Ubuntu ROS bebop_自主错误与鹦鹉bebop无人机

我对ROS和bebop无人机比较陌生，我刚刚开始安装并使用bebop_autonomy连接到我的Parrot bebop无人机

我可以在192.168.42.1上ping我的无人机，但是当我遵循关于“运行驱动程序”的文档时会遇到问题

当我尝试将驱动程序作为节点或nodelet运行时，会收到如下错误消息：

$ roslaunch bebop_driver bebop_node.launch
... logging to /home/brian/.ros/log/4d22fb4c-1711-11e7-80d1-0800279b4b72/roslaunch-brian-VirtualBox-28034.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.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
started roslaunch server http://brian-VirtualBox:35861/

SUMMARY
========

PARAMETERS
 * /bebop/bebop_driver/bebop_ip: 192.168.42.1
 * /bebop/bebop_driver/camera_info_url: package://bebop_d...
 * /bebop/bebop_driver/cmd_vel_timeout: 0.2
 * /bebop/bebop_driver/odom_frame_id: odom
 * /bebop/bebop_driver/publish_odom_tf: True
 * /bebop/bebop_driver/reset_settings: True
 * /bebop/bebop_driver/states/enable_altitudechanged: True
 * /bebop/bebop_driver/states/enable_autotakeoffmodechanged: True
 * /bebop/bebop_driver/states/enable_camerastate_orientation: True
 * /bebop/bebop_driver/states/enable_commonstate_batterystatechanged: True
 * /bebop/bebop_driver/states/enable_commonstate_wifisignalchanged: True
 * /bebop/bebop_driver/states/enable_controllerstate_ispilotingchanged: True
 * /bebop/bebop_driver/states/enable_flightplanstate_availabilitystatechanged: True
 * /bebop/bebop_driver/states/enable_flightplanstate_componentstatelistchanged: True
 * /bebop/bebop_driver/states/enable_gpsstate_numberofsatellitechanged: True
 * /bebop/bebop_driver/states/enable_mavlinkstate_mavlinkfileplayingstatechanged: True
 * /bebop/bebop_driver/states/enable_mavlinkstate_mavlinkplayerrorstatechanged: True
 * /bebop/bebop_driver/states/enable_mediastreamingstate_videoenablechanged: True
 * /bebop/bebop_driver/states/enable_numberofsatellitechanged: True
 * /bebop/bebop_driver/states/enable_overheatstate_overheatchanged: True
 * /bebop/bebop_driver/states/enable_pilotingstate_altitudechanged: True
 * /bebop/bebop_driver/states/enable_pilotingstate_attitudechanged: True
 * /bebop/bebop_driver/states/enable_pilotingstate_flattrimchanged: True
 * /bebop/bebop_driver/states/enable_pilotingstate_flyingstatechanged: True
 * /bebop/bebop_driver/states/enable_pilotingstate_navigatehomestatechanged: True
 * /bebop/bebop_driver/states/enable_pilotingstate_positionchanged: True
 * /bebop/bebop_driver/states/enable_pilotingstate_speedchanged: True
 * /bebop/robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.7

