Cannot connect multiple drones with Gazebo Simulation

Hello,

I have been trying for multiple days to connect two or more drones to QGroundControl via MavSim and Gazebo simulation.
The problem is, I can launch a single drone (as in https://dev.px4.io/en/simulation/gazebo.html), and then I can control it via the QGroundControl, and watch the simulation on Gazebo normally.

Though, when I try to launch two or more drones, as in https://dev.px4.io/en/simulation/multi-vehicle-simulation.html#additional-resources, it doesn’t show up at all at QGroundControl, I get the “Waiting for vehicle connection” screen and I cannot connect to it by any means, consequently, I cannot control them.
I get no errors at both simulations, so I have no idea what to do. Maybe some launch configuration?

Thank you in advance.

Also, I have already tried to uninstall everything, and reinstall it multiple times.
I am running Ubuntu 18.04.2 LTS, QGround Control v3.5.0, Gazebo 9 and latest ROS Melodic as of today.

That’s odd. I don’t know why at least the first done would show up in QGC. I’m not sure QGC supports multiple drones but at least one should be available.

Have you tried multiple drones SITL with jMAVSim?

And could you paste the command and output that you get when you start SITL for the case where it doesn’t work?

Hi Julian,

I know that QGC supports multiple drones because in fact, I had the simulation working at some time, but now I can’t make it work anymore.

I am actually making tests with a Anti-Collision software, so I thought Gazebo should be the best solution since I am not using HITL but SITL, with some hardware inputs for the algorithm. Should jMAVSim be still recommended?

I run the following commands for the multiple drones simulation:

cd ~/src/Firmware
git submodule update --init --recursive
make posix_sitl_default
make posix_sitl_default sitl_gazebo
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/posix_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd):$(pwd)/Tools/sitl_gazebo
roslaunch px4 multi_uav_mavros_sitl.launch

Ok, no if you require Gazebo then Gazebo makes sense :smile:. What is your Firmware version?

I am running the latest PX4 Firmware, dated from yesterday afternoon.

I just tried this on a fresh Ubuntu 18.04.2 and it works as expected. I can chose between vehicle 2,3, and 4 in QGC.

Can you copy&paste the output you get when you run the roslaunch command?

Can you show the rostopic list and /mavros/state to check the problem?

So the output is the following:

GAZEBO_PLUGIN_PATH :/home/piasd/src/Firmware/build/px4_sitl_defaultexport/build_gazebo
GAZEBO_MODEL_PATH :/home/piasd/src/Firmware/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /home/piasd/catkin_ws/devel/lib:/opt/ros/melodic/lib:/home/piasd/src/Firmware/build/px4_sitl_defaultexport/build_gazebo
… logging to /home/piasd/.ros/log/b6d70db8-5624-11e9-8bf3-4437e67f600e/roslaunch-piasd2019-3996.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: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://piasd2019:35723/

SUMMARY

CLEAR PARAMETERS

  • /uav1/mavros/
  • /uav2/mavros/
  • /uav3/mavros/

PARAMETERS

  • /gazebo/enable_ros_network: True
  • /rosdistro: melodic
  • /rosversion: 1.14.3
  • /uav1/mavros/cmd/use_comp_id_system_control: False
  • /uav1/mavros/conn/heartbeat_rate: 1.0
  • /uav1/mavros/conn/system_time_rate: 1.0
  • /uav1/mavros/conn/timeout: 10.0
  • /uav1/mavros/conn/timesync_rate: 10.0
  • /uav1/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  • /uav1/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  • /uav1/mavros/distance_sensor/hrlv_ez4_pub/id: 0
  • /uav1/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
  • /uav1/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  • /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  • /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  • /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  • /uav1/mavros/distance_sensor/laser_1_sub/id: 3
  • /uav1/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
  • /uav1/mavros/distance_sensor/laser_1_sub/subscriber: True
  • /uav1/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  • /uav1/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  • /uav1/mavros/distance_sensor/lidarlite_pub/id: 1
  • /uav1/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
  • /uav1/mavros/distance_sensor/lidarlite_pub/send_tf: True
  • /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  • /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  • /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  • /uav1/mavros/distance_sensor/sonar_1_sub/id: 2
  • /uav1/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
  • /uav1/mavros/distance_sensor/sonar_1_sub/subscriber: True
  • /uav1/mavros/fake_gps/eph: 2.0
  • /uav1/mavros/fake_gps/epv: 2.0
  • /uav1/mavros/fake_gps/fix_type: 3
  • /uav1/mavros/fake_gps/geo_origin/alt: 408.0
  • /uav1/mavros/fake_gps/geo_origin/lat: 47.3667
  • /uav1/mavros/fake_gps/geo_origin/lon: 8.55
  • /uav1/mavros/fake_gps/gps_rate: 5.0
  • /uav1/mavros/fake_gps/mocap_transform: True
  • /uav1/mavros/fake_gps/satellites_visible: 5
  • /uav1/mavros/fake_gps/tf/child_frame_id: fix
  • /uav1/mavros/fake_gps/tf/frame_id: map
  • /uav1/mavros/fake_gps/tf/listen: False
  • /uav1/mavros/fake_gps/tf/rate_limit: 10.0
  • /uav1/mavros/fake_gps/tf/send: False
  • /uav1/mavros/fake_gps/use_mocap: True
  • /uav1/mavros/fake_gps/use_vision: False
  • /uav1/mavros/fcu_protocol: v2.0
  • /uav1/mavros/fcu_url: udp://:14541@loca…
  • /uav1/mavros/gcs_url:
  • /uav1/mavros/global_position/child_frame_id: base_link
  • /uav1/mavros/global_position/frame_id: map
  • /uav1/mavros/global_position/gps_uere: 1.0
  • /uav1/mavros/global_position/rot_covariance: 99999.0
  • /uav1/mavros/global_position/tf/child_frame_id: base_link
  • /uav1/mavros/global_position/tf/frame_id: map
  • /uav1/mavros/global_position/tf/global_frame_id: earth
  • /uav1/mavros/global_position/tf/send: False
  • /uav1/mavros/global_position/use_relative_alt: True
  • /uav1/mavros/image/frame_id: px4flow
  • /uav1/mavros/imu/angular_velocity_stdev: 0.000349065850399
  • /uav1/mavros/imu/frame_id: base_link
  • /uav1/mavros/imu/linear_acceleration_stdev: 0.0003
  • /uav1/mavros/imu/magnetic_stdev: 0.0
  • /uav1/mavros/imu/orientation_stdev: 1.0
  • /uav1/mavros/local_position/frame_id: map
  • /uav1/mavros/local_position/tf/child_frame_id: base_link
  • /uav1/mavros/local_position/tf/frame_id: map
  • /uav1/mavros/local_position/tf/send: False
  • /uav1/mavros/local_position/tf/send_fcu: False
  • /uav1/mavros/mission/pull_after_gcs: True
  • /uav1/mavros/mocap/use_pose: True
  • /uav1/mavros/mocap/use_tf: False
  • /uav1/mavros/odometry/in/child_frame_id: base_link
