hector_quadrotor_demo opens RVIZ & crashes gazebo

Hi, so my goal is to adapt/extend the hector_quadrotor package, but I'm not able to properly start it. I am using kinetic as distro. I will document every step I took, starting with setting up my workspace: I created a folder ~/kinetic_ws and the /src folder and tried to initialize my workspace, i was asked/advised to work with "catkin build" so i thought i shouldnt use catkin_make: 1. [catkin init]( http://catkin-tools.readthedocs.io/en/latest/quick_start.html#initializing-a-new-workspace) > Catkin workspace `/home/carsten` is already initialized.No action taken. WARNING: Source space `/home/carsten/src` does not yet exist 2. [wstool init ](https://personalrobotics.ri.cmu.edu/software/development-environment) didnt work aswell 3. [catkin_make](http://wiki.ros.org/catkin/Tutorials/create_a_workspace) worked, my workspace was as following: > echo $ROS_PACKAGE_PATH /home/carsten/kinetic_ws/src:/opt/ros/kinetic/share Since i shouldn't use catkin_make, i removed devel & build folder :> rm build devel -rf Then I added this to my /src : - git clone https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.git - git clone https://github.com/tu-darmstadt-ros-pkg/hector_localization.git and installed : - sudo apt-get install ros-kinetic-hector-gazebo - sudo apt-get install ros-kinetic-hector-models I had a problem with building, so I googled and found this [link](https://github.com/catkin/catkin_tools/issues/425) then executed > rm -rf ~/.catkin_tools I then could build hector_quadrotor with the following output: catkin build hector_quadrotor ------------------------------------------------------------- Profile: default Extending: [env] /opt/ros/kinetic Workspace: /home/carsten/kinetic_ws ------------------------------------------------------------- Source Space: [exists] /home/carsten/kinetic_ws/src Log Space: [missing] /home/carsten/kinetic_ws/logs Build Space: [exists] /home/carsten/kinetic_ws/build Devel Space: [exists] /home/carsten/kinetic_ws/devel Install Space: [unused] /home/carsten/kinetic_ws/install DESTDIR: [unused] None ------------------------------------------------------------- Devel Space Layout: linked Install Space Layout: None ------------------------------------------------------------- Additional CMake Args: None Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False ------------------------------------------------------------- Whitelisted Packages: None Blacklisted Packages: None ------------------------------------------------------------- Workspace configuration appears valid. NOTE: Forcing CMake to run for each package. ------------------------------------------------------------- [build] Found '17' packages in 0.0 seconds. [build] Updating package table. Starting >>> catkin_tools_prebuild Finished <<< catkin_tools_prebuild [ 2.0 seconds ] Starting >>> hector_quadrotor_description Starting >>> hector_uav_msgs Finished <<< hector_quadrotor_description [ 1.8 seconds ] Finished <<< hector_uav_msgs [ 8.6 seconds ] Starting >>> hector_quadrotor_interface Starting >>> hector_quadrotor_model Finished <<< hector_quadrotor_interface [ 5.1 seconds ] Starting >>> hector_quadrotor_controllers Starting >>> hector_quadrotor_teleop Finished <<< hector_quadrotor_model [ 5.5 seconds ] Finished <<< hector_quadrotor_controllers [ 15.2 seconds ] Finished <<< hector_quadrotor_teleop [ 17.4 seconds ] Starting >>> hector_quadrotor Finished <<< hector_quadrotor [ 2.1 seconds ] [build] Summary: All 8 packages succeeded! [build] Ignored: 10 packages were skipped or are blacklisted. [build] Warnings: None. [build] Abandoned: None. [build] Failed: None. [build] Runtime: 35.6 seconds total. [build] Note: Workspace packages have changed, please re-source setup files to use them. But I was and still am wondering, why 10 packages were skipped. I tried to build hector_localization, giving me the following output: catkin build hector_localization ------------------------------------------------------------- Profile: