Hi!
I am trying to have 2 gimbals/cameras in Gazebo/Ardu SITL/ROS2 and something doesn’t make sense.
I have Ardu 4.6-dev (4.5.X release throws error with DDS), Gazebo Harmonic, ROS2 Humble all running on ubuntu 22.
I took the 3d gimbal iris_runway world as example and tried adding a second one.
At first, all looked to be working fine.
GroundControl sees both gimbals (properly displaying the position) and i can move them.
It starts to get weird when i look into mavlink analyser and tries to retrieve the attitude from mavros or mavsdk.
In QGC, i only see one gimbal manager and one gimbal_device_attitude_status message for the gimbal_device_id=2, nothing for the 1.
But QGC clearly receives that information from somewhere so that’s odd.
The camera menu in QGC doesn’t work at all though and it complains about parameters for MNT_* that don’t exist in ardu (if i got that right)
MNT1 and MNT2 params are as follow :
# Gimbal on mount 1
MNT1_TYPE 1 # Servo
MNT1_PITCH_MAX 45
MNT1_PITCH_MIN -135
MNT1_ROLL_MAX 30
MNT1_ROLL_MIN -30
MNT1_YAW_MAX 160
MNT1_YAW_MIN -160
# Gimbal RC in
RC6_MAX 1900
RC6_MIN 1100
RC6_OPTION 212 # Mount1 Roll
RC7_MAX 1900
RC7_MIN 1100
RC7_OPTION 213 # Mount1 Pitch
RC8_MAX 1900
RC8_MIN 1100
RC8_OPTION 214 # Mount1 Yaw
# Gimbal servo out
SERVO9_FUNCTION 8 # Mount1Roll
SERVO10_FUNCTION 7 # Mount1Pitch
SERVO11_FUNCTION 6 # Mount1Yaw
# Gimbal on mount 2
MNT2_TYPE 1 # Servo
MNT2_PITCH_MAX 45
MNT2_PITCH_MIN -135
MNT2_ROLL_MAX 30
MNT2_ROLL_MIN -30
MNT2_YAW_MAX 160
MNT2_YAW_MIN -160
# Gimbal RC in
RC9_MAX 1900
RC9_MIN 1100
RC9_OPTION 215 # Mount2 Roll
RC10_MAX 1900
RC10_MIN 1100
RC10_OPTION 216 # Mount2 Pitch
RC11_MAX 1900
RC11_MIN 1100
RC11_OPTION 217 # Mount2 Yaw
# Gimbal servo out
SERVO12_FUNCTION 14 # Mount2Roll
SERVO13_FUNCTION 13 # Mount2Pitch
SERVO14_FUNCTION 12 # Mount2Yaw
Trying mavros, it gets more puzzling. (have 2.9.0)
The topic /mavros/gimbal_control/device/attitude_status gives me both quaternion for the gimbals … but no information to know which one is which 
header:
stamp:
sec: 1729177817
nanosec: 384608253
frame_id: base_link_frd
target_system: 0
target_component: 0
flags: 44
q:
x: -0.0003480074228718877
y: -0.3829192817211151
z: -0.0001442534994566813
w: 0.9237817525863647
...
---
header:
stamp:
sec: 1729177817
nanosec: 692360408
frame_id: base_link_frd
target_system: 0
target_component: 0
flags: 44
q:
x: 0.5967311263084412
y: -0.6707085967063904
z: 0.11499343812465668
w: 0.4252510070800781
I then tried MAVSDK to see what would happens.
It also does not work, only the gimbal 2 is found but it seems to receive data for an unknown gimbal? I don’t know.
The weird character in “gimbal_device_id changed from to” is not a typo.
[04:54:31|Debug] Request message 148 using REQUEST_MESSAGE (mavlink_request_message.cpp:78)
[04:54:32|Debug] Request message 283 using REQUEST_MESSAGE (mavlink_request_message.cpp:78)
[04:54:32|Warn ] gimbal_manager_information.gimbal_device_id changed from to (gimbal_impl.cpp:165)
[04:54:37|Warn ] Continuing despite GIMBAL_DEVICE_INFORMATION missing (gimbal_impl.cpp:440)
[2024-10-22 16:54:37.957] [q_logger] [info] Gimbal ID : 2. Name :
[04:54:37|Warn ] Received gimbal manager status for unknown gimbal. (gimbal_impl.cpp:299)
I have no idea what to do 
Been looking at this for over a week and nothing make sense right now.
Full start log of ardu/mavros
namespace:
transport: udp4
middleware: dds
verbose: 4
discovery: 7400
port: 2019
command: arducopter
model: json
speedup: 1
slave: 0
sim_address: 127.0.0.1
instance: 0
defaults: config/gazebo-iris.parm,config/gazebo-iris-mnt1.parm,config/gazebo-iris-mnt2.parm,config/dds_udp.parm
synthetic_clock: True
home: 50.642664,5.561582,120,0
command: mavproxy.py
master: tcp:127.0.0.1:5760
sitl: 127.0.0.1:5501
out: 127.0.0.1:14550
console: False
map: False
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] Setting SIM_SPEEDUP=1.000000
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] Starting SITL: JSON
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] Home: 50.642664 5.561582 alt=120.000000m hdg=0.000000
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] JSON control interface set to 127.0.0.1:9002
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] Starting sketch 'ArduCopter'
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] Starting SITL input
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] Using Irlock at port : 9005
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] Waiting for connection ....
