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takeoff crash by sitl_trajectory_track_lamniscate.launch #242

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mengchaoheng opened this issue Jul 19, 2024 · 1 comment
Open

takeoff crash by sitl_trajectory_track_lamniscate.launch #242

mengchaoheng opened this issue Jul 19, 2024 · 1 comment

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@mengchaoheng
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When I run:

roslaunch geometric_controller sitl_trajectory_track_lamniscate.launch

The multi-rotor drone hadn't taken off yet, but the trajectory set points had already been released, causing it to crash after it was unlocked because it couldn't keep up with the set points.
截屏2024-07-19 12 38 04

why not add a takeoff step before publish setpoint to track? @Jaeyoung-Lim

auto-starting new master
process[master]: started with pid [2428343]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3c6438ea-4588-11ef-b09b-bffd8e3ea195
process[rosout-1]: started with pid [2428358]
started core service [/rosout]
process[geometric_controller-2]: started with pid [2428366]
process[trajectory_publisher-3]: started with pid [2428367]
process[rqt_reconfigure-4]: started with pid [2428368]
process[mavros-5]: started with pid [2428378]
[ INFO] [1721363690.933555598]: Reconfigure request : max_acc = 8.00 
[ INFO] [1721363690.980214189]: FCU URL: udp://:[email protected]:14557
[ INFO] [1721363690.982022158]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1721363690.982082200]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1721363690.982238742]: GCS URL: udp://:[email protected]:14557
[ INFO] [1721363690.982317243]: udp1: Bind address: 0.0.0.0:14550
[ INFO] [1721363690.982385660]: udp1: Remote address: 192.168.3.164:14557
[ INFO] [1721363690.992154464]: Plugin 3dr_radio loaded
[ INFO] [1721363690.993265678]: Plugin 3dr_radio initialized
[ INFO] [1721363690.993337678]: Plugin actuator_control loaded
[ INFO] [1721363690.994797895]: Plugin actuator_control initialized
process[sitl-6]: started with pid [2428390]
[ INFO] [1721363691.000346384]: Plugin adsb loaded

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

px4 starting.