default Extending: [cached] /opt/ros/kinetic Workspace: /home/carsten/kinetic_ws ------------------------------------------------------------- Source Space: [exists] /home/carsten/kinetic_ws/src Log Space: [exists] /home/carsten/kinetic_ws/logs Build Space: [exists] /home/carsten/kinetic_ws/build Devel Space: [exists] /home/carsten/kinetic_ws/devel Install Space: [unused] /home/carsten/kinetic_ws/install DESTDIR: [unused] None ------------------------------------------------------------- Devel Space Layout: linked Install Space Layout: None ------------------------------------------------------------- Additional CMake Args: None Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False ------------------------------------------------------------- Whitelisted Packages: None Blacklisted Packages: None ------------------------------------------------------------- Workspace configuration appears valid. ------------------------------------------------------------- [build] Found '17' packages in 0.0 seconds. [build] Updating package table. Starting >>> hector_pose_estimation_core Starting >>> message_to_tf _______________________________________________________________________________ Errors << hector_pose_estimation_core:cmake /home/carsten/kinetic_ws/logs/hector_pose_estimation_core/build.cmake.000.log CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package): Could not find a package configuration file provided by "geographic_msgs" with any of the following names: geographic_msgsConfig.cmake geographic_msgs-config.cmake Add the installation prefix of "geographic_msgs" to CMAKE_PREFIX_PATH or set "geographic_msgs_DIR" to a directory containing one of the above files. If "geographic_msgs" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): CMakeLists.txt:7 (find_package) CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "geographic_msgs" with any of the following names: geographic_msgsConfig.cmake geographic_msgs-config.cmake Add the installation prefix of "geographic_msgs" to CMAKE_PREFIX_PATH or set "geographic_msgs_DIR" to a directory containing one of the above files. If "geographic_msgs" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): CMakeLists.txt:7 (find_package) cd /home/carsten/kinetic_ws/build/hector_pose_estimation_core; catkin build --get-env hector_pose_estimation_core | catkin env -si /usr/bin/cmake /home/carsten/kinetic_ws/src/hector_localization/hector_pose_estimation_core --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/carsten/kinetic_ws/devel/.private/hector_pose_estimation_core -DCMAKE_INSTALL_PREFIX=/home/carsten/kinetic_ws/install; cd - ............................................................................... Failed << hector_pose_estimation_core:cmake [ Exited with code 1 ] Failed <<< hector_pose_estimation_core [ 1.7 seconds ] Abandoned <<< hector_pose_estimation [ Unrelated job failed ] Finished <<< message_to_tf [ 6.5 seconds ] [build] Summary: 1 of 3 packages succeeded. [build] Ignored: 14 packages were skipped or are blacklisted. [build] Warnings: None. [build] Abandoned: 1 packages were abandoned. [build] Failed: 1 packages failed. [build] Runtime: 6.6 seconds total. [build] Note: Workspace packages have changed, please re-source setup files to use them. I resourced the workspace and checked my path: ~/kinetic_ws $source devel/setup.bash ~/kinetic_ws $echo $ROS_PACKAGE_PATH /home/carsten/kinetic_ws/src/hector_localization/hector_localization:/home/carsten/kinetic_ws/src/hector_localization/hector_pose_estimation_core:/home/carsten/kinetic_ws/src/hector_localization/hector_pose_estimation:/home/carsten/kinetic_ws/src/hector_quadrotor/hector_quadrotor:/home/carsten/kinetic_ws/src/hector_quadrotor/hector_quadrotor_description:/home/carsten/kinetic_ws/src/hector_quadrotor/hector_uav_msgs:/home/carsten/kinetic_ws/src/hector_quadrotor/hector_quadrotor_interface:/home/carsten/kinetic_ws/src/hector_quadrotor/hector_quadrotor_controllers:/home/carsten/kinetic_ws/src/hector_quadrotor/hector_quadrotor_model:/home/carsten/kinetic_ws/src/hector_quadrotor/hector_quadrotor_teleop:/home/carsten/kinetic_ws/src/hector_localization/message_to_tf:/opt/ros/kinetic/share