PX4 with velodyne-vlp16

[kashifzr]

HI
I am trying velodyne-vlp16 with iris drone in PX4 Autopilot for 3D environment, But i am not unable resolve the issue on shell while run my mavros_posix_sitl.launch file given in PX4. Can you guide me how to add Velodyne-VLP16 on iris. the out put

OS = noetic and Ubuntu 20.04

roslaunch mavros_posix_sitl.launch vehicle:=velodyne_vlp16
... logging to /home/rob-kkj/.ros/log/8f2c7834-52e6-11ee-aeeb-03152963aacc/roslaunch-robkkj-System-Product-Name-19042.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://robkkj-System-Product-Name:34331/

SUMMARY

CLEAR PARAMETERS

• /mavros/

PARAMETERS

• /gazebo/enable_ros_network: True
• /mavros/camera/frame_id: base_link
• /mavros/cmd/use_comp_id_system_control: False
• /mavros/conn/heartbeat_rate: 1.0
• /mavros/conn/system_time_rate: 1.0
• /mavros/conn/timeout: 10.0
• /mavros/conn/timesync_rate: 10.0
• /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
• /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
• /mavros/distance_sensor/hrlv_ez4_pub/id: 0
• /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
• /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
• /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
• /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
• /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
• /mavros/distance_sensor/laser_1_sub/id: 3
• /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
• /mavros/distance_sensor/laser_1_sub/subscriber: True
• /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
• /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
• /mavros/distance_sensor/lidarlite_pub/id: 1
• /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
• /mavros/distance_sensor/lidarlite_pub/send_tf: True
• /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
• /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
• /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
• /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
• /mavros/distance_sensor/sonar_1_sub/id: 2
• /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
• /mavros/distance_sensor/sonar_1_sub/subscriber: True
• /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
• /mavros/fake_gps/eph: 2.0
• /mavros/fake_gps/epv: 2.0
• /mavros/fake_gps/fix_type: 3
• /mavros/fake_gps/geo_origin/alt: 408.0
• /mavros/fake_gps/geo_origin/lat: 47.3667
• /mavros/fake_gps/geo_origin/lon: 8.55
• /mavros/fake_gps/gps_rate: 5.0
• /mavros/fake_gps/mocap_transform: True
• /mavros/fake_gps/satellites_visible: 5
• /mavros/fake_gps/tf/child_frame_id: fix
• /mavros/fake_gps/tf/frame_id: map
• /mavros/fake_gps/tf/listen: False
• /mavros/fake_gps/tf/rate_limit: 10.0
• /mavros/fake_gps/tf/send: False
• /mavros/fake_gps/use_mocap: True
• /mavros/fake_gps/use_vision: False
• /mavros/fcu_protocol: v2.0
• /mavros/fcu_url: udp://:14540@loca...
• /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/mount/debounce_s: 4.0
• /mavros/mount/err_threshold_deg: 10.0
• /mavros/mount/negate_measured_pitch: False
• /mavros/mount/negate_measured_roll: False
• /mavros/mount/negate_measured_yaw: False
• /mavros/odometry/fcu/odom_child_id_des: base_link
• /mavros/odometry/fcu/odom_parent_id_des: map
• /mavros/plugin_blacklist: ['safety_area', '...
• /mavros/plugin_whitelist: []
• /mavros/px4flow/frame_id: px4flow
• /mavros/px4flow/ranger_fov: 0.118682
• /mavros/px4flow/ranger_max_range: 5.0
• /mavros/px4flow/ranger_min_range: 0.3
• /mavros/safety_area/p1/x: 1.0
• /mavros/safety_area/p1/y: 1.0
• /mavros/safety_area/p1/z: 1.0
• /mavros/safety_area/p2/x: -1.0
• /mavros/safety_area/p2/y: -1.0
• /mavros/safety_area/p2/z: -1.0
• /mavros/setpoint_accel/send_force: False
• /mavros/setpoint_attitude/reverse_thrust: False
• /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
• /mavros/setpoint_attitude/tf/frame_id: map
• /mavros/setpoint_attitude/tf/listen: False
• /mavros/setpoint_attitude/tf/rate_limit: 50.0
• /mavros/setpoint_attitude/use_quaternion: False
• /mavros/setpoint_position/mav_frame: LOCAL_NED
• /mavros/setpoint_position/tf/child_frame_id: target_position
• /mavros/setpoint_position/tf/frame_id: map
• /mavros/setpoint_position/tf/listen: False
• /mavros/setpoint_position/tf/rate_limit: 50.0
• /mavros/setpoint_raw/thrust_scaling: 1.0
• /mavros/setpoint_velocity/mav_frame: LOCAL_NED
• /mavros/startup_px4_usb_quirk: 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: odom
• /mavros/vision_pose/tf/listen: False
• /mavros/vision_pose/tf/rate_limit: 10.0
• /mavros/vision_speed/listen_twist: True
• /mavros/vision_speed/twist_cov: True
• /mavros/wheel_odometry/child_frame_id: base_link
• /mavros/wheel_odometry/count: 2
• /mavros/wheel_odometry/frame_id: odom
• /mavros/wheel_odometry/send_raw: True
• /mavros/wheel_odometry/send_twist: False
• /mavros/wheel_odometry/tf/child_frame_id: base_link
• /mavros/wheel_odometry/tf/frame_id: odom
• /mavros/wheel_odometry/tf/send: False
• /mavros/wheel_odometry/use_rpm: False
• /mavros/wheel_odometry/vel_error: 0.1
• /mavros/wheel_odometry/wheel0/radius: 0.05
• /mavros/wheel_odometry/wheel0/x: 0.0
• /mavros/wheel_odometry/wheel0/y: -0.15
• /mavros/wheel_odometry/wheel1/radius: 0.05
• /mavros/wheel_odometry/wheel1/x: 0.0
• /mavros/wheel_odometry/wheel1/y: 0.15
• /rosdistro: noetic
• /rosversion: 1.16.0
• /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
sitl (px4/px4)
vehicle_spawn_robkkj_System_Product_Name_19042_4356956176121904559 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [19065]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8f2c7834-52e6-11ee-aeeb-03152963aacc
process[rosout-1]: started with pid [19096]
started core service [/rosout]
process[sitl-2]: started with pid [19104]

