drone1.0 和 drone0.8安装教程

本文详细介绍了Drone CI/CD系统的搭建过程,包括在虚拟机上部署Drone、Gogs以及Docker的步骤。文章涵盖了从环境准备、软件安装到配置Drone与Gogs的完整流程,适合希望快速上手Drone的开发人员。

drone 简介

drone是基于docker技术的CI/CD系统,Drone将编译/测试的流程都在docker容器内进行.开发者需要在项目中包含.drone.yml文件,将代码推送到git仓库,drone就能够自动化的进行编译/测试/发布.

drone 属于DevOps工具,开发/测试/部署,devops有Jenkins/Drone/Gitlab CI/CD.

为什么不选择Jenkins,是因为开发Plugin,部署也不简单.也不选择用Gitlab CI,好像它只支持gitlab吧,也无法用plugin.

整个代码仓库及文档皆放在
https://github.com/wrzfeijianshen/drone_tutorial

md:文档;

workspace : 配置文件和需要的软件

code : 代码仓库

参考诸位大神博客:

https://www.cntofu.com/book/139/cases/ci/drone.md
https://www.cnblogs.com/rongfengliang/p/9960792.html
官网: https://drone.io/
仓库 https://github.com/drone/drone.git
视频教程 http://edu.51cto.com/course/16131.html

dorne流程:

1.git clone 
2.测试
3.打包
4.部署
5.发送信息

用yaml的管理方案流程,支持大部分的git host,比如gitlab,github.

drone的架构:一个主伺服器,多个代理服务器(agent).

drone的优势:

1.启动速度快
2.不需要管理员,ui界面容易操作
3.在本机端可以进行测试
4.完全基于容器开发的
5.任何语言都可以写Plugin
https://blog.drone.io/
https://docs.drone.io/

推荐

镜像仓库:harbor
制品库:nexus 做maven仓库,yum仓库放二进制文件等非常合适,强烈推荐

虚拟机操作

这里做个记录吧,省的以后来回翻腾.

总体规划:
1.操作系统采用centos 虚拟机;

采用centos部署web网站:
NAT网(111.111.111.3-111.111.111.254)
centos6.8(6.x/7.x):111.111.111.3-60

部署ip:
111.111.111.34 : base 镜像
111.111.111.35 : web 4g
111.111.111.36 : git 服务器 gogs 4g 端口 8181
111.111.111.50 : drone0.8 8g 端口 8182
111.111.111.51 : drone1.0 8g 端口 8183

操作流程
1. 虚拟机:centos7 搭建搭建宝塔面板
2. 快照及保存镜像.
3. 复制一份虚拟机作为 web镜像 111.111.111.35 -->所有的网站等应用都可以放到这里
4. 安装docker/docker-compose
5. 快照
6. 复制一份,作为gogs服务器,docker部署gogs
7. 复制一份,作为drone0.8和drone1.0

web站点是作为各种应用,保存或备份网络云主机的你的站点内容的,一旦线上的网站 不能用了,网络访问慢了,还可以用本地.

gogs也是作为代码财富库的存在价值的,所以今早的有自己的代码库存在.

drone,可以实现各种ci/cd ,测试,打包等操作.方便你在各个平台进行编译的时间,

为什么不在同一台虚拟机同时跑gogs和drone.或者为什么不在docker中跑宝塔面板等.
原因是我觉得还是分开比较好,一台只干一台的活,尽量精简,在docker跑宝塔面板毕竟docker也很占用资源的.

gogs和drone这都属于docker下的.把gogs换成gitlab效果就不一样了,gitlab也是极其占用资源的.如果gitlab和drone一起跑,会更占用内存的.

毕竟你今后的私人的代码仓库,这个要作为代码财富库来进行管理的,不能够只是存在本地的,打个压缩包就扔那里了,gogs占用资源也少.

drone有时候会清理磁盘什么的,升级什么的,添加新的docker镜像什么的.一旦出错,就会影响到gogs这部分运行的.

复制镜像时:
注意一点,如果有其余的虚拟机存在,请挂起后,再进行修改本地ip,避免一台虚拟机正在运行,而你将要启动的虚拟机与这台虚拟机ip相同.
你修改的ip则无效.访问不了网络.

安装虚拟机

具体安装步骤可参考 https://blog.youkuaiyun.com/wrzfeijianshen/article/category/6520463/2?

里面也有NAT网络如何配置的

安装镜像为: CentOS-7-x86_64-Minimal-1810.iso

1.新建文件夹 D:\vm\TL_Web\centos7_1810

2.新建虚拟机
连接名称为ens33
配置静态网络:
111.111.111.34 255.255.255.0 111.111.111.2 dns 111.111.111.2 8.8.8.8
root 密码:qwqw123
用户 fjs 密码: qwqw123

因为centos7已经不使用 ifconfig命令了,已经用ip命令代替,ip addr 即查看分配网卡情况.
sudo yum install -y wget 

mv /etc/yum.repos.d/CentOS-Base.repo /etc/yum.repos.d/CentOS-Base.repo.backup
wget -O /etc/yum.repos.d/CentOS-Base.repo http://mirrors.aliyun.com/repo/Centos-7.repo
yum clean all
yum makecache
//wget -P /etc/yum.repos.d/ http://mirrors.aliyun.com/repo/epel-7.repo 
sudo yum -y update && yum -y upgrade

yum install -y vim net-tools gcc gcc-c++ openssh-server vsftpd lftp tree lrzsz binutils compat-libstdc+±33 elfutils-libelf  elfutils-libelf-devel-static glibc glibc-common glibc-devel glibc-headers glibc-static kernel-headers pdksh libaio-devel libaio libgcc libgomp libstdc++ libstdc+±devel make sysstat numactl-devel 

安装过程中遇见vim 不能够使用问题 -->但是这种情况,请重新装系统吧,否则其余软件也是这种情况滴.
现象是输入vim回车,什么也没有反应,后来卸载yum remove -y vim,再安装,输入vim后就提示下面错误了

vim: error while loading shared libraries: /lib64/libgpm.so.2: file too short
yum provides *libgpm.so.2
yum reinstall -y gpm-libs

vim: error while loading shared libraries: /usr/lib64/perl5/CORE/libperl.so: file too short
yum reinstall -y perl-libs
yum install gpm gpm-devel -y

yum remove -y vim*
yum install -y vim*

快照起来, 这些步骤安装也不是很困难,故 不单独打包虚拟机给大家了.