Which looks kind of confusing to me, did building those packages just extend my workspace? Anyways, I googled and found the solution, so I installed > sudo apt-get install ros-kinetic-geographic-msgs then I built it again. catkin build hector_localization ------------------------------------------------------------- Profile: default Extending: [cached] /opt/ros/kinetic Workspace: /home/carsten/kinetic_ws ------------------------------------------------------------- Source Space: [exists] /home/carsten/kinetic_ws/src Log Space: [exists] /home/carsten/kinetic_ws/logs Build Space: [exists] /home/carsten/kinetic_ws/build Devel Space: [exists] /home/carsten/kinetic_ws/devel Install Space: [unused] /home/carsten/kinetic_ws/install DESTDIR: [unused] None ------------------------------------------------------------- Devel Space Layout: linked Install Space Layout: None ------------------------------------------------------------- Additional CMake Args: None Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False ------------------------------------------------------------- Whitelisted Packages: None Blacklisted Packages: None ------------------------------------------------------------- Workspace configuration appears valid. ------------------------------------------------------------- [build] Found '17' packages in 0.0 seconds. [build] Package table is up to date. Starting >>> hector_pose_estimation_core Starting >>> message_to_tf Finished <<< message_to_tf [ 0.2 seconds ] Finished <<< hector_pose_estimation_core [ 53.7 seconds ] Starting >>> hector_pose_estimation Finished <<< hector_pose_estimation [ 15.1 seconds ] [build] Summary: All 3 packages succeeded! [build] Ignored: 14 packages were skipped or are blacklisted. [build] Warnings: None. [build] Abandoned: None. [build] Failed: None. [build] Runtime: 1 minute and 9.0 seconds total. [build] Note: Workspace packages have changed, please re-source setup files to use them. So now I had no packages failed, but 14 still skipped and I dont understand why. I googled it, tried the following: ~/kinetic_ws $catkin build --dry-run ------------------------------------------------------------- Profile: default Extending: [cached] /opt/ros/kinetic Workspace: /home/carsten/kinetic_ws ------------------------------------------------------------- Source Space: [exists] /home/carsten/kinetic_ws/src Log Space: [exists] /home/carsten/kinetic_ws/logs Build Space: [exists] /home/carsten/kinetic_ws/build Devel Space: [exists] /home/carsten/kinetic_ws/devel Install Space: [unused] /home/carsten/kinetic_ws/install DESTDIR: [unused] None ------------------------------------------------------------- Devel Space Layout: linked Install Space Layout: None ------------------------------------------------------------- Additional CMake Args: None Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False ------------------------------------------------------------- Whitelisted Packages: None Blacklisted Packages: None ------------------------------------------------------------- Workspace configuration appears valid. ------------------------------------------------------------- [build] Found '17' packages in 0.0 seconds. Packages to be built: - hector_localization (metapackage) - hector_pose_estimation_core (catkin) - hector_pose_estimation (catkin) - hector_quadrotor (catkin) - hector_quadrotor_demo (catkin) - hector_quadrotor_description (catkin) - hector_uav_msgs (catkin) - hector_quadrotor_interface (catkin) - hector_quadrotor_actions (catkin) - hector_quadrotor_controller_gazebo (catkin) - hector_quadrotor_controllers (catkin) - hector_quadrotor_model (catkin) - hector_quadrotor_gazebo_plugins (catkin) - hector_quadrotor_gazebo (catkin) - hector_quadrotor_pose_estimation (catkin) - hector_quadrotor_teleop (catkin) - message_to_tf (catkin) Total packages: 17 ~/kinetic_ws: $ls build catkin_tools_prebuild hector_quadrotor_interface hector_pose_estimation hector_quadrotor_model hector_pose_estimation_core hector_quadrotor_teleop hector_quadrotor hector_uav_msgs hector_quadrotor_controllers message_to_tf hector_quadrotor_description ~/kinetic_ws: $ls devel env.sh include setup.bash _setup_util.py share etc lib setup.sh setup.zsh Next step i took was to build my whole workspace: catkin build ------------------------------------------------------------- Profile: default Extending: [cached] /opt/ros/kinetic Workspace: /home/carsten/kinetic_ws ------------------------------------------------------------- Source Space: [exists] /home/carsten/kinetic_ws/src Log Space: [exists] /home/carsten/kinetic_ws/logs Build Space: [exists] /home/carsten/kinetic_ws/build Devel Space: [exists] /home/carsten/kinetic_ws/devel Install Space: [unused] /home/carsten/kinetic_ws/install DESTDIR: [unused] None ------------------------------------------------------------- Devel Space Layout: linked Install Space Layout: None ------------------------------------------------------------- Additional CMake Args: None Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False ------------------------------------------------------------- Whitelisted Packages: None Blacklisted Packages: None ------------------------------------------------------------- Workspace configuration appears valid. ------------------------------------------------------------- [build] Found '17' packages in 0.0 seconds. [build] Updating package table. Starting >>> hector_pose_estimation_core Starting >>> hector_quadrotor_description Starting >>> hector_uav_msgs Starting >>> message_to_tf Finished <<< hector_quadrotor_description [ 0.1 seconds ] Finished <<< hector_pose_estimation_core [ 0.3 seconds ] Finished <<< message_to_tf [ 0.2 seconds ] Starting >>> hector_pose_estimation Finished <<< hector_uav_msgs [ 1.2 seconds ] Starting >>> hector_quadrotor_interface Starting >>> hector_quadrotor_model Finished <<< hector_pose_estimation [ 0.2 seconds ] Starting >>> hector_quadrotor_pose_estimation Finished <<< hector_quadrotor_interface [ 0.2 seconds ] Starting >>> hector_quadrotor_actions Finished <<< hector_quadrotor_model [ 0.2 seconds ] Starting >>> hector_quadrotor_controller_gazebo Starting >>> hector_quadrotor_controllers Finished <<< hector_quadrotor_controllers [ 2.9 seconds ] Finished <<< hector_quadrotor_controller_gazebo [ 16.8 seconds ] Starting >>> hector_quadrotor_teleop Finished <<< hector_quadrotor_pose_estimation [ 20.2 seconds ] Starting >>> hector_quadrotor_gazebo_plugins Finished <<< hector_quadrotor_teleop [ 4.5 seconds ] Starting >>> hector_quadrotor Finished <<< hector_quadrotor [ 0.3 seconds ] Finished <<< hector_quadrotor_actions [ 23.3 seconds ] _______________________________________________________________________________ Warnings << hector_quadrotor_gazebo_plugins:cmake /home/carsten/kinetic_ws/logs/hector_quadrotor_gazebo_plugins/build.cmake.000.log CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'gazebo' but neither 'gazebo_INCLUDE_DIRS' nor 'gazebo_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) CMakeLists.txt:47 (catkin_package) cd /home/carsten/kinetic_ws/build/hector_quadrotor_gazebo_plugins; catkin build --get-env hector_quadrotor_gazebo_plugins | catkin env -si /usr/bin/cmake /home/carsten/kinetic_ws/src/hector_quadrotor/hector_quadrotor_gazebo_plugins --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/carsten/kinetic_ws/devel/.private/hector_quadrotor_gazebo_plugins -DCMAKE_INSTALL_PREFIX=/home/carsten/kinetic_ws/install; cd - ............................................................................... Finished <<< hector_quadrotor_gazebo_plugins [ 20.1 seconds ] Starting >>> hector_quadrotor_gazebo Finished <<< hector_quadrotor_gazebo [ 2.7 seconds ] Starting >>> hector_quadrotor_demo Finished <<< hector_quadrotor_demo [ 2.4 seconds ] [build] Summary: All 16 packages succeeded! [build] Ignored: 1 packages were skipped or are blacklisted. [build] Warnings: 1 packages succeeded with warnings. [build] Abandoned: None. [build] Failed: None. [build] Runtime: 46.9 seconds total. [build] Note: Workspace packages have changed, please re-source setup files to use them. resourced my setup.bash file and then launched the demo: roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch ... logging to /home/carsten/.ros/log/9efbb74e-2f64-11e8-ab10-14dae9f473b3/roslaunch-carsten-8971.