text:
Review all sniffs/code doing label name comparisons

Bug Description
Label names, i.e. names of namespaces, class/trait/interface/enum name and function names are case-insensitive for the ASCII letters, but case-sensitive for char 0x80 and up.
For the record: variable names in PHP are case-sensitive and so are constant names (unless explicitly declared not to be so via define()).
There are a number of sniffs in PHP_CodeSniffer which compare names, be it comparing a class name with another class name (Generic.Classes.DuplicateClassName), be it comparing a class name with a method name (Generic.NamingConventions.ConstructorName).
I'm fairly sure that, in most cases, these comparisons will use code akin to strtolower($nameA) === strtolower($nameB).
This is incorrect and these comparisons should be fixed to use strcasecmp() instead, as strcasecmp() only compares the ASCII letters case-insensitively (which is exactly what is needed).
Notes about this task:

Code in sniffs checking the case of keywords using strtolower() does not need to be changed as PHP does not contain any keywords containing non-ASCII characters.
Code in sniffs checking the case of PHP native label names using strtolower() does not need to be changed as PHP does not contain any functions/classes etc containing non-ASCII characters.
Any JS/CSS-only sniffs can be ignored for the purposes of this task as they will be removed in PHPCS 4.0 anyway.
Sniffs from the MySource standards can be ignored for the purposes of this task as they will be removed in PHPCS 4.0 anyway.

Task List
The below is a list of sniffs in which strtolower() was found and which need to be reviewed.
Each of these will need to be reviewed, though I expect that by far not all of them will need changes.
To do

[ ] Generic.Classes.DuplicateClassName
[ ] Generic.Classes.OpeningBraceSameLine
[ ] Generic.CodeAnalysis.EmptyStatement
[ ] Generic.CodeAnalysis.UnusedFunctionParameter
[ ] Generic.Files.LowercasedFilename
[ ] Generic.NamingConventions.AbstractClassNamePrefix
[ ] Generic.NamingConventions.CamelCapsFunctionName
[ ] Generic.NamingConventions.ConstructorName
[ ] Generic.NamingConventions.InterfaceNameSuffix
[ ] Generic.NamingConventions.TraitNameSuffix
[ ] Generic.NamingConventions.UpperCaseConstantName
[ ] Generic.PHP.ForbiddenFunctions
[ ] Generic.PHP.LowerCaseConstant
[ ] Generic.PHP.LowerCaseKeyword
[ ] Generic.PHP.LowerCaseType
[ ] Generic.PHP.RequireStrictTypes
[ ] Generic.PHP.SAPIUsage
[ ] Generic.PHP.UpperCaseConstant
[ ] Generic.WhiteSpace.LanguageConstructSpacing
[ ] Generic.WhiteSpace.ScopeIndent
[ ] PEAR.Classes.ClassDeclaration
[ ] PEAR.Commenting.ClassComment
[ ] PEAR.Commenting.FileComment
[ ] PEAR.Commenting.FunctionComment
[ ] PEAR.Functions.FunctionDeclaration
[ ] PEAR.Functions.ValidDefaultValue
[ ] PEAR.NamingConventions.ValidFunctionName
[ ] PSR1.Classes.ClassDeclaration
[ ] PSR1.Files.SideEffects
[ ] PSR1.Methods.CamelCapsMethodName
[ ] PSR12.Files.DeclareStatement
[ ] PSR12.Files.FileHeader
[ ] PSR12.Files.ImportStatement
[ ] PSR12.Keywords.ShortFormTypeKeywords
[ ] PSR12.Traits.UseDeclaration
[ ] PSR2.Classes.ClassDeclaration
[ ] PSR2.ControlStructures.SwitchDeclaration
[ ] Squiz.Arrays.ArrayDeclaration
[ ] Squiz.Classes.ClassDeclaration
[ ] Squiz.Classes.LowercaseClassKeywords
[ ] Squiz.Commenting.FunctionComment
[ ] Squiz.ControlStructures.ForEachLoopDeclaration
[ ] Squiz.ControlStructures.LowercaseDeclaration
[ ] Squiz.ControlStructures.SwitchDeclaration
[ ] Squiz.Functions.LowercaseFunctionKeywords
[ ] Squiz.Operators.ValidLogicalOperators
[ ] Squiz.PHP.LowercasePHPFunctions

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If the file does not need changes, report back saying so, so it can be moved to "Done".
If the file does need changes, please accompany the changes by tests.
The tests should safeguard that names containing only ASCII characters, but in a different case, compare as "equal" and names containing non-ASCII characters in a different case do not compare as "equal".

PRs related to this task should preferably only address one file - or even one instance of the issue in one file - per PR. This will make reviewing the changes more straight forward and will allow for merging PRs promptly.

Hmm.. interestingly enough, it seems that strtolower() actually ignores multibyte characters/non-ASCII characters completely, so we should actually be fine.
Also see: https://3v4l.org/AQ93s
Closing this issue as not needed.


text:
On Ubuntu server getting sh: 1: -n: not found

I'm completely stuck for weeks. I can't find a reference to this error other than it seems to be a Linux path issue but coming from PHPjasper.php. I checked perms for the bin folder containing jasperstarter and the parameters for executing the report are good. This runs fine on my local XAMPP dev server, just bombing out when deployed to my Ubuntu server/Droplet.
Please help!
Here's the complete error:
(1/1) Exception sh: 1: -n: not found
--
in PHPJasper.php line 222
at PHPJasper->execute()in ReportsController.php line 67
at ReportsController->createReport('community_property_schedule')
at call_user_func_array(array(object(ReportsController), 'createReport'), array('file' => 'community_property_schedule'))in Controller.php line 54
at Controller->callAction('createReport', array('file' => 'community_property_schedule'))in ControllerDispatcher.php line 45
at ControllerDispatcher->dispatch(object(Route), object(ReportsController), 'createReport')in Route.php line 212
at Route->runController()in Route.php line 169
at Route->run()in Router.php line 658
at Router->Illuminate\Routing\{closure}(object(Request))in Pipeline.php line 30
at Pipeline->Illuminate\Routing\{closure}(object(Request))in SubstituteBindings.php line 41
at SubstituteBindings->handle(object(Request), object(Closure))in Pipeline.php line 149
at Pipeline->Illuminate\Pipeline\{closure}(object(Request))in Pipeline.php line 53
at Pipeline->Illuminate\Routing\{closure}(object(Request))in Authenticate.php line 43
at Authenticate->handle(object(Request), object(Closure))in Pipeline.php line 149
at Pipeline->Illuminate\Pipeline\{closure}(object(Request))in Pipeline.php line 53
at Pipeline->Illuminate\Routing\{closure}(object(Request))in VerifyCsrfToken.php line 68
at VerifyCsrfToken->handle(object(Request), object(Closure))in Pipeline.php line 149
at Pipeline->Illuminate\Pipeline\{closure}(object(Request))in Pipeline.php line 53
at Pipeline->Illuminate\Routing\{closure}(object(Request))in ShareErrorsFromSession.php line 49
at ShareErrorsFromSession->handle(object(Request), object(Closure))in Pipeline.php line 149
at Pipeline->Illuminate\Pipeline\{closure}(object(Request))in Pipeline.php line 53
at Pipeline->Illuminate\Routing\{closure}(object(Request))in StartSession.php line 63
at StartSession->handle(object(Request), object(Closure))in Pipeline.php line 149
at Pipeline->Illuminate\Pipeline\{closure}(object(Request))in Pipeline.php line 53
at Pipeline->Illuminate\Routing\{closure}(object(Request))in AddQueuedCookiesToResponse.php line 37
at AddQueuedCookiesToResponse->handle(object(Request), object(Closure))in Pipeline.php line 149
at Pipeline->Illuminate\Pipeline\{closure}(object(Request))in Pipeline.php line 53
at Pipeline->Illuminate\Routing\{closure}(object(Request))in EncryptCookies.php line 66
at EncryptCookies->handle(object(Request), object(Closure))in Pipeline.php line 149
at Pipeline->Illuminate\Pipeline\{closure}(object(Request))in Pipeline.php line 53
at Pipeline->Illuminate\Routing\{closure}(object(Request))in Pipeline.php line 102
at Pipeline->then(object(Closure))in Router.php line 660
at Router->runRouteWithinStack(object(Route), object(Request))in Router.php line 635
at Router->runRoute(object(Request), object(Route))in Router.php line 601
at Router->dispatchToRoute(object(Request))in Router.php line 590
at Router->dispatch(object(Request))in Kernel.php line 176
at Kernel->Illuminate\Foundation\Http\{closure}(object(Request))in Pipeline.php line 30
at Pipeline->Illuminate\Routing\{closure}(object(Request))in TrustProxies.php line 56
at TrustProxies->handle(object(Request), object(Closure))in Pipeline.php line 149
at Pipeline->Illuminate\Pipeline\{closure}(object(Request))in Pipeline.php line 53
at Pipeline->Illuminate\Routing\{closure}(object(Request))in TransformsRequest.php line 30
at TransformsRequest->handle(object(Request), object(Closure))in Pipeline.php line 149
at Pipeline->Illuminate\Pipeline\{closure}(object(Request))in Pipeline.php line 53
at Pipeline->Illuminate\Routing\{closure}(object(Request))in TransformsRequest.php line 30
at TransformsRequest->handle(object(Request), object(Closure))in Pipeline.php line 149
at Pipeline->Illuminate\Pipeline\{closure}(object(Request))in Pipeline.php line 53
at Pipeline->Illuminate\Routing\{closure}(object(Request))in ValidatePostSize.php line 27
at ValidatePostSize->handle(object(Request), object(Closure))in Pipeline.php line 149
at Pipeline->Illuminate\Pipeline\{closure}(object(Request))in Pipeline.php line 53
at Pipeline->Illuminate\Routing\{closure}(object(Request))in CheckForMaintenanceMode.php line 46
at CheckForMaintenanceMode->handle(object(Request), object(Closure))in Pipeline.php line 149
at Pipeline->Illuminate\Pipeline\{closure}(object(Request))in Pipeline.php line 53
at Pipeline->Illuminate\Routing\{closure}(object(Request))in Pipeline.php line 102
at Pipeline->then(object(Closure))in Kernel.php line 151
at Kernel->sendRequestThroughRouter(object(Request))in Kernel.php line 116
at Kernel->handle(object(Request))in index.php line 55

Can anyone please assist? This is working perfectly fine on my local dev until I deploy to a Digital Ocean ubuntu host using Forge. Everything in my app is working fine except for PHPjasper - it bombs with this error when it reaches the execute command. My database parameters are fine, my paths are fine, my permissions are fine - can't figure this one out.
I have to find what's causing this or face replacing PHPjasper completely in my app which will set me back months. The host tech support folks say it's an app issue and talk to the code owner.
This is the code that runs and prompts the error:

//In my ENV file:
JASPER_DB_DRIVER=mysql
JASPER_DB_USERNAME=forge
JASPER_DB_PASSWORD=gbjJ3pA52JAxzgkai61J
JASPER_DB_HOST=127.0.0.1&useSSL=false
JASPER_DB_DATABASE=forge
JASPER_DB_PORT=3306

//my ReportsController
$ext = "pdf";

$jdriver = env("JASPER_DB_DRIVER");
$jusername = env("JASPER_DB_USERNAME");
$jpassword = env("JASPER_DB_PASSWORD");
$jhost = env("JASPER_DB_HOST");
$jdatabase = env("JASPER_DB_DATABASE");
$jport = env("JASPER_DB_PORT");

$username = Auth::user()->name;
$output = public_path().'/storage/reports/'.$id.'/'.$username.$id.'_'.$filename;
$filepath = storage_path().'/reports';
$input = storage_path().'/reports/'.$filename.'.jasper';
$outputfile = storage_path().'/reports/'.$filename.$id.'.'.$ext;
$options = [
'format' => [$ext],
'locale' => 'en',
'params' => ['user_id' => $id,
'user_name'=> $username],
'db_connection' => [
'driver' => $jdriver,
'username' => $jusername,
'password' => $jpassword,
'host' => $jhost,
'database' => $jdatabase,
'port' => $jport

]
];

$jasper = new PHPJasper;

$jasper->process(
$input,
$output,
$options
)->execute();

This all runs fine to the final "execute" command, and then bombs in the PHPjasper execution.
The code in PHPjasper.php that throws the exception is:
/**
* @param bool $user
* @return mixed
* @throws Exception\InvalidCommandExecutable
* @throws Exception\InvalidResourceDirectory
* @throws Exception\ErrorCommandExecutable
*/
public function execute($user = false)
{
$this->validateExecute();
$this->addUserToCommand($user);

$output = [];
$returnVar = 0;

chdir($this->pathExecutable);
exec($this->command, $output, $returnVar);
if ($returnVar !== 0) {
//throw new \PHPJasper\Exception\ErrorCommandExecutable();
throw new \Exception("{$output[0]}", 1); //THIS IS WHERE THE "sh: i: -n: not found" EXCEPTION IS THROWN
}

return $output;
}

Then I get the "sh: 1: -n: not found" exception
Please help.

