.335 yaw:  -16.7
x:  0.773 y:  0.324 yaw:  -21.8
x:  0.806 y:  0.308 yaw:  -27.2
x:  0.838 y:  0.290 yaw:  -32.7
x:  0.868 y:  0.268 yaw:  -38.5
x:  0.896 y:  0.243 yaw:  -44.4
x:  0.922 y:  0.215 yaw:  -50.6
x:  0.945 y:  0.184 yaw:  -56.9
x:  0.964 y:  0.151 yaw:  -63.3
x:  0.980 y:  0.115 yaw:  -69.9
x:  0.991 y:  0.078 yaw:  -76.5
x:  0.998 y:  0.039 yaw:  -83.3
x:  1.000 y: -0.000 yaw:  270.0
x:  0.998 y: -0.039 yaw:  263.3
x:  0.991 y: -0.078 yaw:  256.5
x:  0.980 y: -0.115 yaw:  249.9
x:  0.964 y: -0.151 yaw:  243.3
x:  0.945 y: -0.184 yaw:  236.9
x:  0.922 y: -0.215 yaw:  230.6
x:  0.896 y: -0.243 yaw:  224.4
x:  0.868 y: -0.268 yaw:  218.5
x:  0.838 y: -0.290 yaw:  212.7
x:  0.806 y: -0.308 yaw:  207.2
x:  0.773 y: -0.324 yaw:  201.8
x:  0.739 y: -0.335 yaw:  196.7
x:  0.704 y: -0.344 yaw:  191.9
x:  0.670 y: -0.350 yaw:  187.2
x:  0.635 y: -0.353 yaw:  182.8
x:  0.601 y: -0.353 yaw:  178.7
x:  0.568 y: -0.351 yaw:  174.7
x:  0.535 y: -0.347 yaw:  171.0
x:  0.503 y: -0.341 yaw:  167.5
x:  0.471 y: -0.333 yaw:  164.2
x:  0.441 y: -0.324 yaw:  161.1
x:  0.412 y: -0.313 yaw:  158.3
x:  0.383 y: -0.301 yaw:  155.6
x:  0.355 y: -0.287 yaw:  153.1
x:  0.328 y: -0.273 yaw:  150.8
x:  0.303 y: -0.258 yaw:  148.6
x:  0.277 y: -0.242 yaw:  146.7
x:  0.253 y: -0.225 yaw:  144.9
x:  0.229 y: -0.208 yaw:  143.3
x:  0.206 y: -0.191 yaw:  141.8
x:  0.184 y: -0.173 yaw:  140.5
x:  0.162 y: -0.154 yaw:  139.3
x:  0.141 y: -0.136 yaw:  138.3
x:  0.120 y: -0.117 yaw:  137.4
x:  0.099 y: -0.098 yaw:  136.7
x:  0.079 y: -0.078 yaw:  136.1
x:  0.059 y: -0.059 yaw:  135.6
x:  0.039 y: -0.039 yaw:  135.3
x:  0.020 y: -0.020 yaw:  135.1
x:  0.000 y: -0.000 yaw:  135.0
x: -0.020 y:  0.020 yaw:  135.1
x: -0.039 y:  0.039 yaw:  135.3
x: -0.059 y:  0.059 yaw:  135.6
x: -0.079 y:  0.078 yaw:  136.1
x: -0.099 y:  0.098 yaw:  136.7
x: -0.120 y:  0.117 yaw:  137.4
x: -0.141 y:  0.136 yaw:  138.3
x: -0.162 y:  0.154 yaw:  139.3
x: -0.184 y:  0.173 yaw:  140.5
x: -0.206 y:  0.191 yaw:  141.8
x: -0.229 y:  0.208 yaw:  143.3
x: -0.253 y:  0.225 yaw:  144.9
x: -0.277 y:  0.242 yaw:  146.7
x: -0.303 y:  0.258 yaw:  148.6
x: -0.328 y:  0.273 yaw:  150.8
x: -0.355 y:  0.287 yaw:  153.1
x: -0.383 y:  0.301 yaw:  155.6
x: -0.412 y:  0.313 yaw:  158.3
x: -0.441 y:  0.324 yaw:  161.1
x: -0.471 y:  0.333 yaw:  164.2
x: -0.503 y:  0.341 yaw:  167.5
x: -0.535 y:  0.347 yaw:  171.0
x: -0.568 y:  0.351 yaw:  174.7
x: -0.601 y:  0.353 yaw:  178.7
x: -0.635 y:  0.353 yaw:  182.8
x: -0.670 y:  0.350 yaw:  187.2
x: -0.704 y:  0.344 yaw:  191.9
x: -0.739 y:  0.335 yaw:  196.7
x: -0.773 y:  0.324 yaw:  201.8
x: -0.806 y:  0.308 yaw:  207.2
x: -0.838 y:  0.290 yaw:  212.7
x: -0.868 y:  0.268 yaw:  218.5
x: -0.896 y:  0.243 yaw:  224.4
x: -0.922 y:  0.215 yaw:  230.6
x: -0.945 y:  0.184 yaw:  236.9
x: -0.964 y:  0.151 yaw:  243.3
x: -0.980 y:  0.115 yaw:  249.9
x: -0.991 y:  0.078 yaw:  256.5
x: -0.998 y:  0.039 yaw:  263.3
x: -1.000 y:  0.000 yaw:  270.0
x: -0.998 y: -0.039 yaw:  -83.3
x: -0.991 y: -0.078 yaw:  -76.5
x: -0.980 y: -0.115 yaw:  -69.9
x: -0.964 y: -0.151 yaw:  -63.3
x: -0.945 y: -0.184 yaw:  -56.9