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. xacro: Traditional processing is deprecated. Switch to --inorder processing! To check for compatibility of your document, use option --check-order. For more infos, see http://wiki.ros.org/xacro#Processing_Order redefining global property: pi when processing file: /home/carsten/kinetic_ws/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro started roslaunch server http://carsten:34129/ SUMMARY ======== PARAMETERS * /action_timeout: 30.0 * /base_footprint_frame: /base_footprint * /base_link_frame: /base_link * /base_stabilized_frame: /base_stabilized * /command_timeout: 0.5 * /connection_timeout: 10.0 * /controller/attitude/max_roll_pitch: 0.785398163 * /controller/attitude/pitch/d: 20.0 * /controller/attitude/pitch/i: 0.0 * /controller/attitude/pitch/p: 100.0 * /controller/attitude/pitch/publish_state: True * /controller/attitude/roll/d: 20.0 * /controller/attitude/roll/i: 0.0 * /controller/attitude/roll/p: 100.0 * /controller/attitude/roll/publish_state: True * /controller/attitude/type: hector_quadrotor_... * /controller/attitude/yawrate/d: 0.5 * /controller/attitude/yawrate/i: 0.0 * /controller/attitude/yawrate/max: 3.14 * /controller/attitude/yawrate/p: 5.0 * /controller/attitude/yawrate/publish_state: True * /controller/position/type: hector_quadrotor_... * /controller/position/x/d: 0.0 * /controller/position/x/i: 0.0 * /controller/position/x/p: 2.0 * /controller/position/y/d: 0.0 * /controller/position/y/i: 0.0 * /controller/position/y/p: 2.0 * /controller/position/yaw/d: 0.0 * /controller/position/yaw/i: 0.0 * /controller/position/yaw/p: 2.0 * /controller/position/z/d: 0.0 * /controller/position/z/i: 0.0 * /controller/position/z/p: 2.0 * /controller/velocity/max_xy: 10.0 * /controller/velocity/type: hector_quadrotor_... * /controller/velocity/x/antiwindup: True * /controller/velocity/x/d: 0.0 * /controller/velocity/x/i: 1.0 * /controller/velocity/x/i_clamp: 5.0 * /controller/velocity/x/p: 2.0 * /controller/velocity/x/publish_state: True * /controller/velocity/y/antiwindup: True * /controller/velocity/y/d: 0.0 * /controller/velocity/y/i: 1.0 * /controller/velocity/y/i_clamp: 5.0 * /controller/velocity/y/p: 2.0 * /controller/velocity/y/publish_state: True * /controller/velocity/z/antiwindup: True * /controller/velocity/z/d: 0.0 * /controller/velocity/z/i: 1.0 * /controller/velocity/z/i_clamp: 5.0 * /controller/velocity/z/max: 5.0 * /controller/velocity/z/p: 5.0 * /controller/velocity/z/publish_state: True * /dist_tolerance: 0.1 * /estop_deceleration: 1.0 * /estop_relay/lazy: True * /ground_truth_to_tf/frame_id: world * /ground_truth_to_tf/odometry_topic: ground_truth/state * /ground_truth_to_tf/tf_prefix: * /imu_topic: * /joy/autorepeat_rate: 10 * /joy/coalesce_interval: 0.01 * /joy/dev: /dev/input/js0 * /landing_height: 0.1 * /quadrotor_aerodynamics/C_mxy: 0.074156208 * /quadrotor_aerodynamics/C_mz: 0.050643264 * /quadrotor_aerodynamics/C_wxy: 0.12 * /quadrotor_aerodynamics/C_wz: 0.1 * /quadrotor_propulsion/CT0s: 1.53819048398e-05 * /quadrotor_propulsion/CT1s: -0.00025224 * /quadrotor_propulsion/CT2s: 0.0 * /quadrotor_propulsion/J_M: 2.5730480633e-05 * /quadrotor_propulsion/Psi: 0.00724217982751 * /quadrotor_propulsion/R_A: 0.201084219222 * /quadrotor_propulsion/alpha_m: 0.104863758314 * /quadrotor_propulsion/beta_m: 0.549262344778 * /quadrotor_propulsion/k_m: -7.01163190977e-05 * /quadrotor_propulsion/k_t: 0.0153368647144 * /quadrotor_propulsion/l_m: 0.275 * /robot_description: , set to "" [ INFO] [1521897771.384639699, 0.001000000]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1521897771.385100472, 0.001000000]: Starting Laser Plugin (ns = /) [INFO] [1521897771.386385, 0.001000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1521897771.398333095, 0.001000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1521897771.501053080, 0.001000000]: imu plugin missing , defaults to 0s [spawn_robot-10] process has finished cleanly log file: /home/carsten/.ros/log/9efbb74e-2f64-11e8-ab10-14dae9f473b3/spawn_robot-10*.log [ INFO] [1521897771.878131989, 0.001000000]: Loading gazebo_ros_control plugin [ WARN] [1521897771.879939985, 0.001000000]: Desired controller update period (0.010000000 s) is slower than the gazebo simulation period (0.001000000 s). [ INFO] [1521897771.881097690, 0.001000000]: Starting gazebo_ros_control plugin in namespace: / [ INFO] [1521897771.883017517, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server. [ INFO] [1521897772.062869590, 0.001000000]: Limits /wrench_limits/force/z initialized z with min 0 and max 30 [ INFO] [1521897772.082382330, 0.001000000]: Limits /wrench_limits/torque/x initialized x with min -10 and max 10 [ INFO] [1521897772.088935391, 0.001000000]: Limits /wrench_limits/torque/y initialized y with min -10 and max 10 [ INFO] [1521897772.098782931, 0.001000000]: Limits /wrench_limits/torque/z initialized z with min -1 and max 1 [ INFO] [1521897772.111023462, 0.001000000]: Loaded gazebo_ros_control. Loaded the following quadrotor propulsion model parameters from namespace /quadrotor_propulsion: k_m = -7.01163e-05 k_t = 0.0153369 CT2s = 0 CT1s = -0.00025224 CT0s = 1.53819e-05 Psi = 0.00724218 J_M = 2.57305e-05 R_A = 0.201084 l_m = 0.275 alpha_m = 0.104864 beta_m = 0.549262 Loaded the following quadrotor drag model parameters from namespace /quadrotor_aerodynamics: C_wxy = 0.12 C_wz = 0.1 C_mxy = 0.0741562 C_mz = 0.0506433 [ INFO] [1521897772.185573265, 0.021000000]: waitForService: Service [/enable_motors] is now available. [ INFO] [1521897772.186046740, 0.021000000]: waitForService: Service [/enable_motors] is now available. [ INFO] [1521897772.186377966, 0.021000000]: waitForService: Service [/enable_motors] is now available. [ INFO] [1521897772.187522337, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1521897772.234085361, 0.058000000]: Physics dynamic reconfigure ready. [INFO] [1521897772.289643, 0.098000]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1521897772.291622, 0.098000]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1521897772.294669, 0.098000]: Loading controller: controller/attitude [ INFO] [1521897772.344626616, 0.134000000]: Server /action/pose started [ INFO] [1521897772.651563650, 0.288000000]: Server /action/takeoff started [ INFO] [1521897772.654770067, 0.288000000]: Server /action/landing started [ INFO] [1521897772.671245562, 0.294000000]: Limits /controller/attitude/yawrate initialized yawrate with min -3.14 and max 3.14 [INFO] [1521897772.711292, 0.320000]: Loading controller: controller/velocity [ INFO] [1521897772.982952166, 0.454000000]: Limits /controller/velocity/z initialized z with min -5 and max 5 [INFO] [1521897773.011084, 0.470000]: Loading controller: controller/position [INFO] [1521897773.388225, 0.640000]: Controller Spawner: Loaded controllers: controller/attitude, controller/velocity, controller/position [ INFO] [1521897773.401850853, 0.650000000]: Enabled wrench output [INFO] [1521897773.402967, 0.650000]: Started controllers: controller/attitude, controller/velocity, controller/position [ INFO] [1521897773.419077921, 0.660000000]: Enabled attitude output [ INFO] [1521897773.419702648, 0.660000000]: Enabled yawrate output [ INFO] [1521897773.420666551, 0.660000000]: Enabled thrust output For a short time, it worked, i could call > rosservice call /enable_motors [TAB] and ran > rosrun teleop_twist_keyboard teleop_twist_keyboard.py to control the drone. The camera worked aswell, world loaded into gazebo. After a short time being AFK, the following appeared: [gazebo_gui-2] process has died [pid 8996, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/carsten/.ros/log/9efbb74e-2f64-11e8-ab10-14dae9f473b3/gazebo_gui-2.log]. log file: /home/carsten/.ros/log/9efbb74e-2f64-11e8-ab10-14dae9f473b3/gazebo_gui-2*.log ---------- So now I'm trying to launch the demo again, roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch ... logging to /home/carsten/.ros/log/66dd07d2-3284-11e8-94c2-14dae9f473b3/roslaunch-carsten14106.