I'm closing this in favor of a more detailed description version posted here. This appears to be an issue with jasperstarter thinking it's not  receiving a parameter (-n database name) when in fact it is. Please check out that post if you can assist at all.

source: gharchive/issue

repo: PHPJasper/phpjasper-laravel

license: MIT

license_type: permissive

license_source: github-api


text:
Error while downloading the models

Issue Type
Bug
OS
Ubuntu
OS architecture
x86_64
Programming Language
Python
Framework
ONNX
Model name and Weights/Checkpoints URL
284_CREStereo iter02 etc.
Description
Hi when I am trying to download the models, it shows:
Sorry, you can't view or download this file at this time.

Too many users have viewed or downloaded this file recently. Please try accessing the file again later. If the file you are trying to access is particularly large or is shared with many people, it may take up to 24 hours to be able to view or download the file. If you still can't access a file after 24 hours, contact your domain administrator.

(CREStereo) ➜  Downloads cat resources.tar.gz
<!DOCTYPE html><title>Google Drive - Quota exceeded</title><meta http-equiv="content-type" content="text/html; charset=utf-8"/><link rel="icon" href="null"/>

Sorry, you can't view or download this file at this time.

Too many users have viewed or downloaded this file recently. Please try accessing the file again later. If the file you are trying to access is particularly large or is shared with many people, it may take up to 24 hours to be able to view or download the file. If you still can't access a file after 24 hours, contact your domain administrator.

%

It looks like some issue with google drive.
Relevant Log Output
No response
URL or source code for simple inference testing code
No response

Search the issue.
https://github.com/PINTO0309/PINTO_model_zoo/issues?q=download


text:
Custom icons

Hi PKief,
Is it possible for me to edit the json with my own icons?
.bowerrc
.nvmrc
etc
Nice theme by the way!!

Thank you! Yes it should be possible for you to edit the json. Just look into your extension folder, add some icons to the icon folder and change the material-icons.json-file. It is not very difficult.
You can also contribute to the icon theme by creating pull requests if you want.
But you should also backup your changes from the extension folder. If there's a new update on the marketplace your changes could be overwritten with the update.

authors: PKief bryanwagemaker

license: mit

license_source: bigquery


text:
:options в YandexMap?

Смотрел доки, как ограничить область видимости карты, чтобы за пределы нельзя было уйти и нашел, в оф. доках, но увидел, что  при использовании библиотеки нельзя добавить опции..
Хотел бы попросить добавить, если еще есть поддержка этой либы.

#44

Добавлено в 1.0.9. Спасибо за участие!

Можешь вторую багу отдельным issue завести? Желательно с примером в песочнице

authors: PNKBizz pPitohu

repo: PNKBizz/vue-yandex-maps


text:
🛑 MUSA is down

In 2b0f151, MUSA (https://storemusa.com/) was down:

HTTP code: 403
Response time: 270 ms

Resolved: MUSA is back up in 19bc8b1 after 1 hour, 2 minutes.

repo: POCLANOS/status


text:
add colors and transparency based on pose confidence scores

updates to simple_2d_detection_overlay.cxx to visualize the confidence values as transparency and sets colors for joints

I'm not sure how this change has pushed the docker image size above build-able, so I'm going to assume that's an external issue and not consider that as part of this PR.

source: gharchive/pull-request

authors: Purg josephvanpeltkw


text:
Multi-Vehicle Simulation with Gazebo using SDF, can only control first drone.

Hi, i'm trying to spawn multiple PX4's with a depth camera and a lidar but i can only control the first drone spawned. I use some custom scripts to setup and start gazebo in a docker container and generate a .launch file.
first I start the simulation in a container using a script
#!/bin/bash

# xhost +local:docker

# --device=/dev/video0:/dev/video0
# For non root usage:
# RUN sudo usermod -a -G video developer

TITLE='echo -ne "\033]0;Simulation\007"'
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
vendor=$(glxinfo | grep vendor | grep OpenGL | awk '{ print $4 }')
$AMOUNT_UAVS

if [ $# -eq 0 ]; then
	echo "Didn't define amount of uavs: default 1"
    AMOUNT_UAVS="1"
else
	AMOUNT_UAVS=$1
fi

if [ "$vendor" == "NVIDIA" ]; then
	nvidia-docker run --privileged -it --rm \
		-e "DISPLAY" \
		-e "XAUTHORITY=$XAUTH" \
		-e "QT_X11_NO_MITSHM=1" \
		-e "TERM=xterm-256color" \
		-e "PROMPT_COMMAND=$TITLE" \
		-e "AMOUNT_UAVS=$AMOUNT_UAVS" \
		-e XDG_RUNTIME_DIR=/tmp/myxdg \
		-e "CONTAINER_NAME=simulation" \
		-e PULSE_SERVER=unix:"${XDG_RUNTIME_DIR}"/pulse/native \
		-v "$XAUTH:$XAUTH" \
		-v "/tmp/.X11-unix:/tmp/.X11-unix:rw" \
		-v "${XDG_RUNTIME_DIR}"/pulse/native:"${XDG_RUNTIME_DIR}"/pulse/native \
		-v "${DIR}"/models:/home/user/.gazebo/models/ \
		-v "${DIR}"/src/simulation:/home/user/catkin_ws/src/smartuav/ \
		--network=host \
		--runtime=nvidia \
		--device=/dev/snd \
		--device=/dev/fuse \
		--cap-add SYS_ADMIN \
		--name smartuav_simulation \
		--group-add "$(getent group audio | cut -d: -f3)" \
		smartuav_px4:latest \
		bash
else
	docker run --privileged -it --rm \
		-e "DISPLAY=$DISPLAY" \
		-e "TERM=xterm-256color" \
		-e "PROMPT_COMMAND=$TITLE" \
		-e "AMOUNT_UAVS=$AMOUNT_UAVS" \
		-e "CONTAINER_NAME=Simulation" \
		-v /tmp/.X11-unix:/tmp/.X11-unix \
		-v "${DIR}"/models:/home/user/.gazebo/models/ \
		-v "${DIR}"/src/simulation:/home/user/catkin_ws/src/smartuav/ \
		--network=host \
		--device /dev/fuse \
		--cap-add SYS_ADMIN \
		--device=/dev/dri:/dev/dri \
		--name smartuav_px4 \
		smartuav_px4:latest \
		bash
fi

source ~/.bashrc

then in the container I generate the launch file for n drones
#!/bin/bash

X=0  # x-coordinate of the first UAV
Y=0  # y-coordinate of the first UAV
deltaX=1  # change of x-coordinate for next UAVs
deltaY=0  # change of y-coordinate for next UAVs
UAV_model='iris_depth_camera_lidar' # model type of UAV
GAZEBO_GUI='false'

# this script needs an argument to choose the amount of drones.

if [[ $# -eq 0 ]]; then
    echo 'Error: You need to define the amount of UAVs to start.'
    exit 0
fi

case "$1" in
    ("" | *[!0-9]*)
        echo 'error (not a positive decimal integer number)' >&2
        exit 1
esac

if [ $2 == 'true' ]; then
    GAZEBO_GUI='true'
fi

AMOUNT_UAVS=$(expr $1 - 1)

OUTPUT="<?xml version=\"1.0\"?>\n\
<launch>\n\
\t<!-- MAVROS posix SITL environment launch script -->\n\
\t<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->\n\
\t<!-- vehicle model and world -->\n\
\t<arg name=\"est\" default=\"ekf2\" />\n\
\t<arg name=\"vehicle\" default=\"iris\" />\n\
\t<arg name=\"model\" default=\"iris_depth_camera_lidar\" />\n\
\t<arg name=\"world\" default=\"\$(find smartuav)/worlds/world.world\" />\n\
\t<!-- gazebo configs -->\n\
\t<arg name=\"gui\" default=\"$GAZEBO_GUI\" />\n\
\t<arg name=\"debug\" default=\"false\" />\n\
\t<arg name=\"verbose\" default=\"true\" />\n\
\t<arg name=\"paused\" default=\"false\" />\n\
\t<!-- Gazebo sim -->\n\
\t<include file=\"\$(find smartuav)/launch/showcase_world.launch\">\n\
\t\t<arg name=\"gui\" value=\"\$(arg gui)\" />\n\
\t\t<arg name=\"world_name\" value=\"\$(arg world)\" />\n\
\t\t<arg name=\"debug\" value=\"\$(arg debug)\" />\n\
\t\t<arg name=\"verbose\" value=\"\$(arg verbose)\" />\n\
\t\t<arg name=\"paused\" value=\"\$(arg paused)\" />\n\
\t</include>\n\
\t<!-- start rviz -->\n\
\t<arg name=\"rviz\" default=\"true\"/>\n\
\t<node if=\"\$(arg rviz)\" pkg=\"rviz\" type=\"rviz\" name=\"\$(anon rviz)\" respawn=\"false\" output=\"screen\" args=\"-d \$(find smartuav)/rviz/settings.rviz\" />\n"

for i in $(eval echo {0..$AMOUNT_UAVS}); do
    echo "Generating drone $i"
    OUTPUT+="\t<!-- UAV0 -->\n\
\t<group ns=\"iris_$i\">\n\
\t\t<arg name=\"ID\" value=\"$i\"/>\n\
\t\t<arg name=\"fcu_url\" default=\"udp://:$(expr 14540 + $i)@localhost:$(expr 14580 + $i)\" />\n\
\t\t<include file=\"\$(find px4)/launch/single_vehicle_spawn_sdf.launch\">\n\
\t\t\t<arg name=\"x\" value=\"$(expr $X + $i \* $deltaX)\" />\n\
\t\t\t<arg name=\"y\" value=\"$(expr $Y + $i \* $deltaY)\" />\n\
\t\t\t<arg name=\"z\" value=\"1\" />\n\
\t\t\t<arg name=\"R\" value=\"0\" />\n\
\t\t\t<arg name=\"P\" value=\"0\" />\n\
\t\t\t<arg name=\"Y\" value=\"0\" />\n\
\t\t\t<arg name=\"vehicle\" value=\"\$(arg vehicle)\" />\n\
\t\t\t<arg name=\"mavlink_udp_port\" value=\"$(expr 14560 + $i)\" />\n\
\t\t\t<arg name=\"mavlink_tcp_port\" value=\"$(expr 4560 + $i)\" />\n\
\t\t\t<arg name=\"ID\" value=\"\$(arg ID)\" />\n\
\t\t\t<arg name=\"cmd\" value=\"xmlstarlet ed -d '//plugin[@name="mavlink_interface"]/$(expr 14560 + $i)' -s '//plugin[@name="mavlink_interface"]' -t elem -n $(expr 14560 + $i) -v $(expr 14560 + $i) \$(find smartuav)/models/$UAV_model/$UAV_model.sdf\" />\n
\t\t</include>\n\
\t\t<include file=\"\$(find mavros)/launch/px4.launch\">\n\
\t\t\t<arg name=\"fcu_url\" value=\"\$(arg fcu_url)\" />\n\
\t\t\t<arg name=\"gcs_url\" value=\"\" />\n\
\t\t\t<arg name=\"tgt_system\" value=\"\$(eval 1 + arg('ID'))\" />\n\
\t\t\t<arg name=\"tgt_component\" value=\"1\" />\n\
\t\t</include>\n\
\t</group>\n\
\t<!-- start node for fixed frames -->\n\
\t<node pkg=\"tf\" type=\"static_transform_publisher\" name=\"iris_$(echo $i)_lidar\" args=\"$(expr $X + $i \* $deltaX) $(expr $Y + $i \* $deltaY) 0 0 0 0 base_link rplidar_link 100\" /> \n\
\t<node pkg=\"tf\" type=\"static_transform_publisher\" name=\"iris_$(echo $i)_camera\" args=\"$(expr $X + $i \* $deltaX) $(expr $Y + $i \* $deltaY) 0 1.57079633 3.14159265 1.57079633 base_link iris_$i/camera_link 100\" />\n"
done