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] bind port 5760 for SERIAL0
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] SERIAL0 on TCP port 5760
[micro_ros_agent-3] [1729608220.952929] info | UDPv4AgentLinux.cpp | init | running... | port: 2019
[micro_ros_agent-3] [1729608220.953161] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
[mavros_node-9] [INFO] [1729608220.970817723] [qmavl.mavros_node]: Starting mavros_node container
[mavros_node-9] [INFO] [1729608220.970917041] [qmavl.mavros_node]: FCU URL: udp://:14551@
[mavros_node-9] [INFO] [1729608220.970930605] [qmavl.mavros_node]: GCS URL:
[mavros_node-9] [INFO] [1729608220.970940774] [qmavl.mavros_node]: UAS Prefix: /uas1
[mavros_node-9] [INFO] [1729608220.970949668] [qmavl.mavros_node]: Starting mavros router node
[mavros_node-9] [INFO] [1729608220.977556765] [qmavl.mavros_router]: Built-in SIMD instructions: SSE, SSE2
[mavros_node-9] [INFO] [1729608220.977590805] [qmavl.mavros_router]: Built-in MAVLink package version: 2024.10.10
[mavros_node-9] [INFO] [1729608220.977608542] [qmavl.mavros_router]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros_node-9] [INFO] [1729608220.977622869] [qmavl.mavros_router]: MAVROS Router started
[mavros_node-9] [INFO] [1729608220.977651341] [qmavl.mavros_router]: Requested to add endpoint: type: 0, url: udp://:14551@
[mavros_node-9] [INFO] [1729608220.977676571] [qmavl.mavros_router]: Endpoint link[1000] created
[mavros_node-9] [INFO] [1729608220.978088196] [qmavl.mavros_router]: link[1000] opened successfully
[mavros_node-9] [INFO] [1729608220.978164479] [qmavl.mavros_router]: Requested to add endpoint: type: 2, url: /uas1
[mavros_node-9] [INFO] [1729608220.978190830] [qmavl.mavros_router]: Endpoint link[1001] created
[mavros_node-9] [INFO] [1729608220.980192241] [qmavl.mavros_router]: link[1001] opened successfully
[mavros_node-9] [INFO] [1729608220.980263767] [qmavl.mavros_node]: Starting mavros uas node
[mavros_node-9] [INFO] [1729608221.014440347] [qmavl.mavros]: Plugin actuator_control ignored
[mavros_node-9] [INFO] [1729608221.014455876] [qmavl.mavros]: UAS Executor started, threads: 16
...
[mavros_node-9] [INFO] [1729608221.155210888] [qmavl.mavros]: Built-in SIMD instructions: SSE, SSE2
[mavros_node-9] [INFO] [1729608221.155222541] [qmavl.mavros]: Built-in MAVLink package version: 2024.10.10
[mavros_node-9] [INFO] [1729608221.155225845] [qmavl.mavros]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros_node-9] [INFO] [1729608221.155228944] [qmavl.mavros]: MAVROS UAS via /uas1 started. MY ID 1.191, TARGET ID 1.1
[robot_state_publisher-6] [WARN] [1729608221.242575688] [sdformat_urdf]: SDFormat link [base_link] has a <sensor>, but URDF does not support this
[robot_state_publisher-6] [WARN] [1729608221.242650117] [sdformat_urdf]: SDFormat link [imu_link] has a <sensor>, but URDF does not support this
[robot_state_publisher-6] [WARN] [1729608221.242730959] [sdformat_urdf]: SDFormat link [pitch_link_left] has a <sensor>, but URDF does not support this
[robot_state_publisher-6] [WARN] [1729608221.242766811] [sdformat_urdf]: SDFormat link [pitch_link_right] has a <sensor>, but URDF does not support this
[robot_state_publisher-6] [WARN] [1729608221.242775558] [sdformat_urdf]: SDFormat link [lidar_h_link] has a <sensor>, but URDF does not support this
[robot_state_publisher-6] [WARN] [1729608221.242783913] [sdformat_urdf]: SDFormat link [lidar_v_link] has a <sensor>, but URDF does not support this
[robot_state_publisher-6] [WARN] [1729608221.242792607] [sdformat_urdf]: SDFormat link [altimeter_link] has a <sensor>, but URDF does not support this
[robot_state_publisher-6] [WARN] [1729608221.259191050] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-6] [INFO] [1729608221.259251305] [robot_state_publisher]: got segment altimeter_link
[robot_state_publisher-6] [INFO] [1729608221.259299530] [robot_state_publisher]: got segment base_link
[robot_state_publisher-6] [INFO] [1729608221.259303507] [robot_state_publisher]: got segment gimbal_link_left
[robot_state_publisher-6] [INFO] [1729608221.259306532] [robot_state_publisher]: got segment gimbal_link_right
[robot_state_publisher-6] [INFO] [1729608221.259309328] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-6] [INFO] [1729608221.259311931] [robot_state_publisher]: got segment lidar_h_link
[robot_state_publisher-6] [INFO] [1729608221.259314620] [robot_state_publisher]: got segment lidar_v_link
[robot_state_publisher-6] [INFO] [1729608221.259317210] [robot_state_publisher]: got segment pitch_link_left
[robot_state_publisher-6] [INFO] [1729608221.259319855] [robot_state_publisher]: got segment pitch_link_right
[robot_state_publisher-6] [INFO] [1729608221.259322504] [robot_state_publisher]: got segment roll_link_left
[robot_state_publisher-6] [INFO] [1729608221.259325068] [robot_state_publisher]: got segment roll_link_right
[robot_state_publisher-6] [INFO] [1729608221.259327675] [robot_state_publisher]: got segment rotor_0
[robot_state_publisher-6] [INFO] [1729608221.259330382] [robot_state_publisher]: got segment rotor_1
[robot_state_publisher-6] [INFO] [1729608221.259332747] [robot_state_publisher]: got segment rotor_2
[robot_state_publisher-6] [INFO] [1729608221.259335231] [robot_state_publisher]: got segment rotor_3
[robot_state_publisher-6] [INFO] [1729608221.259337721] [robot_state_publisher]: got segment yaw_link_left
[robot_state_publisher-6] [INFO] [1729608221.259340221] [robot_state_publisher]: got segment yaw_link_right
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] Connection on serial port 5760
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] Loaded defaults from config/gazebo-iris.parm,config/gazebo-iris-mnt1.parm,config/gazebo-iris-mnt2.parm,config/dds_udp.parm
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] bind port 5762 for SERIAL1
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] SERIAL1 on TCP port 5762
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] bind port 5763 for SERIAL2
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] SERIAL2 on TCP port 5763
[ruby $(which gz) sim-1] [Msg] Gazebo Sim Server v8.6.0
[ruby $(which gz) sim-1] [Msg] Loading SDF world file[share/q_simulation/worlds/qualitics_iris_dualg.sdf].
