Hi there, I have followed the insturction http://dev.px4.io/simulation-ros-interface.html to have SITL interfacing with ROS, but was unable to initiate a world with iris model. Gazebo has a black screen instead of a 3D world. My Gazebo version is 7.4, and PX4 is the newest version.
Here is the output:
started roslaunch server http://haoyu-OptiPlex-3010:33589/
SUMMARY
PARAMETERS
- /rosdistro: kinetic
- /rosversion: 1.12.5
- /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
sitl (px4/px4)
vehicle_spawn_haoyu_OptiPlex_3010_19224_237698113778814059 (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [19235]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 138c4058-9955-11e6-93a1-000f6005d13e
process[rosout-1]: started with pid [19248]
started core service [/rosout]
process[sitl-2]: started with pid [19272]
node name: sitl
data path: /home/haoyu/drone/Firmware
commands file: /home/haoyu/drone/Firmware/posix-configs/SITL/init/lpe/iris
18446744073709551506 WARNING: setRealtimeSched failed (not run as root?)
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_| / / |_/
px4 starting.
process[gazebo-3]: started with pid [19280]
process[gazebo_gui-4]: started with pid [19287]
INFO [dataman] Unkown restart, data manager file ‘rootfs/fs/microsd/dataman’ size is 103090 bytes
process[vehicle_spawn_haoyu_OptiPlex_3010_19224_237698113778814059-5]: started with pid [19296]
INFO [platforms__posix__drivers__ledsim] LED::init
INFO [platforms__posix__drivers__ledsim] LED::init
INFO [simulator] Not using /dev/ttyACM0 for radio control input. Assuming joystick input via MAVLink.
INFO [simulator] Waiting for initial data on UDP port 14560. Please start the flight simulator to proceed…
[ INFO] [1477250136.948512040]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1477250136.949008474]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting…
spawn_model script started
[INFO] [WallTime: 1477250137.151839] [0.000000] Loading model xml from file
[INFO] [WallTime: 1477250137.152106] [0.000000] Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1477250137.972392442, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1477250138.011885640, 0.062000000]: Physics dynamic reconfigure ready.
[INFO] [WallTime: 1477250138.057573] [0.106000] Calling service /gazebo/spawn_sdf_model
[INFO] [WallTime: 1477250138.165444] [0.154000] Spawn status: SpawnModel: Successfully spawned model
[vehicle_spawn_haoyu_OptiPlex_3010_19224_237698113778814059-5] process has finished cleanly
log file: /home/haoyu/.ros/log/138c4058-9955-11e6-93a1-000f6005d13e/vehicle_spawn_haoyu_OptiPlex_3010_19224_237698113778814059-5*.log