OUTPUT+="</launch>\n"

echo -e $OUTPUT > launch/tab_smartuavs.launch

sed 's/\t/    /g' launch/tab_smartuavs.launch > launch/smartuavs.launch

for example 3 drones generates this launchfile :
<?xml version="1.0"?>
<launch>
    <!-- MAVROS posix SITL environment launch script -->
    <!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
    <!-- vehicle model and world -->
    <arg name="est" default="ekf2" />
    <arg name="vehicle" default="iris" />
    <arg name="model" default="iris_depth_camera_lidar" />
    <arg name="world" default="$(find smartuav)/worlds/world.world" />
    <!-- gazebo configs -->
    <arg name="gui" default="false" />
    <arg name="debug" default="false" />
    <arg name="verbose" default="true" />
    <arg name="paused" default="false" />
    <!-- Gazebo sim -->
    <include file="$(find smartuav)/launch/showcase_world.launch">
        <arg name="gui" value="$(arg gui)" />
        <arg name="world_name" value="$(arg world)" />
        <arg name="debug" value="$(arg debug)" />
        <arg name="verbose" value="$(arg verbose)" />
        <arg name="paused" value="$(arg paused)" />
    </include>
    <!-- start rviz -->
    <arg name="rviz" default="true"/>
    <node if="$(arg rviz)" pkg="rviz" type="rviz" name="$(anon rviz)" respawn="false" output="screen" args="-d $(find smartuav)/rviz/settings.rviz" />
    <!-- UAV0 -->
    <group ns="iris_0">
        <arg name="ID" value="0"/>
        <arg name="fcu_url" default="udp://:14540@localhost:14580" />
        <include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
            <arg name="x" value="0" />
            <arg name="y" value="0" />
            <arg name="z" value="1" />
            <arg name="R" value="0" />
            <arg name="P" value="0" />
            <arg name="Y" value="0" />
            <arg name="vehicle" value="$(arg vehicle)" />
            <arg name="mavlink_udp_port" value="14560" />
            <arg name="mavlink_tcp_port" value="4560" />
            <arg name="ID" value="$(arg ID)" />
            <arg name="cmd" value="xmlstarlet ed -d '//plugin[@name="mavlink_interface"]/14560' -s '//plugin[@name="mavlink_interface"]' -t elem -n 14560 -v 14560 $(find smartuav)/models/iris_depth_camera_lidar/iris_depth_camera_lidar.sdf" />
         </include>
        <include file="$(find mavros)/launch/px4.launch">
            <arg name="fcu_url" value="$(arg fcu_url)" />
            <arg name="gcs_url" value="" />
            <arg name="tgt_system" value="$(eval 1 + arg('ID'))" />
            <arg name="tgt_component" value="1" />
        </include>
    </group>
    <!-- start node for fixed frames -->
    <node pkg="tf" type="static_transform_publisher" name="iris_0_lidar" args="0 0 0 0 0 0 base_link rplidar_link 100" />
    <node pkg="tf" type="static_transform_publisher" name="iris_0_camera" args="0 0 0 1.57079633 3.14159265 1.57079633 base_link iris_0/camera_link 100" />
    <!-- UAV0 -->
    <group ns="iris_1">
        <arg name="ID" value="1"/>
        <arg name="fcu_url" default="udp://:14541@localhost:14581" />
        <include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
            <arg name="x" value="1" />
            <arg name="y" value="0" />
            <arg name="z" value="1" />
            <arg name="R" value="0" />
            <arg name="P" value="0" />
            <arg name="Y" value="0" />
            <arg name="vehicle" value="$(arg vehicle)" />
            <arg name="mavlink_udp_port" value="14561" />
            <arg name="mavlink_tcp_port" value="4561" />
            <arg name="ID" value="$(arg ID)" />
            <arg name="cmd" value="xmlstarlet ed -d '//plugin[@name="mavlink_interface"]/14561' -s '//plugin[@name="mavlink_interface"]' -t elem -n 14561 -v 14561 $(find smartuav)/models/iris_depth_camera_lidar/iris_depth_camera_lidar.sdf" />
         </include>
        <include file="$(find mavros)/launch/px4.launch">
            <arg name="fcu_url" value="$(arg fcu_url)" />
            <arg name="gcs_url" value="" />
            <arg name="tgt_system" value="$(eval 1 + arg('ID'))" />
            <arg name="tgt_component" value="1" />
        </include>
    </group>
    <!-- start node for fixed frames -->
    <node pkg="tf" type="static_transform_publisher" name="iris_1_lidar" args="1 0 0 0 0 0 base_link rplidar_link 100" />
    <node pkg="tf" type="static_transform_publisher" name="iris_1_camera" args="1 0 0 1.57079633 3.14159265 1.57079633 base_link iris_1/camera_link 100" />
    <!-- UAV0 -->
    <group ns="iris_2">
        <arg name="ID" value="2"/>
        <arg name="fcu_url" default="udp://:14542@localhost:14582" />
        <include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
            <arg name="x" value="2" />
            <arg name="y" value="0" />
            <arg name="z" value="1" />
            <arg name="R" value="0" />
            <arg name="P" value="0" />
            <arg name="Y" value="0" />
            <arg name="vehicle" value="$(arg vehicle)" />
            <arg name="mavlink_udp_port" value="14562" />
            <arg name="mavlink_tcp_port" value="4562" />
            <arg name="ID" value="$(arg ID)" />
            <arg name="cmd" value="xmlstarlet ed -d '//plugin[@name="mavlink_interface"]/14562' -s '//plugin[@name="mavlink_interface"]' -t elem -n 14562 -v 14562 $(find smartuav)/models/iris_depth_camera_lidar/iris_depth_camera_lidar.sdf" />
         </include>
        <include file="$(find mavros)/launch/px4.launch">
            <arg name="fcu_url" value="$(arg fcu_url)" />
            <arg name="gcs_url" value="" />
            <arg name="tgt_system" value="$(eval 1 + arg('ID'))" />
            <arg name="tgt_component" value="1" />
        </include>
    </group>
    <!-- start node for fixed frames -->
    <node pkg="tf" type="static_transform_publisher" name="iris_2_lidar" args="2 0 0 0 0 0 base_link rplidar_link 100" />
    <node pkg="tf" type="static_transform_publisher" name="iris_2_camera" args="2 0 0 1.57079633 3.14159265 1.57079633 base_link iris_2/camera_link 100" />
</launch>

xmlstarlet can find the .sdf file so the path is correct.
the .sdf file i use
    <?xml version="1.0" ?>
<sdf version="1.4">
  <model name='iris_depth_camera_lidar'>
    <include>
      <uri>model://iris</uri>
    </include>

    <model name="depth_camera">
      <pose>0.1 0 0 0 1.57079632679 0</pose>
      <link name="link">
        <inertial>
          <pose>0.01 0.025 0.025 0 0 0</pose>
          <mass>0.01</mass>
          <inertia>
            <ixx>4.15e-6</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>2.407e-6</iyy>
            <iyz>0</iyz>
            <izz>2.407e-6</izz>
          </inertia>
        </inertial>
        <visual name="visual">
          <pose>0 0 0 0  0</pose>
          <geometry>
            <mesh>
              <uri>model://realsense_camera/meshes/realsense.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <sensor name="depth_camera" type="depth">
          <update_rate>20</update_rate>
          <camera>
            <horizontal_fov>1.02974</horizontal_fov>
            <image>
              <format>R8G8B8</format>
              <width>640</width>
              <height>480</height>
            </image>
            <clip>
              <near>0.5</near>
              <far>18</far>
            </clip>
          </camera>
          <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_controller">
            <cameraName>camera</cameraName>
            <alwaysOn>true</alwaysOn>
            <updateRate>20</updateRate>
            <pointCloudCutoff>0.2</pointCloudCutoff>
            <pointCloudCutoffMax>15</pointCloudCutoffMax>
            <imageTopicName>rgb/image_raw</imageTopicName>
            <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
            <depthImageTopicName>depth/image_raw</depthImageTopicName>
            <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
            <pointCloudTopicName>depth/points</pointCloudTopicName>
            <frameName>camera_link</frameName>
            <distortion_k1>0.0</distortion_k1>
            <distortion_k2>0.0</distortion_k2>
            <distortion_k3>0.0</distortion_k3>
            <distortion_t1>0.0</distortion_t1>
            <distortion_t2>0.0</distortion_t2>
          </plugin>
        </sensor>
      </link>
    </model>
    <joint name="depth_camera_joint" type="revolute">
      <child>depth_camera::link</child>
      <parent>iris::base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
    </joint>

    <include>
      <uri>model://lidar</uri>
      <pose>0 0 0.05 0 0 0</pose>
    </include>
    <joint name="rplidar_joint" type="revolute">
      <child>lidar::link</child>
      <parent>iris::base_link</parent>
      <axis>
        <xyz>1 1 1</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
    </joint>

  </model>
</sdf>

Expected behavior
I see all the topics using rostopic list and I can see the video feed/pointclouds in rviz but it fails when i try and control the drone after spawning them in the world.
gazebo startup log for example 3 drones
Generating drone 0
Generating drone 1
Generating drone 2
... logging to /home/user/.ros/log/b35c2186-6a88-11ea-8093-b06ebf5f23c9/roslaunch-HungarianHorntails-1577.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.

Invalid expression: //plugin[@name="mavlink_interface"]/14560
Invalid expression: //plugin[@name="mavlink_interface"]/14560
Invalid expression: //plugin[@name="mavlink_interface"]/14561
Invalid expression: //plugin[@name="mavlink_interface"]/14561
Invalid expression: //plugin[@name="mavlink_interface"]/14562
Invalid expression: //plugin[@name="mavlink_interface"]/14562
started roslaunch server http://HungarianHorntails:42615/