INFO  [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
[ INFO] [1721363691.002087018]: Plugin adsb initialized
[ INFO] [1721363691.002219186]: Plugin altitude loaded
[ INFO] [1721363691.002693730]: Plugin altitude initialized
[ INFO] [1721363691.002758064]: Plugin cam_imu_sync loaded
[ INFO] [1721363691.003017399]: Plugin cam_imu_sync initialized
[ INFO] [1721363691.003114524]: Plugin camera loaded
[ INFO] [1721363691.003447568]: Plugin camera initialized
[ INFO] [1721363691.003546985]: Plugin cellular_status loaded
process[gazebo-7]: started with pid [2428401]
[ INFO] [1721363691.004662699]: Plugin cellular_status initialized
[ INFO] [1721363691.004814408]: Plugin command loaded
INFO  [init] found model autostart file as SYS_AUTOSTART=10016
INFO  [param] selected parameter default file parameters.bson
INFO  [param] importing from 'parameters.bson'
INFO  [parameters] BSON document size 316 bytes, decoded 316 bytes (INT32:13, FLOAT:3)
process[gazebo_gui-8]: started with pid [2428414]
[ INFO] [1721363691.008766347]: Plugin command initialized
[ INFO] [1721363691.008885014]: Plugin companion_process_status loaded
INFO  [param] selected parameter backup file parameters_backup.bson
[ INFO] [1721363691.009759977]: Plugin companion_process_status initialized
[ INFO] [1721363691.009975895]: Plugin debug_value loaded
[ INFO] [1721363691.011594988]: Plugin debug_value initialized
[ INFO] [1721363691.011652655]: Plugin distance_sensor blacklisted
[ INFO] [1721363691.011760613]: Plugin esc_status loaded
[ INFO] [1721363691.012296033]: Plugin esc_status initialized
[ INFO] [1721363691.012514409]: Plugin esc_telemetry loaded
[ INFO] [1721363691.012908911]: Plugin esc_telemetry initialized
[ INFO] [1721363691.013024370]: Plugin fake_gps loaded
[ INFO] [1721363691.016635599]: Plugin fake_gps initialized
[ INFO] [1721363691.016805641]: Plugin ftp loaded
[ INFO] [1721363691.020173285]: Plugin ftp initialized
[ INFO] [1721363691.020423828]: Plugin geofence loaded
process[vehicle_spawn_ubuntu_linux_20_04_desktop_2428335_8653042280463785548-9]: started with pid [2428425]
[ INFO] [1721363691.024032806]: Plugin geofence initialized
[ INFO] [1721363691.024185974]: Plugin global_position loaded
[ INFO] [1721363691.029465628]: Plugin global_position initialized
[ INFO] [1721363691.029661504]: Plugin gps_input loaded
[ INFO] [1721363691.030611134]: Plugin gps_input initialized
[ INFO] [1721363691.030705135]: Plugin gps_rtk loaded
[ INFO] [1721363691.031957183]: Plugin gps_rtk initialized
[ INFO] [1721363691.032104726]: Plugin gps_status loaded
[ INFO] [1721363691.032981314]: Plugin gps_status initialized
[ INFO] [1721363691.033088565]: Plugin guided_target loaded
[ INFO] [1721363691.034437197]: Plugin guided_target initialized
[ INFO] [1721363691.034582698]: Plugin hil loaded
[ INFO] [1721363691.038454344]: Plugin hil initialized
[ INFO] [1721363691.038626762]: Plugin home_position loaded
[ INFO] [1721363691.040526689]: Plugin home_position initialized
[ INFO] [1721363691.040772107]: Plugin imu loaded
process[rviz-10]: started with pid [2428448]
[ INFO] [1721363691.043458247]: Plugin imu initialized
[ INFO] [1721363691.043621998]: Plugin landing_target loaded
[ INFO] [1721363691.047126475]: Plugin landing_target initialized
[ INFO] [1721363691.047250768]: Plugin local_position loaded
[ INFO] [1721363691.049313529]: Plugin local_position initialized
[ INFO] [1721363691.049409946]: Plugin log_transfer loaded
[ INFO] [1721363691.050847663]: Plugin log_transfer initialized
[ INFO] [1721363691.051128706]: Plugin mag_calibration_status loaded
[ INFO] [1721363691.051647000]: Plugin mag_calibration_status initialized
[ INFO] [1721363691.051758918]: Plugin manual_control loaded
[ INFO] [1721363691.052827215]: Plugin manual_control initialized
[ INFO] [1721363691.053563011]: Plugin mocap_pose_estimate loaded
[ INFO] [1721363691.055188812]: Plugin mocap_pose_estimate initialized
[ INFO] [1721363691.055272687]: Plugin mount_control loaded
[ WARN] [1721363691.057023447]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1721363691.057207573]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1721363691.057328073]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1721363691.057685992]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1721363691.057831576]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1721363691.057923410]: Plugin mount_control initialized
[ INFO] [1721363691.058063619]: Plugin nav_controller_output loaded
[ INFO] [1721363691.058405246]: Plugin nav_controller_output initialized
[ INFO] [1721363691.058490580]: Plugin obstacle_distance loaded
[ INFO] [1721363691.059259626]: Plugin obstacle_distance initialized
[ INFO] [1721363691.059339751]: Plugin odom loaded
[ INFO] [1721363691.060601758]: Plugin odom initialized
[ INFO] [1721363691.060698800]: Plugin onboard_computer_status loaded
[ INFO] [1721363691.061429721]: Plugin onboard_computer_status initialized
[ INFO] [1721363691.061586639]: Plugin param loaded
[ INFO] [1721363691.063230314]: Plugin param initialized
[ INFO] [1721363691.063391898]: Plugin play_tune loaded