---

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

px4 starting.

INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [19115]
ERROR [init] Unknown model gazebo-classic_velodyne_vlp16 (not found by name on /home/rob-kkj/.ros/etc/init.d-posix/airframes)
ERROR [px4] Startup script returned with return value: 256
process[gazebo_gui-4]: started with pid [19124]
process[vehicle_spawn_robkkj_System_Product_Name_19042_4356956176121904559-5]: started with pid [19130]
process[mavros-6]: started with pid [19131]
================================================================================REQUIRED process [sitl-2] has died!
process has died [pid 19104, exit code 255, cmd /home/rob-kkj/home/PX4/Firmware/build/px4_sitl_default/bin/px4 /home/rob-kkj/home/PX4/Firmware/build/px4_sitl_default/etc -s etc/init.d-posix/rcS __name:=sitl __log:=/home/rob-kkj/.ros/log/8f2c7834-52e6-11ee-aeeb-03152963aacc/sitl-2.log].
log file: /home/rob-kkj/.ros/log/8f2c7834-52e6-11ee-aeeb-03152963aacc/sitl-2*.log
Initiating shutdown!

[ INFO] [1694686069.924101894]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1694686069.925828657]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1694686069.925896403]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1694686069.925939705]: GCS bridge disabled
[ INFO] [1694686069.932532191]: Plugin 3dr_radio loaded
[ INFO] [1694686069.933471839]: Plugin 3dr_radio initialized
[ INFO] [1694686069.933538189]: Plugin actuator_control loaded
[ INFO] [1694686069.934951992]: Plugin actuator_control initialized
[ INFO] [1694686069.937796080]: Plugin adsb loaded
[ INFO] [1694686069.939256537]: Plugin adsb initialized
[ INFO] [1694686069.939342442]: Plugin altitude loaded
[ INFO] [1694686069.939805422]: Plugin altitude initialized
[ INFO] [1694686069.939885600]: Plugin cam_imu_sync loaded
[ INFO] [1694686069.940179913]: Plugin cam_imu_sync initialized
[ INFO] [1694686069.940244237]: Plugin camera loaded
[ INFO] [1694686069.940530936]: Plugin camera initialized
[ INFO] [1694686069.940596937]: Plugin cellular_status loaded
[ INFO] [1694686069.941739265]: Plugin cellular_status initialized
[ INFO] [1694686069.941816021]: Plugin command loaded
[ INFO] [1694686069.944775418]: Plugin command initialized
[ INFO] [1694686069.944841488]: Plugin companion_process_status loaded
[ INFO] [1694686069.945975646]: Plugin companion_process_status initialized
[ INFO] [1694686069.946040039]: Plugin debug_value loaded
[ INFO] [1694686069.948397472]: Plugin debug_value initialized
[ INFO] [1694686069.948421497]: Plugin distance_sensor blacklisted
[ INFO] [1694686069.948478628]: Plugin esc_status loaded
[ INFO] [1694686069.949013475]: Plugin esc_status initialized
[ INFO] [1694686069.949074516]: Plugin esc_telemetry loaded
[ INFO] [1694686069.949363870]: Plugin esc_telemetry initialized
[ INFO] [1694686069.949431546]: Plugin fake_gps loaded
[ INFO] [1694686069.956866181]: Plugin fake_gps initialized
[ INFO] [1694686069.956981979]: Plugin ftp loaded
[ INFO] [1694686069.972316604]: Plugin ftp initialized
[ INFO] [1694686069.972437779]: Plugin geofence loaded
[ INFO] [1694686069.974035894]: Plugin geofence initialized
[ INFO] [1694686069.974129551]: Plugin global_position loaded
[ INFO] [1694686069.981790613]: Plugin global_position initialized
[ INFO] [1694686069.981884061]: Plugin gps_input loaded
[ INFO] [1694686069.983250371]: Plugin gps_input initialized
[ INFO] [1694686069.983326778]: Plugin gps_rtk loaded
[ INFO] [1694686069.984838499]: Plugin gps_rtk initialized
[ INFO] [1694686069.984914766]: Plugin gps_status loaded