[ruby $(which gz) sim-1] [Msg] Serving entity system service on [/entity/system/add]
[ruby $(which gz) sim-1] [Dbg] [Physics.cc:870] Loaded [gz::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::Physics] for entity [1]
[ruby $(which gz) sim-1] [Dbg] [Sensors.cc:530] Configuring Sensors system
[ruby $(which gz) sim-1] [Dbg] [Sensors.cc:449] SensorsPrivate::Run
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::Sensors] for entity [1]
[ruby $(which gz) sim-1] [Dbg] [Sensors.cc:425] SensorsPrivate::RenderThread started
[ruby $(which gz) sim-1] [Dbg] [Sensors.cc:265] Waiting for init
[ruby $(which gz) sim-1] [Msg] Create service on [/world/q_world/create]
[ruby $(which gz) sim-1] [Msg] Remove service on [/world/q_world/remove]
[ruby $(which gz) sim-1] [Msg] Pose service on [/world/q_world/set_pose]
[ruby $(which gz) sim-1] [Msg] Pose service on [/world/q_world/set_pose_vector]
[ruby $(which gz) sim-1] [Msg] Light configuration service on [/world/q_world/light_config]
[ruby $(which gz) sim-1] [Msg] Physics service on [/world/q_world/set_physics]
[ruby $(which gz) sim-1] [Msg] SphericalCoordinates service on [/world/q_world/set_spherical_coordinates]
[ruby $(which gz) sim-1] [Msg] Enable collision service on [/world/q_world/enable_collision]
[ruby $(which gz) sim-1] [Msg] Disable collision service on [/world/q_world/disable_collision]
[ruby $(which gz) sim-1] [Msg] Material service on [/world/q_world/visual_config]
[ruby $(which gz) sim-1] [Msg] Material service on [/world/q_world/wheel_slip]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::AirPressure] for entity [1]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::AirSpeed] for entity [1]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::Altimeter] for entity [1]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::Imu] for entity [1]
[ruby $(which gz) sim-1] [Dbg] [Magnetometer.cc:261] Magnetometer: using param [use_units_gauss: 1].
[ruby $(which gz) sim-1] [Dbg] [Magnetometer.cc:269] Magnetometer: using param [use_earth_frame_ned: 1].
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::Magnetometer] for entity [1]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::NavSat] for entity [1]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::JointStatePublisher] for entity [9]
[ruby $(which gz) sim-1] [Msg] JointPositionController subscribing to Double messages on [/gimbal/cmd_yaw_left]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:302] [JointPositionController] system parameters:
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:303] p_gain: [2]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:304] i_gain: [0.1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:305] d_gain: [0.01]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:306] i_max: [1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:307] i_min: [-1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:308] cmd_max: [1000]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:309] cmd_min: [-1000]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:310] cmd_offset: [0]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:311] Topic: [/gimbal/cmd_yaw_left]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:312] initial_position: [0]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::JointPositionController] for entity [9]
[ruby $(which gz) sim-1] [Msg] JointPositionController subscribing to Double messages on [/gimbal/cmd_roll_left]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:302] [JointPositionController] system parameters:
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:303] p_gain: [2]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:304] i_gain: [0.1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:305] d_gain: [0.01]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:306] i_max: [1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:307] i_min: [-1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:308] cmd_max: [1000]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:309] cmd_min: [-1000]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:310] cmd_offset: [0]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:311] Topic: [/gimbal/cmd_roll_left]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:312] initial_position: [0]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::JointPositionController] for entity [9]
[ruby $(which gz) sim-1] [Msg] JointPositionController subscribing to Double messages on [/gimbal/cmd_pitch_left]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:302] [JointPositionController] system parameters:
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:303] p_gain: [2]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:304] i_gain: [0.1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:305] d_gain: [0.01]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:306] i_max: [1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:307] i_min: [-1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:308] cmd_max: [1000]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:309] cmd_min: [-1000]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:310] cmd_offset: [0]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:311] Topic: [/gimbal/cmd_pitch_left]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:312] initial_position: [0]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::JointPositionController] for entity [9]
[ruby $(which gz) sim-1] [Msg] JointPositionController subscribing to Double messages on [/gimbal/cmd_yaw_right]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:302] [JointPositionController] system parameters:
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:303] p_gain: [2]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:304] i_gain: [0.1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:305] d_gain: [0.01]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:306] i_max: [1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:307] i_min: [-1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:308] cmd_max: [1000]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:309] cmd_min: [-1000]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:310] cmd_offset: [0]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:311] Topic: [/gimbal/cmd_yaw_right]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:312] initial_position: [0]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::JointPositionController] for entity [9]
[ruby $(which gz) sim-1] [Msg] JointPositionController subscribing to Double messages on [/gimbal/cmd_roll_right]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:302] [JointPositionController] system parameters:
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:303] p_gain: [2]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:304] i_gain: [0.1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:305] d_gain: [0.01]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:306] i_max: [1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:307] i_min: [-1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:308] cmd_max: [1000]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:309] cmd_min: [-1000]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:310] cmd_offset: [0]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:311] Topic: [/gimbal/cmd_roll_right]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:312] initial_position: [0]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::JointPositionController] for entity [9]
[ruby $(which gz) sim-1] [Msg] JointPositionController subscribing to Double messages on [/gimbal/cmd_pitch_right]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:302] [JointPositionController] system parameters:
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:303] p_gain: [2]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:304] i_gain: [0.1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:305] d_gain: [0.01]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:306] i_max: [1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:307] i_min: [-1]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:308] cmd_max: [1000]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:309] cmd_min: [-1000]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:310] cmd_offset: [0]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:311] Topic: [/gimbal/cmd_pitch_right]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:312] initial_position: [0]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::JointPositionController] for entity [9]
[ruby $(which gz) sim-1] [Msg] OdometryPublisher publishing odometry on [/model/iris/odometry]
[ruby $(which gz) sim-1] [Msg] OdometryPublisher publishing odometry with covariance on [/model/iris/odometry_with_covariance]
[ruby $(which gz) sim-1] [Msg] OdometryPublisher publishing Pose_V (TF) on [/model/iris/pose]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::OdometryPublisher] for entity [9]
[ruby $(which gz) sim-1] [Msg] OdometryPublisher publishing odometry on [/model/iris/odometry]
[ruby $(which gz) sim-1] [Msg] OdometryPublisher publishing odometry with covariance on [/model/iris/odometry_with_covariance]
[ruby $(which gz) sim-1] [Msg] OdometryPublisher publishing Pose_V (TF) on [/model/iris/pose]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::OdometryPublisher] for entity [9]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::LiftDrag] for entity [9] (x8)
[ruby $(which gz) sim-1] [Msg] ApplyJointForce subscribing to Double messages on [/model/iris/joint/rotor_0_joint/cmd_force]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::ApplyJointForce] for entity [9]
[parameter_bridge-7] [INFO] [1729608222.002526101] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[parameter_bridge-7] [INFO] [1729608222.004595862] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/q_world/model/iris/joint_state (gz.msgs.Model) -> joint_states (sensor_msgs/msg/JointState)] (Lazy 0)
