Gazebo isn't starting when I launch FlytSIM


#1

And when I try to lauch gazebo in new terminal I always get this:

ivan@ivan-K56CB:~$ gazebo
gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:648: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = gazebo::rendering::Camera; typename boost::detail::sp_member_access::type = gazebo::rendering::Camera*]: Assertion `px != 0’ failed.


Console log:

ivan@ivan-K56CB:~$ launch_flytSim
[sudo] password for ivan:
[autopilot]: command not found
[location]: command not found
[advanced]: command not found
WARNING:root:ZMQ : Protobuf message implementation not found. Using pickle based protocol
Direct import of flyt_ms and rostful
INFO:startup_log:
================== FlytOS Startup Log ================
INFO:startup_log:Tue Jun 20 18:28:29 2017: Checking internet availability…
INFO:startup_log:Tue Jun 20 18:28:29 2017: Internet connection established
INFO:startup_log:Tue Jun 20 18:28:29 2017: Checking license on server…
INFO:startup_log:Tue Jun 20 18:28:30 2017: Check license status: 200 OK, Response: True
INFO:startup_log:Tue Jun 20 18:28:30 2017: License activation is: True
INFO:startup_log:Tue Jun 20 18:28:30 2017: Auto-Update: ON
INFO:startup_log:Tue Jun 20 18:28:30 2017: Download-Ready: False
INFO:startup_log:Tue Jun 20 18:28:30 2017: Downloaded version: null
INFO:startup_log:Tue Jun 20 18:28:30 2017: Blacklisted version:
INFO:startup_log:Tue Jun 20 18:28:30 2017: Starting FlytOS…
INFO:startup_log:Tue Jun 20 18:28:31 2017: Checking for new updates
INFO:startup_log:Tue Jun 20 18:28:31 2017: Checking internet availability…
INFO:startup_log:Tue Jun 20 18:28:31 2017: Internet connection established
INFO:startup_log:Tue Jun 20 18:28:31 2017: Checking license on server…
… logging to /home/ivan/.ros/log/1e2f269e-55cd-11e7-a012-606c66743795/roslaunch-ivan-K56CB-2780.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ivan-K56CB:34519/