3.安装宝塔面板

主要是方便快捷,再安装nginx和数据库即可.如果不需要数据库则关闭卸载即可.

vi  /etc/sysconfig/network-scripts/ifcfg-ens33  ip修改为35 作为web站点
重启
mkdir -p /www/deb
cd /www/deb
yum install -y wget && wget -O install.sh http://download.bt.cn/install/install_6.0.sh && bash install.sh
输入y

rm -f /www/server/panel/data/domain.conf

http://111.111.111.35:8888/

用户:fjs
密码:qwqw123123
进行快照即可
剩下的虚拟机,皆用这个.关闭后压缩.

安装docker
vi  /etc/sysconfig/network-scripts/ifcfg-ens33  ip修改为36
重启

1.Docker 要求 CentOS 系统的内核版本高于 3.10 ,查看本页面的前提条件来验证你的CentOS 版本是否支持 Docker 。
通过 uname -r 命令查看你当前的内核版本
uname -r
2.使用 root 权限登录 Centos。确保 yum 包更新到最新。
sudo yum update
3.卸载旧版本(如果安装过旧版本的话)
sudo yum remove docker docker-common docker-selinux docker-engine
4.安装需要的软件包, yum-util 提供yum-config-manager功能,另外两个是devicemapper驱动依赖的
sudo yum install -y yum-utils device-mapper-persistent-data lvm2
5.设置yum源
sudo yum-config-manager --add-repo https://download.docker.com/linux/centos/docker-ce.repo
6.可以查看所有仓库中所有docker版本,并选择特定版本安装
yum list docker-ce --showduplicates | sort -r
7.安装docker

$ sudo yum install -y docker-ce  #由于repo中默认只开启stable仓库,故这里安装的是最新稳定版17.12.0
$ sudo yum install <FQPN>  # 例如:sudo yum install docker-ce-17.12.0.ce

8.启动并加入开机启动

sudo systemctl start docker
sudo systemctl enable docker

sudo mkdir -p /etc/docker
Docker 官方中国区
https://registry.docker-cn.com
网易
http://hub-mirror.c.163.com
ustc
https://docker.mirrors.ustc.edu.cn
咱们采用阿里云官方的提供的镜像
链接地址:https://cr.console.aliyun.com/#/accelerator
sudo mkdir -p /etc/docker
sudo tee /etc/docker/daemon.json <<-'EOF'
{
  "registry-mirrors": ["https://xxxx.mirror.aliyuncs.com"]
}
EOF
sudo systemctl daemon-reload
sudo systemctl restart docker

安装docker-compose
sudo pip install -U docker-compose

docker-compose up/down/stop -d

进行快照,如此便可以采用docker进行一统天下了.


部署gogs

采用本地gogs作为git工具.像gitlab和github等,拉取网速慢呀.部署环境复杂,占内存等等.故不采用了.网上教程也有很多的.如何部署后,在drone使用.

修改本地ip 111.111.111.36

添加数据库

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上传 /www/docker/gogs/docker-compose.yml 
mkdir -p /www/docker
上传后
docker-compose up -d 

version: '3'

services:
  gogs:
    image: gogs/gogs:latest
    ports:
      - "10022:22"
      - 8181:3000
    volumes:
      - ./data/gogs/data:/data
    restart: always

添加
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可以部署本地域名或用ip+端口(111.111.111.36:8181)的进行访问方式。
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server
{
    listen 80;
    server_name gogs.feijianshen.com;
    index index.php index.html index.htm default.php default.htm default.html;
    root /www/wwwroot/gogs.feijianshen.com;
    
    location / {
   		proxy_pass http://111.111.111.36:8181;
    	proxy_set_header Host $host;
		proxy_set_header X-Real-IP $remote_addr;
		proxy_set_header X-Forwarded-For $proxy_add_x_forwarded_for;
 	 }
    access_log  /www/wwwlogs/gogs.feijianshen.com.log;
    error_log  /www/wwwlogs/gogs.feijianshen.com.error.log;
}

修改本地hosts文件
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虚拟机进行快照.已经配置好gogs了

要定期的快照,因为是代码库价值的体现.

安装drone

https://docs.drone.io/
https://docs.drone.io/installation/gogs/
https://0-8-0.docs.drone.io/install-for-gogs/

因为咱们是选择的是纯虚拟机单独跑,属于小团队,只需要一台就可以了.单机跑就足够了. 当然github等也都需要配置的.其他仓库相对繁琐一些,配置项也有很多的.很多网上都有例子存在.

https://docs.drone.io/installation/gogs/single-machine/

因为在docker仓库中,0.8 和0.8.9版本应该是一样的
https://hub.docker.com/r/drone/drone
故 0.8版本采用 image: drone/drone:0.8
1.0 版本采用 drone/drone:1.0.0-rc.5 镜像

安装drone 0.8

复制虚拟机后,先挂起其他的虚拟机.