[ INFO] [1694686069.986151660]: Plugin gps_status initialized
[ INFO] [1694686069.986234772]: Plugin guided_target loaded
[ INFO] [1694686069.988051141]: Plugin guided_target initialized
[ INFO] [1694686069.988109599]: Plugin hil loaded
[mavros-6] killing on exit
[vehicle_spawn_robkkj_System_Product_Name_19042_4356956176121904559-5] killing on exit
Traceback (most recent call last):
File "/opt/ros/noetic/lib/gazebo_ros/spawn_model", line 20, in
import rospy
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/init.py", line 49, in
from .client import spin, myargv, init_node,
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 41, in
import socket
File "/usr/lib/python3.8/socket.py", line 49, in
[gazebo_gui-4] killing on exit
[gazebo-3] killing on exit
[sitl-2] killing on exit
import _socket
File "", line 991, in _find_and_load
File "", line 971, in _find_and_load_unlocked
KeyboardInterrupt
[ INFO] [1694686069.992594266]: Plugin hil initialized
[ INFO] [1694686069.992665714]: Plugin home_position loaded
[ INFO] [1694686069.993882074]: Plugin home_position initialized
[ INFO] [1694686069.993933198]: Plugin imu loaded
[ INFO] [1694686069.996448263]: Plugin imu initialized
[ INFO] [1694686069.996493521]: Plugin landing_target loaded
[ INFO] [1694686070.001373281]: Plugin landing_target initialized
[ INFO] [1694686070.001440609]: Plugin local_position loaded
[ INFO] [1694686070.003791127]: Plugin local_position initialized
[ INFO] [1694686070.003854543]: Plugin log_transfer loaded
[ INFO] [1694686070.004948611]: Plugin log_transfer initialized
[ INFO] [1694686070.004993659]: Plugin mag_calibration_status loaded
[ INFO] [1694686070.005362632]: Plugin mag_calibration_status initialized
[ INFO] [1694686070.005412289]: Plugin manual_control loaded
[ INFO] [1694686070.006398103]: Plugin manual_control initialized
[ INFO] [1694686070.006453417]: Plugin mocap_pose_estimate loaded
[ INFO] [1694686070.007735080]: Plugin mocap_pose_estimate initialized
[ INFO] [1694686070.007778591]: Plugin mount_control loaded
[ WARN] [1694686070.009685266]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1694686070.009835216]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1694686070.009978601]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1694686070.010492076]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1694686070.010629385]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1694686070.010651664]: Plugin mount_control initialized
[ INFO] [1694686070.010705023]: Plugin nav_controller_output loaded
[ INFO] [1694686070.010944650]: Plugin nav_controller_output initialized
[ INFO] [1694686070.010999475]: Plugin obstacle_distance loaded
[ INFO] [1694686070.011979213]: Plugin obstacle_distance initialized
[ INFO] [1694686070.012023003]: Plugin odom loaded
[ INFO] [1694686070.013505600]: Plugin odom initialized
[ INFO] [1694686070.013554699]: Plugin onboard_computer_status loaded
[ INFO] [1694686070.014375617]: Plugin onboard_computer_status initialized
[ INFO] [1694686070.014424576]: Plugin param loaded
[ INFO] [1694686070.015329443]: Plugin param initialized
[ INFO] [1694686070.015370510]: Plugin play_tune loaded
[ INFO] [1694686070.016199949]: Plugin play_tune initialized
[ INFO] [1694686070.016246603]: Plugin px4flow loaded
[ INFO] [1694686070.018581406]: Plugin px4flow initialized
[ INFO] [1694686070.018634905]: Plugin rallypoint loaded
[ INFO] [1694686070.019607798]: Plugin rallypoint initialized
[ INFO] [1694686070.019621766]: Plugin rangefinder blacklisted
[ INFO] [1694686070.019669329]: Plugin rc_io loaded
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done