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Usage is <1GB. started roslaunch server http://vince-swift:43679/ SUMMARY ======== CLEAR PARAMETERS * /mavros/ PARAMETERS * /mavros/cmd/use_comp_id_system_control: False * /mavros/conn/heartbeat_mav_type: ONBOARD_CONTROLLER * /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/rangefinder_pub/field_of_view: 0.0 * /mavros/distance_sensor/rangefinder_pub/frame_id: lidar * /mavros/distance_sensor/rangefinder_pub/id: 0 * /mavros/distance_sensor/rangefinder_pub/send_tf: False * /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0 * /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0 * /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1 * /mavros/distance_sensor/rangefinder_sub/id: 1 * /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270 * /mavros/distance_sensor/rangefinder_sub/subscriber: True * /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://127.0.0.1:1... * /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/estimator_type: 3 * /mavros/odometry/frame_tf/desired_frame: ned * /mavros/plugin_blacklist: ['actuator_contro... * /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: False * /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: map * /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: map * /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: map * /mavros/wheel_odometry/tf/send: True * /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: melodic * /rosversion: 1.14.5 NODES / mavros (mavros/mavros_node) auto-starting new master process[master]: started with pid [22925] ROS_MASTER_URI=http://vince-swift:11311 setting /run_id to a83be1f4-bacb-11ea-93dd-34f64bed887a process[rosout-1]: started with pid [22936] started core service [/rosout] process[mavros-2]: started with pid [22944] [ INFO] [1593519445.791685783]: FCU URL: udp://127.0.0.1:14551@14555 [ INFO] [1593519445.793034527]: udp0: Bind address: 127.0.0.1:14551 [ INFO] [1593519445.793079684]: udp0: Remote address: 0.0.56.219:14550 [ INFO] [1593519445.793155829]: GCS bridge disabled [ INFO] [1593519445.800519063]: Plugin 3dr_radio loaded [ INFO] [1593519445.801442018]: Plugin 3dr_radio initialized [ INFO] [1593519445.801463107]: Plugin actuator_control blacklisted [ INFO] [1593519445.803795749]: Plugin adsb loaded [ INFO] [1593519445.806344636]: Plugin adsb initialized [ INFO] [1593519445.806387076]: Plugin altitude blacklisted [ INFO] [1593519445.806485781]: Plugin cam_imu_sync loaded [ INFO] [1593519445.806971787]: Plugin cam_imu_sync initialized [ INFO] [1593519445.807070302]: Plugin command loaded [ INFO] [1593519445.810222815]: udp0: Remote address: 127.0.0.1:47772 [ INFO] [1593519445.811343421]: Plugin command initialized [ INFO] [1593519445.811424166]: Plugin companion_process_status loaded [ INFO] [1593519445.813210222]: Plugin companion_process_status initialized [ INFO] [1593519445.813232624]: Plugin debug_value blacklisted [ INFO] [1593519445.813289125]: Plugin distance_sensor loaded [ INFO] [1593519445.818292910]: Plugin distance_sensor initialized [ INFO] [1593519445.818373812]: Plugin fake_gps loaded [ INFO] [1593519445.826620671]: Plugin fake_gps initialized [ INFO] [1593519445.826647828]: Plugin ftp blacklisted [ INFO] [1593519445.826731829]: Plugin global_position loaded [ INFO] [1593519445.838157213]: Plugin global_position initialized [ INFO] [1593519445.838241921]: Plugin gps_rtk loaded [ INFO] [1593519445.839915285]: Plugin gps_rtk initialized [ INFO] [1593519445.839931936]: Plugin hil blacklisted [ INFO] [1593519445.839994690]: Plugin home_position loaded [ INFO] [1593519445.842323655]: Plugin home_position initialized [ INFO] [1593519445.842395390]: Plugin imu loaded [ INFO] [1593519445.847085349]: Plugin imu initialized [ INFO] [1593519445.847150210]: Plugin landing_target loaded [ INFO] [1593519445.855446512]: Plugin landing_target initialized [ INFO] [1593519445.855555030]: Plugin local_position loaded [ INFO] [1593519445.859733592]: Plugin local_position initialized [ INFO] [1593519445.859820376]: Plugin log_transfer loaded [ INFO] [1593519445.861444158]: Plugin log_transfer initialized [ INFO] [1593519445.861517063]: Plugin manual_control loaded [ INFO] [1593519445.863377273]: Plugin manual_control initialized [ INFO] [1593519445.863451065]: Plugin mocap_pose_estimate loaded [ INFO] [1593519445.865687524]: Plugin mocap_pose_estimate initialized [ INFO] [1593519445.865749018]: Plugin mount_control loaded [ INFO] [1593519445.867740906]: Plugin mount_control initialized [ INFO] [1593519445.867804350]: Plugin obstacle_distance loaded [ INFO] [1593519445.869613120]: Plugin obstacle_distance initialized [ INFO] [1593519445.869676133]: Plugin odom loaded [ INFO] [1593519445.871818025]: Plugin odom initialized [ INFO] [1593519445.871880633]: Plugin onboard_computer_status loaded [ INFO] [1593519445.873268598]: Plugin onboard_computer_status initialized [ INFO] [1593519445.873336331]: Plugin param loaded [ INFO] [1593519445.874973535]: Plugin param initialized [ INFO] [1593519445.874993953]: Plugin px4flow blacklisted [ INFO] [1593519445.875044540]: Plugin rangefinder loaded [ INFO] [1593519445.875400543]: Plugin rangefinder initialized [ INFO] [1593519445.875463014]: Plugin rc_io loaded [ INFO] [1593519445.877474676]: Plugin rc_io initialized [ INFO] [1593519445.877492436]: Plugin safety_area blacklisted [ INFO] [1593519445.877558316]: Plugin setpoint_accel loaded [ INFO] [1593519445.879376646]: Plugin setpoint_accel initialized [ INFO] [1593519445.879448987]: Plugin setpoint_attitude loaded [ INFO] [1593519445.884891360]: Plugin setpoint_attitude initialized [ INFO] [1593519445.884994902]: Plugin setpoint_position loaded [ INFO] [1593519445.894558353]: Plugin setpoint_position initialized [ INFO] [1593519445.894659249]: Plugin setpoint_raw loaded [ INFO] [1593519445.899860255]: Plugin setpoint_raw initialized [ INFO] [1593519445.899934102]: Plugin setpoint_trajectory loaded [ INFO] [1593519445.902650195]: Plugin setpoint_trajectory initialized [ INFO] [1593519445.902724436]: Plugin setpoint_velocity loaded [ INFO] [1593519445.906078124]: Plugin setpoint_velocity initialized [ INFO] [1593519445.906164770]: Plugin sys_status loaded [ INFO] [1593519445.912420514]: Plugin sys_status initialized [ INFO] [1593519445.912522285]: Plugin sys_time loaded [ INFO] [1593519445.915813422]: TM: Timesync mode: MAVLINK [ INFO] [1593519445.916585096]: Plugin sys_time initialized [ INFO] [1593519445.916663068]: Plugin trajectory loaded [ INFO] [1593519445.919855941]: Plugin trajectory initialized [ INFO] [1593519445.919939183]: Plugin vfr_hud loaded [ INFO] [1593519445.920314558]: Plugin vfr_hud initialized [ INFO] [1593519445.920342785]: Plugin vibration blacklisted [ INFO] [1593519445.920406461]: Plugin vision_pose_estimate loaded [ INFO] [1593519445.925357753]: Plugin vision_pose_estimate initialized [ INFO] [1593519445.925404704]: Plugin vision_speed_estimate blacklisted [ INFO] [1593519445.925481693]: Plugin waypoint loaded [ INFO] [1593519445.928551871]: Plugin waypoint initialized [ INFO] [1593519445.928583586]: Plugin wheel_odometry blacklisted [ INFO] [1593519445.928649799]: Plugin wind_estimation loaded [ INFO] [1593519445.929017525]: Plugin wind_estimation initialized [ INFO] [1593519445.929043700]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1593519445.929058701]: Built-in MAVLink package version: 2020.5.21 [ INFO] [1593519445.929078913]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta [ INFO] [1593519445.929095468]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1593519446.066634109]: RC_CHANNELS message detected! [ INFO] [1593519446.067310777]: IMU: Raw IMU message used. [ WARN] [1593519446.067497321]: IMU: linear acceleration on RAW_IMU known on APM only. [ WARN] [1593519446.067642650]: IMU: ~imu/data_raw stores unscaled raw acceleration report. [ WARN] [1593519446.070465641]: GP: No GPS fix [ WARN] [1593519446.071383312]: TM: Wrong FCU time. [ INFO] [1593519446.248566582]: CON: Got HEARTBEAT, connected. FCU: ArduPilot [ INFO] [1593519446.318228543]: RC_CHANNELS message detected! [ WARN] [1593519447.254437165]: CMD: Unexpected command 520, result 0 [ INFO] [1593519447.255619063]: WP: Using MISSION_ITEM_INT [ INFO] [1593519447.255773811]: VER: 1.1: Capabilities 0x000000000000fbef [ INFO] [1593519447.255878436]: VER: 1.1: Flight software: 04010000 (c7073033) [ INFO] [1593519447.256004039]: VER: 1.1: Middleware software: 00000000 ( ) [ INFO] [1593519447.256111689]: VER: 1.1: OS software: 00000000 ( ) [ INFO] [1593519447.256203562]: VER: 1.1: Board hardware: 00000000 [ INFO] [1593519447.256293000]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1593519447.256374482]: VER: 1.1: UID: 0000000000000000 [ INFO] [1593519456.249209472]: HP: requesting home position [ INFO] [1593519456.256938537]: FCU: ArduCopter V4.1.0-dev (c7073033) [ INFO] [1593519456.258342113]: FCU: c6ba5248c98d43068c8910a6fe5af310 [ INFO] [1593519456.259577773]: FCU: Frame: QUAD [ INFO] [1593519456.819822350]: PR: parameters list received [ INFO] [1593519461.254648664]: WP: mission received [ WARN] [1593519463.377100026]: CMD: Unexpected command 179, result 4 [ INFO] [1593519466.248950876]: HP: requesting home position [ WARN] [1593519466.627735683]: FCU: EKF2 refusing set origin [ WARN] [1593519476.074095899]: GP: No GPS fix [ INFO] [1593519476.248886559]: HP: requesting home position [ WARN] [1593519476.929787926]: CMD: Unexpected command 179, result 4 [ WARN] [1593519478.226433511]: FCU: EKF2 refusing set origin [ERROR] [1593519478.747691810]: FCU: PreArm: Need 3D Fix [ INFO] [1593519486.249007300]: HP: requesting home position [ INFO] [1593519496.248988803]: HP: requesting home position [ WARN] [1593519500.530742877]: CMD: Unexpected command 179, result 4 [ WARN] [1593519504.830377345]: FCU: EKF2 refusing set origin [ WARN] [1593519506.086683981]: GP: No GPS fix [ WARN] [1593519506.087578003]: TM: Wrong FCU time. [ INFO] [1593519506.248967387]: HP: requesting home position [ERROR] [1593519508.760343029]: FCU: PreArm: Need 3D Fix