  • /uav1/mavros/odometry/in/frame_id: odom
  • /uav1/mavros/odometry/in/frame_tf/body_frame_orientation: flu
  • /uav1/mavros/odometry/in/frame_tf/local_frame: local_origin_ned
  • /uav1/mavros/odometry/out/frame_tf/body_frame_orientation: frd
  • /uav1/mavros/odometry/out/frame_tf/local_frame: vision_ned
  • /uav1/mavros/plugin_blacklist: [‘safety_area’, '…
  • /uav1/mavros/plugin_whitelist: []
  • /uav1/mavros/px4flow/frame_id: px4flow
  • /uav1/mavros/px4flow/ranger_fov: 0.118682389136
  • /uav1/mavros/px4flow/ranger_max_range: 5.0
  • /uav1/mavros/px4flow/ranger_min_range: 0.3
  • /uav1/mavros/safety_area/p1/x: 1.0
  • /uav1/mavros/safety_area/p1/y: 1.0
  • /uav1/mavros/safety_area/p1/z: 1.0
  • /uav1/mavros/safety_area/p2/x: -1.0
  • /uav1/mavros/safety_area/p2/y: -1.0
  • /uav1/mavros/safety_area/p2/z: -1.0
  • /uav1/mavros/setpoint_accel/send_force: False
  • /uav1/mavros/setpoint_attitude/reverse_thrust: False
  • /uav1/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
  • /uav1/mavros/setpoint_attitude/tf/frame_id: map
  • /uav1/mavros/setpoint_attitude/tf/listen: False
  • /uav1/mavros/setpoint_attitude/tf/rate_limit: 50.0
  • /uav1/mavros/setpoint_attitude/use_quaternion: False
  • /uav1/mavros/setpoint_position/mav_frame: LOCAL_NED
  • /uav1/mavros/setpoint_position/tf/child_frame_id: target_position
  • /uav1/mavros/setpoint_position/tf/frame_id: map
  • /uav1/mavros/setpoint_position/tf/listen: False
  • /uav1/mavros/setpoint_position/tf/rate_limit: 50.0
  • /uav1/mavros/setpoint_raw/thrust_scaling: 1.0
  • /uav1/mavros/setpoint_velocity/mav_frame: LOCAL_NED
  • /uav1/mavros/startup_px4_usb_quirk: True
  • /uav1/mavros/sys/disable_diag: False
  • /uav1/mavros/sys/min_voltage: 10.0
  • /uav1/mavros/target_component_id: 1
  • /uav1/mavros/target_system_id: 2
  • /uav1/mavros/tdr_radio/low_rssi: 40
  • /uav1/mavros/time/time_ref_source: fcu
  • /uav1/mavros/time/timesync_avg_alpha: 0.6
  • /uav1/mavros/time/timesync_mode: MAVLINK
  • /uav1/mavros/vibration/frame_id: base_link
  • /uav1/mavros/vision_pose/tf/child_frame_id: vision_estimate
  • /uav1/mavros/vision_pose/tf/frame_id: map
  • /uav1/mavros/vision_pose/tf/listen: False
  • /uav1/mavros/vision_pose/tf/rate_limit: 10.0
  • /uav1/mavros/vision_speed/listen_twist: True
  • /uav1/mavros/vision_speed/twist_cov: True
  • /uav1/mavros/wheel_odometry/child_frame_id: base_link
  • /uav1/mavros/wheel_odometry/count: 2
  • /uav1/mavros/wheel_odometry/frame_id: map
  • /uav1/mavros/wheel_odometry/send_raw: True
  • /uav1/mavros/wheel_odometry/send_twist: False
  • /uav1/mavros/wheel_odometry/tf/child_frame_id: base_link
  • /uav1/mavros/wheel_odometry/tf/frame_id: map
  • /uav1/mavros/wheel_odometry/tf/send: True
  • /uav1/mavros/wheel_odometry/use_rpm: False
  • /uav1/mavros/wheel_odometry/vel_error: 0.1
  • /uav1/mavros/wheel_odometry/wheel0/radius: 0.05
  • /uav1/mavros/wheel_odometry/wheel0/x: 0.0
  • /uav1/mavros/wheel_odometry/wheel0/y: -0.15
  • /uav1/mavros/wheel_odometry/wheel1/radius: 0.05
  • /uav1/mavros/wheel_odometry/wheel1/x: 0.0
  • /uav1/mavros/wheel_odometry/wheel1/y: 0.15
  • /uav1/rotors_description: <?xml version="1…
  • /uav2/mavros/cmd/use_comp_id_system_control: False
  • /uav2/mavros/conn/heartbeat_rate: 1.0
  • /uav2/mavros/conn/system_time_rate: 1.0
  • /uav2/mavros/conn/timeout: 10.0
  • /uav2/mavros/conn/timesync_rate: 10.0
  • /uav2/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  • /uav2/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  • /uav2/mavros/distance_sensor/hrlv_ez4_pub/id: 0
  • /uav2/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