x: -0.922 y: -0.215 yaw:  -50.6
x: -0.896 y: -0.243 yaw:  -44.4
x: -0.868 y: -0.268 yaw:  -38.5
x: -0.838 y: -0.290 yaw:  -32.7
x: -0.806 y: -0.308 yaw:  -27.2
x: -0.773 y: -0.324 yaw:  -21.8
x: -0.739 y: -0.335 yaw:  -16.7
x: -0.704 y: -0.344 yaw:  -11.9
x: -0.670 y: -0.350 yaw:   -7.2
x: -0.635 y: -0.353 yaw:   -2.8
x: -0.601 y: -0.353 yaw:    1.3
x: -0.568 y: -0.351 yaw:    5.3
x: -0.535 y: -0.347 yaw:    9.0
x: -0.503 y: -0.341 yaw:   12.5
x: -0.471 y: -0.333 yaw:   15.8
x: -0.441 y: -0.324 yaw:   18.9
x: -0.412 y: -0.313 yaw:   21.7
x: -0.383 y: -0.301 yaw:   24.4
x: -0.355 y: -0.287 yaw:   26.9
x: -0.328 y: -0.273 yaw:   29.2
x: -0.303 y: -0.258 yaw:   31.4
x: -0.277 y: -0.242 yaw:   33.3
x: -0.253 y: -0.225 yaw:   35.1
x: -0.229 y: -0.208 yaw:   36.7
x: -0.206 y: -0.191 yaw:   38.2
x: -0.184 y: -0.173 yaw:   39.5
x: -0.162 y: -0.154 yaw:   40.7
x: -0.141 y: -0.136 yaw:   41.7
x: -0.120 y: -0.117 yaw:   42.6
x: -0.099 y: -0.098 yaw:   43.3
x: -0.079 y: -0.078 yaw:   43.9
x: -0.059 y: -0.059 yaw:   44.4
x: -0.039 y: -0.039 yaw:   44.7
x: -0.020 y: -0.020 yaw:   44.9
[ INFO] [1632579689.399767975]: FCU URL: udp://:14540@127.0.0.1:14557
[ INFO] [1632579689.410290526]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1632579689.411040040]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1632579689.411718572]: GCS bridge disabled
[ INFO] [1632579689.416150442]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1632579689.453760923]: Plugin 3dr_radio loaded
[ INFO] [1632579689.467392971]: Plugin 3dr_radio initialized
[ INFO] [1632579689.468109062]: Plugin actuator_control loaded
[ INFO] [1632579689.494746248]: Plugin actuator_control initialized
[ INFO] [1632579689.495518173]: Plugin altitude loaded
[ INFO] [1632579689.500516557]: Plugin altitude initialized
[ INFO] [1632579689.500884270]: Plugin command loaded
[ INFO] [1632579689.534835583]: Plugin command initialized
[ INFO] [1632579689.535672658]: Plugin ftp loaded
[ INFO] [1632579689.577180611]: Plugin ftp initialized
[ INFO] [1632579689.577531966]: Plugin geofence loaded
[ INFO] [1632579689.592358846]: Plugin geofence initialized
[ INFO] [1632579689.592849774]: Plugin global_position loaded
[ INFO] [1632579689.678171437]: Plugin global_position initialized
[ INFO] [1632579689.678813674]: Plugin hil loaded
[ INFO] [1632579689.743105698]: Plugin hil initialized
[ INFO] [1632579689.743886849]: Plugin home_position loaded
[ INFO] [1632579689.765275948]: Plugin home_position initialized
[ INFO] [1632579689.765754718]: Plugin imu loaded
[ INFO] [1632579689.795724628]: Plugin imu initialized
[ INFO] [1632579689.796090457]: Plugin local_position loaded
[ INFO] [1632579689.840235811]: Plugin local_position initialized
[ INFO] [1632579689.840806504]: Plugin manual_control loaded
[ INFO] [1632579689.859404079]: Plugin manual_control initialized
[ INFO] [1632579689.859801737]: Plugin param loaded
[ INFO] [1632579689.874653293]: Plugin param initialized
[ INFO] [1632579689.875486863]: Plugin rallypoint loaded
[ INFO] [1632579689.890567156]: Plugin rallypoint initialized
[ INFO] [1632579689.891311947]: Plugin rc_io loaded