SUMMARY
========

CLEAR PARAMETERS
 * /iris_0/mavros/
 * /iris_1/mavros/
 * /iris_2/mavros/

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /iris_0/mavros/cmd/use_comp_id_system_control: False
 * /iris_0/mavros/conn/heartbeat_rate: 1.0
 * /iris_0/mavros/conn/system_time_rate: 1.0
 * /iris_0/mavros/conn/timeout: 10.0
 * /iris_0/mavros/conn/timesync_rate: 10.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /iris_0/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /iris_0/mavros/distance_sensor/laser_1_sub/id: 3
 * /iris_0/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/laser_1_sub/subscriber: True
 * /iris_0/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /iris_0/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /iris_0/mavros/distance_sensor/lidarlite_pub/id: 1
 * /iris_0/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /iris_0/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /iris_0/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /iris_0/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /iris_0/mavros/distance_sensor/sonar_1_sub/id: 2
 * /iris_0/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /iris_0/mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /iris_0/mavros/fake_gps/eph: 2.0
 * /iris_0/mavros/fake_gps/epv: 2.0
 * /iris_0/mavros/fake_gps/fix_type: 3
 * /iris_0/mavros/fake_gps/geo_origin/alt: 408.0
 * /iris_0/mavros/fake_gps/geo_origin/lat: 47.3667
 * /iris_0/mavros/fake_gps/geo_origin/lon: 8.55
 * /iris_0/mavros/fake_gps/gps_rate: 5.0
 * /iris_0/mavros/fake_gps/mocap_transform: True
 * /iris_0/mavros/fake_gps/satellites_visible: 5
 * /iris_0/mavros/fake_gps/tf/child_frame_id: fix
 * /iris_0/mavros/fake_gps/tf/frame_id: map
 * /iris_0/mavros/fake_gps/tf/listen: False
 * /iris_0/mavros/fake_gps/tf/rate_limit: 10.0
 * /iris_0/mavros/fake_gps/tf/send: False
 * /iris_0/mavros/fake_gps/use_mocap: True
 * /iris_0/mavros/fake_gps/use_vision: False
 * /iris_0/mavros/fcu_protocol: v2.0
 * /iris_0/mavros/fcu_url: udp://:14540@loca...
 * /iris_0/mavros/gcs_url:
 * /iris_0/mavros/global_position/child_frame_id: base_link
 * /iris_0/mavros/global_position/frame_id: map
 * /iris_0/mavros/global_position/gps_uere: 1.0
 * /iris_0/mavros/global_position/rot_covariance: 99999.0
 * /iris_0/mavros/global_position/tf/child_frame_id: base_link
 * /iris_0/mavros/global_position/tf/frame_id: map
 * /iris_0/mavros/global_position/tf/global_frame_id: earth
 * /iris_0/mavros/global_position/tf/send: False
 * /iris_0/mavros/global_position/use_relative_alt: True
 * /iris_0/mavros/image/frame_id: px4flow
 * /iris_0/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /iris_0/mavros/imu/frame_id: base_link
 * /iris_0/mavros/imu/linear_acceleration_stdev: 0.0003
 * /iris_0/mavros/imu/magnetic_stdev: 0.0
 * /iris_0/mavros/imu/orientation_stdev: 1.0
 * /iris_0/mavros/landing_target/camera/fov_x: 2.0071286398
 * /iris_0/mavros/landing_target/camera/fov_y: 2.0071286398
 * /iris_0/mavros/landing_target/image/height: 480
 * /iris_0/mavros/landing_target/image/width: 640
 * /iris_0/mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /iris_0/mavros/landing_target/listen_lt: False
 * /iris_0/mavros/landing_target/mav_frame: LOCAL_NED
 * /iris_0/mavros/landing_target/target_size/x: 0.3
 * /iris_0/mavros/landing_target/target_size/y: 0.3
 * /iris_0/mavros/landing_target/tf/child_frame_id: camera_center
 * /iris_0/mavros/landing_target/tf/frame_id: landing_target
 * /iris_0/mavros/landing_target/tf/listen: False
 * /iris_0/mavros/landing_target/tf/rate_limit: 10.0
 * /iris_0/mavros/landing_target/tf/send: True
 * /iris_0/mavros/local_position/frame_id: map
 * /iris_0/mavros/local_position/tf/child_frame_id: base_link
 * /iris_0/mavros/local_position/tf/frame_id: map
 * /iris_0/mavros/local_position/tf/send: False
 * /iris_0/mavros/local_position/tf/send_fcu: False
 * /iris_0/mavros/mission/pull_after_gcs: True
 * /iris_0/mavros/mocap/use_pose: True
 * /iris_0/mavros/mocap/use_tf: False
 * /iris_0/mavros/odometry/fcu/odom_child_id_des: base_link
 * /iris_0/mavros/odometry/fcu/odom_parent_id_des: map
 * /iris_0/mavros/plugin_blacklist: ['safety_area', '...
 * /iris_0/mavros/plugin_whitelist: []
 * /iris_0/mavros/px4flow/frame_id: px4flow
 * /iris_0/mavros/px4flow/ranger_fov: 0.118682
 * /iris_0/mavros/px4flow/ranger_max_range: 5.0
 * /iris_0/mavros/px4flow/ranger_min_range: 0.3
 * /iris_0/mavros/safety_area/p1/x: 1.0
 * /iris_0/mavros/safety_area/p1/y: 1.0
 * /iris_0/mavros/safety_area/p1/z: 1.0
 * /iris_0/mavros/safety_area/p2/x: -1.0
 * /iris_0/mavros/safety_area/p2/y: -1.0
 * /iris_0/mavros/safety_area/p2/z: -1.0
 * /iris_0/mavros/setpoint_accel/send_force: False
 * /iris_0/mavros/setpoint_attitude/reverse_thrust: False
 * /iris_0/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /iris_0/mavros/setpoint_attitude/tf/frame_id: map
 * /iris_0/mavros/setpoint_attitude/tf/listen: False
 * /iris_0/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /iris_0/mavros/setpoint_attitude/use_quaternion: False
 * /iris_0/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /iris_0/mavros/setpoint_position/tf/child_frame_id: target_position
 * /iris_0/mavros/setpoint_position/tf/frame_id: map
 * /iris_0/mavros/setpoint_position/tf/listen: False
 * /iris_0/mavros/setpoint_position/tf/rate_limit: 50.0
 * /iris_0/mavros/setpoint_raw/thrust_scaling: 1.0
 * /iris_0/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /iris_0/mavros/startup_px4_usb_quirk: True
 * /iris_0/mavros/sys/disable_diag: False
 * /iris_0/mavros/sys/min_voltage: 10.0
 * /iris_0/mavros/target_component_id: 1
 * /iris_0/mavros/target_system_id: 1
 * /iris_0/mavros/tdr_radio/low_rssi: 40
 * /iris_0/mavros/time/time_ref_source: fcu
 * /iris_0/mavros/time/timesync_avg_alpha: 0.6
 * /iris_0/mavros/time/timesync_mode: MAVLINK
 * /iris_0/mavros/vibration/frame_id: base_link
 * /iris_0/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /iris_0/mavros/vision_pose/tf/frame_id: odom
 * /iris_0/mavros/vision_pose/tf/listen: False
 * /iris_0/mavros/vision_pose/tf/rate_limit: 10.0
 * /iris_0/mavros/vision_speed/listen_twist: True
 * /iris_0/mavros/vision_speed/twist_cov: True
 * /iris_0/mavros/wheel_odometry/child_frame_id: base_link
 * /iris_0/mavros/wheel_odometry/count: 2
 * /iris_0/mavros/wheel_odometry/frame_id: odom
 * /iris_0/mavros/wheel_odometry/send_raw: True
 * /iris_0/mavros/wheel_odometry/send_twist: False
 * /iris_0/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /iris_0/mavros/wheel_odometry/tf/frame_id: odom
 * /iris_0/mavros/wheel_odometry/tf/send: False
 * /iris_0/mavros/wheel_odometry/use_rpm: False
 * /iris_0/mavros/wheel_odometry/vel_error: 0.1
 * /iris_0/mavros/wheel_odometry/wheel0/radius: 0.05
 * /iris_0/mavros/wheel_odometry/wheel0/x: 0.0
 * /iris_0/mavros/wheel_odometry/wheel0/y: -0.15
 * /iris_0/mavros/wheel_odometry/wheel1/radius: 0.05
 * /iris_0/mavros/wheel_odometry/wheel1/x: 0.0
 * /iris_0/mavros/wheel_odometry/wheel1/y: 0.15
 * /iris_0/model_description: <?xml version="1....
 * /iris_1/mavros/cmd/use_comp_id_system_control: False
 * /iris_1/mavros/conn/heartbeat_rate: 1.0
 * /iris_1/mavros/conn/system_time_rate: 1.0
 * /iris_1/mavros/conn/timeout: 10.0
 * /iris_1/mavros/conn/timesync_rate: 10.0
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /iris_1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /iris_1/mavros/distance_sensor/laser_1_sub/id: 3
 * /iris_1/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /iris_1/mavros/distance_sensor/laser_1_sub/subscriber: True
 * /iris_1/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /iris_1/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /iris_1/mavros/distance_sensor/lidarlite_pub/id: 1
 * /iris_1/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /iris_1/mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /iris_1/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /iris_1/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /iris_1/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /iris_1/mavros/distance_sensor/sonar_1_sub/id: 2
 * /iris_1/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /iris_1/mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /iris_1/mavros/fake_gps/eph: 2.0
 * /iris_1/mavros/fake_gps/epv: 2.0
 * /iris_1/mavros/fake_gps/fix_type: 3
 * /iris_1/mavros/fake_gps/geo_origin/alt: 408.0
 * /iris_1/mavros/fake_gps/geo_origin/lat: 47.3667
 * /iris_1/mavros/fake_gps/geo_origin/lon: 8.55
 * /iris_1/mavros/fake_gps/gps_rate: 5.0
 * /iris_1/mavros/fake_gps/mocap_transform: True
 * /iris_1/mavros/fake_gps/satellites_visible: 5
 * /iris_1/mavros/fake_gps/tf/child_frame_id: fix
 * /iris_1/mavros/fake_gps/tf/frame_id: map
 * /iris_1/mavros/fake_gps/tf/listen: False
 * /iris_1/mavros/fake_gps/tf/rate_limit: 10.0
 * /iris_1/mavros/fake_gps/tf/send: False
 * /iris_1/mavros/fake_gps/use_mocap: True
 * /iris_1/mavros/fake_gps/use_vision: False
 * /iris_1/mavros/fcu_protocol: v2.0
 * /iris_1/mavros/fcu_url: udp://:14541@loca...
 * /iris_1/mavros/gcs_url:
 * /iris_1/mavros/global_position/child_frame_id: base_link
 * /iris_1/mavros/global_position/frame_id: map
 * /iris_1/mavros/global_position/gps_uere: 1.0
 * /iris_1/mavros/global_position/rot_covariance: 99999.0
 * /iris_1/mavros/global_position/tf/child_frame_id: base_link
 * /iris_1/mavros/global_position/tf/frame_id: map
 * /iris_1/mavros/global_position/tf/global_frame_id: earth
 * /iris_1/mavros/global_position/tf/send: False
 * /iris_1/mavros/global_position/use_relative_alt: True
 * /iris_1/mavros/image/frame_id: px4flow
 * /iris_1/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /iris_1/mavros/imu/frame_id: base_link
 * /iris_1/mavros/imu/linear_acceleration_stdev: 0.0003
 * /iris_1/mavros/imu/magnetic_stdev: 0.0
 * /iris_1/mavros/imu/orientation_stdev: 1.0
 * /iris_1/mavros/landing_target/camera/fov_x: 2.0071286398
 * /iris_1/mavros/landing_target/camera/fov_y: 2.0071286398
 * /iris_1/mavros/landing_target/image/height: 480
 * /iris_1/mavros/landing_target/image/width: 640
 * /iris_1/mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /iris_1/mavros/landing_target/listen_lt: False
 * /iris_1/mavros/landing_target/mav_frame: LOCAL_NED
 * /iris_1/mavros/landing_target/target_size/x: 0.3
 * /iris_1/mavros/landing_target/target_size/y: 0.3
 * /iris_1/mavros/landing_target/tf/child_frame_id: camera_center
 * /iris_1/mavros/landing_target/tf/frame_id: landing_target
 * /iris_1/mavros/landing_target/tf/listen: False
 * /iris_1/mavros/landing_target/tf/rate_limit: 10.0
 * /iris_1/mavros/landing_target/tf/send: True
 * /iris_1/mavros/local_position/frame_id: map
 * /iris_1/mavros/local_position/tf/child_frame_id: base_link
 * /iris_1/mavros/local_position/tf/frame_id: map
 * /iris_1/mavros/local_position/tf/send: False
 * /iris_1/mavros/local_position/tf/send_fcu: False
 * /iris_1/mavros/mission/pull_after_gcs: True
 * /iris_1/mavros/mocap/use_pose: True
 * /iris_1/mavros/mocap/use_tf: False
 * /iris_1/mavros/odometry/fcu/odom_child_id_des: base_link
 * /iris_1/mavros/odometry/fcu/odom_parent_id_des: map
 * /iris_1/mavros/plugin_blacklist: ['safety_area', '...
 * /iris_1/mavros/plugin_whitelist: []
 * /iris_1/mavros/px4flow/frame_id: px4flow
 * /iris_1/mavros/px4flow/ranger_fov: 0.118682
 * /iris_1/mavros/px4flow/ranger_max_range: 5.0
 * /iris_1/mavros/px4flow/ranger_min_range: 0.3
 * /iris_1/mavros/safety_area/p1/x: 1.0
 * /iris_1/mavros/safety_area/p1/y: 1.0
 * /iris_1/mavros/safety_area/p1/z: 1.0
 * /iris_1/mavros/safety_area/p2/x: -1.0
 * /iris_1/mavros/safety_area/p2/y: -1.0
 * /iris_1/mavros/safety_area/p2/z: -1.0
 * /iris_1/mavros/setpoint_accel/send_force: False
 * /iris_1/mavros/setpoint_attitude/reverse_thrust: False
 * /iris_1/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /iris_1/mavros/setpoint_attitude/tf/frame_id: map
 * /iris_1/mavros/setpoint_attitude/tf/listen: False
 * /iris_1/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /iris_1/mavros/setpoint_attitude/use_quaternion: False
 * /iris_1/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /iris_1/mavros/setpoint_position/tf/child_frame_id: target_position
 * /iris_1/mavros/setpoint_position/tf/frame_id: map
 * /iris_1/mavros/setpoint_position/tf/listen: False
 * /iris_1/mavros/setpoint_position/tf/rate_limit: 50.0
 * /iris_1/mavros/setpoint_raw/thrust_scaling: 1.0
 * /iris_1/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /iris_1/mavros/startup_px4_usb_quirk: True
 * /iris_1/mavros/sys/disable_diag: False
 * /iris_1/mavros/sys/min_voltage: 10.0
 * /iris_1/mavros/target_component_id: 1
 * /iris_1/mavros/target_system_id: 2
 * /iris_1/mavros/tdr_radio/low_rssi: 40
 * /iris_1/mavros/time/time_ref_source: fcu
 * /iris_1/mavros/time/timesync_avg_alpha: 0.6
 * /iris_1/mavros/time/timesync_mode: MAVLINK
 * /iris_1/mavros/vibration/frame_id: base_link
 * /iris_1/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /iris_1/mavros/vision_pose/tf/frame_id: odom
 * /iris_1/mavros/vision_pose/tf/listen: False
 * /iris_1/mavros/vision_pose/tf/rate_limit: 10.0
 * /iris_1/mavros/vision_speed/listen_twist: True
 * /iris_1/mavros/vision_speed/twist_cov: True
 * /iris_1/mavros/wheel_odometry/child_frame_id: base_link
 * /iris_1/mavros/wheel_odometry/count: 2
 * /iris_1/mavros/wheel_odometry/frame_id: odom
 * /iris_1/mavros/wheel_odometry/send_raw: True
 * /iris_1/mavros/wheel_odometry/send_twist: False
 * /iris_1/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /iris_1/mavros/wheel_odometry/tf/frame_id: odom
 * /iris_1/mavros/wheel_odometry/tf/send: False
 * /iris_1/mavros/wheel_odometry/use_rpm: False
 * /iris_1/mavros/wheel_odometry/vel_error: 0.1
 * /iris_1/mavros/wheel_odometry/wheel0/radius: 0.05
 * /iris_1/mavros/wheel_odometry/wheel0/x: 0.0
 * /iris_1/mavros/wheel_odometry/wheel0/y: -0.15
 * /iris_1/mavros/wheel_odometry/wheel1/radius: 0.05
 * /iris_1/mavros/wheel_odometry/wheel1/x: 0.0
 * /iris_1/mavros/wheel_odometry/wheel1/y: 0.15
 * /iris_1/model_description: <?xml version="1....
 * /iris_2/mavros/cmd/use_comp_id_system_control: False
 * /iris_2/mavros/conn/heartbeat_rate: 1.0
 * /iris_2/mavros/conn/system_time_rate: 1.0
 * /iris_2/mavros/conn/timeout: 10.0
 * /iris_2/mavros/conn/timesync_rate: 10.0
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /iris_2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /iris_2/mavros/distance_sensor/laser_1_sub/id: 3
 * /iris_2/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /iris_2/mavros/distance_sensor/laser_1_sub/subscriber: True
 * /iris_2/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /iris_2/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /iris_2/mavros/distance_sensor/lidarlite_pub/id: 1
 * /iris_2/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /iris_2/mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /iris_2/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /iris_2/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /iris_2/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /iris_2/mavros/distance_sensor/sonar_1_sub/id: 2
 * /iris_2/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /iris_2/mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /iris_2/mavros/fake_gps/eph: 2.0
 * /iris_2/mavros/fake_gps/epv: 2.0
 * /iris_2/mavros/fake_gps/fix_type: 3
 * /iris_2/mavros/fake_gps/geo_origin/alt: 408.0
 * /iris_2/mavros/fake_gps/geo_origin/lat: 47.3667
 * /iris_2/mavros/fake_gps/geo_origin/lon: 8.55
 * /iris_2/mavros/fake_gps/gps_rate: 5.0
 * /iris_2/mavros/fake_gps/mocap_transform: True
 * /iris_2/mavros/fake_gps/satellites_visible: 5
 * /iris_2/mavros/fake_gps/tf/child_frame_id: fix
 * /iris_2/mavros/fake_gps/tf/frame_id: map
 * /iris_2/mavros/fake_gps/tf/listen: False
 * /iris_2/mavros/fake_gps/tf/rate_limit: 10.0
 * /iris_2/mavros/fake_gps/tf/send: False
 * /iris_2/mavros/fake_gps/use_mocap: True
 * /iris_2/mavros/fake_gps/use_vision: False
 * /iris_2/mavros/fcu_protocol: v2.0
 * /iris_2/mavros/fcu_url: udp://:14542@loca...
 * /iris_2/mavros/gcs_url:
 * /iris_2/mavros/global_position/child_frame_id: base_link
 * /iris_2/mavros/global_position/frame_id: map
 * /iris_2/mavros/global_position/gps_uere: 1.0
 * /iris_2/mavros/global_position/rot_covariance: 99999.0
 * /iris_2/mavros/global_position/tf/child_frame_id: base_link
 * /iris_2/mavros/global_position/tf/frame_id: map
 * /iris_2/mavros/global_position/tf/global_frame_id: earth
 * /iris_2/mavros/global_position/tf/send: False
 * /iris_2/mavros/global_position/use_relative_alt: True
 * /iris_2/mavros/image/frame_id: px4flow
 * /iris_2/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /iris_2/mavros/imu/frame_id: base_link
 * /iris_2/mavros/imu/linear_acceleration_stdev: 0.0003
 * /iris_2/mavros/imu/magnetic_stdev: 0.0
 * /iris_2/mavros/imu/orientation_stdev: 1.0
 * /iris_2/mavros/landing_target/camera/fov_x: 2.0071286398
 * /iris_2/mavros/landing_target/camera/fov_y: 2.0071286398
 * /iris_2/mavros/landing_target/image/height: 480
 * /iris_2/mavros/landing_target/image/width: 640
 * /iris_2/mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /iris_2/mavros/landing_target/listen_lt: False
 * /iris_2/mavros/landing_target/mav_frame: LOCAL_NED
 * /iris_2/mavros/landing_target/target_size/x: 0.3
 * /iris_2/mavros/landing_target/target_size/y: 0.3
 * /iris_2/mavros/landing_target/tf/child_frame_id: camera_center
 * /iris_2/mavros/landing_target/tf/frame_id: landing_target
 * /iris_2/mavros/landing_target/tf/listen: False
 * /iris_2/mavros/landing_target/tf/rate_limit: 10.0
 * /iris_2/mavros/landing_target/tf/send: True
 * /iris_2/mavros/local_position/frame_id: map
 * /iris_2/mavros/local_position/tf/child_frame_id: base_link
 * /iris_2/mavros/local_position/tf/frame_id: map
 * /iris_2/mavros/local_position/tf/send: False
 * /iris_2/mavros/local_position/tf/send_fcu: False
 * /iris_2/mavros/mission/pull_after_gcs: True
 * /iris_2/mavros/mocap/use_pose: True
 * /iris_2/mavros/mocap/use_tf: False
 * /iris_2/mavros/odometry/fcu/odom_child_id_des: base_link
 * /iris_2/mavros/odometry/fcu/odom_parent_id_des: map
 * /iris_2/mavros/plugin_blacklist: ['safety_area', '...
 * /iris_2/mavros/plugin_whitelist: []
 * /iris_2/mavros/px4flow/frame_id: px4flow
 * /iris_2/mavros/px4flow/ranger_fov: 0.118682
 * /iris_2/mavros/px4flow/ranger_max_range: 5.0
 * /iris_2/mavros/px4flow/ranger_min_range: 0.3
 * /iris_2/mavros/safety_area/p1/x: 1.0
 * /iris_2/mavros/safety_area/p1/y: 1.0
 * /iris_2/mavros/safety_area/p1/z: 1.0
 * /iris_2/mavros/safety_area/p2/x: -1.0
 * /iris_2/mavros/safety_area/p2/y: -1.0
 * /iris_2/mavros/safety_area/p2/z: -1.0
 * /iris_2/mavros/setpoint_accel/send_force: False
 * /iris_2/mavros/setpoint_attitude/reverse_thrust: False
 * /iris_2/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /iris_2/mavros/setpoint_attitude/tf/frame_id: map
 * /iris_2/mavros/setpoint_attitude/tf/listen: False
 * /iris_2/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /iris_2/mavros/setpoint_attitude/use_quaternion: False
 * /iris_2/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /iris_2/mavros/setpoint_position/tf/child_frame_id: target_position
 * /iris_2/mavros/setpoint_position/tf/frame_id: map
 * /iris_2/mavros/setpoint_position/tf/listen: False
 * /iris_2/mavros/setpoint_position/tf/rate_limit: 50.0
 * /iris_2/mavros/setpoint_raw/thrust_scaling: 1.0
 * /iris_2/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /iris_2/mavros/startup_px4_usb_quirk: True
 * /iris_2/mavros/sys/disable_diag: False
 * /iris_2/mavros/sys/min_voltage: 10.0
 * /iris_2/mavros/target_component_id: 1
 * /iris_2/mavros/target_system_id: 3
 * /iris_2/mavros/tdr_radio/low_rssi: 40
 * /iris_2/mavros/time/time_ref_source: fcu
 * /iris_2/mavros/time/timesync_avg_alpha: 0.6
 * /iris_2/mavros/time/timesync_mode: MAVLINK
 * /iris_2/mavros/vibration/frame_id: base_link
 * /iris_2/mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /iris_2/mavros/vision_pose/tf/frame_id: odom
 * /iris_2/mavros/vision_pose/tf/listen: False
 * /iris_2/mavros/vision_pose/tf/rate_limit: 10.0
 * /iris_2/mavros/vision_speed/listen_twist: True
 * /iris_2/mavros/vision_speed/twist_cov: True
 * /iris_2/mavros/wheel_odometry/child_frame_id: base_link
 * /iris_2/mavros/wheel_odometry/count: 2
 * /iris_2/mavros/wheel_odometry/frame_id: odom
 * /iris_2/mavros/wheel_odometry/send_raw: True
 * /iris_2/mavros/wheel_odometry/send_twist: False
 * /iris_2/mavros/wheel_odometry/tf/child_frame_id: base_link
 * /iris_2/mavros/wheel_odometry/tf/frame_id: odom
 * /iris_2/mavros/wheel_odometry/tf/send: False
 * /iris_2/mavros/wheel_odometry/use_rpm: False
 * /iris_2/mavros/wheel_odometry/vel_error: 0.1
 * /iris_2/mavros/wheel_odometry/wheel0/radius: 0.05
 * /iris_2/mavros/wheel_odometry/wheel0/x: 0.0
 * /iris_2/mavros/wheel_odometry/wheel0/y: -0.15
 * /iris_2/mavros/wheel_odometry/wheel1/radius: 0.05
 * /iris_2/mavros/wheel_odometry/wheel1/x: 0.0
 * /iris_2/mavros/wheel_odometry/wheel1/y: 0.15
 * /iris_2/model_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /use_sim_time: True