SUMMARY

CLEAR PARAMETERS

  • /flytsim/mavros/

PARAMETERS

  • /flytsim/mavros/cmd/use_comp_id_system_control: False
  • /flytsim/mavros/conn/heartbeat_rate: 1.0
  • /flytsim/mavros/conn/system_time_rate: 0.0
  • /flytsim/mavros/conn/timeout: 20.0
  • /flytsim/mavros/conn/timesync_rate: 0.0
  • /flytsim/mavros/fcu_protocol: v1.0
  • /flytsim/mavros/fcu_url: tcp://:5760
  • /flytsim/mavros/gcs_url: udp-b://:14555@:1…
  • /flytsim/mavros/global_position/frame_id: fcu
  • /flytsim/mavros/global_position/rot_covariance: 99999.0
  • /flytsim/mavros/global_position/tf/child_frame_id: fcu_utm
  • /flytsim/mavros/global_position/tf/frame_id: local_origin
  • /flytsim/mavros/global_position/tf/send: False
  • /flytsim/mavros/image/frame_id: px4flow
  • /flytsim/mavros/imu/angular_velocity_stdev: 0.000349065850399
  • /flytsim/mavros/imu/frame_id: fcu
  • /flytsim/mavros/imu/linear_acceleration_stdev: 0.0003
  • /flytsim/mavros/imu/magnetic_stdev: 0.0
  • /flytsim/mavros/imu/orientation_stdev: 1.0
  • /flytsim/mavros/local_position/frame_id: fcu
  • /flytsim/mavros/local_position/tf/child_frame_id: fcu
  • /flytsim/mavros/local_position/tf/frame_id: local_origin
  • /flytsim/mavros/local_position/tf/send: False
  • /flytsim/mavros/mission/pull_after_gcs: True
  • /flytsim/mavros/mocap/use_pose: True
  • /flytsim/mavros/mocap/use_tf: False
  • /flytsim/mavros/param/force_update_params: True
  • /flytsim/mavros/plugin_blacklist: ['actuator_contro…
  • /flytsim/mavros/plugin_whitelist: []
  • /flytsim/mavros/px4flow/frame_id: px4flow
  • /flytsim/mavros/px4flow/ranger_fov: 0.0
  • /flytsim/mavros/px4flow/ranger_max_range: 5.0
  • /flytsim/mavros/px4flow/ranger_min_range: 0.3
  • /flytsim/mavros/safety_area/p1/x: 1.0
  • /flytsim/mavros/safety_area/p1/y: 1.0
  • /flytsim/mavros/safety_area/p1/z: 1.0
  • /flytsim/mavros/safety_area/p2/x: -1.0
  • /flytsim/mavros/safety_area/p2/y: -1.0
  • /flytsim/mavros/safety_area/p2/z: -1.0
  • /flytsim/mavros/setpoint_accel/send_force: False
  • /flytsim/mavros/setpoint_attitude/reverse_throttle: False
  • /flytsim/mavros/setpoint_attitude/tf/child_frame_id: attitude
  • /flytsim/mavros/setpoint_attitude/tf/frame_id: local_origin
  • /flytsim/mavros/setpoint_attitude/tf/listen: False
  • /flytsim/mavros/setpoint_attitude/tf/rate_limit: 10.0
  • /flytsim/mavros/setpoint_position/tf/child_frame_id: setpoint
  • /flytsim/mavros/setpoint_position/tf/frame_id: local_origin
  • /flytsim/mavros/setpoint_position/tf/listen: False
  • /flytsim/mavros/setpoint_position/tf/rate_limit: 50.0
  • /flytsim/mavros/startup_px4_usb_quirk: False
  • /flytsim/mavros/sys/disable_diag: False
  • /flytsim/mavros/sys/min_voltage: 10.0
  • /flytsim/mavros/system_id: 255
  • /flytsim/mavros/target_component_id: 1
  • /flytsim/mavros/target_system_id: 1
  • /flytsim/mavros/tdr_radio/low_rssi: 40
  • /flytsim/mavros/time/time_ref_source: fcu
  • /flytsim/mavros/time/timesync_avg_alpha: 0.6
  • /flytsim/mavros/vibration/frame_id: vibration
  • /flytsim/mavros/vision_pose/tf/child_frame_id: vision
  • /flytsim/mavros/vision_pose/tf/frame_id: local_origin
  • /flytsim/mavros/vision_pose/tf/listen: False
  • /flytsim/mavros/vision_pose/tf/rate_limit: 10.0
  • /flytsim/mavros/vision_speed/listen_twist: False
  • /flytsim/rostful/enable_cache: False
  • /flytsim/rostful/params: []
  • /flytsim/rostful/services: [’/.*/param/param…
  • /flytsim/rostful/topics: [’/.*/mavros/batt…
  • /global_namespace: flytsim
  • /rosdistro: kinetic
  • /rosversion: 1.12.7

NODES
/flytsim/
apm_simulator (apm_sitl/arducopter-quad)
core_api_navigation (core_api/navigation_api)
core_api_param (core_api/param_api)
core_api_payload (core_api/payload_api)
core_api_setup (core_api/setup_api)
flyt_ms_node (flyt_ms/flyt_ms_node)
image_capture (vision_apps/image_capture)
mavros (mavros/mavros_node)
mode_manager (mode_manager/mode_manager)
navigation_server (navigation_util/navigation_server)
rosapi (rosapi/rosapi_node)
rostful (rostful/devserver)
web_video_server (web_video_server/web_video_server)