[ INFO] [1632579689.908480170]: Plugin rc_io initialized
[ INFO] [1632579689.908802266]: Plugin safety_area blacklisted
[ INFO] [1632579689.909127497]: Plugin setpoint_accel loaded
[ INFO] [1632579689.920615506]: Plugin setpoint_accel initialized
[ INFO] [1632579689.921107503]: Plugin setpoint_attitude loaded
[ INFO] [1632579689.966252549]: Plugin setpoint_attitude initialized
[ INFO] [1632579689.966904772]: Plugin setpoint_position loaded
[ INFO] [1632579690.002953581]: Plugin setpoint_position initialized
[ INFO] [1632579690.003227327]: Plugin setpoint_raw loaded
[ INFO] [1632579690.030286077]: Plugin setpoint_raw initialized
[ INFO] [1632579690.030585160]: Plugin setpoint_trajectory loaded
[ INFO] [1632579690.048820970]: Plugin setpoint_trajectory initialized
[ INFO] [1632579690.049151241]: Plugin setpoint_velocity loaded
[ INFO] [1632579690.067097122]: Plugin setpoint_velocity initialized
[ INFO] [1632579690.067574241]: Plugin sys_status loaded
[ INFO] [1632579690.118102413]: Plugin sys_status initialized
[ INFO] [1632579690.118815342]: Plugin sys_time loaded
[ INFO] [1632579690.143173813]: TM: Timesync mode: MAVLINK
[ INFO] [1632579690.148628262]: Plugin sys_time initialized
[ INFO] [1632579690.149264718]: Plugin vfr_hud loaded
[ INFO] [1632579690.153623016]: Plugin vfr_hud initialized
[ INFO] [1632579690.154026945]: Plugin waypoint loaded
[ INFO] [1632579690.184150415]: Plugin waypoint initialized
[ INFO] [1632579690.184583896]: Plugin wind_estimation loaded
[ INFO] [1632579690.186485032]: Plugin wind_estimation initialized
[ INFO] [1632579690.186731914]: Autostarting mavlink via USB on PX4
[ INFO] [1632579690.186944261]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1632579690.187004703]: Built-in MAVLink package version: 2021.8.8
[ INFO] [1632579690.187175477]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1632579690.187338869]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1632579690.195768271]: IMU: High resolution IMU detected!
[ INFO] [1632579690.199921748]: IMU: Attitude quaternion IMU detected!
[ INFO] [1632579691.161169929]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1632579691.167309052]: IMU: High resolution IMU detected!
[ INFO] [1632579691.167975018]: IMU: Attitude quaternion IMU detected!
[ INFO] [1632579692.186403456]: GF: Using MISSION_ITEM_INT
[ INFO] [1632579692.186674750]: RP: Using MISSION_ITEM_INT
[ INFO] [1632579692.187008712]: WP: Using MISSION_ITEM_INT
[ INFO] [1632579692.187226895]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1632579692.187426700]: VER: 1.1: Flight software:     010d0040 (f01cab3be1000000)
[ INFO] [1632579692.187599716]: VER: 1.1: Middleware software: 010d0040 (f01cab3be1000000)
[ INFO] [1632579692.187705003]: VER: 1.1: OS software:         050b00ff (80b730cdb35570b3)
[ INFO] [1632579692.188300784]: VER: 1.1: Board hardware:      00000001
[ INFO] [1632579692.188397505]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1632579692.188461097]: VER: 1.1: UID:                 4954414c44494e4f
[ WARN] [1632579692.191670573]: CMD: Unexpected command 520, result 0
[ INFO] [1632579694.203683670]: waiting for offboard mode