[parameter_bridge-7] [INFO] [1729608222.014512635] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/iris/odometry (gz.msgs.Odometry) -> odometry (nav_msgs/msg/Odometry)] (Lazy 0)
[parameter_bridge-7] [INFO] [1729608222.016018436] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/iris/pose (gz.msgs.Pose_V) -> tf (tf2_msgs/msg/TFMessage)] (Lazy 0)
[parameter_bridge-7] [INFO] [1729608222.021182832] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/iris/pose_static (gz.msgs.Pose_V) -> gz/tf_static (tf2_msgs/msg/TFMessage)] (Lazy 0)
[parameter_bridge-7] [INFO] [1729608222.021678081] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/q_world/model/iris/link/pitch_link_left/sensor/camera/image (gz.msgs.Image) -> camera_left/image (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-7] [INFO] [1729608222.022414665] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/q_world/model/iris/link/pitch_link_left/sensor/camera/camera_info (gz.msgs.CameraInfo) -> camera_left/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0)
[parameter_bridge-7] [INFO] [1729608222.023202375] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/q_world/model/iris/link/pitch_link_right/sensor/camera/image (gz.msgs.Image) -> camera_right/image (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-7] [INFO] [1729608222.023601777] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/q_world/model/iris/link/pitch_link_right/sensor/camera/camera_info (gz.msgs.CameraInfo) -> camera_right/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0)
[parameter_bridge-7] [INFO] [1729608222.023961444] [ros_gz_bridge]: Creating GZ->ROS Bridge: [altimeter (gz.msgs.Altimeter) -> qsim/altimeter (ros_gz_interfaces/msg/Altimeter)] (Lazy 0)
[parameter_bridge-7] [INFO] [1729608222.029463336] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/q_world/model/iris/link/imu_link/sensor/imu_sensor/imu (gz.msgs.IMU) -> imu (sensor_msgs/msg/Imu)] (Lazy 0)
[parameter_bridge-7] [INFO] [1729608222.030513961] [ros_gz_bridge]: Creating GZ->ROS Bridge: [lidar_h (gz.msgs.LaserScan) -> qsim/scan_h (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-7] [INFO] [1729608222.031718584] [ros_gz_bridge]: Creating GZ->ROS Bridge: [lidar_v (gz.msgs.LaserScan) -> qsim/scan_v (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-7] [INFO] [1729608222.032786870] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/q_world/model/iris/link/base_link/sensor/magnetometer_sensor/magnetometer (gz.msgs.Magnetometer) -> magnetometer (sensor_msgs/msg/MagneticField)] (Lazy 0)
[parameter_bridge-7] [INFO] [1729608222.036964519] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/q_world/model/iris/link/base_link/sensor/navsat_sensor/navsat (gz.msgs.NavSat) -> navsat (sensor_msgs/msg/NavSatFix)] (Lazy 0)
[ruby $(which gz) sim-2] [Msg] Gazebo Sim GUI v8.6.0
[ruby $(which gz) sim-2] [Dbg] [Application.cc:96] Initializing application.
[ruby $(which gz) sim-2] [Dbg] [Application.cc:170] Qt using OpenGL graphics interface
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:657] Create main window
[ruby $(which gz) sim-2] [GUI] [Dbg] [PathManager.cc:68] Requesting resource paths through [/gazebo/resource_paths/get]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Gui.cc:343] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which gz) sim-2] [GUI] [Dbg] [PathManager.cc:57] Received resource paths.
[ruby $(which gz) sim-2]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Gui.cc:401] Requesting GUI from [/world/q_world/gui/info]...
[ruby $(which gz) sim-2] [GUI] [Dbg] [GuiRunner.cc:149] Requesting initial state from [/world/q_world/state]...
[ruby $(which gz) sim-2] [GUI] [Msg] Loading config [/home/god_kane/.gz/sim/8/gui.config]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [MinimalScene]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [3D View] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libMinimalScene.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [EntityContextMenuPlugin]
[ruby $(which gz) sim-2] [GUI] [Msg] Currently tracking topic on [/gui/currently_tracked]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [Entity Context Menu] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libEntityContextMenuPlugin.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [GzSceneManager]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [Scene Manager] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libGzSceneManager.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [InteractiveViewControl]
[ruby $(which gz) sim-2] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[ruby $(which gz) sim-2] [GUI] [Msg] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual]
[ruby $(which gz) sim-2] [GUI] [Msg] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [Interactive view control] to main window
[mavros_node-9] [INFO] [1729608222.147171778] [qmavl.mavros_router]: link[1001] detected remote address 1.191
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libInteractiveViewControl.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [CameraTracking]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [Camera tracking] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libCameraTracking.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [MarkerManager]
[ruby $(which gz) sim-2] [GUI] [Msg] Listening to stats on [/world/q_world/stats]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [Marker Manager] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libMarkerManager.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [SelectEntities]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [Select entities] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libSelectEntities.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [Spawn]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [Spawn] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libSpawn.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [VisualizationCapabilities]
[ruby $(which gz) sim-2] [GUI] [Msg] View as transparent service on [/gui/view/transparent]
[ruby $(which gz) sim-2] [GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
[ruby $(which gz) sim-2] [GUI] [Msg] View center of mass service on [/gui/view/com]
[ruby $(which gz) sim-2] [GUI] [Msg] View inertia service on [/gui/view/inertia]
[ruby $(which gz) sim-2] [GUI] [Msg] View collisions service on [/gui/view/collisions]
[ruby $(which gz) sim-2] [GUI] [Msg] View joints service on [/gui/view/joints]
[ruby $(which gz) sim-2] [GUI] [Msg] View frames service on [/gui/view/frames]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [Visualization capabilities] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libVisualizationCapabilities.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [WorldControl]
[ruby $(which gz) sim-2] [GUI] [Msg] Using world control service [/world/q_world/control]
[ruby $(which gz) sim-2] [GUI] [Msg] Listening to stats on [/world/q_world/stats]
[ruby $(which gz) sim-2] [GUI] [Dbg] [WorldControl.cc:237] Using an event to share WorldControl msgs with the server
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [World control] to main window
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] No JSON sensor message received, resending servos
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libWorldControl.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [WorldStats]
[ruby $(which gz) sim-2] [GUI] [Msg] Listening to stats on [/world/q_world/stats]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [World stats] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libWorldStats.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [Shapes]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [Shapes] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libShapes.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [Lights]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [Lights] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libLights.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [TransformControl]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [Transform control] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libTransformControl.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [Screenshot]
[ruby $(which gz) sim-2] [GUI] [Msg] Screenshot service on [/gui/screenshot]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [Screenshot] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libScreenshot.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [CopyPaste]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [Copy/Paste] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libCopyPaste.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [ComponentInspector]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [Component inspector] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libComponentInspector.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:528] Loading plugin [EntityTree]
[ruby $(which gz) sim-2] [GUI] [Msg] Currently tracking topic on [/gui/currently_tracked]
[ruby $(which gz) sim-2] [GUI] [Msg] Added plugin [Entity tree] to main window
[ruby $(which gz) sim-2] [GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libEntityTree.so]
[ruby $(which gz) sim-2] [GUI] [Dbg] [Application.cc:398] Loading window config
[ruby $(which gz) sim-1] [Msg] ApplyJointForce subscribing to Double messages on [/model/iris/joint/rotor_1_joint/cmd_force]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::ApplyJointForce] for entity [9]
[ruby $(which gz) sim-1] [Msg] ApplyJointForce subscribing to Double messages on [/model/iris/joint/rotor_2_joint/cmd_force]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::ApplyJointForce] for entity [9]
[ruby $(which gz) sim-1] [Msg] ApplyJointForce subscribing to Double messages on [/model/iris/joint/rotor_3_joint/cmd_force]
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::ApplyJointForce] for entity [9]
[ruby $(which gz) sim-1] [Msg] [iris] Advertising on /gimbal/cmd_roll_left.
