M600pro osdk-ros 出错

我使用的是unbuntu20.04，ROS noetic，Osdk-ROS 3.8.1，无人机是M600PRO。

在ros中运行的时候，会报错

 

'''

lhf@lhf-NUC11TNKv5:~/osdk_ws$ roslaunch dji_sdk sdk.launch

... logging to /home/lhf/.ros/log/5c25dda0-22ed-11ee-ae42-2d9844f14063/roslaunch-lhf-NUC11TNKv5-21423.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://lhf-NUC11TNKv5:41199/

 

SUMMARY

========

 

PARAMETERS

 * /dji_sdk/acm_name: /dev/ttyACM0

 * /dji_sdk/align_time: False

 * /dji_sdk/app_id: 1134844

 * /dji_sdk/app_version: 1

 * /dji_sdk/baud_rate: 921600

 * /dji_sdk/enc_key: 38ce3b1aa85a5620c...

 * /dji_sdk/serial_name: /dev/ttyUSB0

 * /dji_sdk/use_broadcast: False

 * /rosdistro: noetic

 * /rosversion: 1.16.0

 

NODES

  /

    dji_sdk (dji_sdk/dji_sdk_node)

 

auto-starting new master

process[master]: started with pid [21431]

ROS_MASTER_URI=http://localhost:11311

 

setting /run_id to 5c25dda0-22ed-11ee-ae42-2d9844f14063

process[rosout-1]: started with pid [21441]

started core service [/rosout]

process[dji_sdk-2]: started with pid [21448]

[ INFO] [1689411334.876137371]: Advanced Sensing is Enabled on M210.

 

STATUS/1 @ init, L55: Attempting to open device /dev/ttyUSB0 with baudrate 921600...

 

STATUS/1 @ init, L65: ...Serial started successfully.

 

STATUS/1 @ parseDroneVersionInfo, L727: Device Serial No. = 0670150144

 

STATUS/1 @ parseDroneVersionInfo, L729: Hardware = PM820V3PRO

 

STATUS/1 @ parseDroneVersionInfo, L730: Firmware = 3.2.41.14

 

ERRORLOG/1 @ initVirtualRC, L1103: Virtual RC is not supported on this platform!

 

ERRORLOG/1 @ AdvancedSensing, L58: Please make sure the connected drone is a M210 and firmware version is supported.

 

[ERROR] [1689411337.127835965]: drone activation error

[ERROR] [1689411337.127864599]: Vehicle initialization failed

^C[dji_sdk-2] killing on exit

'''

 

如果在src/Onboard-SDK-ROS/dji_sdk/src/modules中node.cpp文件中的advanced sensing的true改成false，同样也会出错，

 

'''

roslaunch dji_sdk sdk.launch

... logging to /home/lhf/.ros/log/4ecd206a-22e7-11ee-ae42-2d9844f14063/roslaunch-lhf-NUC11TNKv5-18114.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://lhf-NUC11TNKv5:45457/

 

SUMMARY

========

 

PARAMETERS

 * /dji_sdk/acm_name: /dev/ttyACM0

 * /dji_sdk/align_time: False

 * /dji_sdk/app_id: 1134844

 * /dji_sdk/app_version: 1

 * /dji_sdk/baud_rate: 921600

 * /dji_sdk/enc_key: 38ce3b1aa85a5620c...

 * /dji_sdk/serial_name: /dev/ttyUSB0

 * /dji_sdk/use_broadcast: False

 * /rosdistro: noetic

 * /rosversion: 1.16.0

 

NODES

  /

    dji_sdk (dji_sdk/dji_sdk_node)

 

auto-starting new master

process[master]: started with pid [18122]

ROS_MASTER_URI=http://localhost:11311

 

setting /run_id to 4ecd206a-22e7-11ee-ae42-2d9844f14063

process[rosout-1]: started with pid [18132]

started core service [/rosout]

process[dji_sdk-2]: started with pid [18139]

 

STATUS/1 @ init, L55: Attempting to open device /dev/ttyUSB0 with baudrate 921600...

 

STATUS/1 @ init, L65: ...Serial started successfully.

 

STATUS/1 @ parseDroneVersionInfo, L727: Device Serial No. = 0670150144

 

STATUS/1 @ parseDroneVersionInfo, L729: Hardware = PM820V3PRO

 

STATUS/1 @ parseDroneVersionInfo, L730: Firmware = 3.2.41.14

 

ERRORLOG/1 @ initVirtualRC, L1103: Virtual RC is not supported on this platform!

 

STATUS/1 @ activate, L1313: version 0x302290E

 

STATUS/1 @ activate, L1326: Activation successful

 

STATUS/1 @ verify, L244: Verify subscription successful.

STATUS/1 @ initGimbal, L890: Checking if gimbal is connected ...

STATUS/1 @ startPackage, L350: Start package 0 result: 0.

STATUS/1 @ startPackage, L352: Package 0 info: freq=50, nTopics=1.

 

STATUS/1 @ removePackage, L468: Remove package 0 successful.

STATUS/1 @ initGimbal, L934: Gimbal not mounted!

[ INFO] [1689408741.833545515]: drone activated

[dji_sdk-2] process has died [pid 18139, exit code -11, cmd /home/lhf/osdk_ws/devel/lib/dji_sdk/dji_sdk_node __name:=dji_sdk __log:=/home/lhf/.ros/log/4ecd206a-22e7-11ee-ae42-2d9844f14063/dji_sdk-2.log].

log file: /home/lhf/.ros/log/4ecd206a-22e7-11ee-ae42-2d9844f14063/dji_sdk-2*.log

^C[rosout-1] killing on exit

[master] killing on exit

shutting down processing monitor...

... shutting down processing monitor complete

done

'''

 

不知道是什么原因