修改ip : 111.111.111.50 和111.111.111.51

修改配置文件后,放行8182端口

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version: "3"
services:
  drone-server:
    container_name: drone_server
    image: drone/drone:0.8
    ports:
      - 8182:8000
      - 9000
    volumes:
      - ./data/drone:/var/lib/drone/
    environment:
      # 开启注册,此配置允许任何人自注册和登录系统
      - DRONE_OPEN=true
      #直接配置ip:port 会报错
      - DRONE_HOST=http://111.111.111.50:8182
      # Gogs服务器地址
      - DRONE_GOGS_URL=http://111.111.111.36:8181
      - DRONE_DEBUG=true
      # 此SECRET为任意值
      - DRONE_SECRET=drone.feijianshen.com
      # 开启Gogs驱动
      - DRONE_GOGS=true
      - DRONE_GOGS_SKIP_VERIFY=false
      - DRONE_GOGS_PRIVATE_MODE=true
    restart: always

  drone-agent:
    container_name: drone_agent
    image: drone/agent:0.8
    depends_on:
      - drone-server
    volumes:
      - /var/run/docker.sock:/var/run/docker.sock
    environment:
      # Drone Server 地址
      - DRONE_SERVER=drone-server:9000
      # 与Drone Server一致即可
      - DRONE_SECRET=drone.feijianshen.com
      - DRONE_DEBUG=true
    restart: always

docker-compose up -d

登录gogs的账号密码

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这就搭建完成了.

安装drone 1.0

修改ip 111.111.111.51后,放行8183端口

https://hub.docker.com/r/drone/agent/tags
https://hub.docker.com/r/drone/agent/tags

建议还是固定tag号,不建议最新.

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version: '3'
services:
  drone-server:
    image: drone/drone:1.0.0-rc.5
    ports:
      - "8183:80"
    volumes:
      - ./data/drone:/var/lib/drone/
      - /var/run/docker.sock:/var/run/docker.sock
    environment:
      - DRONE_OPEN=true
      - DRONE_SERVER_HOST=drone-server
      - DRONE_DEBUG=true
      - DRONE_GIT_ALWAYS_AUTH=false
      - DRONE_GOGS=true
      - DRONE_GOGS_SKIP_VERIFY=false
      - DRONE_GOGS_SERVER=http://111.111.111.36:8181
      - DRONE_PROVIDER=gogs
      - DRONE_DATABASE_DATASOURCE=/var/lib/drone/drone.sqlite
      - DRONE_DATABASE_DRIVER=sqlite3
      - DRONE_SERVER_PROTO=http
      - DRONE_RPC_SECRET=ALQU2M0KdptXUdTPKcEw
   
  drone-agent:
    image: drone/agent:1.0.0-rc.5
    volumes:
      - /var/run/docker.sock:/var/run/docker.sock
    depends_on:
      - drone-server
    environment:
      - DRONE_RPC_SERVER=http://drone-server
      - DRONE_RPC_SECRET=ALQU2M0KdptXUdTPKcEw
      - DRONE_DEBUG=true

docker-compose up -d

登录gogs的账号密码

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这就搭建完成了.

测试

在gogs创建一个drone_example项目

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在drone0.8 里刷新

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点击激活

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把整个复制进去即可.

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这就基本可以了.

在drone1.0版本中操作
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F5刷新后,点击激活

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基本钩子都是如下,ip/hook即可.

http://111.111.111.51:8183/hook
或者
http://drone-server/hook
如下截图:

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这里成感叹号,如果是测试不成功,说明钩子不能够生效,如下是测试完成的,供大家参考.
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当然了,一般是不会直接能够钩子可以成功的.
简单操作如下.
把你的ip设置为推送地址
http://111.111.111.51:8183
http://drone-server

比如:先用http://drone-server 测试,根据我这个1.0 yml,可能就是http://drone-server
会不成功的.
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碰见这种情况,1970年,刷新就行了,再次点击 测试推送几次之后,
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这个状态代码钩子不能够使用.
输入推送地址 http://111.111.111.51:8183 保存之后
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多推送几次之后,就会发现.
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这个状态是ok

0.8.drone.yml 文件内容

workspace:
  base: /drone_test
  path: drone_test/drone_0.8_example

clone:
  git:
    image: plugins/git
    depath: 50
    tags: true
    
pipeline:
  node:
    image: golang
    commands:
      - go version

在drone1.0里面测试

kind: pipeline
name: default
steps:
- name: info
  image: busybox
  commands:
    - echo "appdemo"

咱们0.8的基本没有问题,1.0的确实有些问题,咱们把这个1.0yml提交了上去.

在gogs钩子上,咱们再次点击测试推送,也是可以的.咱们把推送地址修改为 http://111.111.111.51:8183/hook

更新钩子之后,再点击测试推送之后,在111.111.111.51:8183中 drone1.0里面就能够发现已经成功了.
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在这里插入图片描述当如果没有及时的drone更新,在gogs中点击测试推送,一些钩子就会过去的,有些需要下载docker images镜像.故时间会长一些,当下载完,下一次推送就会很快了.

lixing@lixing:~/1/Fast-LIO2$ bash ./run_ego_planner.sh [START] Ego_Planner_Swarm_V1 Drone 0 autonomous run in max_vel 1.0 max_acc:=1.0 ... logging to /home/lixing/.ros/log/073dfb40-8314-11f0-8ffb-0145177117b2/roslaunch-lixing-12978.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt WARNING: disk usage in log directory [/home/lixing/.ros/log] is over 1GB. It's recommended that you use the 'rosclean' command. started roslaunch server http://lixing:40901/ SUMMARY ======== PARAMETERS * /drone_0_ego_planner_node/bspline/limit_acc: 1.0 * /drone_0_ego_planner_node/bspline/limit_ratio: 1.1 * /drone_0_ego_planner_node/bspline/limit_vel: 1.0 * /drone_0_ego_planner_node/fsm/emergency_time: 1.0 * /drone_0_ego_planner_node/fsm/fail_safe: True * /drone_0_ego_planner_node/fsm/flight_type: 1 * /drone_0_ego_planner_node/fsm/planning_horizen_time: 3.0 * /drone_0_ego_planner_node/fsm/planning_horizon: 7.5 * /drone_0_ego_planner_node/fsm/realworld_experiment: False * /drone_0_ego_planner_node/fsm/thresh_no_replan_meter: 1.0 * /drone_0_ego_planner_node/fsm/thresh_replan_time: 1.0 * /drone_0_ego_planner_node/fsm/waypoint0_x: 1.0 * /drone_0_ego_planner_node/fsm/waypoint0_y: 0.0 * /drone_0_ego_planner_node/fsm/waypoint0_z: 1.0 * /drone_0_ego_planner_node/fsm/waypoint1_x: 2.0 * /drone_0_ego_planner_node/fsm/waypoint1_y: 0.0 * /drone_0_ego_planner_node/fsm/waypoint1_z: 1.0 * /drone_0_ego_planner_node/fsm/waypoint2_x: 1.0 * /drone_0_ego_planner_node/fsm/waypoint2_y: 0.0 * /drone_0_ego_planner_node/fsm/waypoint2_z: 1.0 * /drone_0_ego_planner_node/fsm/waypoint3_x: 0.0 * /drone_0_ego_planner_node/fsm/waypoint3_y: 0.0 * /drone_0_ego_planner_node/fsm/waypoint3_z: 1.0 * /drone_0_ego_planner_node/fsm/waypoint4_x: 0.0 * /drone_0_ego_planner_node/fsm/waypoint4_y: 0.0 * /drone_0_ego_planner_node/fsm/waypoint4_z: 1.0 * /drone_0_ego_planner_node/fsm/waypoint5_x: 0.0 * /drone_0_ego_planner_node/fsm/waypoint5_y: 0.0 * /drone_0_ego_planner_node/fsm/waypoint5_z: 1.0 * /drone_0_ego_planner_node/fsm/waypoint_num: 5 * /drone_0_ego_planner_node/grid_map/cx: 321.04638671875 * /drone_0_ego_planner_node/grid_map/cy: 243.44969177246094 * /drone_0_ego_planner_node/grid_map/depth_filter_margin: 2 * /drone_0_ego_planner_node/grid_map/depth_filter_maxdist: 5.0 * /drone_0_ego_planner_node/grid_map/depth_filter_mindist: 0.2 * /drone_0_ego_planner_node/grid_map/depth_filter_tolerance: 0.15 * /drone_0_ego_planner_node/grid_map/frame_id: world * /drone_0_ego_planner_node/grid_map/fx: 387.229248046875 * /drone_0_ego_planner_node/grid_map/fy: 387.229248046875 * /drone_0_ego_planner_node/grid_map/ground_height: -0.01 * /drone_0_ego_planner_node/grid_map/k_depth_scaling_factor: 1000.0 * /drone_0_ego_planner_node/grid_map/local_map_margin: 10 * /drone_0_ego_planner_node/grid_map/local_update_range_x: 5.5 * /drone_0_ego_planner_node/grid_map/local_update_range_y: 5.5 * /drone_0_ego_planner_node/grid_map/local_update_range_z: 4.5 * /drone_0_ego_planner_node/grid_map/map_size_x: 50.0 * /drone_0_ego_planner_node/grid_map/map_size_y: 30.0 * /drone_0_ego_planner_node/grid_map/map_size_z: 5.0 * /drone_0_ego_planner_node/grid_map/max_ray_length: 5 * /drone_0_ego_planner_node/grid_map/min_ray_length: 0.2 * /drone_0_ego_planner_node/grid_map/obstacles_inflation: 0.199 * /drone_0_ego_planner_node/grid_map/p_hit: 0.65 * /drone_0_ego_planner_node/grid_map/p_max: 0.9 * /drone_0_ego_planner_node/grid_map/p_min: 0.12 * /drone_0_ego_planner_node/grid_map/p_miss: 0.35 * /drone_0_ego_planner_node/grid_map/p_occ: 0.8 * /drone_0_ego_planner_node/grid_map/pose_type: 2 * /drone_0_ego_planner_node/grid_map/resolution: 0.1 * /drone_0_ego_planner_node/grid_map/show_occ_time: False * /drone_0_ego_planner_node/grid_map/skip_pixel: 2 * /drone_0_ego_planner_node/grid_map/use_depth_filter: True * /drone_0_ego_planner_node/grid_map/virtual_ceil_height: 2.0 * /drone_0_ego_planner_node/grid_map/visualization_truncate_height: 1.8 * /drone_0_ego_planner_node/manager/control_points_distance: 0.4 * /drone_0_ego_planner_node/manager/drone_id: 0 * /drone_0_ego_planner_node/manager/feasibility_tolerance: 0.05 * /drone_0_ego_planner_node/manager/max_acc: 1.0 * /drone_0_ego_planner_node/manager/max_jerk: 4.0 * /drone_0_ego_planner_node/manager/max_vel: 1.0 * /drone_0_ego_planner_node/manager/planning_horizon: 7.5 * /drone_0_ego_planner_node/manager/use_distinctive_trajs: True * /drone_0_ego_planner_node/optimization/dist0: 0.5 * /drone_0_ego_planner_node/optimization/lambda_collision: 0.5 * /drone_0_ego_planner_node/optimization/lambda_feasibility: 0.1 * /drone_0_ego_planner_node/optimization/lambda_fitness: 