[ruby $(which gz) sim-1] [Msg] [iris] Advertising on /gimbal/cmd_pitch_left.
[ruby $(which gz) sim-1] [Msg] [iris] Advertising on /gimbal/cmd_yaw_left.
[ruby $(which gz) sim-1] [Msg] [iris] Advertising on /gimbal/cmd_roll_right.
[ruby $(which gz) sim-1] [Msg] [iris] Advertising on /gimbal/cmd_pitch_right.
[ruby $(which gz) sim-1] [Msg] [iris] Advertising on /gimbal/cmd_yaw_right.
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [ArduPilotPlugin] for entity [9]
[ruby $(which gz) sim-1] [Msg] GstCameraPlugin: attached to sensor [camera]
[ruby $(which gz) sim-1] [Msg] GstCameraPlugin: streaming video to 127.0.0.1:5600
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [GstCameraPlugin] for entity [47]
[ruby $(which gz) sim-1] [Msg] GstCameraPlugin: attached to sensor [camera]
[ruby $(which gz) sim-1] [Msg] GstCameraPlugin: streaming video to 127.0.0.1:5610
[ruby $(which gz) sim-1] [Dbg] [SystemManager.cc:77] Loaded system [GstCameraPlugin] for entity [59]
[ruby $(which gz) sim-1] [Msg] Loaded level [3]
[ruby $(which gz) sim-1] [Msg] Serving world controls on [/world/q_world/control], [/world/q_world/control/state] and [/world/q_world/playback/control]
[ruby $(which gz) sim-1] [Msg] Serving GUI information on [/world/q_world/gui/info]
[ruby $(which gz) sim-1] [Msg] World [q_world] initialized with [1ms] physics profile.
[ruby $(which gz) sim-1] [Msg] Serving world SDF generation service on [/world/q_world/generate_world_sdf]
[ruby $(which gz) sim-1] [Msg] Serving world names on [/gazebo/worlds]
[ruby $(which gz) sim-1] [Msg] Resource path add service on [/gazebo/resource_paths/add].
[ruby $(which gz) sim-1] [Msg] Resource path get service on [/gazebo/resource_paths/get].
[ruby $(which gz) sim-1] [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[ruby $(which gz) sim-1] [Msg] Resource paths published on [/gazebo/resource_paths].
[ruby $(which gz) sim-1] [Msg] Server control service on [/server_control].
[ruby $(which gz) sim-1] [Msg] Found no publishers on /stats, adding root stats topic
[ruby $(which gz) sim-1] [Msg] Found no publishers on /clock, adding root clock topic
[ruby $(which gz) sim-1] [Dbg] [SimulationRunner.cc:551] Creating PostUpdate worker threads: 13
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:376] Identified joint [yaw_joint_left] as Entity [74]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:376] Identified joint [roll_joint_left] as Entity [75]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:376] Identified joint [pitch_joint_left] as Entity [76]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:376] Identified joint [yaw_joint_right] as Entity [78]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:376] Identified joint [roll_joint_right] as Entity [79]
[ruby $(which gz) sim-1] [Dbg] [JointPositionController.cc:376] Identified joint [pitch_joint_right] as Entity [80]
[ruby $(which gz) sim-1] [Msg] Found IMU sensor with name [imu_link::imu_sensor]
[ruby $(which gz) sim-1] [Dbg] [ArduPilotPlugin.cc:1156] Computed IMU topic to be: world/q_world/model/iris/link/imu_link/sensor/imu_sensor/imu
[ruby $(which gz) sim-1] [Msg] GstCameraPlugin: camera name [iris::pitch_link_left::camera]
[ruby $(which gz) sim-1] [Msg] GstCameraPlugin: camera name [iris::pitch_link_right::camera]
[ruby $(which gz) sim-1] [Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[ruby $(which gz) sim-1] [Dbg] [SDFFeatures.cc:863] The geometry element of collision [collision] couldn't be created
[ruby $(which gz) sim-1] [Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[ruby $(which gz) sim-1] [Dbg] [SDFFeatures.cc:863] The geometry element of collision [collision] couldn't be created
[ruby $(which gz) sim-1] [Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[mavros_node-9] [WARN] [1729608223.151931073] [qmavl.sys]: VER: broadcast request timeout, retries left 4
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] No JSON sensor message received, resending servos
[ruby $(which gz) sim-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[ruby $(which gz) sim-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [St6vectorIdSaIdEE], which doesn't have `operator<<`. Component will not be serialized.
[ruby $(which gz) sim-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v145WorldE], which doesn't have `operator<<`. Component will not be serialized.
[ruby $(which gz) sim-1] [Wrn] [ArduPilotPlugin.cc:1434] [iris] Drained n packets: 1
[ruby $(which gz) sim-1] [Wrn] [ArduPilotPlugin.cc:1581] ArduPilot controller has reset
[ruby $(which gz) sim-2] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v145WorldE], which doesn't have `operator>>`. Component will not be deserialized.
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4]
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] JSON received:
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] timestamp
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] imu: gyro
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] imu: accel_body
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] position
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] quaternion
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] velocity
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4]
[ruby $(which gz) sim-2] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model (x8)
[ruby $(which gz) sim-2] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [St6vectorIdSaIdEE], which doesn't have `operator>>`. Component will not be deserialized.