NODES
  /iris_1/
    iris_1_spawn (gazebo_ros/spawn_model)
    mavros (mavros/mavros_node)
    sitl_1 (px4/px4)
  /iris_2/
    iris_2_spawn (gazebo_ros/spawn_model)
    mavros (mavros/mavros_node)
    sitl_2 (px4/px4)
  /iris_0/
    iris_0_spawn (gazebo_ros/spawn_model)
    mavros (mavros/mavros_node)
    sitl_0 (px4/px4)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    iris_0_camera (tf/static_transform_publisher)
    iris_0_lidar (tf/static_transform_publisher)
    iris_1_camera (tf/static_transform_publisher)
    iris_1_lidar (tf/static_transform_publisher)
    iris_2_camera (tf/static_transform_publisher)
    iris_2_lidar (tf/static_transform_publisher)
    rviz_HungarianHorntails_1577_1240342759625688793 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [1589]
Gazebo multi-robot simulator, version 9.12.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[ INFO] [1584698858.227230612]: Finished loading Gazebo ROS API Plugin.
[Msg] Waiting for master.
[ INFO] [1584698858.229620729]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.0.188
process[gazebo_gui-2]: started with pid [1593]
Gazebo multi-robot simulator, version 9.12.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Wrn] [GuiIface.cc:199] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin
process[rviz_HungarianHorntails_1577_1240342759625688793-3]: started with pid [1670]
[ INFO] [1584698858.632152125]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1584698858.634440692]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.0.188
[ INFO] [1584698858.674442008]: rviz version 1.13.7
[ INFO] [1584698858.674493156]: compiled against Qt version 5.9.5
[ INFO] [1584698858.674505451]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1584698858.689346912]: Forcing OpenGl version 0.
process[iris_0/sitl_0-4]: started with pid [1768]
INFO  [px4] Creating symlink /home/user/Firmware/ROMFS/px4fmu_common -> /home/user/.ros/sitl_iris_0/etc