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. xacro: Traditional processing is deprecated. Switch to --inorder processing! To check for compatibility of your document, use option --check-order. For more infos, see http://wiki.ros.org/xacro#Processing_Order redefining global property: pi when processing file: /home/carsten/kinetic_ws/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro started roslaunch server http://carsten:34463/ SUMMARY ======== PARAMETERS * /action_timeout: 30.0 * /base_footprint_frame: /base_footprint * /base_link_frame: /base_link * /base_stabilized_frame: /base_stabilized * /command_timeout: 0.5 * /connection_timeout: 10.0 * /controller/attitude/max_roll_pitch: 0.785398163 * /controller/attitude/pitch/d: 20.0 * /controller/attitude/pitch/i: 0.0 * /controller/attitude/pitch/p: 100.0 * /controller/attitude/pitch/publish_state: True * /controller/attitude/roll/d: 20.0 * /controller/attitude/roll/i: 0.0 * /controller/attitude/roll/p: 100.0 * /controller/attitude/roll/publish_state: True * /controller/attitude/type: hector_quadrotor_... * /controller/attitude/yawrate/d: 0.5 * /controller/attitude/yawrate/i: 0.0 * /controller/attitude/yawrate/max: 3.14 * /controller/attitude/yawrate/p: 5.0 * /controller/attitude/yawrate/publish_state: True * /controller/position/type: hector_quadrotor_... * /controller/position/x/d: 0.0 * /controller/position/x/i: 0.0 * /controller/position/x/p: 2.0 * /controller/position/y/d: 0.0 * /controller/position/y/i: 0.0 * /controller/position/y/p: 2.0 * /controller/position/yaw/d: 0.0 * /controller/position/yaw/i: 0.0 * /controller/position/yaw/p: 2.0 * /controller/position/z/d: 0.0 * /controller/position/z/i: 0.0 * /controller/position/z/p: 2.0 * /controller/velocity/max_xy: 10.0 * /controller/velocity/type: hector_quadrotor_... * /controller/velocity/x/antiwindup: True * /controller/velocity/x/d: 0.0 * /controller/velocity/x/i: 1.0 * /controller/velocity/x/i_clamp: 5.0 * /controller/velocity/x/p: 2.0 * /controller/velocity/x/publish_state: True * /controller/velocity/y/antiwindup: True * /controller/velocity/y/d: 0.0 * /controller/velocity/y/i: 1.0 * /controller/velocity/y/i_clamp: 5.0 * /controller/velocity/y/p: 2.0 * /controller/velocity/y/publish_state: True * /controller/velocity/z/antiwindup: True * /controller/velocity/z/d: 0.0 * /controller/velocity/z/i: 1.0 * /controller/velocity/z/i_clamp: 5.0 * /controller/velocity/z/max: 5.0 * /controller/velocity/z/p: 5.0 * /controller/velocity/z/publish_state: True * /dist_tolerance: 0.1 * /estop_deceleration: 1.0 * /estop_relay/lazy: True * /ground_truth_to_tf/frame_id: world * /ground_truth_to_tf/odometry_topic: ground_truth/state * /ground_truth_to_tf/tf_prefix: * /imu_topic: * /joy/autorepeat_rate: 10 * /joy/coalesce_interval: 0.01 * /joy/dev: /dev/input/js0 * /landing_height: 0.1 * /quadrotor_aerodynamics/C_mxy: 0.074156208 * /quadrotor_aerodynamics/C_mz: 0.050643264 * /quadrotor_aerodynamics/C_wxy: 0.12 * /quadrotor_aerodynamics/C_wz: 0.1 * /quadrotor_propulsion/CT0s: 1.53819048398e-05 * /quadrotor_propulsion/CT1s: -0.00025224 * /quadrotor_propulsion/CT2s: 0.0 * /quadrotor_propulsion/J_M: 2.5730480633e-05 * /quadrotor_propulsion/Psi: 0.00724217982751 * /quadrotor_propulsion/R_A: 0.201084219222 * /quadrotor_propulsion/alpha_m: 0.104863758314 * /quadrotor_propulsion/beta_m: 0.549262344778 * /quadrotor_propulsion/k_m: -7.01163190977e-05 * /quadrotor_propulsion/k_t: 0.0153368647144 * /quadrotor_propulsion/l_m: 0.275 * /robot_description: