Setting top to : /home/aferreira/heifu_ws/src/heifu-simulation/ardupilot Setting out to : /home/aferreira/heifu_ws/src/heifu-simulation/ardupilot/build Autoconfiguration : enabled Setting board to : sitl Using toolchain : native Checking for 'g++' (C++ compiler) : /usr/lib/ccache/g++ Checking for 'gcc' (C compiler) : GNU gdb (Ubuntu 9.1-0ubuntu1) 9.1 Copyright (C) 2020 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "x86_64-linux-gnu". Type "show configuration" for configuration details. For bug reporting instructions, please see: . Find the GDB manual and other documentation resources online at: . For help, type "help". Type "apropos word" to search for commands related to "word"... Reading symbols from gzserver... (No debugging symbols found in gzserver) /usr/lib/ccache/gcc Checking for c flags '-MMD' : yes Checking for cxx flags '-MMD' : yes CXX Compiler : g++ 8.4.0 Checking for need to link with librt : not necessary Checking for feenableexcept : yes Checking for HAVE_CMATH_ISFINITE : yes Checking for HAVE_CMATH_ISINF : yes Checking for HAVE_CMATH_ISNAN : yes Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : yes Checking for NEED_CMATH_ISINF_STD_NAMESPACE : yes Checking for NEED_CMATH_ISNAN_STD_NAMESPACE : yes Checking for header endian.h : yes Checking for header byteswap.h : yes Checking for HAVE_MEMRCHR : yes Configured VSCode Intellisense: : no Checking for program 'python' : /usr/bin/python [Thread debugging using libthread_db enabled] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1". Checking for python version >= 2.7.0 : 2.7.18 Checking for program 'python' : /usr/bin/python Checking for python version >= 2.7.0 : 2.7.18 Source is git repository : yes Update submodules : yes Checking for program 'git' : /usr/bin/git Checking for program 'size' : /usr/bin/size Benchmarks : disabled Unit tests : enabled Scripting : enabled Scripting runtime checks : enabled Debug build : disabled Coverage build : disabled SITL 32-bit build : disabled Checking for program 'rsync' : /usr/bin/rsync 'configure' finished successfully (0.834s) Waf: Entering directory `/home/aferreira/heifu_ws/src/heifu-simulation/ardupilot/build/sitl' [New Thread 0x7fffdb94f700 (LWP 15561)] [New Thread 0x7fffd914e700 (LWP 15562)] [New Thread 0x7fffd894d700 (LWP 15563)] [New Thread 0x7fffd414c700 (LWP 15564)] [New Thread 0x7fffd194b700 (LWP 15565)] [New Thread 0x7fffcf14a700 (LWP 15566)] [New Thread 0x7fffcc949700 (LWP 15567)] [New Thread 0x7fffca148700 (LWP 15568)] [New Thread 0x7fffc7947700 (LWP 15569)] [New Thread 0x7fffc5146700 (LWP 15570)] [New Thread 0x7fffc2945700 (LWP 15571)] [New Thread 0x7fffc0144700 (LWP 15572)] [New Thread 0x7fffbecf2700 (LWP 15573)] [New Thread 0x7fffbe4f1700 (LWP 15574)] [New Thread 0x7fffbd4ef700 (LWP 15576)] [New Thread 0x7fffbccee700 (LWP 15577)] [New Thread 0x7fffb7fff700 (LWP 15578)] [New Thread 0x7fffb77fe700 (LWP 15579)] [New Thread 0x7fffb6ffd700 (LWP 15580)] [New Thread 0x7fffb67fc700 (LWP 15581)] [New Thread 0x7fffb5ffb700 (LWP 15582)] [New Thread 0x7fffb57fa700 (LWP 15583)] [New Thread 0x7fffb4ff9700 (LWP 15584)] [New Thread 0x7fff97fff700 (LWP 15585)] [New Thread 0x7fff977fe700 (LWP 15586)] [New Thread 0x7fff96ffd700 (LWP 15587)] [New Thread 0x7fff967fc700 (LWP 15588)] [New Thread 0x7fff95ffb700 (LWP 15589)] [New Thread 0x7fff957fa700 (LWP 15590)] [New Thread 0x7fff94ff9700 (LWP 15591)] [New Thread 0x7fff7ffff700 (LWP 15592)] [New Thread 0x7fff7f7fe700 (LWP 15593)] [New Thread 0x7fff7effd700 (LWP 15595)] Embedding file locations.txt:Tools/autotest/locations.txt Embedding file models/Callisto.json:Tools/autotest/models/Callisto.json Waf: Leaving directory `/home/aferreira/heifu_ws/src/heifu-simulation/ardupilot/build/sitl' BUILD SUMMARY Build directory: /home/aferreira/heifu_ws/src/heifu-simulation/ardupilot/build/sitl Target Text (B) Data (B) BSS (B) Total Flash Used (B) Free Flash (B) -------------------------------------------------------------------------------- bin/ardurover 3373586 151781 165544 3525367 Not Applicable Build commands will be stored in build/sitl/compile_commands.json [New Thread 0x7fff7e139700 (LWP 15670)] [New Thread 0x7fff7d938700 (LWP 15671)] [New Thread 0x7fff7d137700 (LWP 15672)] [New Thread 0x7fff7c936700 (LWP 15673)] [New Thread 0x7fff61582700 (LWP 15674)] [New Thread 0x7fff60d81700 (LWP 15675)] [New Thread 0x7fff47fff700 (LWP 15676)] [New Thread 0x7fff477fe700 (LWP 15677)] [New Thread 0x7fff46ffd700 (LWP 15678)] [New Thread 0x7fff467fc700 (LWP 15679)] [New Thread 0x7fff45ffb700 (LWP 15680)] [New Thread 0x7fff457fa700 (LWP 15681)] 'build' finished successfully (2.326s) RiTW: Starting Rover : /home/aferreira/heifu_ws/src/heifu-simulation/ardupilot/build/sitl/bin/ardurover -S --model gazebo-motorboat --speedup 1 --sysid 1 --slave 0 --defaults Tools/autotest/default_params/rover.parm,Tools/autotest/default_params/motorboat.parm -I0 --home 38.475644,-8.871089,9.0,0.0 [New Thread 0x7fff44ff9700 (LWP 15714)] [New Thread 0x7fff2bfff700 (LWP 15715)] [New Thread 0x7fff2b7fe700 (LWP 15729)] [New Thread 0x7fff2affd700 (LWP 15730)] [New Thread 0x7fff2a7fc700 (LWP 15731)] [New Thread 0x7fff29ffb700 (LWP 15732)] [New Thread 0x7fff444f5700 (LWP 15735)] [New Thread 0x7fff297fa700 (LWP 15736)] [New Thread 0x7fff293f9700 (LWP 15737)] [New Thread 0x7fff28ff8700 (LWP 15738)] [New Thread 0x7fff287f6700 (LWP 15739)] [New Thread 0x7fff28bf7700 (LWP 15740)] [New Thread 0x7ffef7fff700 (LWP 15741)] [New Thread 0x7ffeffbfe700 (LWP 15742)] [New Thread 0x7ffefffff700 (LWP 15744)] [New Thread 0x7ffeff7fd700 (LWP 15743)] [New Thread 0x7ffeff3fc700 (LWP 15745)] [New Thread 0x7ffefeffb700 (LWP 15757)] [New Thread 0x7ffefe7fa700 (LWP 15758)] [New Thread 0x7ffefdff9700 (LWP 15759)] [New Thread 0x7ffefd7f8700 (LWP 15760)] [ INFO] [1692003205.475882215] [/gazebo_gui]: Finished loading Gazebo ROS API Plugin. [ INFO] [1692003205.477989090] [/gazebo_gui]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [Msg] Waiting for master. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 192.168.1.74 [Thread 0x7fff7f7fe700 (LWP 15593) exited] [ INFO] [1692003207.270500697] [/gazebo]: Finished loading Gazebo ROS API Plugin. [ INFO] [1692003207.271779981] [/gazebo]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [Msg] Waiting for master. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 192.168.1.74 [Msg] Loading world file [/home/aferreira/heifu_ws/devel/share/wave_gazebo/worlds/ocean.world] [ INFO] [1692003208.716472066] [/gazebo]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1692003208.740384149] [/gazebo]: Physics dynamic reconfigure ready. [Msg] Parameter found - setting <static> to <0>. [Msg] Parameter found - setting <update_rate> to <30>. [Msg] Parameter found - setting <size> to <1000 1000>. [Msg] Parameter found - setting <cell_count> to <50 50>. [Msg] WavefieldEntity: Loading WaveParameters from SDF [INFO] [1692003204.725319, 0.000000] [/vanguard0_spawn]: Loading model XML from ros parameter model_description [INFO] [1692003204.731129, 0.000000] [/vanguard0_spawn]: Waiting for service /gazebo/spawn_sdf_model [INFO] [1692003208.950797, 0.000000] [/vanguard0_spawn]: Calling service /gazebo/spawn_sdf_model [INFO] [1692003209.216390, 0.001000] [/vanguard0_spawn]: Spawn status: SpawnModel: Successfully spawned entity [Msg] Found tag [Msg] Parameter found - setting <model> to <PMS>. [Msg] Parameter found - setting <number> to <3>. [Msg] Parameter found - setting <amplitude> to <0>. [Msg] Parameter found - setting <period> to <5>. [Msg] Parameter <phase> not found: Using default value of <0>. [Msg] Parameter found - setting <direction> to <1 0>. [Msg] Parameter found - setting <scale> to <1.5>. [Msg] Parameter found - setting <angle> to <0.4>. [Msg] Parameter found - setting <steepness> to <0>. [Msg] Parameter found - setting <tau> to <2>. [Msg] Parameter found - setting <gain> to <0.1>. [Msg] Using Pierson-Moskowitz spectrum sampling wavefield model  [Msg] Input Parameters: [Msg] model: PMS [Msg] number: 3 [Msg] scale: 1.5 [Msg] angle: 0.4 [Msg] steepness: 0 [Msg] amplitude: 0 [Msg] period: 5 [Msg] direction: 1 0 [Msg] tau: 2 [Msg] gain: 0.1 [Msg] Derived Parameters: [Msg] amplitudes: 0.00531544, 0.0273191, 0.0179328,  [Msg] wavenumbers: 0.0716162, 0.161136, 0.362557,  [Msg] omegas: 0.837758, 1.25664, 1.88496,  [Msg] periods: [Msg] 7.5, [Msg] 5, [Msg] 3.33333, [Msg]  [Msg] phases: 0, 0, 0,  [Msg] steepnesses: 0, 0, 0,  [Msg] directions: [Msg] 0.921061 -0.389418; [Msg] 1 0; [Msg] 0.921061 0.389418; [Msg]  [Msg] Found buoyancy element(s), looking at each element... [Msg] Buoyancy object link: vanguard0::bConnect tcp:127.0.0.1:5760 source_system=255 Log Directory: Telemetry log: mav.tlog Waiting for heartbeat from tcp:127.0.0.1:5760 MAV> Got MAVLink msg: COMMAND_ACK {command : 519, result : 3} APM: ArduRover V4.2.1-rc1 (5761aa12) APM: 3c0f9a3e8a2e4212bbc6ed9406c1abb2 APM: Calibrating barometer [Dbg] [force_visual.cpp:20] Loading ForceVisual plugin [Dbg] [force_visual.cpp:33] Subscribing on ~/propeller0 [Dbg] [force_visual.cpp:20] Loading ForceVisual plugin [Dbg] [force_visual.cpp:33] Subscribing on ~/propeller1 [Dbg] [force_visual.cpp:20] Loading ForceVisual plugin [Dbg] [force_visual.cpp:33] Subscribing on ~/propeller2 [Dbg] [force_visual.cpp:33] Subscribing on ~/propeller0 [Dbg] [force_visual.cpp:33] Subscribing on ~/propeller1 [Dbg] [force_visual.cpp:33] Subscribing on ~/propeller2 [Msg] WavefieldVisualPlugin <ocean_waves::ocean_waves_link::ocean_waves_visual>: Loading WaveParamaters from SDF [Msg] Parameter <static> not found: Using default value of <0>. [Msg] Parameter found - setting <enableRtt> to <1>. [Msg] Parameter found - setting <refractOpacity> to <0.2>. [Msg] Parameter found - setting <reflectOpacity> to <0.2>. [Msg] Parameter found - setting <rttNoise> to <0.1>. online system 1 INITIALISING> Mode INITIALISING APM: ArduRover V4.2.1-rc1 (5761aa12) APM: 3c0f9a3e8a2e4212bbc6ed9406c1abb2 APM: ArduRover V4.2.1-rc1 (5761aa12) APM: 3c0f9a3e8a2e4212bbc6ed9406c1abb2 Received 1178 parameters (ftp) Saved 1178 parameters to mav.parm APM: Barometer 1 calibration complete APM: Barometer 2 calibration complete APM: Beginning INS calibration. Do not move vehicle Init Gyro************APM: Initialising ArduPilot *******************APM: Initialising ArduPilot *******************APM: Initialising ArduPilot *****************APM: Initialising ArduPilot ********* APM: INS: alloc 6144 bytes for ISB (free=131072) MANUAL> Mode MANUAL APM: ArduPilot Ready APM: AHRS: DCM active fence present APM: EKF3 IMU0 initialised APM: EKF3 IMU1 initialised APM: EKF3 IMU0 tilt alignment complete APM: EKF3 IMU1 tilt alignment complete APM: EKF3 IMU0 MAG0 initial yaw alignment complete APM: EKF3 IMU1 MAG0 initial yaw alignment complete APM: GPS 1: detected as u-blox at 230400 baud Flight battery 80 percent Flight battery 60 percent Flight battery 30 percent Flight battery 10 percent Flight battery warning Flight battery 0 percent Flight battery warning Flight battery warning Thread 1 "gzserver" received signal SIGINT, Interrupt. 0x00007ffff740a3bf in __GI___clock_nanosleep (clock_id=1, flags=0, req=0x7fffffffc4c0, rem=0x7fffffffc4d0) at ../sysdeps/unix/sysv/linux/clock_nanosleep.c:78 (gdb) no link link 1 down no link no link ... logging to /home/aferreira/.ros/log/06308aa8-3a80-11ee-8830-118ac656c406/roslaunch-PDM-01036-15203.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. ]2;/home/aferreira/heifu_ws/src/heifu-simulation/simulation-bringup/launch/vanguard_simulation.launch started roslaunch server http://PDM-01036:37733/ SUMMARY ======== PARAMETERS * /gazebo/enable_ros_network: True * /model_description: