lsl@ros-test-machine:~/workspaces/swarmio$ roslaunch fgpg_collision_avoidance gazebo_2.launch ... logging to /home/lsl/.ros/log/b257239e-1efe-11ed-853c-83c63e1abee2/roslaunch-ros-test-machine-23424.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://ros-test-machine:45897/ SUMMARY ======== CLEAR PARAMETERS * /uav_100/mavros/ * /uav_101/mavros/ PARAMETERS * /gazebo/enable_ros_network: True * /rng_seed: 0 * /rosdistro: noetic * /rosversion: 1.15.14 * /uav_100/behavior/enable_clear_imports: False * /uav_100/behavior/log_enabled: False * /uav_100/behavior/log_folder: ~/.flexbe_logs * /uav_100/behavior/log_level: INFO * /uav_100/behavior/log_serialize: yaml * /uav_100/collision_avoidance_100/attraction_shape: lin * /uav_100/collision_avoidance_100/dist_attract: 6.0 * /uav_100/collision_avoidance_100/dist_critical: 3.0 * /uav_100/collision_avoidance_100/dist_repulse: 12.0 * /uav_100/collision_avoidance_100/excluded: ['sleep', 'idle',... * /uav_100/collision_avoidance_100/loop_rate: 10.0 * /uav_100/collision_avoidance_100/queue_size: 10 * /uav_100/collision_avoidance_100/repulsion_shape: sin * /uav_100/collision_avoidance_100/visualize: False * /uav_100/kinematics_exchanger_100/init: 30 * /uav_100/kinematics_exchanger_100/loop_rate: 10.0 * /uav_100/kinematics_exchanger_100/pos_type: global * /uav_100/kinematics_exchanger_100/queue_size: 10 * /uav_100/kinematics_exchanger_100/read_only: False * /uav_100/kinematics_exchanger_100/sample_size: 5 * /uav_100/kinematics_exchanger_100/timeout: 1.0 * /uav_100/mavros/camera/frame_id: base_link * /uav_100/mavros/cmd/use_comp_id_system_control: False * /uav_100/mavros/conn/heartbeat_rate: 1.0 * /uav_100/mavros/conn/system_time_rate: 1.0 * /uav_100/mavros/conn/timeout: 10.0 * /uav_100/mavros/conn/timesync_rate: 10.0 * /uav_100/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0 * /uav_100/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar * /uav_100/mavros/distance_sensor/hrlv_ez4_pub/id: 0 * /uav_100/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270 * /uav_100/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True * /uav_100/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0 * /uav_100/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0 * /uav_100/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1 * /uav_100/mavros/distance_sensor/laser_1_sub/id: 3 * /uav_100/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270 * /uav_100/mavros/distance_sensor/laser_1_sub/subscriber: True * /uav_100/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0 * /uav_100/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser * /uav_100/mavros/distance_sensor/lidarlite_pub/id: 1 * /uav_100/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270 * /uav_100/mavros/distance_sensor/lidarlite_pub/send_tf: True * /uav_100/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0 * /uav_100/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0 * /uav_100/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1 * /uav_100/mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0 * /uav_100/mavros/distance_sensor/sonar_1_sub/id: 2 * /uav_100/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270 * /uav_100/mavros/distance_sensor/sonar_1_sub/subscriber: True * /uav_100/mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0 * /uav_100/mavros/fake_gps/eph: 2.0 * /uav_100/mavros/fake_gps/epv: 2.0 * /uav_100/mavros/fake_gps/fix_type: 3 * /uav_100/mavros/fake_gps/geo_origin/alt: 408.0 * /uav_100/mavros/fake_gps/geo_origin/lat: 47.3667 * /uav_100/mavros/fake_gps/geo_origin/lon: 8.55 * /uav_100/mavros/fake_gps/gps_rate: 5.0 * /uav_100/mavros/fake_gps/mocap_transform: True * /uav_100/mavros/fake_gps/satellites_visible: 5 * /uav_100/mavros/fake_gps/tf/child_frame_id: fix * /uav_100/mavros/fake_gps/tf/frame_id: map * /uav_100/mavros/fake_gps/tf/listen: False * /uav_100/mavros/fake_gps/tf/rate_limit: 10.0 * /uav_100/mavros/fake_gps/tf/send: False * /uav_100/mavros/fake_gps/use_mocap: True * /uav_100/mavros/fake_gps/use_vision: False * /uav_100/mavros/fcu_protocol: v2.0 * /uav_100/mavros/fcu_url: udp://:14640@loca... * /uav_100/mavros/gcs_url: udp://@127.0.0.1 * /uav_100/mavros/global_position/child_frame_id: base_link * /uav_100/mavros/global_position/frame_id: map * /uav_100/mavros/global_position/gps_uere: 1.0 * /uav_100/mavros/global_position/rot_covariance: 99999.0 * /uav_100/mavros/global_position/tf/child_frame_id: base_link * /uav_100/mavros/global_position/tf/frame_id: map * /uav_100/mavros/global_position/tf/global_frame_id: earth * /uav_100/mavros/global_position/tf/send: False * /uav_100/mavros/global_position/use_relative_alt: True * /uav_100/mavros/image/frame_id: px4flow * /uav_100/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0... * /uav_100/mavros/imu/frame_id: base_link * /uav_100/mavros/imu/linear_acceleration_stdev: 0.0003 * /uav_100/mavros/imu/magnetic_stdev: 0.0 * /uav_100/mavros/imu/orientation_stdev: 1.0 * /uav_100/mavros/landing_target/camera/fov_x: 2.0071286398 * /uav_100/mavros/landing_target/camera/fov_y: 2.0071286398 * /uav_100/mavros/landing_target/image/height: 480 * /uav_100/mavros/landing_target/image/width: 640 * /uav_100/mavros/landing_target/land_target_type: VISION_FIDUCIAL * /uav_100/mavros/landing_target/listen_lt: False * /uav_100/mavros/landing_target/mav_frame: LOCAL_NED * /uav_100/mavros/landing_target/target_size/x: 0.3 * /uav_100/mavros/landing_target/target_size/y: 0.3 * /uav_100/mavros/landing_target/tf/child_frame_id: camera_center * /uav_100/mavros/landing_target/tf/frame_id: landing_target * /uav_100/mavros/landing_target/tf/listen: False * /uav_100/mavros/landing_target/tf/rate_limit: 10.0 * /uav_100/mavros/landing_target/tf/send: True * /uav_100/mavros/local_position/frame_id: map * /uav_100/mavros/local_position/tf/child_frame_id: base_link * /uav_100/mavros/local_position/tf/frame_id: map * /uav_100/mavros/local_position/tf/send: False * /uav_100/mavros/local_position/tf/send_fcu: False * /uav_100/mavros/mission/pull_after_gcs: True * /uav_100/mavros/mission/use_mission_item_int: True * /uav_100/mavros/mocap/use_pose: True * /uav_100/mavros/mocap/use_tf: False * /uav_100/mavros/odometry/fcu/odom_child_id_des: base_link * /uav_100/mavros/odometry/fcu/odom_parent_id_des: map * /uav_100/mavros/plugin_blacklist: ['safety_area', '... * /uav_100/mavros/plugin_whitelist: [] * /uav_100/mavros/px4flow/frame_id: px4flow * /uav_100/mavros/px4flow/ranger_fov: 0.118682 * /uav_100/mavros/px4flow/ranger_max_range: 5.0 * /uav_100/mavros/px4flow/ranger_min_range: 0.3 * /uav_100/mavros/safety_area/p1/x: 1.0 * /uav_100/mavros/safety_area/p1/y: 1.0 * /uav_100/mavros/safety_area/p1/z: 1.0 * /uav_100/mavros/safety_area/p2/x: -1.0 * /uav_100/mavros/safety_area/p2/y: -1.0 * /uav_100/mavros/safety_area/p2/z: -1.0 * /uav_100/mavros/setpoint_accel/send_force: False * /uav_100/mavros/setpoint_attitude/reverse_thrust: False * /uav_100/mavros/setpoint_attitude/tf/child_frame_id: target_attitude * /uav_100/mavros/setpoint_attitude/tf/frame_id: map * /uav_100/mavros/setpoint_attitude/tf/listen: False * /uav_100/mavros/setpoint_attitude/tf/rate_limit: 50.0 * /uav_100/mavros/setpoint_attitude/use_quaternion: False * /uav_100/mavros/setpoint_position/mav_frame: LOCAL_NED * /uav_100/mavros/setpoint_position/tf/child_frame_id: target_position * /uav_100/mavros/setpoint_position/tf/frame_id: map * /uav_100/mavros/setpoint_position/tf/listen: False * /uav_100/mavros/setpoint_position/tf/rate_limit: 50.0 * /uav_100/mavros/setpoint_raw/thrust_scaling: 1.0 * /uav_100/mavros/setpoint_velocity/mav_frame: LOCAL_NED * /uav_100/mavros/startup_px4_usb_quirk: True * /uav_100/mavros/sys/disable_diag: False * /uav_100/mavros/sys/min_voltage: 10.0 * /uav_100/mavros/target_component_id: 1 * /uav_100/mavros/target_system_id: 101 * /uav_100/mavros/tdr_radio/low_rssi: 40 * /uav_100/mavros/time/time_ref_source: fcu * /uav_100/mavros/time/timesync_avg_alpha: 0.6 * /uav_100/mavros/time/timesync_mode: MAVLINK * /uav_100/mavros/vibration/frame_id: base_link * /uav_100/mavros/vision_pose/tf/child_frame_id: vision_estimate * /uav_100/mavros/vision_pose/tf/frame_id: odom * /uav_100/mavros/vision_pose/tf/listen: False * /uav_100/mavros/vision_pose/tf/rate_limit: 10.0 * /uav_100/mavros/vision_speed/listen_twist: True * /uav_100/mavros/vision_speed/twist_cov: True * /uav_100/mavros/wheel_odometry/child_frame_id: base_link * /uav_100/mavros/wheel_odometry/count: 2 * /uav_100/mavros/wheel_odometry/frame_id: odom * /uav_100/mavros/wheel_odometry/send_raw: True * /uav_100/mavros/wheel_odometry/send_twist: False * /uav_100/mavros/wheel_odometry/tf/child_frame_id: base_link * /uav_100/mavros/wheel_odometry/tf/frame_id: odom * /uav_100/mavros/wheel_odometry/tf/send: False * /uav_100/mavros/wheel_odometry/use_rpm: False * /uav_100/mavros/wheel_odometry/vel_error: 0.1 * /uav_100/mavros/wheel_odometry/wheel0/radius: 0.05 * /uav_100/mavros/wheel_odometry/wheel0/x: 0.0 * /uav_100/mavros/wheel_odometry/wheel0/y: -0.15 * /uav_100/mavros/wheel_odometry/wheel1/radius: 0.05 * /uav_100/mavros/wheel_odometry/wheel1/x: 0.0 * /uav_100/mavros/wheel_odometry/wheel1/y: 0.15 * /uav_100/mavros_gps_100/loop_rate: 10.0 * /uav_100/mavros_gps_100/precision: 2 * /uav_100/mavros_gps_100/queue_size: 1 * /uav_100/mavros_land_100/fcu: px4 * /uav_100/mavros_land_100/frequency: 10.0 * /uav_100/mavros_land_100/pos_tolerance: 0.01 * /uav_100/mavros_pos_provider_100/goal_tolerance: 0.1 * /uav_100/mavros_pos_provider_100/init_time: 10.0 * /uav_100/mavros_pos_provider_100/loop_rate: 10.0 * /uav_100/mavros_pos_provider_100/num_msgs: 5 * /uav_100/mavros_pos_provider_100/pos_type: global * /uav_100/mavros_pos_provider_100/queue_size: 1 * /uav_100/mavros_pos_provider_100/timeout: 5.0 * /uav_100/mavros_pos_provider_100/x: -1 * /uav_100/mavros_pos_provider_100/y: 0 * /uav_100/mission_area_100/area_x: [-25, 25, 25, -25] * /uav_100/mission_area_100/area_x_global: [14.2651, 14.2656... * /uav_100/mission_area_100/area_y: [-25, -25, 25, 25] * /uav_100/mission_area_100/area_y_global: [46.61315, 46.613... * /uav_100/mission_area_100/cell_warn: 1000 * /uav_100/mission_area_100/loop_rate: 1.0 * /uav_100/mission_area_100/pos_type: global * /uav_100/mission_area_100/publish_map: False * /uav_100/mission_area_100/queue_size: 10 * /uav_100/mission_area_100/resolution: 1.0 * /uav_100/mission_area_100/wait_for_map: 2.0 * /uav_100/mission_area_100/x: -1 * /uav_100/mission_area_100/y: 0 * /uav_100/moveto_100/goal_tolerance: 0.5 * /uav_100/moveto_100/yaw_tolerance: 0.1 * /uav_100/obstacle_detection_100/avoidance_dist: 1.0 * /uav_100/obstacle_detection_100/clear_ang: 1.178 * /uav_100/obstacle_detection_100/critical_dist: 0.8 * /uav_100/obstacle_detection_100/loop_rate: 10.0 * /uav_100/obstacle_detection_100/num_msgs: 10 * /uav_100/obstacle_detection_100/obstacle_dist_max: 1.5 * /uav_100/obstacle_detection_100/obstacle_dist_min: 0.0 * /uav_100/obstacle_detection_100/pose_variation: 0.1 * /uav_100/obstacle_detection_100/queue_size: 1 * /uav_100/obstacle_detection_100/sample_hist: 1 * /uav_100/obstacle_detection_100/threshold: 0.5 * /uav_100/pos_controller_100/ca_timeout: 0.6 * /uav_100/pos_controller_100/loop_rate: 