  • /uav2/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  • /uav2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  • /uav2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  • /uav2/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  • /uav2/mavros/distance_sensor/laser_1_sub/id: 3
  • /uav2/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
  • /uav2/mavros/distance_sensor/laser_1_sub/subscriber: True
  • /uav2/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  • /uav2/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  • /uav2/mavros/distance_sensor/lidarlite_pub/id: 1
  • /uav2/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
  • /uav2/mavros/distance_sensor/lidarlite_pub/send_tf: True
  • /uav2/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  • /uav2/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  • /uav2/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  • /uav2/mavros/distance_sensor/sonar_1_sub/id: 2
  • /uav2/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
  • /uav2/mavros/distance_sensor/sonar_1_sub/subscriber: True
  • /uav2/mavros/fake_gps/eph: 2.0
  • /uav2/mavros/fake_gps/epv: 2.0
  • /uav2/mavros/fake_gps/fix_type: 3
  • /uav2/mavros/fake_gps/geo_origin/alt: 408.0
  • /uav2/mavros/fake_gps/geo_origin/lat: 47.3667
  • /uav2/mavros/fake_gps/geo_origin/lon: 8.55
  • /uav2/mavros/fake_gps/gps_rate: 5.0
  • /uav2/mavros/fake_gps/mocap_transform: True
  • /uav2/mavros/fake_gps/satellites_visible: 5
  • /uav2/mavros/fake_gps/tf/child_frame_id: fix
  • /uav2/mavros/fake_gps/tf/frame_id: map
  • /uav2/mavros/fake_gps/tf/listen: False
  • /uav2/mavros/fake_gps/tf/rate_limit: 10.0
  • /uav2/mavros/fake_gps/tf/send: False
  • /uav2/mavros/fake_gps/use_mocap: True
  • /uav2/mavros/fake_gps/use_vision: False
  • /uav2/mavros/fcu_protocol: v2.0
  • /uav2/mavros/fcu_url: udp://:14542@loca…
  • /uav2/mavros/gcs_url:
  • /uav2/mavros/global_position/child_frame_id: base_link
  • /uav2/mavros/global_position/frame_id: map
  • /uav2/mavros/global_position/gps_uere: 1.0
  • /uav2/mavros/global_position/rot_covariance: 99999.0
  • /uav2/mavros/global_position/tf/child_frame_id: base_link
  • /uav2/mavros/global_position/tf/frame_id: map
  • /uav2/mavros/global_position/tf/global_frame_id: earth
  • /uav2/mavros/global_position/tf/send: False
  • /uav2/mavros/global_position/use_relative_alt: True
  • /uav2/mavros/image/frame_id: px4flow
  • /uav2/mavros/imu/angular_velocity_stdev: 0.000349065850399
  • /uav2/mavros/imu/frame_id: base_link
  • /uav2/mavros/imu/linear_acceleration_stdev: 0.0003
  • /uav2/mavros/imu/magnetic_stdev: 0.0
  • /uav2/mavros/imu/orientation_stdev: 1.0
  • /uav2/mavros/local_position/frame_id: map
  • /uav2/mavros/local_position/tf/child_frame_id: base_link
  • /uav2/mavros/local_position/tf/frame_id: map
  • /uav2/mavros/local_position/tf/send: False
  • /uav2/mavros/local_position/tf/send_fcu: False
  • /uav2/mavros/mission/pull_after_gcs: True
  • /uav2/mavros/mocap/use_pose: True
  • /uav2/mavros/mocap/use_tf: False
  • /uav2/mavros/odometry/in/child_frame_id: base_link
  • /uav2/mavros/odometry/in/frame_id: odom
  • /uav2/mavros/odometry/in/frame_tf/body_frame_orientation: flu
  • /uav2/mavros/odometry/in/frame_tf/local_frame: local_origin_ned
  • /uav2/mavros/odometry/out/frame_tf/body_frame_orientation: frd
  • /uav2/mavros/odometry/out/frame_tf/local_frame: vision_ned
  • /uav2/mavros/plugin_blacklist: [‘safety_area’, '…
  • /uav2/mavros/plugin_whitelist: []
  • /uav2/mavros/px4flow/frame_id: px4flow
  • /uav2/mavros/px4flow/ranger_fov: 0.118682389136
  • /uav2/mavros/px4flow/ranger_max_range: 5.0
  • /uav2/mavros/px4flow/ranger_min_range: 0.3
  • /uav2/mavros/safety_area/p1/x: 1.0
  • /uav2/mavros/safety_area/p1/y: 1.0
  • /uav2/mavros/safety_area/p1/z: 1.0
  • /uav2/mavros/safety_area/p2/x: -1.0