[ INFO] [1632579706.163612714]: GF: mission received
[ INFO] [1632579706.166312612]: RP: mission received
[ INFO] [1632579706.168045178]: WP: mission received
[ WARN] [1632579732.462241557]: CMD: Unexpected command 176, result 0
[ INFO] [1632579733.753794037]: going home
[ INFO] [1632579735.755361948]: following path
[ERROR] [1632579742.255148579]: TM : Time jump detected. Resetting time synchroniser.
[ WARN] [1632579767.475073581]: CMD: Unexpected command 176, result 0
[ INFO] [1632579767.953596130]: waiting for offboard mode
[ERROR] [1632579806.449101902]: TM : Time jump detected. Resetting time synchroniser.
[ WARN] [1632579817.548643413]: CMD: Unexpected command 176, result 0
[ INFO] [1632579818.403477029]: going home
[ INFO] [1632579820.403569758]: following path
[ERROR] [1632579866.249734191]: TM : Time jump detected. Resetting time synchroniser.
[ERROR] [1632579945.049236138]: TM : Time jump detected. Resetting time synchroniser.
[ERROR] [1632579995.949486898]: TM : Time jump detected. Resetting time synchroniser.
[ERROR] [1632580046.549459514]: TM : Time jump detected. Resetting time synchroniser.

 

 

 

3. 제어

wift@swift-MacBookPro:~/workspace/catkin_ws$ rosrun mavros mavsafety arm
swift@swift-MacBookPro:~/workspace/catkin_ws$ rosrun mavros mavsys mode -c OFFBOARD
Mode changed.
swift@swift-MacBookPro:~/workspace/catkin_ws$ rosrun mavros mavsys mode -c POSCTL
Mode changed.
swift@swift-MacBookPro:~/workspace/catkin_ws$ rosrun mavros mavsys mode -c OFFBOARD

 

 

 

 

4. 결과

Offboard 모드와 ARM 두가지 조건이 만족되면 현재 위치의 path를 초기화(going home)하고 8자 비행을 시작함