auto-starting new master
process[master]: started with pid [2807]
INFO:startup_log:Tue Jun 20 18:28:32 2017: Check license status: 200 OK, Response: True
INFO:startup_log:Tue Jun 20 18:28:33 2017: Checking for updates on server…
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1e2f269e-55cd-11e7-a012-606c66743795
process[rosout-1]: started with pid [2825]
started core service [/rosout]
process[flytsim/apm_simulator-2]: started with pid [2829]
process[flytsim/navigation_server-3]: started with pid [2830]
process[flytsim/core_api_param-4]: started with pid [2831]
process[flytsim/core_api_setup-5]: started with pid [2832]
process[flytsim/core_api_navigation-6]: started with pid [2833]
process[flytsim/core_api_payload-7]: started with pid [2834]
INFO:startup_log:Tue Jun 20 18:28:33 2017: Check updates status: 200 OK, Response: 1.34
INFO:startup_log:Tue Jun 20 18:28:33 2017: FlytOS version is already up-to-date.
bind port 5760 for 0
Serial port 0 on TCP port 5760
process[flytsim/mode_manager-8]: started with pid [2835]
INFO:startup_log:Tue Jun 20 18:28:34 2017: Updating server with current FlytOS version:1.34
process[flytsim/image_capture-9]: started with pid [2841]
process[flytsim/web_video_server-10]: started with pid [2842]
process[flytsim/rostful-11]: started with pid [2843]

  • python -tt -m rostful run -h 0.0.0.0 -p 80 -s tornado ‘–ros-arg=~connections_list:=/rocon/connection_cache/list’ ‘–ros-arg=~connections_diff:=/rocon/connection_cache/diff’ --ros-arg=__name:=rostful --ros-arg=__log:=/home/ivan/.ros/log/1e2f269e-55cd-11e7-a012-606c66743795/flytsim-rostful-11.log
    process[flytsim/rosapi-12]: started with pid [3023]
    process[flytsim/flyt_ms_node-13]: started with pid [3135]
    INFO:startup_log:Tue Jun 20 18:28:34 2017: Set update status: 200 OK, Response: True
    INFO:startup_log:Tue Jun 20 18:28:34 2017: Exiting Startup.
    INFO:startup_log:========================================================

[ INFO] [1497972514.971221391]: [LIC] license file valid, checking for date validity
process[flytsim/mavros-14]: started with pid [3153]
WARNING:root:ZMQ : Protobuf message implementation not found. Using pickle based protocol
ivan@ivan-K56CB:~$ WARNING:root:ZMQ : Protobuf message implementation not found. Using pickle based protocol
[ INFO] [1497972517.626354728]: FCU URL: tcp://:5760
[ INFO] [1497972517.678445094]: tcp0: Server address: 127.0.0.1:5760
[ INFO] [1497972517.678913042]: GCS URL: udp-b://:14555@:14550
[ INFO] [1497972517.679288070]: udp1: Bind address: 0.0.0.0:14555
[ INFO] [1497972517.679361539]: udp1: Remote address: 255.255.255.255:14550
[ INFO] [1497972517.686067033]: Plugin altitude blacklisted
bind port 5762 for 2
Serial port 2 on TCP port 5762
bind port 5763 for 3
Serial port 3 on TCP port 5763

INFO in main [/flyt/flytos/flytcore/lib/python2.7/dist-packages/rostful/main.py:73]:
arguments passed : host 0.0.0.0 port 80 config None ros_args (u’~connections_list:=/rocon/connection_cache/list’, u’~connections_diff:=/rocon/connection_cache/diff’, u’__name:=rostful’, u’__log:=/home/ivan/.ros/log/1e2f269e-55cd-11e7-a012-606c66743795/flytsim-rostful-11.log’)