[ INFO] [1721363691.064163278]: Plugin play_tune initialized
[ INFO] [1721363691.064262195]: Plugin px4flow loaded
[ INFO] [1721363691.066521791]: Plugin px4flow initialized
[ INFO] [1721363691.066666917]: Plugin rallypoint loaded
[ INFO] [1721363691.067584922]: Plugin rallypoint initialized
[ INFO] [1721363691.067632964]: Plugin rangefinder blacklisted
[ INFO] [1721363691.067758881]: Plugin rc_io loaded
[ INFO] [1721363691.068832387]: Plugin rc_io initialized
[ INFO] [1721363691.068872220]: Plugin safety_area blacklisted
[ INFO] [1721363691.068954554]: Plugin setpoint_accel loaded
[ INFO] [1721363691.069760684]: Plugin setpoint_accel initialized
[ INFO] [1721363691.069919435]: Plugin setpoint_attitude loaded
[ INFO] [1721363691.073685497]: Plugin setpoint_attitude initialized
[ INFO] [1721363691.074045541]: Plugin setpoint_position loaded
[ INFO] [1721363691.079698613]: Plugin setpoint_position initialized
[ INFO] [1721363691.079872114]: Plugin setpoint_raw loaded
[ INFO] [1721363691.082891714]: Plugin setpoint_raw initialized
[ INFO] [1721363691.083016048]: Plugin setpoint_trajectory loaded
[ INFO] [1721363691.086221733]: Plugin setpoint_trajectory initialized
[ INFO] [1721363691.086328442]: Plugin setpoint_velocity loaded
[ INFO] [1721363691.088702788]: Plugin setpoint_velocity initialized
[ INFO] [1721363691.089269041]: Plugin sys_status loaded
[ INFO] [1721363691.093249897]: Plugin sys_status initialized
[ INFO] [1721363691.093360022]: Plugin sys_time loaded
[ INFO] [1721363691.094906781]: TM: Timesync mode: MAVLINK
[ INFO] [1721363691.095038365]: TM: Not publishing sim time
[ INFO] [1721363691.095500701]: Plugin sys_time initialized
[ INFO] [1721363691.095579951]: Plugin terrain loaded
[ INFO] [1721363691.095891911]: Plugin terrain initialized
[ INFO] [1721363691.095956120]: Plugin trajectory loaded
[ INFO] [1721363691.098168174]: Plugin trajectory initialized
[ INFO] [1721363691.098293633]: Plugin tunnel loaded
[ INFO] [1721363691.099557181]: Plugin tunnel initialized
[ INFO] [1721363691.099669265]: Plugin vfr_hud loaded
[ INFO] [1721363691.100108559]: Plugin vfr_hud initialized
[ INFO] [1721363691.100134518]: Plugin vibration blacklisted
[ INFO] [1721363691.100203560]: Plugin vision_pose_estimate loaded
[ INFO] [1721363691.102768033]: Plugin vision_pose_estimate initialized
[ INFO] [1721363691.102911117]: Plugin vision_speed_estimate loaded
INFO  [dataman] data manager file './dataman' size is 7866640 bytes
[ INFO] [1721363691.103995289]: Plugin vision_speed_estimate initialized
[ INFO] [1721363691.104106207]: Plugin waypoint loaded
[ INFO] [1721363691.105892050]: Plugin waypoint initialized
[ INFO] [1721363691.105958717]: Plugin wheel_odometry blacklisted
[ INFO] [1721363691.106050967]: Plugin wind_estimation loaded
[ INFO] [1721363691.106373511]: Plugin wind_estimation initialized
[ INFO] [1721363691.106580887]: Built-in SIMD instructions: ARM NEON
[ INFO] [1721363691.106613970]: Built-in MAVLink package version: 2022.12.30
[ INFO] [1721363691.106644637]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1721363691.106673971]: MAVROS started. MY ID 1.240, TARGET ID 1.1
etc/init.d-posix/rcS: 39: [: Illegal number: 
INFO  [init] PX4_SIM_HOSTNAME: localhost
INFO  [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
[INFO] [1721363691.301321, 0.000000]: Loading model XML from file /home/parallels/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf
[INFO] [1721363691.303324, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1721363691.578783535]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1721363691.580293419]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1721363691.641742925]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1721363691.644417898]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1721363691.929471180, 0.004000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1721363691.937626975, 0.012000000]: Physics dynamic reconfigure ready.
[ INFO] [1721363692.133155429, 0.204000000]: Waiting for home pose...
[INFO] [1721363692.208025, 0.276000]: Calling service /gazebo/spawn_sdf_model
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[INFO] [1721363692.360626, 0.384000]: Spawn status: SpawnModel: Successfully spawned entity
INFO  [simulator_mavlink] Simulator connected on TCP port 4560.
INFO  [lockstep_scheduler] setting initial absolute time to 396000 us
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
[ INFO] [1721363692.685541562, 0.564000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1721363692.685834438, 0.564000000]: IMU: High resolution IMU detected!
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO  [mavlink] partner IP: 127.0.0.1
INFO  [logger] logger started (mode=all)
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_ev_yaw 4
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_ev_yaw 5
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_hgt 0
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_hgt 1
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_hgt 2
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_hgt 3
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_hgt 4
