使用PX4 toolchain 启动时遇到 [param] parameter file not found无法输出位置信息

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最新推荐文章于 2025-04-02 17:20:44 发布

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分类专栏：笔记文章标签：自动驾驶 ubuntu

本文链接：https://blog.csdn.net/weixin_43467769/article/details/120579271

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报错提示：

started roslaunch server http://ubuntu:42099/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /rosdistro: melodic
 * /rosversion: 1.14.12
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    sitl (px4/px4)
    vehicle_spawn_ubuntu_9995_6339083240464183785 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [10005]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0022be8a-2298-11ec-9464-7c67a2c3da57
process[rosout-1]: started with pid [10016]
started core service [/rosout]
process[sitl-2]: started with pid [10023]
INFO  [px4] Creating symlink /home/horton/PX4_Toolchain/PX4-v11/ROMFS/px4fmu_common -> /home/horton/.ros/etc

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [10037]
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
process[gazebo_gui-4]: started with pid [10050]
  SYS_AUTOCONFIG: curr: 0 -> new: 1
process[vehicle_spawn_ubuntu_9995_6339083240464183785-5]: started with pid [10063]
* SYS_AUTOSTART: curr: 0 -> new: 10016
  BAT_N_CELLS: curr: 0 -> new: 4
  CAL_ACC0_ID: curr: 0 -> new: 1311244
  CAL_ACC_PRIME: curr: 0 -> new: 1311244
  CAL_GYRO0_ID: curr: 0 -> new: 1311244
  CAL_GYRO_PRIME: curr: 0 -> new: 1311244
  CAL_MAG0_ID: curr: 0 -> new: 197388
  CAL_MAG_PRIME: curr: 0 -> new: 197388
  CBRK_SUPPLY_CHK: curr: 0 -> new: 894281
  COM_RC_IN_MODE: curr: 0 -> new: 1
  EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
  EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
  COM_ARM_EKF_AB: curr: 0.0022 -> new: 0.0050
  EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
  MC_PITCH_P: curr: 6.5000 -> new: 6.0000
  MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
  MC_ROLL_P: curr: 6.5000 -> new: 6.0000
  MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
  MPC_Z_VEL_P_ACC: curr: 4.0000 -> new: 12.0000
  MPC_Z_VEL_I_ACC: curr: 2.0000 -> new: 3.0000
  MPC_XY_P: curr: 0.9500 -> new: 0.8000
  MPC_XY_VEL_P_ACC: curr: 1.8000 -> new: 4.0000
  MPC_XY_VEL_D_ACC: curr: 0.2000 -> new: 0.3200
  RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
  SDLOG_MODE: curr: 0 -> new: 1
  SDLOG_PROFILE: curr: 1 -> new: 131
  SDLOG_DIRS_MAX: curr: 0 -> new: 7
  SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
  SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
  TRIG_INTERFACE: curr: 4 -> new: 3
  COM_CPU_MAX: curr: 90.0000 -> new: -1.0000
  IMU_INTEG_RATE: curr: 200 -> new: 250
  NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
  RTL_DESCEND_ALT: curr: 30.0000 -> new: 10.0000
  RTL_LAND_DELAY: curr: -1.0000 -> new: 0.0000
  PWM_MAX: curr: 2000 -> new: 1950
  PWM_MIN: curr: 1000 -> new: 1075
  GPS_UBX_DYNMODEL: curr: 7 -> new: 6
* SYS_AUTOCONFIG: curr: 1 -> new: 0
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1633079678.306839823]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1633079678.308193052]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1633079678.354510137]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1633079678.355860205]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1633079678.708472, 0.000000]: Loading model XML from file /home/horton/PX4_Toolchain/PX4-v11/Tools/sitl_gazebo/models/iris/iris.sdf
[INFO] [1633079678.714672, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1633079679.201913424, 0.012000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1633079679.248229797, 0.056000000]: Physics dynamic reconfigure ready.
[INFO] [1633079679.323309, 0.128000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1633079679.460130, 0.172000]: Spawn status: SpawnModel: Successfully spawned entity
[vehicle_spawn_ubuntu_9995_6339083240464183785-5] process has finished cleanly
log file: /home/horton/.ros/log/0022be8a-2298-11ec-9464-7c67a2c3da57/vehicle_spawn_ubuntu_9995_6339083240464183785-5*.log

这里的 parameter file not found应该是正常情况，他会自己解决，问题大概率在环境变量没有写好，需要检查路径



source ~/catkin_ws/devel/setup.bash    # (optional)
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo

这里的 $(pwd) 应该是firmware的根目录

可以分析一下setup.bash的代码,

if [ "$#" != 2 ]; then
    echo -e "usage: source setup_gazebo.bash src_dir build_dir\n"
    return 1
fi

SRC_DIR=$1
BUILD_DIR=$2

# setup Gazebo env and update package path
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/sitl_gazebo/models
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo

echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"
echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"