Hello everyone, I am new to px4,though it can run successfully before, But I got this error now:
gzserver: symbol lookup error: /home/wzy/src/Firmware/build/px4_sitl_default/build_gazebo/libgazebo_multirotor_base_plugin.so: undefined symbol: _ZN8mav_msgs4msgs10MotorSpeedC1Ev
After I open gazebo ,it seems normal.
But when I launch my model , px4 and mavros in a launch file below, I got this error.
I see some help in gazebo, I even reinstall my ~/src/Firmware
But it is not work for me ,thanks for any help!!!
my launch
<arg name="vehicle" default="iris"/>
<!--<arg name="my_model" default="my_iris_fpv_lidar"/>-->
<arg name="my_model" default="iris"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg my_model)/$(arg my_model).sdf"/>
<arg name="est" default="ekf2"/>
<env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
<env name="PX4_ESTIMATOR" value="$(arg est)" />
<node name="plane" pkg="gazebo_ros" type="spawn_model" output="screen" args="-sdf -file $(arg sdf) -model $(arg vehicle) -x 1 -y 1 -z 0 -R 0 -P 0 -Y 0"/>
<arg name="fcu_url" default="udp://:14540@127.0.0.1:14557"/>
<arg name="respawn_mavros" default="false"/>
<!-- PX4 configs -->
<arg name="interactive" default="true"/>
<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<arg if="$(arg interactive)" name="px4_command_arg1" value=""/>
<node name="sitl" pkg="px4" type="px4" output="screen"
args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS $(arg px4_command_arg1)" required="true"/>
<!-- MAVROS -->
<!-- GCS link is provided by SITL -->
<arg name="gcs_url" value=""/>
<!-- <arg name="fcu_url" value="$(arg fcu_url)"/>-->
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<arg name="log_output" default="screen" />
<arg name="fcu_protocol" default="v2.0" />
<!--<arg name="respawn_mavros" default="false" />-->
<!--px4_config.yaml-->
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
<!-- mavros node.launch-->
<node pkg="mavros" type="mavros_node" name="mavros" required="$(eval not respawn_mavros)" clear_params="true" output="$(arg log_output)" respawn="$(arg respawn_mavros)">
<param name="fcu_url" value="$(arg fcu_url)" />
<param name="gcs_url" value="$(arg gcs_url)" />
<param name="target_system_id" value="$(arg tgt_system)" />
<param name="target_component_id" value="$(arg tgt_component)" />
<param name="fcu_protocol" value="$(arg fcu_protocol)" />
<!-- load blacklist, config -->
<rosparam command="load" file="$(arg pluginlists_yaml)" />
<rosparam command="load" file="$(arg config_yaml)" />
</node>