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_hgt 5
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_pos 0
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_pos 1
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_pos 2
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_pos 3
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_pos 4
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_pos 5
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_vel 0
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_vel 1
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_vel 2
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_vel 3
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_vel 4
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_vel 5
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_yaw 0
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_yaw 1
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_yaw 2
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_yaw 3
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_yaw 4
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_gnss_yaw 5
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_mag_heading 0
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_mag_heading 1
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_mag_heading 2
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_mag_heading 3
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_mag_heading 4
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_mag_heading 5
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_mag 0
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_mag 1
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_mag 2
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_mag 3
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_mag 4
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_mag 5
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_optical_flow 0
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_optical_flow 1
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_optical_flow 2
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_optical_flow 3
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_optical_flow 4
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_optical_flow 5
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_terrain_optical_flow 0
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_terrain_optical_flow 1
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_terrain_optical_flow 2
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_terrain_optical_flow 3
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_terrain_optical_flow 4
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_terrain_optical_flow 5
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_sideslip 0
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_sideslip 1
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_sideslip 2
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_sideslip 3
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_sideslip 4
WARN  [logger] Too many subscriptions, failed to add: estimator_aid_src_sideslip 5
WARN  [logger] Too many subscriptions, failed to add: ekf2_timestamps 0
WARN  [logger] Too many subscriptions, failed to add: vehicle_visual_odometry 0
WARN  [logger] Too many subscriptions, failed to add: distance_sensor 2
WARN  [logger] Too many subscriptions, failed to add: distance_sensor 3
WARN  [logger] Too many subscriptions, failed to add: distance_sensor 4
WARN  [logger] Too many subscriptions, failed to add: distance_sensor 5
WARN  [logger] Too many subscriptions, failed to add: distance_sensor 6
WARN  [logger] Too many subscriptions, failed to add: distance_sensor 7
WARN  [logger] Too many subscriptions, failed to add: distance_sensor 8
WARN  [logger] Too many subscriptions, failed to add: distance_sensor 9
WARN  [logger] Too many subscriptions, failed to add: collision_constraints 0
WARN  [logger] Too many subscriptions, failed to add: obstacle_distance_fused 0
WARN  [logger] Too many subscriptions, failed to add: vehicle_mocap_odometry 0
WARN  [logger] Too many subscriptions, failed to add: vehicle_trajectory_waypoint 0
WARN  [logger] Too many subscriptions, failed to add: vehicle_trajectory_waypoint_desired 0
WARN  [logger] Too many subscriptions, failed to add: vehicle_visual_odometry 0
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2024-07-19/04_34_52.ulg	
INFO  [logger] Opened full log file: ./log/2024-07-19/04_34_52.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh> INFO  [tone_alarm] home set
[vehicle_spawn_ubuntu_linux_20_04_desktop_2428335_8653042280463785548-9] process has finished cleanly
log file: /home/parallels/.ros/log/3c6438ea-4588-11ef-b09b-bffd8e3ea195/vehicle_spawn_ubuntu_linux_20_04_desktop_2428335_8653042280463785548-9*.log
INFO  [tone_alarm] notify negative
[ INFO] [1721363693.323902961, 1.204000000]: Home pose initialized to: position: 
  x: 0.0663309
  y: -0.0279599
  z: 0.188358
orientation: 
  x: 0
  y: 0
  z: 0
  w: 1