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] Loaded: eeprom/parameters_10016
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
process[iris_0/iris_0_spawn-5]: started with pid [1782]
process[iris_0/mavros-6]: started with pid [1815]
[ INFO] [1584698860.011312179]: FCU URL: udp://:14540@localhost:14580
[ INFO] [1584698860.014173437]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1584698860.014265347]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1584698860.014584469]: GCS bridge disabled
[ INFO] [1584698860.030268410]: Plugin 3dr_radio loaded
[ INFO] [1584698860.032793020]: Plugin 3dr_radio initialized
[ INFO] [1584698860.032986706]: Plugin actuator_control loaded
[ INFO] [1584698860.037197482]: Plugin actuator_control initialized
[ INFO] [1584698860.043037962]: Plugin adsb loaded
[ INFO] [1584698860.046212505]: Plugin adsb initialized
[ INFO] [1584698860.046386202]: Plugin altitude loaded
[ INFO] [1584698860.047490688]: Plugin altitude initialized
[ INFO] [1584698860.047646805]: Plugin cam_imu_sync loaded
[ INFO] [1584698860.048962124]: Plugin cam_imu_sync initialized
[ INFO] [1584698860.049157591]: Plugin command loaded
[ INFO] [1584698860.058740494]: Plugin command initialized
[ INFO] [1584698860.058871338]: Plugin companion_process_status loaded
[ INFO] [1584698860.061784361]: Plugin companion_process_status initialized
[ INFO] [1584698860.062106119]: Plugin debug_value loaded
[ INFO] [1584698860.069625464]: Plugin debug_value initialized
[ INFO] [1584698860.069684446]: Plugin distance_sensor blacklisted
[ INFO] [1584698860.069962074]: Plugin fake_gps loaded
[ INFO] [1584698860.103674320]: Plugin fake_gps initialized
[ INFO] [1584698860.104107745]: Plugin ftp loaded
[ INFO] [1584698860.121163556]: Plugin ftp initialized
[ INFO] [1584698860.121597919]: Plugin global_position loaded
[ INFO] [1584698860.148484294]: Plugin global_position initialized
[ INFO] [1584698860.148781810]: Plugin gps_rtk loaded
[ INFO] [1584698860.151506719]: Plugin gps_rtk initialized
[ INFO] [1584698860.151779959]: Plugin hil loaded
[ INFO] [1584698860.164950125]: Plugin hil initialized
[ INFO] [1584698860.165274546]: Plugin home_position loaded
[ INFO] [1584698860.169141328]: Plugin home_position initialized
[ INFO] [1584698860.169561561]: Plugin imu loaded
[ INFO] [1584698860.176625412]: Plugin imu initialized
[ INFO] [1584698860.176811030]: Plugin landing_target loaded
[ INFO] [1584698860.200632141]: Plugin landing_target initialized
[ INFO] [1584698860.200951835]: Plugin local_position loaded
[INFO] [1584698860.205681, 0.000000]: Loading model XML from ros parameter model_description
[ INFO] [1584698860.213400223]: Plugin local_position initialized
[ INFO] [1584698860.213573654]: Plugin log_transfer loaded
[INFO] [1584698860.214011, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[INFO] [1584698860.217817, 0.000000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1584698860.220761932, 115.754000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1584698860.221043840]: Plugin log_transfer initialized
[ INFO] [1584698860.221260277]: Plugin manual_control loaded
[ INFO] [1584698860.228218866]: Plugin manual_control initialized
[ INFO] [1584698860.228453989]: Plugin mocap_pose_estimate loaded
[ INFO] [1584698860.234904148]: Plugin mocap_pose_estimate initialized
[ INFO] [1584698860.235143969]: Plugin mount_control loaded
[ INFO] [1584698860.240186609]: Plugin mount_control initialized
[ INFO] [1584698860.240443201]: Plugin obstacle_distance loaded
[ INFO] [1584698860.244496753]: Plugin obstacle_distance initialized
[ INFO] [1584698860.244723599]: Plugin odom loaded
[ INFO] [1584698860.250989207]: Plugin odom initialized
[ INFO] [1584698860.251210330]: Plugin onboard_computer_status loaded
[ INFO] [1584698860.254514695]: Plugin onboard_computer_status initialized
[ INFO] [1584698860.254821728]: Plugin param loaded
[ INFO] [1584698860.262399698]: Plugin param initialized
[ INFO] [1584698860.262631338]: Plugin px4flow loaded
[ INFO] [1584698860.283689356, 115.815000000]: Plugin px4flow initialized
[ INFO] [1584698860.283781385, 115.815000000]: Plugin rangefinder blacklisted
[ INFO] [1584698860.284145619, 115.815000000]: Plugin rc_io loaded
process[iris_0_lidar-7]: started with pid [1842]
[ INFO] [1584698860.296088247, 115.827000000]: Plugin rc_io initialized
[ INFO] [1584698860.296199991, 115.827000000]: Plugin safety_area blacklisted
[ INFO] [1584698860.296548185, 115.827000000]: Plugin setpoint_accel loaded
[ INFO] [1584698860.306391904, 115.837000000]: Plugin setpoint_accel initialized
[ INFO] [1584698860.306846762, 115.837000000]: Plugin setpoint_attitude loaded
[ INFO] [1584698860.327048016, 115.857000000]: Plugin setpoint_attitude initialized
[ INFO] [1584698860.327407655, 115.857000000]: Plugin setpoint_position loaded
[ INFO] [1584698860.352182970, 115.882000000]: Plugin setpoint_position initialized
[ INFO] [1584698860.352499127, 115.882000000]: Plugin setpoint_raw loaded
[ INFO] [1584698860.366085984, 115.895000000]: Plugin setpoint_raw initialized
[ INFO] [1584698860.366414613, 115.896000000]: Plugin setpoint_trajectory loaded
[ INFO] [1584698860.372905671, 115.902000000]: Plugin setpoint_trajectory initialized
[ INFO] [1584698860.373241993, 115.902000000]: Plugin setpoint_velocity loaded
[ INFO] [1584698860.382113702, 115.911000000]: Plugin setpoint_velocity initialized
[ INFO] [1584698860.382686059, 115.912000000]: Plugin sys_status loaded
[ INFO] [1584698860.401349791, 115.930000000]: Plugin sys_status initialized
[ INFO] [1584698860.401689440, 115.931000000]: Plugin sys_time loaded
[ INFO] [1584698860.408889055, 115.938000000]: TM: Timesync mode: MAVLINK
[ INFO] [1584698860.410853599, 115.940000000]: Plugin sys_time initialized
[ INFO] [1584698860.411081906, 115.940000000]: Plugin trajectory loaded
[ INFO] [1584698860.419017573, 115.948000000]: Plugin trajectory initialized
[ INFO] [1584698860.419398778, 115.948000000]: Plugin vfr_hud loaded
[ INFO] [1584698860.420473962, 115.949000000]: Plugin vfr_hud initialized
[ INFO] [1584698860.420544805, 115.949000000]: Plugin vibration blacklisted
[ INFO] [1584698860.420777062, 115.949000000]: Plugin vision_pose_estimate loaded
[ INFO] [1584698860.431039576, 115.949000000]: Plugin vision_pose_estimate initialized
[ INFO] [1584698860.431266466, 115.949000000]: Plugin vision_speed_estimate loaded
[ INFO] [1584698860.436440959, 115.949000000]: Plugin vision_speed_estimate initialized
[ INFO] [1584698860.436741989, 115.949000000]: Plugin waypoint loaded
[ INFO] [1584698860.443251430, 115.949000000]: Plugin waypoint initialized
[ INFO] [1584698860.443315462, 115.949000000]: Plugin wheel_odometry blacklisted
[ INFO] [1584698860.443609691, 115.949000000]: Plugin wind_estimation loaded
[ INFO] [1584698860.444612188, 115.949000000]: Plugin wind_estimation initialized
[ INFO] [1584698860.444701109, 115.949000000]: Autostarting mavlink via USB on PX4
[ INFO] [1584698860.444946980, 115.949000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1584698860.444991414, 115.949000000]: Built-in MAVLink package version: 2020.2.2
[ INFO] [1584698860.445051177, 115.949000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1584698860.445143269, 115.949000000]: MAVROS started. MY ID 1.240, TARGET ID 1.1
process[iris_0_camera-8]: started with pid [1935]
[ INFO] [1584698860.799544447, 115.949000000]: Laser Plugin: The 'robotNamespace' param did not exit
[ INFO] [1584698860.799600108, 115.949000000]: Starting GazeboRosLaser Plugin (ns = )
[ INFO] [1584698860.801021480, 115.949000000]: GPU Laser Plugin (ns = ) <tf_prefix_>, set to ""
[Wrn] [msgs.cc:1852] Conversion of sensor type[gpu_ray] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[ INFO] [1584698860.802438092, 115.949000000]: LoadThread function completed
[INFO] [1584698860.803933, 115.949000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1584698860.817205474, 115.949000000]: Physics dynamic reconfigure ready.
[ INFO] [1584698860.822036940, 115.949000000]: Camera Plugin: Using the 'robotNamespace' param: '/iris_0/'
[ INFO] [1584698860.825807910, 115.949000000]: Camera Plugin (ns = /iris_0/)  <tf_prefix_>, set to "/iris_0"
[Wrn] [gazebo_barometer_plugin.cpp:66] [gazebo_barometer_plugin] Using default home altitude of 488 m
[iris_0/iris_0_spawn-5] process has finished cleanly
log file: /home/user/.ros/log/b35c2186-6a88-11ea-8093-b06ebf5f23c9/iris_0-iris_0_spawn-5*.log
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[0] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[1] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[2] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[3] no joint control will be performed for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::propeller_joint] not found for channel[4] no joint control for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::flap_left_joint] not found for channel[5] no joint control for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::flap_right_joint] not found for channel[6] no joint control for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[7] no joint control will be performed for this channel.
[Msg] Connecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
[Wrn] [gazebo_mavlink_interface.cpp:88] No identifier on link. Using 0 as default sensor ID
[Msg] Using MAVLink protocol v2.0
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] LED: open /dev/led0 failed (22)
[ INFO] [1584698861.059139918, 115.996000000]: Stereo is NOT SUPPORTED
[ INFO] [1584698861.059268447, 115.997000000]: OpenGl version: 4.6 (GLSL 4.6).
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
[Wrn] [msgs.cc:1852] Conversion of sensor type[gpu_ray] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_0/motors, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_0/motor_speed/0, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_0/motor_speed/1, deleting message. This warning is printed only once.
process[iris_1/sitl_1-9]: started with pid [1952]
INFO  [px4] Creating symlink /home/user/Firmware/ROMFS/px4fmu_common -> /home/user/.ros/sitl_iris_1/etc

