Hello,
I am trying to use the `hector_quadrotor_demo`, but the UAV is not taking off.
I followed the [wiki](http://wiki.ros.org/hector_quadrotor/Tutorials/Quadrotor%20outdoor%20flight%20demo "Quadrotor outdoor flight demo") and did:
$ roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch
After which, the link above says:
> gazebo simulation as well as rviz visualization should start up now, and the quadrotor UAV should be on the ground ready for takeoff.
But when I do:
$ rosservice call /enable_motors true
$ rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0, y: 0.0, z: 1.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'
The UAV does nothing; does not take off.
On the console, I have the following:
[ INFO] [1536633874.045966140, 1.021000000]: Waiting for position state to be available before starting /action/pose server
[ INFO] [1536633912.570868246, 2.021000000]: Waiting for position state to be available before starting /action/pose server
Which, I do not know if it's related to the UAV not moving.
Thank you in advance.
I'll also leave the whole output since I start the launch file, as there are some warning which I do not know if they are related.
process[rosout-1]: started with pid [15785]
started core service [/rosout]
process[gazebo-2]: started with pid [15801]
process[gazebo_gui-3]: started with pid [15814]
process[robot_state_publisher-4]: started with pid [15817]
process[ground_truth_to_tf-5]: started with pid [15820]
process[controller_spawner-6]: started with pid [15821]
[ WARN] [1536635464.538843876]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
process[estop_relay-7]: started with pid [15839]
process[pose_action-8]: started with pid [15847]
process[landing_action-9]: started with pid [15864]
process[takeoff_action-10]: started with pid [15870]
process[spawn_robot-11]: started with pid [15879]
process[rviz-12]: started with pid [15896]
[ INFO] [1536635464.891581683]: waitForService: Service [/enable_motors] has not been advertised, waiting...
[WARN] [1536635465.572509, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1536635465.572972, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1536635466.626203711]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1536635466.658819532]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1536635466.682518696]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1536635466.698010678]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
[INFO] [1536635467.486189, 0.000000]: Loading model XML from ros parameter
[INFO] [1536635467.489836, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1536635474.428590, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1536635481.476748863, 0.001000000]: waitForService: Service [/enable_motors] has not been advertised, waiting...
[ INFO] [1536635481.481839312, 0.001000000]: waitForService: Service [/enable_motors] has not been advertised, waiting...
[WARN] [1536635495.736880, 0.001000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_spawner-6] process has finished cleanly
log file: (...)
[INFO] [1536635507.757311, 0.001000]: Spawn status: SpawnModel: Successfully spawned entity
[spawn_robot-11] process has finished cleanly
log file: (...)
[ INFO] [1536635508.155567834, 0.001000000]: imu plugin missing , defaults to 0s
[ INFO] [1536635510.862780756, 0.001000000]: Loading gazebo_ros_control plugin
[ WARN] [1536635510.892357204, 0.001000000]: Desired controller update period (0.010000000 s) is slower than the gazebo simulation period (0.001000000 s).
[ INFO] [1536635510.892919175, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1536635510.924941575, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1536635511.556073000, 0.001000000]: Limits /wrench_limits/force/z initialized z with min 0 and max 30
[ INFO] [1536635511.599553708, 0.001000000]: Limits /wrench_limits/torque/x initialized x with min -10 and max 10
[ INFO] [1536635511.628548891, 0.001000000]: Limits /wrench_limits/torque/y initialized y with min -10 and max 10
[ INFO] [1536635511.657604590, 0.001000000]: Limits /wrench_limits/torque/z initialized z with min -1 and max 1
[ INFO] [1536635511.778303860, 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] [1536635513.032994905, 0.021000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1536635513.035595702, 0.021000000]: waitForService: Service [/enable_motors] is now available.
[ INFO] [1536635513.037742759, 0.021000000]: waitForService: Service [/enable_motors] is now available.
[ INFO] [1536635513.042112456, 0.021000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1536635513.050777041, 0.021000000]: waitForService: Service [/enable_motors] is now available.
[ INFO] [1536635513.436044999, 0.025000000]: Physics dynamic reconfigure ready.
[ INFO] [1536635513.571756934, 0.032000000]: Physics dynamic reconfigure ready.
[ INFO] [1536635547.856579762, 1.021000000]: Waiting for position state to be available before starting /action/pose server
[ INFO] [1536635582.537188882, 2.021000000]: Waiting for position state to be available before starting /action/pose server
[ INFO] [1536635616.124352615, 3.021000000]: Waiting for position state to be available before starting /action/pose server
[ INFO] [1536635651.745664328, 4.021000000]: Waiting for position state to be available before starting /action/pose server
[ INFO] [1536635684.933580989, 5.021000000]: Waiting for position state to be available before starting /action/pose server
[ INFO] [1536635722.063089350, 6.022000000]: Waiting for position state to be available before starting /action/pose server
[ INFO] [1536635759.828425936, 7.121000000]: Waiting for position state to be available before starting /action/pose server
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