10.0 * /uav_100/pos_controller_100/pos_type: global * /uav_100/pos_controller_100/queue_size: 1 * /uav_100/pos_controller_100/turning: True * /uav_100/pos_controller_100/visualize: True * /uav_100/pos_controller_100/x: -1 * /uav_100/pos_controller_100/y: 0 * /uav_100/pos_controller_100/yaw_tolerance: 0.25 * /uav_100/sdf_iris100: Starting new behavior... [INFO] [1660831487.205700, 0.504000]: --> Starting new behavior... [INFO] [1660831487.212706, 0.508000]: Successfully applied 0 modifications. [INFO] [1660831487.222694, 0.516000]: Successfully applied 0 modifications. INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14680 remote port 14549 INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14380 remote port 14130 INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13130 remote port 13380 INFO [mavlink] partner IP: 127.0.0.1 INFO [mavlink] partner IP: 127.0.0.1 INFO [mavlink] partner IP: 127.0.0.1 [INFO] [1660831487.383681, 0.632000]: Behavior fgpg_collision_avoidance created. [INFO] [1660831487.394221, 0.640000]: The following parameters will be used: [INFO] [1660831487.397384, 0.640000]: altitude = 15 [INFO] [1660831487.404457, 0.652000]: duration = 600 INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] [logger] ./log/2022-08-18/14_04_46.ulg INFO [logger] Opened full log file: ./log/2022-08-18/14_04_46.ulg INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) INFO [px4] Startup script returned successfully [INFO] [1660831487.507991, 0.748000]: Behavior fgpg_collision_avoidance created. [INFO] [1660831487.511875, 0.756000]: The following parameters will be used: [INFO] [1660831487.523401, 0.760000]: altitude = 15 [INFO] [1660831487.536173, 0.776000]: duration = 600 [uav_100/vehicle_spawn_ros_test_machine_23424_5977071319227648317-4] process has finished cleanly log file: /home/lsl/.ros/log/b257239e-1efe-11ed-853c-83c63e1abee2/uav_100-vehicle_spawn_ros_test_machine_23424_5977071319227648317-4*.log [WARN] [1660831488.760906, 2.000000]: Waiting for service cmd/land... [WARN] [1660831488.874358, 2.112000]: Waiting for service cmd/land... WARN [PreFlightCheck] Manual control unavailable [ERROR] [1660831489.430708218, 2.568000000]: FCU: Manual control unavailable WARN [PreFlightCheck] Manual control unavailable INFO [tone_alarm] home set INFO [tone_alarm] notify negative INFO [tone_alarm] home set INFO [tone_alarm] notify negative [ INFO] [1660831492.575942207, 5.700000000]: Set origin at [47.397742, 8.545607, 535.31] [ INFO] [1660831492.596911001, 5.716000000]: GPS - Services are ready [ INFO] [1660831492.597540425, 5.716000000]: waitForService: Service [/uav_101/gps/fix_to_pose] is now available. [ INFO] [1660831492.603776790, 5.720000000]: waitForService: Service [/uav_101/gps/fix_to_pose] is now available. [ INFO] [1660831492.606976247, 5.720000000]: waitForService: Service [/uav_101/gps/pose_to_geo] is now available. [DEBUG] [1660831492.608910616, 5.724000000]: Waiting for valid UUID ... [DEBUG] [1660831492.706371532, 5.824000000]: Waiting for valid pose and velocity ... [ INFO] [1660831492.780916844, 5.900000000]: Set origin at [47.397742, 8.545580, 535.29] [ INFO] [1660831492.799230540, 5.916000000]: GPS - Services are ready [ INFO] [1660831492.801996453, 5.916000000]: waitForService: Service [/uav_100/gps/fix_to_pose] is now available. [ INFO] [1660831492.806796675, 5.924000000]: waitForService: Service [/uav_100/gps/fix_to_pose] is now available. [ INFO] [1660831492.810029981, 5.924000000]: waitForService: Service [/uav_100/gps/pose_to_geo] is now available. [DEBUG] [1660831492.813846476, 5.932000000]: Waiting for valid UUID ... [DEBUG] [1660831492.913219784, 6.032000000]: Waiting for valid pose and velocity ... [ INFO] [1660831494.651002288, 7.760000000]: Mission area (436981,-71396.2) (437019,-71390) (437023,-71340.6) (436981,-71340.3) [ INFO] [1660831494.651122674, 7.760000000]: Not publishing map [ INFO] [1660831494.672771525, 7.780000000]: waitForService: Service [/uav_101/area/out_of_bounds] is now available. [ INFO] [1660831494.860761257, 7.964000000]: Mission area (436983,-71396) (437021,-71389.9) (437025,-71340.4) (436983,-71340.2) [ INFO] [1660831494.860829527, 7.964000000]: Not publishing map [ INFO] [1660831494.891851433, 7.996000000]: waitForService: Service [/uav_100/area/out_of_bounds] is now available. [ERROR] [1660831498.038487, 11.036000]: Service client cmd/land timed out! [ERROR] [1660831498.148462, 11.144000]: Service client cmd/land timed out! [WARN] [1660831498.638276, 11.632000]: Waiting for action client cmd/moveto... [WARN] [1660831498.744500, 11.736000]: Waiting for action client cmd/moveto... [FATAL] [1660831502.741746374, 15.720000000]: CPS (-0.01,-0.01) is not within allowed area! [FATAL] [1660831502.947133030, 15.924000000]: CPS (-0.01,-0.01) is not within allowed area! ================================================================================REQUIRED process [uav_101/mavros_pos_provider_101-32] has died! process has finished cleanly log file: /home/lsl/.ros/log/b257239e-1efe-11ed-853c-83c63e1abee2/uav_101-mavros_pos_provider_101-32*.log Initiating shutdown! ================================================================================ [uav_101/collision_avoidance_101-36] killing on exit [uav_101/uav_101_random_coverage-34] killing on exit [uav_101/obstacle_detection_101-33] killing on exit [uav_101/mavros_gps_101-30] killing on exit [uav_101/kinematics_exchanger_101-35] killing on exit [uav_101/pos_controller_101-31] killing on exit [uav_101/mavros_pos_provider_101-32] killing on exit [uav_101/moveto_101-28] killing on exit [uav_101/mavros_land_101-27] killing on exit [uav_101/mission_area_101-29] killing on exit [uav_101/uav_mavros_takeoff_101-26] killing on exit [uav_101/swarmio_101-25] killing on exit [uav_101/behavior_fsm_101-24] killing on exit [uav_101/behavior-23] killing on exit [uav_101/mavros-22] killing on exit [uav_101/sitl_101-20] killing on exit [uav_100/collision_avoidance_100-19] killing on exit PX4 Exiting... Exiting NOW. [uav_100/kinematics_exchanger_100-18] killing on exit Failed sending mavlink message: Broken pipe Closing connection. [uav_100/uav_100_random_coverage-17] killing on exit Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. [ERROR] [1660831503.828757, 16.640000]: Action client cmd/moveto timed out! Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. [ERROR] [1660831503.845838, 16.640000]: Action client cmd/takeoff timed out! Connection closed by client. Connection closed by client. [INFO] [1660831503.854618, 16.640000]: State machine built. [INFO] [1660831503.857726, 16.640000]: Behavior ready, execution starts now. Connection closed by client. [INFO] [1660831503.860068, 16.640000]: [fgpg_collision_avoidance : 493229396] Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. [uav_100/obstacle_detection_100-16] killing on exit [ERROR] [1660831503.891761, 16.640000]: Behavior execution failed! ROS shutdown request [uav_100/mavros_pos_provider_100-15] killing on exit [uav_100/pos_controller_100-14] killing on exit [INFO] [1660831503.895106, 16.640000]: Traceback (most recent call last): File "/home/lsl/workspaces/ros_cpswarm_libs/src/complex_behaviors/flexbe/flexbe_behavior_engine/flexbe_onboard/src/flexbe_onboard/flexbe_onboard.py", line 128, in _behavior_execution self.be.confirm() File "/home/lsl/workspaces/ros_cpswarm_libs/src/complex_behaviors/flexbe/flexbe_behavior_engine/flexbe_core/src/flexbe_core/behavior.py", line 