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 1
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
  SYS_AUTOCONFIG: curr: 0 -> new: 1
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
  MAV_SYS_ID: curr: 1 -> new: 2
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
* SYS_AUTOSTART: curr: 0 -> new: 10016
  BAT_N_CELLS: curr: 0 -> new: 3
  CAL_ACC0_ID: curr: 0 -> new: 1311244
  CAL_ACC_PRIME: curr: 0 -> new: 1311244
  CAL_GYRO0_ID: curr: 0 -> new: 2294028
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] Opened full log file: ./log/2020-03-20/10_07_41.ulg
  CAL_GYRO_PRIME: curr: 0 -> new: 2294028
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
  CAL_MAG0_ID: curr: 0 -> new: 197388
[ INFO] [1584698861.326912751, 116.216000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1584698861.328254396, 116.217000000]: IMU: High resolution IMU detected!
  CAL_MAG_PRIME: curr: 0 -> new: 197388
INFO  [px4] Startup script returned successfully
[ INFO] [1584698861.334091071, 116.223000000]: FCU: [logger] file:./log/2020-03-20/10_07_41.ulg
  COM_DISARM_LAND: curr: 2.0000 -> new: 0.5000
  COM_OBL_ACT: curr: 0 -> new: 2
  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: 0.0017 -> new: 0.0050
  EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
INFO  [mavlink] partner IP: 127.0.0.1
  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_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
  MPC_Z_VEL_I: curr: 0.1000 -> new: 0.1500
  MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
  MPC_XY_P: curr: 0.9500 -> new: 0.8000
  MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
  MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
  MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
  MPC_ACC_HOR_MAX: curr: 5.0000 -> new: 3.0000
  MPC_SPOOLUP_TIME: curr: 1.0000 -> new: 0.5000
  MPC_TKO_RAMP_T: curr: 3.0000 -> new: 1.0000
  NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
  NAV_DLL_ACT: curr: 0 -> new: 2
  RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
  RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
  RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
  SDLOG_MODE: curr: 0 -> new: 1
  SDLOG_PROFILE: curr: 3 -> 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
* RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
* RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
  PWM_MAX: curr: 2000 -> new: 1950
  PWM_MIN: curr: 1000 -> new: 1075
* 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 4561
[Wrn] [msgs.cc:1852] Conversion of sensor type[gpu_ray] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
process[iris_1/iris_1_spawn-10]: started with pid [2095]
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_0/motor_speed/2, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_0/motor_speed/3, deleting message. This warning is printed only once.
[Wrn] [msgs.cc:1852] Conversion of sensor type[gpu_ray] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
INFO  [ecl/EKF] 637000: GPS checks passed (WGS-84 origin set)
process[iris_1/mavros-11]: started with pid [2305]
[ INFO] [1584698862.078012637]: FCU URL: udp://:14541@localhost:14581
[ INFO] [1584698862.080101764]: udp0: Bind address: 0.0.0.0:14541
[ INFO] [1584698862.080202744]: udp0: Remote address: 127.0.0.1:14581
[ INFO] [1584698862.080514570]: GCS bridge disabled
[ INFO] [1584698862.098127092]: Plugin 3dr_radio loaded
[ INFO] [1584698862.100346227]: Plugin 3dr_radio initialized
[ INFO] [1584698862.100513331]: Plugin actuator_control loaded
[ INFO] [1584698862.104858804]: Plugin actuator_control initialized
[ INFO] [1584698862.110078572]: Plugin adsb loaded
[ INFO] [1584698862.114277792]: Plugin adsb initialized
[ INFO] [1584698862.114499138]: Plugin altitude loaded
[ INFO] [1584698862.116642825]: Plugin altitude initialized
[ INFO] [1584698862.116800986]: Plugin cam_imu_sync loaded
[ INFO] [1584698862.117828183]: Plugin cam_imu_sync initialized
[ INFO] [1584698862.118038040]: Plugin command loaded
[ INFO] [1584698862.128728335]: Plugin command initialized
[ INFO] [1584698862.129038927]: Plugin companion_process_status loaded
[ INFO] [1584698862.132615465]: Plugin companion_process_status initialized
[ INFO] [1584698862.132935471]: Plugin debug_value loaded
[ INFO] [1584698862.141519464]: Plugin debug_value initialized
[ INFO] [1584698862.141601364]: Plugin distance_sensor blacklisted
[ INFO] [1584698862.141982698]: Plugin fake_gps loaded
[ INFO] [1584698862.164783693]: Plugin fake_gps initialized
[ INFO] [1584698862.165266683]: Plugin ftp loaded
[ INFO] [1584698862.177556309]: Plugin ftp initialized
[ INFO] [1584698862.177952676]: Plugin global_position loaded
[ INFO] [1584698862.203652661]: Plugin global_position initialized
[ INFO] [1584698862.203917973]: Plugin gps_rtk loaded
[ INFO] [1584698862.206791437]: Plugin gps_rtk initialized
[ INFO] [1584698862.206959552]: Plugin hil loaded
[ INFO] [1584698862.227071067]: Plugin hil initialized
[ INFO] [1584698862.227293070]: Plugin home_position loaded
[ INFO] [1584698862.231095925]: Plugin home_position initialized
[ INFO] [1584698862.231518920]: Plugin imu loaded
[ INFO] [1584698862.244852595]: Plugin imu initialized
[ INFO] [1584698862.245096757]: Plugin landing_target loaded
[ INFO] [1584698862.264152745, 117.118000000]: Plugin landing_target initialized
[ INFO] [1584698862.264435469, 117.118000000]: Plugin local_position loaded
[ INFO] [1584698862.272811349, 117.126000000]: Plugin local_position initialized
[ INFO] [1584698862.273153562, 117.126000000]: Plugin log_transfer loaded
[ INFO] [1584698862.276575114, 117.130000000]: Plugin log_transfer initialized
[ INFO] [1584698862.276880568, 117.130000000]: Plugin manual_control loaded
[ INFO] [1584698862.279733051, 117.133000000]: Plugin manual_control initialized
[ INFO] [1584698862.279997611, 117.133000000]: Plugin mocap_pose_estimate loaded
[ INFO] [1584698862.283238935, 117.136000000]: Plugin mocap_pose_estimate initialized
[ INFO] [1584698862.283503521, 117.137000000]: Plugin mount_control loaded
[ INFO] [1584698862.288327483, 117.142000000]: Plugin mount_control initialized
[ INFO] [1584698862.288463405, 117.142000000]: Plugin obstacle_distance loaded
[ INFO] [1584698862.292049958, 117.145000000]: Plugin obstacle_distance initialized
[ INFO] [1584698862.292193225, 117.145000000]: Plugin odom loaded
[ INFO] [1584698862.298346615, 117.151000000]: Plugin odom initialized
[ INFO] [1584698862.298685057, 117.152000000]: Plugin onboard_computer_status loaded
[ INFO] [1584698862.302343508, 117.155000000]: Plugin onboard_computer_status initialized
[ INFO] [1584698862.302547563, 117.156000000]: Plugin param loaded
[ INFO] [1584698862.311725071, 117.165000000]: Plugin param initialized
[ INFO] [1584698862.312032333, 117.165000000]: Plugin px4flow loaded
[ INFO] [1584698862.319541029, 117.168000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1584698862.323322047, 117.175000000]: IMU: High resolution IMU detected!
[INFO] [1584698862.328760, 0.000000]: Loading model XML from ros parameter model_description
[ INFO] [1584698862.331320291, 117.183000000]: Plugin px4flow initialized
[ INFO] [1584698862.331400457, 117.183000000]: Plugin rangefinder blacklisted
[ INFO] [1584698862.331795433, 117.183000000]: Plugin rc_io loaded
[ INFO] [1584698862.337170826, 117.188000000]: Plugin rc_io initialized
[ INFO] [1584698862.337233577, 117.188000000]: Plugin safety_area blacklisted
[ INFO] [1584698862.337455973, 117.189000000]: Plugin setpoint_accel loaded
[INFO] [1584698862.337508, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[INFO] [1584698862.341856, 0.000000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1584698862.344682215, 117.196000000]: Plugin setpoint_accel initialized
[ INFO] [1584698862.345097943, 117.196000000]: Plugin setpoint_attitude loaded
[ INFO] [1584698862.364101266, 117.215000000]: Plugin setpoint_attitude initialized
[ INFO] [1584698862.364464982, 117.215000000]: Plugin setpoint_position loaded
process[iris_1_lidar-12]: started with pid [2309]
[ INFO] [1584698862.383652185, 117.234000000]: Plugin setpoint_position initialized
[ INFO] [1584698862.383837380, 117.234000000]: Plugin setpoint_raw loaded
[ INFO] [1584698862.406924912, 117.256000000]: Plugin setpoint_raw initialized
[ INFO] [1584698862.407316305, 117.257000000]: Plugin setpoint_trajectory loaded
[ INFO] [1584698862.415237617, 117.265000000]: Plugin setpoint_trajectory initialized
[ INFO] [1584698862.415571918, 117.265000000]: Plugin setpoint_velocity loaded
[ INFO] [1584698862.427076259, 117.268000000]: Plugin setpoint_velocity initialized
[ INFO] [1584698862.427716043, 117.268000000]: Plugin sys_status loaded
[ INFO] [1584698862.446132432, 117.268000000]: Plugin sys_status initialized
[ INFO] [1584698862.446546987, 117.268000000]: Plugin sys_time loaded
[ INFO] [1584698862.452582663, 117.268000000]: TM: Timesync mode: MAVLINK
[ INFO] [1584698862.454292859, 117.268000000]: Plugin sys_time initialized
[ INFO] [1584698862.454566069, 117.268000000]: Plugin trajectory loaded
[ INFO] [1584698862.460783010, 117.268000000]: Plugin trajectory initialized
[ INFO] [1584698862.461076059, 117.268000000]: Plugin vfr_hud loaded
[ INFO] [1584698862.462057849, 117.268000000]: Plugin vfr_hud initialized
[ INFO] [1584698862.462116255, 117.268000000]: Plugin vibration blacklisted
[ INFO] [1584698862.462366092, 117.268000000]: Plugin vision_pose_estimate loaded
[ INFO] [1584698862.471851149, 117.268000000]: Plugin vision_pose_estimate initialized
[ INFO] [1584698862.472122275, 117.268000000]: Plugin vision_speed_estimate loaded
[ INFO] [1584698862.477490006, 117.268000000]: Plugin vision_speed_estimate initialized
[ INFO] [1584698862.477810903, 117.268000000]: Plugin waypoint loaded
[ INFO] [1584698862.484967845, 117.268000000]: Plugin waypoint initialized
[ INFO] [1584698862.485042205, 117.268000000]: Plugin wheel_odometry blacklisted
[ INFO] [1584698862.485342329, 117.268000000]: Plugin wind_estimation loaded
[ INFO] [1584698862.486380457, 117.268000000]: Plugin wind_estimation initialized
[ INFO] [1584698862.486475588, 117.268000000]: Autostarting mavlink via USB on PX4
[ INFO] [1584698862.486720412, 117.268000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1584698862.486764092, 117.268000000]: Built-in MAVLink package version: 2020.2.2
[ INFO] [1584698862.486827125, 117.268000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1584698862.486878344, 117.268000000]: MAVROS started. MY ID 1.240, TARGET ID 2.1
[Wrn] [msgs.cc:1852] Conversion of sensor type[gpu_ray] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[INFO] [1584698862.545371, 117.268000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1584698862.558415121, 117.268000000]: Laser Plugin: The 'robotNamespace' param did not exit
[ INFO] [1584698862.558450321, 117.268000000]: Starting GazeboRosLaser Plugin (ns = )
[ INFO] [1584698862.559504649, 117.268000000]: GPU Laser Plugin (ns = ) <tf_prefix_>, set to ""
[ INFO] [1584698862.559647874, 117.268000000]: LoadThread function completed
[ INFO] [1584698862.559916716, 117.268000000]: Camera Plugin: Using the 'robotNamespace' param: '/iris_1/'
[ INFO] [1584698862.563528755, 117.268000000]: Camera Plugin (ns = /iris_1/)  <tf_prefix_>, set to "/iris_1"
[Wrn] [gazebo_barometer_plugin.cpp:66] [gazebo_barometer_plugin] Using default home altitude of 488 m
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[0] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[1] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[2] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[3] no joint control will be performed for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::propeller_joint] not found for channel[4] no joint control for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::flap_left_joint] not found for channel[5] no joint control for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::flap_right_joint] not found for channel[6] no joint control for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[7] no joint control will be performed for this channel.
[Msg] Connecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
[Wrn] [gazebo_mavlink_interface.cpp:88] No identifier on link. Using 0 as default sensor ID
[Msg] Using MAVLink protocol v2.0
process[iris_1_camera-13]: started with pid [2348]
[iris_1/iris_1_spawn-10] process has finished cleanly
log file: /home/user/.ros/log/b35c2186-6a88-11ea-8093-b06ebf5f23c9/iris_1-iris_1_spawn-10*.log
process[iris_2/sitl_2-14]: started with pid [2367]
INFO  [px4] Creating symlink /home/user/Firmware/ROMFS/px4fmu_common -> /home/user/.ros/sitl_iris_2/etc