[ruby $(which gz) sim-2] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[mavros_node-9] [WARN] [1729608224.152039530] [qmavl.sys]: VER: broadcast request timeout, retries left 3
[mavproxy.py -5] Connect tcp:127.0.0.1:5760 source_system=255
[mavproxy.py -5] Log Directory:
[mavproxy.py -5] Telemetry log: mav.tlog
[mavproxy.py -5] Waiting for heartbeat from tcp:127.0.0.1:5760
[mavproxy.py -5] link 1 down
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] No JSON sensor message received, resending servos
[ruby $(which gz) sim-1] [Wrn] [Ogre2Camera.cc:421] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend.
[ruby $(which gz) sim-1] [Dbg] [SDFFeatures.cc:863] The geometry element of collision [collision] couldn't be created
[ruby $(which gz) sim-1] [Dbg] [Sensors.cc:703] Initialization needed
[ruby $(which gz) sim-1] [Dbg] [Sensors.cc:277] Initializing render context
[ruby $(which gz) sim-1] [Msg] Loading plugin [gz-rendering-ogre2]
[ruby $(which gz) sim-1] [Dbg] [AltimeterSensor.cc:114] Altimeter data for [iris::base_link::altimeter_sensor] advertised on [world/q_world/model/iris/link/base_link/sensor/altimeter_sensor/altimeter]
[ruby $(which gz) sim-1] [Dbg] [MagnetometerSensor.cc:117] Magnetometer data for [iris::base_link::magnetometer_sensor] advertised on [world/q_world/model/iris/link/base_link/sensor/magnetometer_sensor/magnetometer]
[ruby $(which gz) sim-1] [Dbg] [AirSpeedSensor.cc:125] Air speed for [iris::base_link::air_speed_sensor] advertised on [world/q_world/model/iris/link/base_link/sensor/air_speed_sensor/air_speed
[ruby $(which gz) sim-1] iris::imu_link::imu_sensor] advertised on [] advertised on [world/q_world/model/iris/link/imu_link/sensor/imu_sensor/imu]
[ruby $(which gz) sim-1] [Dbg] [AltimeterSensor.cc:114] Altimeter data for [iris::altimeter_link::altimeter] advertised on [altimeter]
[ruby $(which gz) sim-1] [Dbg] [AirPressureSensor.cc:126] Air pressure for [iris::base_link::air_pressure_sensor] advertised on [world/q_world/model/iris/link/base_link/sensor/air_pressure_sensor/air_pressure]
[ruby $(which gz) sim-1] [Msg] Serving scene information on [/world/q_world/scene/info]
[ruby $(which gz) sim-1] [Msg] Serving graph information on [/world/q_world/scene/graph]
[ruby $(which gz) sim-1] [Msg] Serving full state on [/world/q_world/state]
[ruby $(which gz) sim-1] [Msg] Serving full state (async) on [/world/q_world/state_async]
[ruby $(which gz) sim-1] [Msg] Publishing scene information on [/world/q_world/scene/info]
[ruby $(which gz) sim-1] [Msg] Publishing entity deletions on [/world/q_world/scene/deletion]
[ruby $(which gz) sim-1] [Msg] Publishing state changes on [/world/q_world/state]
[ruby $(which gz) sim-1] [Msg] Publishing pose messages on [/world/q_world/pose/info]
[ruby $(which gz) sim-1] [Msg] Publishing dynamic pose messages on [/world/q_world/dynamic_pose/info]
[ruby $(which gz) sim-1] [Dbg] [EntityComponentManager.cc:1655] Updated state thread iterators: 20 threads processing around 5 entities each.
[ruby $(which gz) sim-1] [Dbg] [RenderUtil.cc:2643] Create scene [scene]
[ruby $(which gz) sim-1] [Dbg] [Sensors.cc:297] Rendering Thread initializedInitialization needed
[ruby $(which gz) sim-1] [Dbg] [CameraSensor.cc:381] Camera images for [iris::pitch_link_left::camera] advertised on [world/q_world/model/iris/link/pitch_link_left/sensor/camera/image]
[ruby $(which gz) sim-1] [Dbg] [CameraSensor.cc:671] Camera info for [iris::pitch_link_left::camera] advertised on [/world/q_world/model/iris/link/pitch_link_left/sensor/camera/camera_info]
[ruby $(which gz) sim-1] [Dbg] [CameraSensor.cc:381] Camera images for [iris::pitch_link_right::camera] advertised on [world/q_world/model/iris/link/pitch_link_right/sensor/camera/image]
[ruby $(which gz) sim-1] [Wrn] [Ogre2Camera.cc:421] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend.