NODES
  /bebop/
    bebop_driver (bebop_driver/bebop_driver_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [28048]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4d22fb4c-1711-11e7-80d1-0800279b4b72
process[rosout-1]: started with pid [28061]
started core service [/rosout]
process[bebop/bebop_driver-2]: started with pid [28073]
process[bebop/robot_state_publisher-3]: started with pid [28079]
[ INFO] [1491074874.747679255]: Initializing nodelet with 1 worker threads.
[ INFO] [1491074874.904582440]: [BebopSDK] 03:27:54:904 | Bebop:225 - Bebop Cnstr()
[ INFO] [1491074874.905884516]: Nodelet Cstr
[ INFO] [1491074874.919409933]: Connecting to Bebop ...
[ INFO] [1491074874.925985788]: [CB] 03:27:54:925 | Ardrone3PilotingStateFlatTrimChanged:386 - [STATES] Enabling states/ardrone3/PilotingState/FlatTrimChanged
[ INFO] [1491074874.927999006]: [CB] 03:27:54:927 | Ardrone3PilotingStateFlyingStateChanged:430 - [STATES] Enabling states/ardrone3/PilotingState/FlyingStateChanged
[ INFO] [1491074874.935265924]: [CB] 03:27:54:935 | Ardrone3PilotingStateNavigateHomeStateChanged:532 - [STATES] Enabling states/ardrone3/PilotingState/NavigateHomeStateChanged
[ INFO] [1491074874.938969647]: [CB] 03:27:54:938 | Ardrone3PilotingStatePositionChanged:590 - [STATES] Enabling states/ardrone3/PilotingState/PositionChanged
[ INFO] [1491074874.942837436]: [CB] 03:27:54:942 | Ardrone3PilotingStateSpeedChanged:655 - [STATES] Enabling states/ardrone3/PilotingState/SpeedChanged
[ INFO] [1491074874.954468087]: [CB] 03:27:54:954 | Ardrone3PilotingStateAttitudeChanged:720 - [STATES] Enabling states/ardrone3/PilotingState/AttitudeChanged
[ INFO] [1491074874.958549970]: [CB] 03:27:54:958 | Ardrone3PilotingStateAltitudeChanged:836 - [STATES] Enabling states/ardrone3/PilotingState/AltitudeChanged
[ INFO] [1491074874.979685917]: [CB] 03:27:54:979 | Ardrone3MediaStreamingStateVideoEnableChanged:1300 - [STATES] Enabling states/ardrone3/MediaStreamingState/VideoEnableChanged
[ INFO] [1491074874.983328651]: [CB] 03:27:54:983 | Ardrone3CameraStateOrientation:1402 - [STATES] Enabling states/ardrone3/CameraState/Orientation
[ INFO] [1491074875.002872666]: [CB] 03:27:55:002 | Ardrone3GPSStateNumberOfSatelliteChanged:1794 - [STATES] Enabling states/ardrone3/GPSState/NumberOfSatelliteChanged
[ INFO] [1491074875.012341492]: [CB] 03:27:55:012 | CommonCommonStateBatteryStateChanged:148 - [STATES] Enabling states/common/CommonState/BatteryStateChanged
[ INFO] [1491074875.025082885]: [CB] 03:27:55:025 | CommonCommonStateWifiSignalChanged:510 - [STATES] Enabling states/common/CommonState/WifiSignalChanged
[ INFO] [1491074875.037880400]: [CB] 03:27:55:037 | CommonOverHeatStateOverHeatChanged:1023 - [STATES] Enabling states/common/OverHeatState/OverHeatChanged
[ INFO] [1491074875.042039410]: [CB] 03:27:55:042 | CommonMavlinkStateMavlinkFilePlayingStateChanged:1118 - [STATES] Enabling states/common/MavlinkState/MavlinkFilePlayingStateChanged
[ INFO] [1491074875.043688593]: [CB] 03:27:55:043 | CommonMavlinkStateMavlinkPlayErrorStateChanged:1183 - [STATES] Enabling states/common/MavlinkState/MavlinkPlayErrorStateChanged
[ INFO] [1491074875.055460926]: [CB] 03:27:55:055 | CommonFlightPlanStateAvailabilityStateChanged:1568 - [STATES] Enabling states/common/FlightPlanState/AvailabilityStateChanged
[ INFO] [1491074875.058350203]: [CB] 03:27:55:058 | CommonFlightPlanStateComponentStateListChanged:1619 - [STATES] Enabling states/common/FlightPlanState/ComponentStateListChanged
[ INFO] [1491074875.080061404]: [ARCONTROLLER_Network] 03:27:55:080 | ARCONTROLLER_Network_GetAvailableSocketPort:110 - d2c_port port: 57751
[ INFO] [1491074875.080260750]: [ARCONTROLLER_Stream2] 03:27:55:080 | ARCONTROLLER_Stream2_Open_Socket:124 - udp local port stream: 40425
[ INFO] [1491074875.080321851]: [ARCONTROLLER_Stream2] 03:27:55:080 | ARCONTROLLER_Stream2_Open_Socket:124 - udp local port control: 59888
**[ERROR] [1491074875.844809497]: [ARNETWORK_Sender] 03:27:55:844 | ARNETWORK_Sender_ProcessBufferToSend:405 - [0x7ff9182a7de0] Timeout waiting for ack in buffer 11
[ERROR] [1491074875.844930504]: [ARNETWORK_Sender] 03:27:55:844 | ARNETWORK_Sender_ProcessBufferToSend:421 - [0x7ff9182a7de0] Will retry sending data of buffer 11