[ INFO] [1721363693.664084797, 1.544000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1721363693.665311012, 1.544000000]: IMU: High resolution IMU detected!
[ INFO] [1721363693.823386468, 1.704000000]: Got pose! Drone Ready to be armed.
[ INFO] [1721363694.572760105, 2.452000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1721363694.670996064, 2.540000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1721363694.671045523, 2.540000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1721363694.671064523, 2.540000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1721363694.671081564, 2.540000000]: VER: 1.1: Capabilities         0x000000000000ecff
[ INFO] [1721363694.671115940, 2.540000000]: VER: 1.1: Flight software:     010e0080 (18898f1876000000)
[ INFO] [1721363694.671130398, 2.540000000]: VER: 1.1: Middleware software: 010e0080 (18898f1876000000)
[ INFO] [1721363694.671143065, 2.540000000]: VER: 1.1: OS software:         050f00ff (3f77354c0dc88793)
[ INFO] [1721363694.671169523, 2.540000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1721363694.671189648, 2.540000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1721363694.671217024, 2.540000000]: VER: 1.1: UID:                 4954414c44494e4f
ERROR [flight_mode_manager] Failsafe task activated
[ INFO] [1721363698.130148910, 6.000000000]: Offboard enabled
INFO  [commander] Ready for takeoff!
INFO  [commander] Armed by external command	
INFO  [tone_alarm] arming warning
[ INFO] [1721363704.147731046, 12.016000000]: Vehicle armed
INFO  [commander] Takeoff detected	
[ INFO] [1721363708.689090241, 16.544000000]: RP: mission received
[ INFO] [1721363708.689310409, 16.544000000]: GF: mission received
[ INFO] [1721363708.689399868, 16.544000000]: WP: mission received
INFO  [commander] Landing detected	
INFO  [commander] Disarmed by landing	
INFO  [tone_alarm] notify neutral
WARN  [health_and_arming_checks] Preflight Fail: height estimate not stable
INFO  [tone_alarm] notify negative
INFO  [logger] closed logfile, bytes written: 8771590
WARN  [health_and_arming_checks] Preflight Fail: height estimate not stable
WARN  [ekf2] primary EKF changed 0 (filter fault) -> 3
INFO  [commander] Armed by external command	
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2024-07-19/04_35_40.ulg	
INFO  [tone_alarm] arming warning
INFO  [logger] Opened full log file: ./log/2024-07-19/04_35_40.ulg
[ INFO] [1721363741.164820604, 49.012000000]: Vehicle armed
[ERROR] [1721363743.195770733, 51.040000000]: TM : Time jump detected. Resetting time synchroniser.
[rviz-10] killing on exit
[gazebo_gui-8] killing on exit
[gazebo-7] killing on exit
[mavros-5] killing on exit
[sitl-6] killing on exit
[geometric_controller-2] killing on exit
[trajectory_publisher-3] killing on exit
[rqt_reconfigure-4] killing on exit

PX4 Exiting...
pxh> Exiting NOW.
[gazebo_gui-8] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
@Jaeyoung-Lim
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@mengchaoheng Contributions are welcome 😄

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@Jaeyoung-Lim @mengchaoheng