INFO:rostful:arguments passed : host 0.0.0.0 port 80 config None ros_args (u’~connections_list:=/rocon/connection_cache/list’, u’~connections_diff:=/rocon/connection_cache/diff’, u’__name:=rostful’, u’__log:=/home/ivan/.ros/log/1e2f269e-55cd-11e7-a012-606c66743795/flytsim-rostful-11.log’)
WARNING:root:Setting up pyros ROS node…
WARNING:root:Setting up pyros actual client…
[ INFO] [1497972520.111105784]: Waiting For connections on 0.0.0.0:8080
[INFO] [1497972520.798651]: FlytOS Manager service up and running
[ INFO] [1497972521.240787942]: Plugin autopilot_app_control loaded
[ INFO] [1497972521.267123573]: Plugin autopilot_app_control initialized
[ INFO] [1497972521.267578129]: Plugin command loaded
[ INFO] [1497972521.278917690]: Plugin command initialized
[ INFO] [1497972521.279275609]: Plugin distance_sensor blacklisted
[ INFO] [1497972521.279555687]: Plugin ftp blacklisted
[ INFO] [1497972521.280035770]: Plugin global_position loaded
[ INFO] [1497972521.298792304]: Plugin global_position initialized
[ INFO] [1497972521.299095352]: Plugin home_position loaded
[ INFO] [1497972521.300790087]: Plugin home_position initialized
[ INFO] [1497972521.301054297]: Plugin imu_pub loaded
[ INFO] [1497972521.321329999]: Plugin imu_pub initialized
[ INFO] [1497972521.321637738]: Plugin local_position loaded
[ INFO] [1497972521.339878266]: Plugin local_position initialized
[ INFO] [1497972521.340188158]: Plugin manual_control loaded
[ INFO] [1497972521.342214146]: Plugin manual_control initialized
[ INFO] [1497972521.342296972]: Plugin mocap_pose_estimate blacklisted
[ INFO] [1497972521.342776799]: Plugin param loaded
[ INFO] [1497972521.355239110]: Plugin param initialized
[ INFO] [1497972521.355591016]: Plugin payload loaded
[ INFO] [1497972521.355896716]: initialize
[ INFO] [1497972521.382482287]: Plugin payload initialized
[ INFO] [1497972521.382559125]: Plugin px4flow blacklisted
[ INFO] [1497972521.383112421]: Plugin rc_io loaded
[ INFO] [1497972521.414203284]: Plugin rc_io initialized
[ INFO] [1497972521.414576599]: Plugin setpoint_position loaded
[ INFO] [1497972521.480848971]: Plugin setpoint_position initialized
[ INFO] [1497972521.481234365]: Plugin setpoint_raw loaded
[ INFO] [1497972521.529360970]: Plugin setpoint_raw initialized
[ INFO] [1497972521.529819414]: Plugin setpoint_velocity loaded
[ INFO] [1497972521.541067261]: Plugin setpoint_velocity initialized
[ INFO] [1497972521.541697012]: Plugin sys_status loaded
[ INFO] [1497972521.580127060]: Plugin sys_status initialized
[ INFO] [1497972521.580467253]: Plugin sys_time loaded
[ INFO] [1497972521.598251080]: Plugin sys_time initialized
[ INFO] [1497972521.598567694]: Plugin vfr_hud loaded
[ INFO] [1497972521.604588806]: Plugin vfr_hud initialized
[ INFO] [1497972521.604794699]: Plugin vibration blacklisted
[ INFO] [1497972521.604848113]: Plugin vision_pose_estimate blacklisted
[ INFO] [1497972521.604898489]: Plugin vision_speed_estimate blacklisted
[ INFO] [1497972521.605229608]: Plugin waypoint loaded
[ INFO] [1497972521.655017420]: Plugin waypoint initialized
[ INFO] [1497972521.655251695]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1497972521.655348734]: Built-in MAVLink package version: 2016.11.11
[ INFO] [1497972521.655443722]: Known MAVLink dialects: common ardupilotmega
[ INFO] [1497972521.655557045]: MAVROS started. MY ID 255.240, TARGET ID 1.1

INFO in server [/flyt/flytos/flytcore/lib/python2.7/dist-packages/rostful/server.py:173]:
Starting Tornado server on 0.0.0.0:80

WARNING:root:ZMQ : Protobuf message implementation not found. Using pickle based protocol
[ INFO] [1497972524.715176520]: CON: Got HEARTBEAT, connected. FCU: ArduPilotMega / ArduCopter
[ INFO] [1497972524.800087831]: FCU: EKF2 IMU0 initial yaw alignment complete
[ INFO] [1497972524.800347230]: FCU: EKF2 IMU1 initial yaw alignment complete
[ INFO] [1497972525.034671906]: FCU: GPS 0: detected as u-blox at 38400 baud
[ INFO] [1497972525.752111963]: VER: 1.1: Capabilities 0x0000000000001bcf
[ INFO] [1497972525.752266173]: VER: 1.1: Flight software: 030406ff (e707341b)
[ INFO] [1497972525.752377338]: VER: 1.1: Middleware software: 00000000 ( )
[ INFO] [1497972525.752517494]: VER: 1.1: OS software: 00000000 ( )
[ INFO] [1497972525.752696415]: VER: 1.1: Board hardware: 00000000
[ INFO] [1497972525.752815040]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1497972525.752944411]: VER: 1.1: UID: 0000000000000000
[ WARN] [1497972525.753472365]: CMD: Unexpected command 520, result 0
[ INFO] [1497972526.251371596]: FCU: EKF2 IMU1 tilt alignment complete
[ INFO] [1497972526.251711630]: FCU: EKF2 IMU0 tilt alignment complete
[ INFO] [1497972534.743060574]: FCU: APM:Copter V3.4.6 (e707341b)
[ INFO] [1497972534.743345297]: FCU: Frame: QUAD
[ INFO] [1497972535.626324675]: PR: parameters list received
[ INFO] [1497972535.631281687]: RC_CHANNELS message detected!
[ INFO] [1497972535.638114969]: FCU: EKF2 IMU1 Origin Set
[ INFO] [1497972535.638438194]: FCU: EKF2 IMU0 Origin Set
[ INFO] [1497972535.641316223]: [LIC] license file valid, date validity check done
[ INFO] [1497972535.952957493]: [LIC] license file valid, checking for date validity
[ INFO] [1497972536.244615605]: [LIC] license file valid, date validity check done
[ERROR] [1497972538.746788163]: FCU: PreArm: Need 3D Fix

DEBUG in flask_views [/flyt/flytos/flytcore/lib/python2.7/dist-packages/rostful/flask_views.py:499]:
calling service /flytsim/param/param_get_all with msg : {‘get_only_ap’: True, ‘fresh_pull’: False}


#2

Hi,

With the latest release of FlytOS, we shifted the default SITL from PX4 to APM. APM SITL is not based out of Gazebo, and is light weight compared to PX4 SITL. Sorry for not updating the documentation yet, we are in process of doing it.

In the meantime, if you would like to shift to PX4, open FlytConsole, click on top-right corner button. Go to Sim Settings Tab, and configure the SITL environment as you would like.


#3

Are you running it on a VM?


#4

I’m running it on kubuntu 16.04, it’s my 2nd OS on notebook.


#5

Thank you for fast response, I’ll try it later and write about result.


#6

I fixed my gazebo - “source /usr/share/gazebo/setup.sh”

But gazebo still dont launch when I use launch_flytSim, switching to PX4 don’t helps me.
What I need to do?


#7

Can you please send me the console log?
also, attach your /etc/bash.bashrc and $HOME/.bashrc files.


#8

https://drive.google.com/open?id=0B8SobrJVBQprYnkwalQ1R0FxNDA


#9

Hi,

Well the log suggests that you have configured FlytSim to run in headless mode (without GUI).

Can you go to this tab and send me the screenshot?

Also, it would be great if you could attach the content of this file: /flyt/flytos/flytcore/share/core_api/scripts/flytsim.cfg


#10

Thank you for help! Everything is work now, I just forgot about GUI switch.


#11

Great!! Good to hear. Closing this issue now.


#12