[ERROR] [1491074876.345381668]: [ARNETWORK_Sender] 03:27:56:345 | ARNETWORK_Sender_ProcessBufferToSend:405 - [0x7ff9182a7de0] Timeout waiting for ack in buffer 11
[ERROR] [1491074876.345512497]: [ARNETWORK_Sender] 03:27:56:345 | ARNETWORK_Sender_ProcessBufferToSend:421 - [0x7ff9182a7de0] Will retry sending data of buffer 11
[ERROR] [1491074876.846253700]: [ARNETWORK_Sender] 03:27:56:846 | ARNETWORK_Sender_ProcessBufferToSend:405 - [0x7ff9182a7de0] Timeout waiting for ack in buffer 11
[ERROR] [1491074876.846399317]: [ARNETWORK_Sender] 03:27:56:846 | ARNETWORK_Sender_ProcessBufferToSend:421 - [0x7ff9182a7de0] Will retry sending data of buffer 11
[ERROR] [1491074877.346791394]: [ARNETWORK_Sender] 03:27:57:346 | ARNETWORK_Sender_ProcessBufferToSend:405 - [0x7ff9182a7de0] Timeout waiting for ack in buffer 11**
_[ WARN] [1491074877.346930301]: [ARNETWORK_Sender] 03:27:57:346 | ARNETWORK_Sender_TimeOutCallback:655 - [0x7ff9182a7de0] Did timeout sending command : project = 0 | class = 4 | command = 1 - 0_
**[ERROR] [1491074877.847247018]: [ARNETWORK_Sender] 03:27:57:847 | ARNETWORK_Sender_ProcessBufferToSend:405 - [0x7ff9182a7de0] Timeout waiting for ack in buffer 11
[ERROR] [1491074877.847486088]: [ARNETWORK_Sender] 03:27:57:847 | ARNETWORK_Sender_ProcessBufferToSend:421 - [0x7ff9182a7de0] Will retry sending data of buffer 11
[ERROR] [1491074878.348124995]: [ARNETWORK_Sender] 03:27:58:348 | ARNETWORK_Sender_ProcessBufferToSend:405 - [0x7ff9182a7de0] Timeout waiting for ack in buffer 11
[ERROR] [1491074878.348251012]: [ARNETWORK_Sender] 03:27:58:348 | ARNETWORK_Sender_ProcessBufferToSend:421 - [0x7ff9182a7de0] Will retry sending data of buffer 11
[ERROR] [1491074878.848439032]: [ARNETWORK_Sender] 03:27:58:848 | ARNETWORK_Sender_ProcessBufferToSend:405 - [0x7ff9182a7de0] Timeout waiting for ack in buffer 11
[ERROR] [1491074878.848561779]: [ARNETWORK_Sender] 03:27:58:848 | ARNETWORK_Sender_ProcessBufferToSend:421 - [0x7ff9182a7de0] Will retry sending data of buffer 11
[ERROR] [1491074879.349409300]: [ARNETWORK_Sender] 03:27:59:349 | ARNETWORK_Sender_ProcessBufferToSend:405 - [0x7ff9182a7de0] Timeout waiting for ack in buffer 11**
_[ WARN] [1491074879.349558890]: [ARNETWORK_Sender] 03:27:59:349 | ARNETWORK_Sender_TimeOutCallback:655 - [0x7ff9182a7de0] Did timeout sending command : project = 0 | class = 4 | command = 2 - 0_
**[ERROR] [1491074879.849932869]: [ARNETWORK_Sender] 03:27:59:849 | ARNETWORK_Sender_ProcessBufferToSend:405 - [0x7ff9182a7de0] Timeout waiting for ack in buffer 11
[ERROR] [1491074879.850073686]: [ARNETWORK_Sender] 03:27:59:850 | ARNETWORK_Sender_ProcessBufferToSend:421 - [0x7ff9182a7de0] Will retry sending data of buffer 11**
[ INFO] [1491074880.327451025]: [ARNETWORKAL_WifiNetwork] 03:28:00:327 | ARNETWORKAL_WifiNetwork_Receive:918 - [0x7ff91824dff0] connection lost (too long time without reception)
[ INFO] [1491074880.327663960]: [ARCONTROLLER_Device] 03:28:00:327 | ARCONTROLLER_Device_StartRun:4987 - Start failed or canceled.
**[ERROR] [1491074880.351238007]: [ARNETWORK_Sender] 03:28:00:351 | ARNETWORK_Sender_ProcessBufferToSend:405 - [0x7ff9182a7de0] Timeout waiting for ack in buffer 11
[ERROR] [1491074880.351367810]: [ARNETWORK_Sender] 03:28:00:351 | ARNETWORK_Sender_ProcessBufferToSend:421 - [0x7ff9182a7de0] Will retry sending data of buffer 11
[ERROR] [1491074881.325474151]: [ARCONTROLLER_Device] 03:28:01:325 | ARCONTROLLER_Device_StartRun:4995 - Start fail error :start canceled**
[ INFO] [1491074881.325635335]: [BebopSDK] 03:28:01:325 | Cleanup:326 - Bebop Cleanup()
[FATAL] [1491074881.325830937]: Init failed: Waiting for device failed: No error
[ INFO] [1491074881.325905075]: Bebop Nodelet Dstr: 0
[ INFO] [1491074881.325916417]: Killing Camera Thread ...
[ INFO] [1491074881.325929273]: Killing Aux Thread ...
^C[bebop/robot_state_publisher-3] killing on exit
[bebop/bebop_driver-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit

$roslaunch bebop\u驱动程序bebop\u node.launch
... 登录到/home/brian/.ros/log/4d22fb4c-1711-11e7-80d1-0800279b4b72/roslaunch-brian-VirtualBox-28034.log
正在检查日志目录中的磁盘使用情况。这可能需要一段时间。
按Ctrl-C键中断
已完成检查日志文件磁盘使用情况。Usage is表明错误是由我的虚拟机的网络设置引起的。
在我将适配器从NAT更改为桥接网络后，问题就解决了