156, in confirm self._state_machine.confirm(self.name, self.id) File "/home/lsl/workspaces/ros_cpswarm_libs/src/complex_behaviors/flexbe/flexbe_behavior_engine/flexbe_core/src/flexbe_core/core/operatable_state_machine.py", line 159, in confirm self.wait(seconds=0.2) # no clean way to wait for publisher to be ready... File "/home/lsl/workspaces/ros_cpswarm_libs/src/complex_behaviors/flexbe/flexbe_behavior_engine/flexbe_core/src/flexbe_core/core/ros_state_machine.py", line 22, in wait rospy.sleep(seconds) File "/opt/ros/noetic/lib/python3/dist-packages/rospy/timer.py", line 165, in sleep raise rospy.exceptions.ROSInterruptException("ROS shutdown request") rospy.exceptions.ROSInterruptException: ROS shutdown request [INFO] [1660831503.898847, 16.640000]: Behavior execution finished with result exception. Connection closed by client. [INFO] [1660831503.906249, 16.640000]: --- Behavior Engine ready! --- Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. [uav_100/mavros_gps_100-13] killing on exit Connection closed by client. [uav_100/mission_area_100-12] killing on exit Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. [uav_100/moveto_100-11] killing on exit [uav_100/mavros_land_100-10] killing on exit Connection closed by client. Connection closed by client. [uav_100/uav_mavros_takeoff_100-9] killing on exit Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. [uav_100/swarmio_100-8] killing on exit Connection closed by client. [uav_100/behavior_fsm_100-7] killing on exit Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. [uav_100/behavior-6] killing on exit Connection closed by client. [uav_100/mavros-5] killing on exit Connection closed by client. Connection closed by client. Connection closed by client. Connection closed by client. [ERROR] [1660831504.559892, 17.280000]: Action client cmd/moveto timed out! [uav_100/sitl_100-3] killing on exit PX4 Exiting... Exiting NOW. [gazebo-2] killing on exit [ERROR] [1660831504.605850, 17.280000]: Action client cmd/takeoff timed out! [INFO] [1660831504.608448, 17.280000]: State machine built. [INFO] [1660831504.614827, 17.280000]: Behavior ready, execution starts now. [INFO] [1660831504.623082, 17.280000]: [fgpg_collision_avoidance : 493229396] [ERROR] [1660831504.665743, 17.280000]: Behavior execution failed! ROS shutdown request [INFO] [1660831504.679140, 17.280000]: Traceback (most recent call last): File "/home/lsl/workspaces/ros_cpswarm_libs/src/complex_behaviors/flexbe/flexbe_behavior_engine/flexbe_onboard/src/flexbe_onboard/flexbe_onboard.py", line 128, in _behavior_execution self.be.confirm() File "/home/lsl/workspaces/ros_cpswarm_libs/src/complex_behaviors/flexbe/flexbe_behavior_engine/flexbe_core/src/flexbe_core/behavior.py", line 156, in confirm self._state_machine.confirm(self.name, self.id) File "/home/lsl/workspaces/ros_cpswarm_libs/src/complex_behaviors/flexbe/flexbe_behavior_engine/flexbe_core/src/flexbe_core/core/operatable_state_machine.py", line 159, in confirm self.wait(seconds=0.2) # no clean way to wait for publisher to be ready... File "/home/lsl/workspaces/ros_cpswarm_libs/src/complex_behaviors/flexbe/flexbe_behavior_engine/flexbe_core/src/flexbe_core/core/ros_state_machine.py", line 22, in wait rospy.sleep(seconds) File "/opt/ros/noetic/lib/python3/dist-packages/rospy/timer.py", line 165, in sleep raise rospy.exceptions.ROSInterruptException("ROS shutdown request") rospy.exceptions.ROSInterruptException: ROS shutdown request [INFO] [1660831504.689816, 17.280000]: Behavior execution finished with result exception. [INFO] [1660831504.691702, 17.280000]: --- Behavior Engine ready! --- [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done