[mavros_node-9] [WARN] [1729608225.151217386] [qmavl.sys]: VER: unicast request timeout, retries left 2
[ruby $(which gz) sim-1] [Wrn] [ArduPilotPlugin.cc:1434] [iris] Drained n packets: 1
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] validate_structures:514: Validating structures
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] Loaded defaults from share/q_simulation/config/gazebo-iris.parm,share/q_simulation/config/gazebo-iris-mnt1.parm,share/q_simulation/config/gazebo-iris-mnt2.parm,share/q_simulation/config/dds_udp.parm
[mavros_node-9] [INFO] [1729608225.310834460] [qmavl.mavros_router]: link[1000] detected remote address 1.1
[mavros_node-9] [WARN] [1729608225.311030319] [qmavl.cmd]: CMD: Unexpected command 410, result 4
[mavproxy.py -5] AP: ArduCopter V4.6.0-dev (145cc4bb)
[mavproxy.py -5] AP: 00f9a033ae6d4c249cb6bb0f71476cca
[mavros_node-9] [INFO] [1729608225.313965136] [qmavl.sys]: FCU: ArduCopter V4.6.0-dev (145cc4bb)
[mavros_node-9] [INFO] [1729608225.314191446] [qmavl.sys]: FCU: 00f9a033ae6d4c249cb6bb0f71476cca
[mavproxy.py -5] AP: Frame: QUAD/X
[mavros_node-9] [INFO] [1729608225.314430723] [qmavl.sys]: FCU: Frame: QUAD/X
[mavproxy.py -5] Got COMMAND_ACK: SET_MESSAGE_INTERVAL: ACCEPTED
[mavproxy.py -5] AP: Calibrating barometer
[mavros_node-9] [INFO] [1729608225.691451194] [qmavl.sys]: FCU: Calibrating barometer
[mavros_node-9] [WARN] [1729608226.156723494] [qmavl.sys]: VER: unicast request timeout, retries left 1
[mavproxy.py -5] Got COMMAND_ACK: REQUEST_AUTOPILOT_CAPABILITIES: ACCEPTED
[mavproxy.py -5] Detected vehicle 1:1 on link 0
[mavproxy.py -5] link 1 OK
[mavproxy.py -5] online system 1
[mavproxy.py -5] STABILIZE> Mode STABILIZE
[mavros_node-9] [INFO] [1729608226.730638249] [qmavl.mavros]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[mavros_node-9] [INFO] [1729608226.732969394] [qmavl.sys]: VER: 1.1: Capabilities 0x000000000000fbef
[mavros_node-9] [INFO] [1729608226.733073773] [qmavl.sys]: VER: 1.1: Flight software: 04060000 (145cc4bb)
[mavros_node-9] [INFO] [1729608226.733114911] [qmavl.sys]: VER: 1.1: Middleware software: 00000000 ( )
[mavros_node-9] [INFO] [1729608226.733146138] [qmavl.sys]: VER: 1.1: OS software: 00000000 ( )
[mavros_node-9] [INFO] [1729608226.733174958] [qmavl.sys]: VER: 1.1: Board hardware: 00000000
[mavros_node-9] [INFO] [1729608226.733203169] [qmavl.sys]: VER: 1.1: VID/PID: 0000:0000
[mavros_node-9] [INFO] [1729608226.733231191] [qmavl.sys]: VER: 1.1: UID: 0000000000000000
[mavproxy.py -5] paramftp: bad count 1656 should be 1646
[dds_udp.parm --synthetic-clock --home 50.642664,5.561582,120,0 -4] Loaded defaults from share/q_simulation/config/gazebo-iris.parm,share/q_simulation/config/gazebo-iris-mnt1.parm,share/q_simulation/config/gazebo-iris-mnt2.parm,share/q_simulation/config/dds_udp.parm
[mavproxy.py -5] AP: Barometer 1 calibration complete
[mavros_node-9] [INFO] [1729608227.873221468] [qmavl.sys]: FCU: Barometer 1 calibration complete
[mavproxy.py -5] AP: Barometer 2 calibration complete
[micro_ros_agent-3] [1729608227.874021] info | Root.cpp | create_client | create | client_key: 0xAAAABBBB, session_id: 0x81
[micro_ros_agent-3] [1729608227.874103] info | SessionManager.hpp | establish_session | session established | client_key: 0xAAAABBBB, address: 127.0.0.1:472
[mavros_node-9] [INFO] [1729608227.874553311] [qmavl.sys]: FCU: Barometer 2 calibration complete
[mavproxy.py -5] AP: ArduPilot Ready
[mavros_node-9] [INFO] [1729608227.883081995] [qmavl.sys]: FCU: ArduPilot Ready
[mavproxy.py -5] AP: DDS: Init complete
[mavros_node-9] [INFO] [1729608227.884058973] [qmavl.sys]: FCU: DDS: Init complete
[mavros_node-9] [INFO] [1729608227.884316830] [qmavl.sys]: FCU: AHRS: DCM active
[mavproxy.py -5] AP: AHRS: DCM active
[micro_ros_agent-3] [1729608227.908893] info | ProxyClient.cpp | create_participant | participant created | client_key: 0xAAAABBBB, participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.909277] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x000(2), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.909433] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x000(3), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.910163] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[micro_ros_agent-3] [1729608227.910419] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x001(2), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.910497] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x001(3), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.911423] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[micro_ros_agent-3] [1729608227.911586] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x002(2), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.911626] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x002(3), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.913189] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x002(5), publisher_id: 0x002(3)
[micro_ros_agent-3] [1729608227.913581] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x003(2), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.913681] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x003(3), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.914643] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x003(5), publisher_id: 0x003(3)
[micro_ros_agent-3] [1729608227.915026] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x004(2), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.915199] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x004(3), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.916309] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x004(5), publisher_id: 0x004(3)
[micro_ros_agent-3] [1729608227.916571] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x005(2), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.916666] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x005(3), participant_id: 0x001(1)
[mavproxy.py -5] AP: DDS: Topic/Pub/Writer session pass for index '0'
[mavros_node-9] [INFO] [1729608227.918858815] [qmavl.sys]: FCU: DDS: Topic/Pub/Writer session pass for index '0'
[micro_ros_agent-3] [1729608227.918995] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x005(5), publisher_id: 0x005(3)
[micro_ros_agent-3] [1729608227.919363] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x006(2), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.919486] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x006(3), participant_id: 0x001(1)
[mavproxy.py -5] AP: DDS: Topic/Pub/Writer session pass for index '1'
[mavros_node-9] [INFO] [1729608227.919834970] [qmavl.sys]: FCU: DDS: Topic/Pub/Writer session pass for index '1'
[mavproxy.py -5] AP: DDS: Topic/Pub/Writer session pass for index '2'
[mavros_node-9] [INFO] [1729608227.920926765] [qmavl.sys]: FCU: DDS: Topic/Pub/Writer session pass for index '2'
[mavproxy.py -5] AP: DDS: Topic/Pub/Writer session pass for index '3'
[mavros_node-9] [INFO] [1729608227.922216114] [qmavl.sys]: FCU: DDS: Topic/Pub/Writer session pass for index '3'
[micro_ros_agent-3] [1729608227.922316] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x006(5), publisher_id: 0x006(3)