1.0 * /drone_0_ego_planner_node/optimization/lambda_smooth: 1.0 * /drone_0_ego_planner_node/optimization/max_acc: 1.0 * /drone_0_ego_planner_node/optimization/max_vel: 1.0 * /drone_0_ego_planner_node/optimization/swarm_clearance: 0.5 * /drone_0_ego_planner_node/prediction/lambda: 1.0 * /drone_0_ego_planner_node/prediction/obj_num: 10 * /drone_0_ego_planner_node/prediction/predict_rate: 1.0 * /drone_0_odom_visualization/color/a: 1.0 * /drone_0_odom_visualization/color/b: 0.0 * /drone_0_odom_visualization/color/g: 0.0 * /drone_0_odom_visualization/color/r: 0.0 * /drone_0_odom_visualization/covariance_scale: 100.0 * /drone_0_odom_visualization/drone_id: drone_id * /drone_0_odom_visualization/robot_scale: 1.0 * /drone_0_odom_visualization/tf45: False * /drone_0_traj_server/traj_server/time_forward: 1.0 * /rosdistro: noetic * /rosversion: 1.17.4 NODES / drone_0_ego_planner_node (ego_planner/ego_planner_node) drone_0_odom_visualization (odom_visualization/odom_visualization) drone_0_traj_server (ego_planner/traj_server) ROS_MASTER_URI=http://localhost:11311 process[drone_0_ego_planner_node-1]: started with pid [13003] process[drone_0_traj_server-2]: started with pid [13004] process[drone_0_odom_visualization-3]: started with pid [13009] [INFO] [1756279902.190574508]: init grid_map Get intrinsic 387.229 0 321.046 0 387.229 243.45 0 0 1 hit: 0.619039 miss: -0.619039 min log: -1.99243 max: 2.19722 thresh log: 1.38629 [INFO] [1756279902.279829887]: before Subscriber [INFO] [1756279902.293179321]: grid_map init complete [WARN] [1756279903.921423393, 1076.624000000]: [Traj server]: ready. [FSM]: state: INIT no odom. wait for goal or trigger. [FSM]: state: INIT no odom. wait for goal or trigger. [FSM]: state: INIT no odom. wait for goal or trigger. [FSM]: state: INIT no odom. wait for goal or trigger. [FSM]: state: INIT no odom. wait for goal or trigger. [FSM]: state: INIT no odom. wait for goal or trigger. [FSM]: state: INIT no odom. wait for goal or trigger. [FSM]: state: INIT no odom. wait for goal or trigger. Triggered! [FSM]: state: INIT no odom. Triggered! [FSM]: state: INIT no odom. [FSM]: state: INIT no odom. [FSM]: state: INIT no odom. 解释一下
最新发布
08-28
vae@vae-ASUS-TUF-Gaming-A15-FA507UU-FA507UU:~$ roslaunch "/home/vae/catkin_ws/src/Primitive-Planner/src/planner/plan_manage/launch/swarm.launch" ... logging to /home/vae/.ros/log/f34d8a2e-6054-11f0-9921-77d90da18a94/roslaunch-vae-ASUS-TUF-Gaming-A15-FA507UU-FA507UU-14057.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://vae-ASUS-TUF-Gaming-A15-FA507UU-FA507UU:35697/ SUMMARY ======== PARAMETERS * /drone_0_bridge_node/broadcast_ip: 127.0.0.255 * /drone_0_bridge_node/drone_id: 0 * /drone_0_bridge_node/odom_max_freq: 70 * /drone_0_odom_visualization/color/a: 1.0 * /drone_0_odom_visualization/color/b: 0.0 * /drone_0_odom_visualization/color/g: 0.0 * /drone_0_odom_visualization/color/r: 0.0 * /drone_0_odom_visualization/covariance_scale: 100.0 * /drone_0_odom_visualization/drone_id: 0 * /drone_0_odom_visualization/robot_scale: 0.24 * /drone_0_odom_visualization/tf45: False * /drone_0_pcl_render_node/cam_cx: 321.04638671875 * /drone_0_pcl_render_node/cam_cy: 243.44969177246094 * /drone_0_pcl_render_node/cam_fx: 387.229248046875 * /drone_0_pcl_render_node/cam_fy: 387.229248046875 * /drone_0_pcl_render_node/cam_height: 480 * /drone_0_pcl_render_node/cam_width: 640 * /drone_0_pcl_render_node/estimation_rate: 30.0 * /drone_0_pcl_render_node/map/x_size: 24.0 * /drone_0_pcl_render_node/map/y_size: 24.0 * /drone_0_pcl_render_node/map/z_size: 3.0 * /drone_0_pcl_render_node/sensing_horizon: 5.0 * /drone_0_pcl_render_node/sensing_rate: 10.0 * /drone_0_poscmd_2_odom/init_x: 2.0 * /drone_0_poscmd_2_odom/init_y: 0.0 * /drone_0_poscmd_2_odom/init_z: 0.5 * /drone_0_primitive_planner_node/fsm/fail_safe: True * /drone_0_primitive_planner_node/fsm/flight_type: 2 * /drone_0_primitive_planner_node/fsm/no_replan_thresh: 0.5 * /drone_0_primitive_planner_node/fsm/realworld_experiment: True * /drone_0_primitive_planner_node/fsm/thresh_replan_time: 0.2 * /drone_0_primitive_planner_node/fsm/waypoint0_x: -2.0 * /drone_0_primitive_planner_node/fsm/waypoint0_y: -0.0 * /drone_0_primitive_planner_node/fsm/waypoint0_z: 0.5 * /drone_0_primitive_planner_node/fsm/waypoint1_x: 0.0 * /drone_0_primitive_planner_node/fsm/waypoint1_y: 0.0 * /drone_0_primitive_planner_node/fsm/waypoint1_z: 0.0 * /drone_0_primitive_planner_node/fsm/waypoint2_x: 0.0 * /drone_0_primitive_planner_node/fsm/waypoint2_y: 0.0 * /drone_0_primitive_planner_node/fsm/waypoint2_z: 0.0 * /drone_0_primitive_planner_node/fsm/waypoint_num: 1 * /drone_0_primitive_planner_node/manager/arc_length: 3.0 * /drone_0_primitive_planner_node/manager/boxX: 6.0 * /drone_0_primitive_planner_node/manager/boxY: 6.0 * /drone_0_primitive_planner_node/manager/boxZ: 6.0 * /drone_0_primitive_planner_node/manager/depthCloudStackNum: 1 * /drone_0_primitive_planner_node/manager/drone_id: 0 * /drone_0_primitive_planner_node/manager/lamda_b: 50.0 * /drone_0_primitive_planner_node/manager/lamda_l: 200.0 * /drone_0_primitive_planner_node/manager/map_size_x: 24.0 * /drone_0_primitive_planner_node/manager/map_size_y: 24.0 * /drone_0_primitive_planner_node/manager/map_size_z: 3.0 * /drone_0_primitive_planner_node/manager/max_vel: 1.0 * /drone_0_primitive_planner_node/manager/primitiveFolder: /home/vae/catkin_... * /drone_0_primitive_planner_node/manager/sampleSize: 10000 * /drone_0_primitive_planner_node/manager/swarm_clearence: 0.24 * /drone_0_primitive_planner_node/manager/voxelSize: 0.1 * /drone_0_traj_server/init_x: 2.0 * /drone_0_traj_server/init_y: 0.0 * /drone_0_traj_server/init_z: 0.5 * /drone_0_traj_server/traj_server/max_vel: 1.0 * /drone_0_traj_server/traj_server/primitiveFolder: /home/vae/catkin_... * /drone_0_traj_server/traj_server/time_delay_idx: 0 * /drone_0_traj_server/traj_server/time_forward: 1.0 * /drone_1_odom_visualization/color/a: 1.0 * /drone_1_odom_visualization/color/b: 0.0 * /drone_1_odom_visualization/color/g: 0.0 * /drone_1_odom_visualization/color/r: 0.0 * /drone_1_odom_visualization/covariance_scale: 100.0 * /drone_1_odom_visualization/drone_id: 1 * /drone_1_odom_visualization/robot_scale: 0.24 * /drone_1_odom_visualization/tf45: False * /drone_1_pcl_render_node/cam_cx: 321.04638671875 * /drone_1_pcl_render_node/cam_cy: 243.44969177246094 * /drone_1_pcl_render_node/cam_fx: 387.229248046875 * /drone_1_pcl_render_node/cam_fy: 387.229248046875 * /drone_1_pcl_render_node/cam_height: 480 * /drone_1_pcl_render_node/cam_width: 640 * /drone_1_pcl_render_node/estimation_rate: 30.0 * /drone_1_pcl_render_node/map/x_size: 24.0 * /drone_1_pcl_render_node/map/y_size: 24.0 * /drone_1_pcl_render_node/map/z_size: 3.0 * /drone_1_pcl_render_node/sensing_horizon: 5.0 * /drone_1_pcl_render_node/sensing_rate: 10.0 * /drone_1_poscmd_2_odom/init_x: -0.9999999999999996 * /drone_1_poscmd_2_odom/init_y: 1.7320508075688774 * /drone_1_poscmd_2_odom/init_z: 0.5 * /drone_1_primitive_planner_node/fsm/fail_safe: True * /drone_1_primitive_planner_node/fsm/flight_type: 2 * /drone_1_primitive_planner_node/fsm/no_replan_thresh: 0.5 * /drone_1_primitive_planner_node/fsm/realworld_experiment: True * /drone_1_primitive_planner_node/fsm/thresh_replan_time: 0.2 * /drone_1_primitive_planner_node/fsm/waypoint0_x: 0.9999999999999996 * /drone_1_primitive_planner_node/fsm/waypoint0_y: -1.7320508075688774 * /drone_1_primitive_planner_node/fsm/waypoint0_z: 0.5 * /drone_1_primitive_planner_node/fsm/waypoint1_x: 0.0 * /drone_1_primitive_planner_node/fsm/waypoint1_y: 0.0 * /drone_1_primitive_planner_node/fsm/waypoint1_z: 0.0 * /drone_1_primitive_planner_node/fsm/waypoint2_x: 0.0 * /drone_1_primitive_planner_node/fsm/waypoint2_y: 0.0 * /drone_1_primitive_planner_node/fsm/waypoint2_z: 0.0 * /drone_1_primitive_planner_node/fsm/waypoint_num: 1 * /drone_1_primitive_planner_node/manager/arc_length: 3.0 * /drone_1_primitive_planner_node/manager/boxX: 6.0 * /drone_1_primitive_planner_node/manager/boxY: 6.0 * /drone_1_primitive_planner_node/manager/boxZ: 6.0 * /drone_1_primitive_planner_node/manager/depthCloudStackNum: 1 * /drone_1_primitive_planner_node/manager/drone_id: 1 * /drone_1_primitive_planner_node/manager/lamda_b: 50.0 * /drone_1_primitive_planner_node/manager/lamda_l: 200.0 * /drone_1_primitive_planner_node/manager/map_size_x: 24.0 * /drone_1_primitive_planner_node/manager/map_size_y: 24.0 * /drone_1_primitive_planner_node/manager/map_size_z: 3.0 * /drone_1_primitive_planner_node/manager/max_vel: 1.0 * /drone_1_primitive_planner_node/manager/primitiveFolder: /home/vae/catkin_... * /drone_1_primitive_planner_node/manager/sampleSize: 10000 * /drone_1_primitive_planner_node/manager/swarm_clearence: 0.24 * /drone_1_primitive_planner_node/manager/voxelSize: 0.1 * /drone_1_traj_server/init_x: -0.9999999999999996 * /drone_1_traj_server/init_y: 1.7320508075688774 * /drone_1_traj_server/init_z: 0.5 * /drone_1_traj_server/traj_server/max_vel: 1.0 * /drone_1_traj_server/traj_server/primitiveFolder: /home/vae/catkin_... * /drone_1_traj_server/traj_server/time_delay_idx: 0 * /drone_1_traj_server/traj_server/time_forward: 1.0 * /drone_2_odom_visualization/color/a: 