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 2
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
  SYS_AUTOCONFIG: curr: 0 -> new: 1
INFO  [ecl/EKF] 1701000: EKF aligned, (baro height, IMU buf: 22, OBS buf: 14)
INFO  [ecl/EKF] 1701000: reset position to last known position
INFO  [ecl/EKF] 1701000: reset velocity to zero
[ INFO] [1584698863.353593349, 117.823000000]: IMU: Attitude quaternion IMU detected!
  MAV_SYS_ID: curr: 1 -> new: 3
* SYS_AUTOSTART: curr: 0 -> new: 10016
  BAT_N_CELLS: curr: 0 -> new: 3
  CAL_ACC0_ID: curr: 0 -> new: 1311244
  CAL_ACC_PRIME: curr: 0 -> new: 1311244
  CAL_GYRO0_ID: curr: 0 -> new: 2294028
  CAL_GYRO_PRIME: curr: 0 -> new: 2294028
  CAL_MAG0_ID: curr: 0 -> new: 197388
  CAL_MAG_PRIME: curr: 0 -> new: 197388
  COM_DISARM_LAND: curr: 2.0000 -> new: 0.5000
  COM_OBL_ACT: curr: 0 -> new: 2
  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: 0.0017 -> 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_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
  MPC_Z_VEL_I: curr: 0.1000 -> new: 0.1500
  MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
  MPC_XY_P: curr: 0.9500 -> new: 0.8000
  MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
  MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
  MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
  MPC_ACC_HOR_MAX: curr: 5.0000 -> new: 3.0000
  MPC_SPOOLUP_TIME: curr: 1.0000 -> new: 0.5000
  MPC_TKO_RAMP_T: curr: 3.0000 -> new: 1.0000
  NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
  NAV_DLL_ACT: curr: 0 -> new: 2
  RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
  RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
  RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
  SDLOG_MODE: curr: 0 -> new: 1
  SDLOG_PROFILE: curr: 3 -> 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
* RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
* RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
  PWM_MAX: curr: 2000 -> new: 1950
  PWM_MIN: curr: 1000 -> new: 1075
* 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 4562
process[iris_2/iris_2_spawn-15]: started with pid [2382]
[ INFO] [1584698863.740642522, 118.172000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1584698863.740749659, 118.172000000]: VER: 1.1: Flight software:     010b0080 (d6bb5b3b9e000000)
[ INFO] [1584698863.740799527, 118.172000000]: VER: 1.1: Middleware software: 010b0080 (d6bb5b3b9e000000)
[ INFO] [1584698863.740857265, 118.172000000]: VER: 1.1: OS software:         050300ff (befe53e7f1ed557b)
[ INFO] [1584698863.740903195, 118.172000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1584698863.740947875, 118.172000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1584698863.740984874, 118.172000000]: VER: 1.1: UID:                 4954414c44494e4f
[ WARN] [1584698863.743624059, 118.175000000]: CMD: Unexpected command 520, result 0
process[iris_2/mavros-16]: started with pid [2558]
[ INFO] [1584698864.199187759]: FCU URL: udp://:14542@localhost:14582
[ INFO] [1584698864.202493335]: udp0: Bind address: 0.0.0.0:14542
[ INFO] [1584698864.202610369]: udp0: Remote address: 127.0.0.1:14582
[ INFO] [1584698864.202919271]: GCS bridge disabled
[ INFO] [1584698864.225034736]: Plugin 3dr_radio loaded
[ INFO] [1584698864.227672702]: Plugin 3dr_radio initialized
[ INFO] [1584698864.227825315]: Plugin actuator_control loaded
[ INFO] [1584698864.232264936]: Plugin actuator_control initialized
[ INFO] [1584698864.237666020]: Plugin adsb loaded
[ INFO] [1584698864.242147512]: Plugin adsb initialized
[ INFO] [1584698864.242379999]: Plugin altitude loaded
[ INFO] [1584698864.244081849]: Plugin altitude initialized
[ INFO] [1584698864.244236962]: Plugin cam_imu_sync loaded
[ INFO] [1584698864.245300290]: Plugin cam_imu_sync initialized
[ INFO] [1584698864.245487309]: Plugin command loaded
[ INFO] [1584698864.259187940]: Plugin command initialized
[ INFO] [1584698864.259345891]: Plugin companion_process_status loaded
[ INFO] [1584698864.262674964]: Plugin companion_process_status initialized
[ INFO] [1584698864.262840164]: Plugin debug_value loaded
[ INFO] [1584698864.269703138]: Plugin debug_value initialized
[ INFO] [1584698864.269778680]: Plugin distance_sensor blacklisted
[ INFO] [1584698864.270090625]: Plugin fake_gps loaded
[ INFO] [1584698864.292542228]: Plugin fake_gps initialized
[ INFO] [1584698864.292970766]: Plugin ftp loaded
[ INFO] [1584698864.305570751]: Plugin ftp initialized
[ INFO] [1584698864.305958684]: Plugin global_position loaded
[ INFO] [1584698864.324777307]: Plugin global_position initialized
[ INFO] [1584698864.325042695]: Plugin gps_rtk loaded
[ INFO] [1584698864.326895399]: Plugin gps_rtk initialized
[ INFO] [1584698864.327159099]: Plugin hil loaded
[ INFO] [1584698864.346074396, 118.728000000]: Plugin hil initialized
[ INFO] [1584698864.346391510, 118.728000000]: Plugin home_position loaded
[ INFO] [1584698864.350813974, 118.732000000]: Plugin home_position initialized
[ INFO] [1584698864.351345116, 118.732000000]: Plugin imu loaded
[ INFO] [1584698864.368632548, 118.749000000]: Plugin imu initialized
[ INFO] [1584698864.368956375, 118.749000000]: Plugin landing_target loaded
[INFO] [1584698864.374136, 0.000000]: Loading model XML from ros parameter model_description
[INFO] [1584698864.382441, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[INFO] [1584698864.387251, 0.000000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1584698864.400201833, 118.776000000]: Plugin landing_target initialized
[ INFO] [1584698864.400588766, 118.777000000]: Plugin local_position loaded
[ INFO] [1584698864.407618778, 118.783000000]: Plugin local_position initialized
[ INFO] [1584698864.407903476, 118.784000000]: Plugin log_transfer loaded
[ INFO] [1584698864.413286185, 118.789000000]: Plugin log_transfer initialized
[ INFO] [1584698864.413631043, 118.789000000]: Plugin manual_control loaded
[ INFO] [1584698864.417190405, 118.792000000]: Plugin manual_control initialized
[ INFO] [1584698864.417380294, 118.792000000]: Plugin mocap_pose_estimate loaded
[ INFO] [1584698864.421839787, 118.796000000]: Plugin mocap_pose_estimate initialized
[ INFO] [1584698864.422149589, 118.796000000]: Plugin mount_control loaded
[ INFO] [1584698864.428192129, 118.802000000]: Plugin mount_control initialized
[ INFO] [1584698864.428378905, 118.802000000]: Plugin obstacle_distance loaded
[ INFO] [1584698864.432782053, 118.803000000]: Plugin obstacle_distance initialized
[ INFO] [1584698864.433110554, 118.803000000]: Plugin odom loaded
[ INFO] [1584698864.440468772, 118.814000000]: Plugin odom initialized
[ INFO] [1584698864.440729198, 118.814000000]: Plugin onboard_computer_status loaded
[ INFO] [1584698864.443633357, 118.816000000]: Plugin onboard_computer_status initialized
[ INFO] [1584698864.444112635, 118.816000000]: Plugin param loaded
[ INFO] [1584698864.447752677, 118.820000000]: Plugin param initialized
[ INFO] [1584698864.448045411, 118.820000000]: Plugin px4flow loaded
[ INFO] [1584698864.455194447, 118.827000000]: Plugin px4flow initialized
[ INFO] [1584698864.455271262, 118.827000000]: Plugin rangefinder blacklisted
[ INFO] [1584698864.455617634, 118.827000000]: Plugin rc_io loaded
[ INFO] [1584698864.459627805, 118.831000000]: Plugin rc_io initialized
[ INFO] [1584698864.459697122, 118.831000000]: Plugin safety_area blacklisted
[ INFO] [1584698864.459974877, 118.831000000]: Plugin setpoint_accel loaded
[ INFO] [1584698864.462901504, 118.833000000]: Plugin setpoint_accel initialized
[ INFO] [1584698864.463403425, 118.833000000]: Plugin setpoint_attitude loaded
process[iris_2_lidar-17]: started with pid [2562]
[ INFO] [1584698864.473894879, 118.842000000]: Plugin setpoint_attitude initialized
[ INFO] [1584698864.474285969, 118.843000000]: Plugin setpoint_position loaded
[ INFO] [1584698864.509443707, 118.874000000]: Plugin setpoint_position initialized
[ INFO] [1584698864.509776181, 118.874000000]: Plugin setpoint_raw loaded
[ INFO] [1584698864.526595568, 118.881000000]: Plugin setpoint_raw initialized
[ INFO] [1584698864.526928049, 118.881000000]: Plugin setpoint_trajectory loaded
[ INFO] [1584698864.530904853, 118.881000000]: Plugin setpoint_trajectory initialized
[ INFO] [1584698864.531196017, 118.881000000]: Plugin setpoint_velocity loaded
[ INFO] [1584698864.535105561, 118.881000000]: Plugin setpoint_velocity initialized
[ INFO] [1584698864.535805444, 118.881000000]: Plugin sys_status loaded
[ INFO] [1584698864.545385731, 118.881000000]: Plugin sys_status initialized
[ INFO] [1584698864.545734665, 118.881000000]: Plugin sys_time loaded
[ INFO] [1584698864.549533839, 118.881000000]: TM: Timesync mode: MAVLINK
[ INFO] [1584698864.550684598, 118.881000000]: Plugin sys_time initialized
[ INFO] [1584698864.550940149, 118.881000000]: Plugin trajectory loaded
[ INFO] [1584698864.555546980, 118.881000000]: Plugin trajectory initialized
[ INFO] [1584698864.555824288, 118.881000000]: Plugin vfr_hud loaded
[ INFO] [1584698864.556538451, 118.881000000]: Plugin vfr_hud initialized
[ INFO] [1584698864.556592976, 118.881000000]: Plugin vibration blacklisted
[ INFO] [1584698864.556886228, 118.881000000]: Plugin vision_pose_estimate loaded
[ INFO] [1584698864.566808835, 118.881000000]: Plugin vision_pose_estimate initialized
[ INFO] [1584698864.567083867, 118.881000000]: Plugin vision_speed_estimate loaded
[ INFO] [1584698864.572567982, 118.881000000]: Plugin vision_speed_estimate initialized
[ INFO] [1584698864.572884302, 118.881000000]: Plugin waypoint loaded
[ INFO] [1584698864.579692911, 118.881000000]: Plugin waypoint initialized
[ INFO] [1584698864.579776096, 118.881000000]: Plugin wheel_odometry blacklisted
[ INFO] [1584698864.580111206, 118.881000000]: Plugin wind_estimation loaded
[ INFO] [1584698864.581174761, 118.881000000]: Plugin wind_estimation initialized
[ INFO] [1584698864.581263035, 118.881000000]: Autostarting mavlink via USB on PX4
[ INFO] [1584698864.581499092, 118.881000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1584698864.581542928, 118.881000000]: Built-in MAVLink package version: 2020.2.2
[ INFO] [1584698864.581592070, 118.881000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1584698864.581631955, 118.881000000]: MAVROS started. MY ID 1.240, TARGET ID 3.1
[Wrn] [msgs.cc:1852] Conversion of sensor type[gpu_ray] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[INFO] [1584698864.641199, 118.881000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1584698864.652387634, 118.881000000]: Laser Plugin: The 'robotNamespace' param did not exit
[ INFO] [1584698864.652438599, 118.881000000]: Starting GazeboRosLaser Plugin (ns = )
[ INFO] [1584698864.653454769, 118.881000000]: GPU Laser Plugin (ns = ) <tf_prefix_>, set to ""
[ INFO] [1584698864.653575550, 118.881000000]: LoadThread function completed
[ INFO] [1584698864.654624409, 118.881000000]: Camera Plugin: Using the 'robotNamespace' param: '/iris_2/'
[ INFO] [1584698864.658039500, 118.881000000]: Camera Plugin (ns = /iris_2/)  <tf_prefix_>, set to "/iris_2"
[Wrn] [gazebo_barometer_plugin.cpp:66] [gazebo_barometer_plugin] Using default home altitude of 488 m
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[0] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[1] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[2] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[3] no joint control will be performed for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::propeller_joint] not found for channel[4] no joint control for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::flap_left_joint] not found for channel[5] no joint control for this channel.
[Wrn] [gazebo_mavlink_interface.cpp:213] joint [zephyr_delta_wing::flap_right_joint] not found for channel[6] no joint control for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:224] <joint_name> not found for channel[7] no joint control will be performed for this channel.
[Msg] Connecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
[Wrn] [gazebo_mavlink_interface.cpp:88] No identifier on link. Using 0 as default sensor ID
[Msg] Using MAVLink protocol v2.0
process[iris_2_camera-18]: started with pid [2576]
[iris_2/iris_2_spawn-15] process has finished cleanly
log file: /home/user/.ros/log/b35c2186-6a88-11ea-8093-b06ebf5f23c9/iris_2-iris_2_spawn-15*.log
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_1/motor_speed/3, deleting message. This warning is printed only once.
INFO  [ecl/EKF] 5117000: reset position to GPS
INFO  [ecl/EKF] 5117000: reset velocity to GPS
INFO  [ecl/EKF] 5117000: commencing GPS fusion
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_1/motor_speed/0, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_1/motor_speed/1, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_2/motors, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_1/motors, deleting message. This warning is printed only once.
[ INFO] [1584698890.218655473, 132.168000000]: WP: mission received
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_1/motor_speed/2, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/iris_2/motor_speed/2, deleting message. This warning is printed only once.

as you can see, a few problems. What am i doing wrong ? The issue is pure in this line (generating the launch file) :
<arg name="cmd" value="xmlstarlet ed -d '//plugin[@name="mavlink_interface"]/14562' -s '//plugin[@name="mavlink_interface"]' -t elem -n 14562 -v 14562 $(find smartuav)/models/iris_depth_camera_lidar/iris_depth_camera_lidar.sdf" />

I have tried switching the port numbers from udp to tcp but to no avail. The biggest problem is i dont know exaclty what some arguments do in this command.
Drone :

PX4

@Jaeyoung-Lim any idea?

@bavokn It seems like you are using the same sdf file for all vehicles. This will make the vehicles share the same tcp port for the HIL mavlink messages.
You need to copy the sdf file and modify the mavlink_tcp_port as in https://github.com/PX4/sitl_gazebo/blob/master/models/rotors_description/urdf/component_snippets.xacro#L302 for each iris.sdf

If you look at the generation of the launch file you can see i set the mavlink_tcp_port for each drone diffrently :
<arg name=\"mavlink_tcp_port\" value=\"$(expr 4560 + $i)\" />\n\

which results in the launch file :
UAV iris_0
<arg name="mavlink_tcp_port" value="4560" />

UAV iris_1
<arg name="mavlink_tcp_port" value="4561" />

UAV iris_2
<arg name="mavlink_tcp_port" value="4562" />

This sets only the correct ports from the px4 side. Gazebo has to comply to those ports, but .sdf files cannot contain variables. So either you copy the .sdf file multiple times and change the port or you create a .xacro file which can contain variables.
@Jaeyoung-Lim did a PR recently for multi VTOL: https://github.com/PX4/sitl_gazebo/pull/398

Using xarco files worked , thank you !

@bacokn
It seems that in your .sdf file, there is no tag( the tag is in the iris.sdf and you just include it, so xmlstarlet cannot find the tag):
<plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
So you cannot use
<arg name="cmd" value="xmlstarlet ed -d '//plugin[@name="mavlink_interface"]/14562' -s '//plugin[@name="mavlink_interface"]' -t elem -n 14562 -v 14562 $(find smartuav)/models/iris_depth_camera_lidar/iris_depth_camera_lidar.sdf" /> to change the mavlink_tcp_port, though you set different
<arg name="mavlink_tcp_port" value="4560" /> correctly
Besides -n 14562 -v 14562 should be -n mavlink_tcp_port -v 14562

authors: Jaeyoung-Lim bavokn dayjaby julianoes petertheprocess