[micro_ros_agent-3] [1729608227.922558] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x007(2), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.922622] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x007(3), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.923415] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x007(5), publisher_id: 0x007(3)
[micro_ros_agent-3] [1729608227.923768] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x008(2), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.923847] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x008(3), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.924928] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x008(5), publisher_id: 0x008(3)
[micro_ros_agent-3] [1729608227.925241] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x009(2), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.925295] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x009(3), participant_id: 0x001(1)
[mavproxy.py -5] AP: DDS: Topic/Pub/Writer session pass for index '4'
[micro_ros_agent-3] [1729608227.926219] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x009(5), publisher_id: 0x009(3)
[micro_ros_agent-3] [1729608227.926470] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x00A(2), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.926529] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x00A(3), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.927216] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x00A(5), publisher_id: 0x00A(3)
[micro_ros_agent-3] [1729608227.927473] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x00B(2), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.927611] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0xAAAABBBB, subscriber_id: 0x00B(4), participant_id: 0x001(1)
[mavros_node-9] [INFO] [1729608227.927446553] [qmavl.sys]: FCU: DDS: Topic/Pub/Writer session pass for index '4'
[micro_ros_agent-3] [1729608227.928550] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0xAAAABBBB, datareader_id: 0x00B(6), subscriber_id: 0x00B(4)
[micro_ros_agent-3] [1729608227.929101] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x00C(2), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.929193] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0xAAAABBBB, subscriber_id: 0x00C(4), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.929940] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0xAAAABBBB, datareader_id: 0x00C(6), subscriber_id: 0x00C(4)
[micro_ros_agent-3] [1729608227.930419] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x00D(2), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.930502] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0xAAAABBBB, subscriber_id: 0x00D(4), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.931186] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0xAAAABBBB, datareader_id: 0x00D(6), subscriber_id: 0x00D(4)
[mavproxy.py -5] AP: DDS: Topic/Pub/Writer session pass for index '5'
[micro_ros_agent-3] [1729608227.931561] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x00E(2), participant_id: 0x001(1)
[micro_ros_agent-3] [1729608227.931653] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0xAAAABBBB, subscriber_id: 0x00E(4), participant_id: 0x001(1)
[mavros_node-9] [INFO] [1729608227.931811330] [qmavl.sys]: FCU: DDS: Topic/Pub/Writer session pass for index '5'
[mavproxy.py -5] AP: DDS: Topic/Pub/Writer session pass for index '6'
[mavros_node-9] [INFO] [1729608227.932480507] [qmavl.sys]: FCU: DDS: Topic/Pub/Writer session pass for index '6'
[mavros_node-9] [INFO] [1729608227.933137326] [qmavl.sys]: FCU: DDS: Topic/Pub/Writer session pass for index '7'
[mavproxy.py -5] AP: DDS: Topic/Pub/Writer session pass for index '7'
[micro_ros_agent-3] [1729608227.933215] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0xAAAABBBB, datareader_id: 0x00E(6), subscriber_id: 0x00E(4)
[micro_ros_agent-3] [1729608227.934676] info | ProxyClient.cpp | create_replier | replier created | client_key: 0xAAAABBBB, requester_id: 0x000(7), participant_id: 0x001(1)
[mavproxy.py -5] AP: DDS: Topic/Pub/Writer session pass for index '8'
[mavros_node-9] [INFO] [1729608227.935959626] [qmavl.sys]: FCU: DDS: Topic/Pub/Writer session pass for index '8'
[micro_ros_agent-3] [1729608227.936177] info | ProxyClient.cpp | create_replier | replier created | client_key: 0xAAAABBBB, requester_id: 0x001(7), participant_id: 0x001(1)
[mavproxy.py -5] AP: DDS: Topic/Pub/Writer session pass for index '9'
[mavros_node-9] [INFO] [1729608227.936749778] [qmavl.sys]: FCU: DDS: Topic/Pub/Writer session pass for index '9'
[mavproxy.py -5] AP: DDS: Topic/Pub/Writer session pass for index '10'
[mavros_node-9] [INFO] [1729608227.938026865] [qmavl.sys]: FCU: DDS: Topic/Pub/Writer session pass for index '10'
[mavproxy.py -5] AP: DDS: Topic/Sub/Reader session pass for index '11'
[mavros_node-9] [INFO] [1729608227.940695658] [qmavl.sys]: FCU: DDS: Topic/Sub/Reader session pass for index '11'
[mavproxy.py -5] AP: DDS: Topic/Sub/Reader session pass for index '12'
[mavros_node-9] [INFO] [1729608227.941442721] [qmavl.sys]: FCU: DDS: Topic/Sub/Reader session pass for index '12'
[mavproxy.py -5] AP: DDS: Topic/Sub/Reader session pass for index '13'
[mavros_node-9] [INFO] [1729608227.942334084] [qmavl.sys]: FCU: DDS: Topic/Sub/Reader session pass for index '13'
[mavproxy.py -5] AP: DDS: Topic/Sub/Reader session pass for index '14'
[mavros_node-9] [INFO] [1729608227.944524822] [qmavl.sys]: FCU: DDS: Topic/Sub/Reader session pass for index '14'
[mavproxy.py -5] AP: DDS: Service/Replier session pass for index '0'
[mavros_node-9] [INFO] [1729608227.945135990] [qmavl.sys]: FCU: DDS: Service/Replier session pass for index '0'
[mavproxy.py -5] AP: DDS: Service/Replier session pass for index '1'
[mavros_node-9] [INFO] [1729608227.947476607] [qmavl.sys]: FCU: DDS: Service/Replier session pass for index '1'
[mavproxy.py -5] AP: DDS: Initialization passed
[mavros_node-9] [INFO] [1729608227.947826031] [qmavl.sys]: FCU: DDS: Initialization passed
[mavproxy.py -5] paramftp: bad count 1665 should be 1656
[mavproxy.py -5] fence present
[mavros_node-9] [INFO] [1729608228.180142248] [qmavl.rc]: RC_CHANNELS message detected!
[mavros_node-9] [INFO] [1729608228.180542319] [qmavl.imu]: IMU: Raw IMU message used.
[mavros_node-9] [WARN] [1729608228.184100471] [qmavl.global_position]: GP: No GPS fix
[mavros_node-9] [WARN] [1729608228.747848547] [qmavl.time]: TM: Wrong FCU time.
[mavproxy.py -5] AP: ArduCopter V4.6.0-dev (145cc4bb)
[mavproxy.py -5] AP: 00f9a033ae6d4c249cb6bb0f71476cca
[mavproxy.py -5] AP: Frame: QUAD/X
[mavproxy.py -5] Got COMMAND_ACK: REQUEST_MESSAGE: ACCEPTED
[mavproxy.py -5] Got COMMAND_ACK: SET_MESSAGE_INTERVAL: ACCEPTED
[mavproxy.py -5] Received 1665 parameters (ftp)
[mavproxy.py -5] Saved 1665 parameters to mav.parm
[mavproxy.py -5] AP: EKF3 IMU0 initialised
[mavproxy.py -5] AP: EKF3 IMU1 initialised
[mavproxy.py -5] AP: AHRS: EKF3 active
[mavproxy.py -5] AP: EKF3 IMU0 tilt alignment complete
[mavproxy.py -5] AP: EKF3 IMU1 tilt alignment complete
[mavproxy.py -5] AP: EKF3 IMU1 MAG0 initial yaw alignment complete
[mavproxy.py -5] AP: EKF3 IMU0 MAG0 initial yaw alignment complete