1.0 * /drone_2_odom_visualization/color/b: 0.0 * /drone_2_odom_visualization/color/g: 0.0 * /drone_2_odom_visualization/color/r: 0.0 * /drone_2_odom_visualization/covariance_scale: 100.0 * /drone_2_odom_visualization/drone_id: 2 * /drone_2_odom_visualization/robot_scale: 0.24 * /drone_2_odom_visualization/tf45: False * /drone_2_pcl_render_node/cam_cx: 321.04638671875 * /drone_2_pcl_render_node/cam_cy: 243.44969177246094 * /drone_2_pcl_render_node/cam_fx: 387.229248046875 * /drone_2_pcl_render_node/cam_fy: 387.229248046875 * /drone_2_pcl_render_node/cam_height: 480 * /drone_2_pcl_render_node/cam_width: 640 * /drone_2_pcl_render_node/estimation_rate: 30.0 * /drone_2_pcl_render_node/map/x_size: 24.0 * /drone_2_pcl_render_node/map/y_size: 24.0 * /drone_2_pcl_render_node/map/z_size: 3.0 * /drone_2_pcl_render_node/sensing_horizon: 5.0 * /drone_2_pcl_render_node/sensing_rate: 10.0 * /drone_2_poscmd_2_odom/init_x: -1.0000000000000009 * /drone_2_poscmd_2_odom/init_y: -1.7320508075688767 * /drone_2_poscmd_2_odom/init_z: 0.5 * /drone_2_primitive_planner_node/fsm/fail_safe: True * /drone_2_primitive_planner_node/fsm/flight_type: 2 * /drone_2_primitive_planner_node/fsm/no_replan_thresh: 0.5 * /drone_2_primitive_planner_node/fsm/realworld_experiment: True * /drone_2_primitive_planner_node/fsm/thresh_replan_time: 0.2 * /drone_2_primitive_planner_node/fsm/waypoint0_x: 1.0000000000000009 * /drone_2_primitive_planner_node/fsm/waypoint0_y: 1.7320508075688767 * /drone_2_primitive_planner_node/fsm/waypoint0_z: 0.5 * /drone_2_primitive_planner_node/fsm/waypoint1_x: 0.0 * /drone_2_primitive_planner_node/fsm/waypoint1_y: 0.0 * /drone_2_primitive_planner_node/fsm/waypoint1_z: 0.0 * /drone_2_primitive_planner_node/fsm/waypoint2_x: 0.0 * /drone_2_primitive_planner_node/fsm/waypoint2_y: 0.0 * /drone_2_primitive_planner_node/fsm/waypoint2_z: 0.0 * /drone_2_primitive_planner_node/fsm/waypoint_num: 1 * /drone_2_primitive_planner_node/manager/arc_length: 3.0 * /drone_2_primitive_planner_node/manager/boxX: 6.0 * /drone_2_primitive_planner_node/manager/boxY: 6.0 * /drone_2_primitive_planner_node/manager/boxZ: 6.0 * /drone_2_primitive_planner_node/manager/depthCloudStackNum: 1 * /drone_2_primitive_planner_node/manager/drone_id: 2 * /drone_2_primitive_planner_node/manager/lamda_b: 50.0 * /drone_2_primitive_planner_node/manager/lamda_l: 200.0 * /drone_2_primitive_planner_node/manager/map_size_x: 24.0 * /drone_2_primitive_planner_node/manager/map_size_y: 24.0 * /drone_2_primitive_planner_node/manager/map_size_z: 3.0 * /drone_2_primitive_planner_node/manager/max_vel: 1.0 * /drone_2_primitive_planner_node/manager/primitiveFolder: /home/vae/catkin_... * /drone_2_primitive_planner_node/manager/sampleSize: 10000 * /drone_2_primitive_planner_node/manager/swarm_clearence: 0.24 * /drone_2_primitive_planner_node/manager/voxelSize: 0.1 * /drone_2_traj_server/init_x: -1.0000000000000009 * /drone_2_traj_server/init_y: -1.7320508075688767 * /drone_2_traj_server/init_z: 0.5 * /drone_2_traj_server/traj_server/max_vel: 1.0 * /drone_2_traj_server/traj_server/primitiveFolder: /home/vae/catkin_... * /drone_2_traj_server/traj_server/time_delay_idx: 0 * /drone_2_traj_server/traj_server/time_forward: 1.0 * /random_forest/ObstacleShape/lower_hei: 0.0 * /random_forest/ObstacleShape/lower_rad: 0.2 * /random_forest/ObstacleShape/radius_h: 0.5 * /random_forest/ObstacleShape/radius_l: 0.7 * /random_forest/ObstacleShape/theta: 0.5 * /random_forest/ObstacleShape/upper_hei: 3.0 * /random_forest/ObstacleShape/upper_rad: 0.5 * /random_forest/ObstacleShape/z_h: 0.8 * /random_forest/ObstacleShape/z_l: 0.7 * /random_forest/map/circle_num: 12.5 * /random_forest/map/obs_num: 12.5 * /random_forest/map/resolution: 0.1 * /random_forest/map/x_size: 5.0 * /random_forest/map/y_size: 5.0 * /random_forest/map/z_size: 3.0 * /random_forest/min_distance: 0.8 * /random_forest/pub_rate: 1.0 * /rosdistro: noetic * /rosversion: 1.17.4 NODES / drone_0_bridge_node (swarm_bridge/bridge_node_udp) drone_0_odom_visualization (odom_visualization/odom_visualization) drone_0_pcl_render_node (local_sensing_node/pcl_render_node) drone_0_poscmd_2_odom (poscmd_2_odom/poscmd_2_odom) drone_0_primitive_planner_node (primitive_planner/primitive_planner_node) drone_0_traj_server (primitive_planner/traj_server) drone_1_odom_visualization (odom_visualization/odom_visualization) drone_1_pcl_render_node (local_sensing_node/pcl_render_node) drone_1_poscmd_2_odom (poscmd_2_odom/poscmd_2_odom) drone_1_primitive_planner_node (primitive_planner/primitive_planner_node) drone_1_traj_server (primitive_planner/traj_server) drone_2_odom_visualization (odom_visualization/odom_visualization) drone_2_pcl_render_node (local_sensing_node/pcl_render_node) drone_2_poscmd_2_odom (poscmd_2_odom/poscmd_2_odom) drone_2_primitive_planner_node (primitive_planner/primitive_planner_node) drone_2_traj_server (primitive_planner/traj_server) random_forest (map_generator/random_forest) rviz (rviz/rviz) ROS_MASTER_URI=http://localhost:11311 process[drone_0_bridge_node-1]: started with pid [14086] process[random_forest-2]: started with pid [14087] process[rviz-3]: started with pid [14088] process[drone_0_primitive_planner_node-4]: started with pid [14094] process[drone_0_traj_server-5]: started with pid [14096] process[drone_0_poscmd_2_odom-6]: started with pid [14097] process[drone_0_odom_visualization-7]: started with pid [14098] process[drone_0_pcl_render_node-8]: started with pid [14113] process[drone_1_primitive_planner_node-9]: started with pid [14121] process[drone_1_traj_server-10]: started with pid [14128] [ERROR] [1752476374.317548293]: Illegal pathID=-1 process[drone_1_poscmd_2_odom-11]: started with pid [14129] process[drone_1_odom_visualization-12]: started with pid [14131] process[drone_1_pcl_render_node-13]: started with pid [14143] process[drone_2_primitive_planner_node-14]: started with pid [14153] process[drone_2_traj_server-15]: started with pid [14161] process[drone_2_poscmd_2_odom-16]: started with pid [14162] process[drone_2_odom_visualization-17]: started with pid [14165] process[drone_2_pcl_render_node-18]: started with pid [14173] [ERROR] [1752476374.359905192]: Illegal pathID=-1 [rosmsg_tcp_bridge] start running [ERROR] [1752476374.407247289]: Illegal pathID=-1 [drone_0_primitive_planner_node-4] process has finished cleanly log file: /home/vae/.ros/log/f34d8a2e-6054-11f0-9921-77d90da18a94/drone_0_primitive_planner_node-4*.log [drone_1_primitive_planner_node-9] process has finished cleanly log file: /home/vae/.ros/log/f34d8a2e-6054-11f0-9921-77d90da18a94/drone_1_primitive_planner_node-9*.log [drone_2_primitive_planner_node-14] process has finished cleanly log file: /home/vae/.ros/log/f34d8a2e-6054-11f0-9921-77d90da18a94/drone_2_primitive_planner_node-14*.log [WARN] [1752476374.809354901]: Finished generate random map [WARN] [1752476374.819079956]: Global Pointcloud received.. [WARN] [1752476374.820344840]: Global Pointcloud received.. [WARN] [1752476374.822302265]: Global Pointcloud received.. [INFO] [1752476375.315344140]: [Traj server]: ready. [INFO] [1752476375.347589117]: [Traj server]: ready. [INFO] [1752476375.403154149]: [Traj server]: ready. [rospack] Error: failed to parse command-line options: too many positional options have been specified on the command line [librospack]: error while executing command [rospack] Error: failed to parse command-line options: too many positional options have been specified on the command line [librospack]: error while executing command [rospack] Error: failed to parse command-line options: too many positional options have been specified on the command line [librospack]: error while executing command ================================================================================REQUIRED process [rviz-3] has died! process has finished cleanly log file: /home/vae/.ros/log/f34d8a2e-6054-11f0-9921-77d90da18a94/rviz-3*.log Initiating shutdown! ================================================================================ [drone_2_pcl_render_node-18] killing on exit [drone_2_odom_visualization-17] killing on exit [drone_2_poscmd_2_odom-16] killing on exit [drone_2_traj_server-15] killing on exit [drone_0_pcl_render_node-8] killing on exit [drone_1_odom_visualization-12] killing on exit [drone_1_poscmd_2_odom-11] killing on exit [drone_1_traj_server-10] killing on exit [drone_0_odom_visualization-7] killing on exit [drone_1_pcl_render_node-13] killing on exit terminate called after throwing an instance of 'boost::wrapexcept<boost::lock_error>' what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument [drone_0_poscmd_2_odom-6] killing on exit terminate called after throwing an instance of 'boost::wrapexcept<boost::lock_error>' what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument terminate called after throwing an instance of 'boost::wrapexcept<boost::lock_error>' what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument [drone_0_traj_server-5] killing on exit [rviz-3] killing on exit [random_forest-2] killing on exit [drone_0_bridge_node-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
07-15
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