[Bug] WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data

[anhducad1111]

Describe the bug

ubuntu 22.04, ros2 humble, gz garden

it my first setup with px4 simulation https://docs.px4.io/main/en/sim_gazebo_gz/
cd ~
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
cd PX4-Autopilot/
make px4_sitl

Installed ROS 2
installed and ran Micro XRCE-DDS Agent & Client
Built ROS 2 Workspace
Installed MAVSDK

To Reproduce

No response

Expected behavior

ready to takeoff

Screenshot / Media

No response

Flight Log

[0/1015] git submodule src/drivers/gps/devices
[8/1015] git submodule src/modules/mavlink/mavlink
[11/1015] git submodule src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
[1014/1015] cd /home/ad/PX4-Autopilot/build/...PX4-Autopilot/build/px4_sitl_default/bin/px4

---

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_| / / |_/

px4 starting.

INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO [init] found model autostart file as SYS_AUTOSTART=4002
INFO [param] selected parameter default file parameters.bson
INFO [param] selected parameter backup file parameters_backup.bson
SYS_AUTOCONFIG: curr: 0 -> new: 1
SYS_AUTOSTART: curr: 0 -> new: 4002
CAL_ACC0_ID: curr: 0 -> new: 1310988
CAL_GYRO0_ID: curr: 0 -> new: 1310988
CAL_ACC1_ID: curr: 0 -> new: 1310996
CAL_GYRO1_ID: curr: 0 -> new: 1310996
CAL_ACC2_ID: curr: 0 -> new: 1311004
CAL_GYRO2_ID: curr: 0 -> new: 1311004
CAL_MAG0_ID: curr: 0 -> new: 197388
CAL_MAG0_PRIO: curr: -1 -> new: 50
CAL_MAG1_ID: curr: 0 -> new: 197644
CAL_MAG1_PRIO: curr: -1 -> new: 50
SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
INFO [dataman] data manager file './dataman' size is 7872608 bytes
INFO [init] Gazebo simulator
INFO [init] gazebo already running world: default
WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin.
INFO [gz_bridge] world: default, model name: x500_depth_0, simulation model: x500_depth
INFO [gz_bridge] Requested Model Position: 0,0,0,0,0,0
INFO [gz_bridge] Model position z is less or equal 0.0, moving upwards
INFO [lockstep_scheduler] setting initial absolute time to 2190908000 us
INFO [commander] LED: open /dev/led0 failed (22)
WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data
WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station
INFO [tone_alarm] home set
INFO [uxrce_dds_client] init UDP agent IP:127.0.0.1, port:8888
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [mavlink] partner IP: 127.0.0.1
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2024-11-25/10_05_03.ulg
INFO [logger] Opened full log file: ./log/2024-11-25/10_05_03.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
pxh> WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll)
WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll)
INFO [uxrce_dds_client] synchronized with time offset 1732526911822399us
INFO [uxrce_dds_client] successfully created rt/fmu/out/battery_status data writer, topic id: 19
INFO [uxrce_dds_client] successfully created rt/fmu/out/estimator_status_flags data writer, topic id: 82
INFO [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 88
INFO [uxrce_dds_client] successfully created rt/fmu/out/manual_control_setpoint data writer, topic id: 137
INFO [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 181INFO [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 213
INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 236
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_land_detected data writer, topic id: 265
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_attitude data writer, topic id: 252
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 259
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_global_position data writer, topic id: 260
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 262
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 266
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 271
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 276
INFO [uxrce_dds_client] time sync converged
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [uxrce_dds_client] time sync no longer converged
INFO [uxrce_dds_client] time sync converged

Software Version

newest 25/11/2024

Flight controller

No response

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

source ~/px4-venv/bin/activate

cd ~/Micro-XRCE-DDS-Agent
MicroXRCEAgent udp4 -p 8888

source ~/.bashrc

cd ~/PX4-Autopilot

make px4_sitl gz_x500_depth
make clean
make distclean
ros2 run ros_gz_image image_bridge /camera

source ~/px4-venv/bin/activate
cd ~/PX4-ROS2-Gazebo-YOLOv8
python uav_camera_det.py

[AerialMechX]

This is not a bug. I came across the same problem initially, specifically with the EKF2 missing data. After successfully building the system, I was able to fly the drone using ROS2 Humble and MicroUXCREAgent. , used the YOLOv8 algorithm for object detection.

To resolve this, install the correct version of Gazebo if it's not present by running the following command:

 sudo apt install gz-garden

Then, install the correct version of the Gazebo-ROS bridge using the command:

sudo apt install ros-humble-ros-gzgarden

Next, uninstall any incorrect version of Gazebo that is installed on your system. For example:

 sudo apt remove gz-harmonic 
 sudo apt autoremove

Finally, reboot your system. The problem should now be resolved.

[anhducad1111]

now i have this instead
https://github.com/monemati/PX4-ROS2-Gazebo-YOLOv8
I do this step by step
and ur guide
pxh> WARN [health_and_arming_checks] Preflight Fail: Compass Sensor 0 missing
im already source ~/.bashrc

[anhducad1111]

I realized that if I follow https://github.com/monemati/PX4-ROS2-Gazebo-YOLOv8/tree/main
to step
PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4
it have WARN [health_and_arming_checks] Preflight Fail: Compass Sensor 0 missing

but when i run in make px4_sitl gz_x500_depth_windy
it normal
i tried to install uninstall garden or harmonic, tried to use 1 of them but cant fix that

[dagar]

For some of these things it's a bit of a race condition where commander really shouldn't be complaining about "ekf2 missing data" immediately. I'll try to adjust it to silence false positives.