  • /uav2/mavros/safety_area/p2/y: -1.0
  • /uav2/mavros/safety_area/p2/z: -1.0
  • /uav2/mavros/setpoint_accel/send_force: False
  • /uav2/mavros/setpoint_attitude/reverse_thrust: False
  • /uav2/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
  • /uav2/mavros/setpoint_attitude/tf/frame_id: map
  • /uav2/mavros/setpoint_attitude/tf/listen: False
  • /uav2/mavros/setpoint_attitude/tf/rate_limit: 50.0
  • /uav2/mavros/setpoint_attitude/use_quaternion: False
  • /uav2/mavros/setpoint_position/mav_frame: LOCAL_NED
  • /uav2/mavros/setpoint_position/tf/child_frame_id: target_position
  • /uav2/mavros/setpoint_position/tf/frame_id: map
  • /uav2/mavros/setpoint_position/tf/listen: False
  • /uav2/mavros/setpoint_position/tf/rate_limit: 50.0
  • /uav2/mavros/setpoint_raw/thrust_scaling: 1.0
  • /uav2/mavros/setpoint_velocity/mav_frame: LOCAL_NED
  • /uav2/mavros/startup_px4_usb_quirk: True
  • /uav2/mavros/sys/disable_diag: False
  • /uav2/mavros/sys/min_voltage: 10.0
  • /uav2/mavros/target_component_id: 1
  • /uav2/mavros/target_system_id: 3
  • /uav2/mavros/tdr_radio/low_rssi: 40
  • /uav2/mavros/time/time_ref_source: fcu
  • /uav2/mavros/time/timesync_avg_alpha: 0.6
  • /uav2/mavros/time/timesync_mode: MAVLINK
  • /uav2/mavros/vibration/frame_id: base_link
  • /uav2/mavros/vision_pose/tf/child_frame_id: vision_estimate
  • /uav2/mavros/vision_pose/tf/frame_id: map
  • /uav2/mavros/vision_pose/tf/listen: False
  • /uav2/mavros/vision_pose/tf/rate_limit: 10.0
  • /uav2/mavros/vision_speed/listen_twist: True
  • /uav2/mavros/vision_speed/twist_cov: True
  • /uav2/mavros/wheel_odometry/child_frame_id: base_link
  • /uav2/mavros/wheel_odometry/count: 2
  • /uav2/mavros/wheel_odometry/frame_id: map
  • /uav2/mavros/wheel_odometry/send_raw: True
  • /uav2/mavros/wheel_odometry/send_twist: False
  • /uav2/mavros/wheel_odometry/tf/child_frame_id: base_link
  • /uav2/mavros/wheel_odometry/tf/frame_id: map
  • /uav2/mavros/wheel_odometry/tf/send: True
  • /uav2/mavros/wheel_odometry/use_rpm: False
  • /uav2/mavros/wheel_odometry/vel_error: 0.1
  • /uav2/mavros/wheel_odometry/wheel0/radius: 0.05
  • /uav2/mavros/wheel_odometry/wheel0/x: 0.0
  • /uav2/mavros/wheel_odometry/wheel0/y: -0.15
  • /uav2/mavros/wheel_odometry/wheel1/radius: 0.05
  • /uav2/mavros/wheel_odometry/wheel1/x: 0.0
  • /uav2/mavros/wheel_odometry/wheel1/y: 0.15
  • /uav2/rotors_description: <?xml version="1…
  • /uav3/mavros/cmd/use_comp_id_system_control: False
  • /uav3/mavros/conn/heartbeat_rate: 1.0
  • /uav3/mavros/conn/system_time_rate: 1.0
  • /uav3/mavros/conn/timeout: 10.0
  • /uav3/mavros/conn/timesync_rate: 10.0
  • /uav3/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  • /uav3/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  • /uav3/mavros/distance_sensor/hrlv_ez4_pub/id: 0
  • /uav3/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
  • /uav3/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  • /uav3/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  • /uav3/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  • /uav3/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  • /uav3/mavros/distance_sensor/laser_1_sub/id: 3
  • /uav3/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
  • /uav3/mavros/distance_sensor/laser_1_sub/subscriber: True
  • /uav3/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  • /uav3/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  • /uav3/mavros/distance_sensor/lidarlite_pub/id: 1
  • /uav3/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
  • /uav3/mavros/distance_sensor/lidarlite_pub/send_tf: True
  • /uav3/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  • /uav3/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  • /uav3/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  • /uav3/mavros/distance_sensor/sonar_1_sub/id: 2
  • /uav3/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
  • /uav3/mavros/distance_sensor/sonar_1_sub/subscriber: True
  • /uav3/mavros/fake_gps/eph: 2.0
  • /uav3/mavros/fake_gps/epv: 2.0
  • /uav3/mavros/fake_gps/fix_type: 3
  • /uav3/mavros/fake_gps/geo_origin/alt: 408.0
  • /uav3/mavros/fake_gps/geo_origin/lat: 47.3667
  • /uav3/mavros/fake_gps/geo_origin/lon: 8.55
  • /uav3/mavros/fake_gps/gps_rate: 5.0
  • /uav3/mavros/fake_gps/mocap_transform: True
  • /uav3/mavros/fake_gps/satellites_visible: 5
  • /uav3/mavros/fake_gps/tf/child_frame_id: fix
  • /uav3/mavros/fake_gps/tf/frame_id: map
  • /uav3/mavros/fake_gps/tf/listen: False
  • /uav3/mavros/fake_gps/tf/rate_limit: 10.0
  • /uav3/mavros/fake_gps/tf/send: False
  • /uav3/mavros/fake_gps/use_mocap: True
  • /uav3/mavros/fake_gps/use_vision: False
  • /uav3/mavros/fcu_protocol: v2.0
  • /uav3/mavros/fcu_url: udp://:14543@loca…
  • /uav3/mavros/gcs_url:
  • /uav3/mavros/global_position/child_frame_id: base_link
  • /uav3/mavros/global_position/frame_id: map
  • /uav3/mavros/global_position/gps_uere: 1.0
  • /uav3/mavros/global_position/rot_covariance: 99999.0
  • /uav3/mavros/global_position/tf/child_frame_id: base_link
  • /uav3/mavros/global_position/tf/frame_id: map
  • /uav3/mavros/global_position/tf/global_frame_id: earth
  • /uav3/mavros/global_position/tf/send: False
  • /uav3/mavros/global_position/use_relative_alt: True
  • /uav3/mavros/image/frame_id: px4flow
  • /uav3/mavros/imu/angular_velocity_stdev: 0.000349065850399
  • /uav3/mavros/imu/frame_id: base_link
  • /uav3/mavros/imu/linear_acceleration_stdev: 0.0003
  • /uav3/mavros/imu/magnetic_stdev: 0.0
  • /uav3/mavros/imu/orientation_stdev: 1.0
  • /uav3/mavros/local_position/frame_id: map
  • /uav3/mavros/local_position/tf/child_frame_id: base_link
  • /uav3/mavros/local_position/tf/frame_id: map
  • /uav3/mavros/local_position/tf/send: False
  • /uav3/mavros/local_position/tf/send_fcu: False
  • /uav3/mavros/mission/pull_after_gcs: True
  • /uav3/mavros/mocap/use_pose: True
  • /uav3/mavros/mocap/use_tf: False
  • /uav3/mavros/odometry/in/child_frame_id: base_link
  • /uav3/mavros/odometry/in/frame_id: odom
  • /uav3/mavros/odometry/in/frame_tf/body_frame_orientation: flu
  • /uav3/mavros/odometry/in/frame_tf/local_frame: local_origin_ned
  • /uav3/mavros/odometry/out/frame_tf/body_frame_orientation: frd
  • /uav3/mavros/odometry/out/frame_tf/local_frame: vision_ned
  • /uav3/mavros/plugin_blacklist: [‘safety_area’, '…
  • /uav3/mavros/plugin_whitelist: []
  • /uav3/mavros/px4flow/frame_id: px4flow
  • /uav3/mavros/px4flow/ranger_fov: 0.118682389136
  • /uav3/mavros/px4flow/ranger_max_range: 5.0
  • /uav3/mavros/px4flow/ranger_min_range: 0.3
  • /uav3/mavros/safety_area/p1/x: 1.0
  • /uav3/mavros/safety_area/p1/y: 1.0
  • /uav3/mavros/safety_area/p1/z: 1.0
  • /uav3/mavros/safety_area/p2/x: -1.0
  • /uav3/mavros/safety_area/p2/y: -1.0
  • /uav3/mavros/safety_area/p2/z: -1.0
  • /uav3/mavros/setpoint_accel/send_force: False
  • /uav3/mavros/setpoint_attitude/reverse_thrust: False
  • /uav3/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
  • /uav3/mavros/setpoint_attitude/tf/frame_id: map
  • /uav3/mavros/setpoint_attitude/tf/listen: False
  • /uav3/mavros/setpoint_attitude/tf/rate_limit: 50.0
  • /uav3/mavros/setpoint_attitude/use_quaternion: False
  • /uav3/mavros/setpoint_position/mav_frame: LOCAL_NED
  • /uav3/mavros/setpoint_position/tf/child_frame_id: target_position
  • /uav3/mavros/setpoint_position/tf/frame_id: map
  • /uav3/mavros/setpoint_position/tf/listen: False
  • /uav3/mavros/setpoint_position/tf/rate_limit: 50.0
  • /uav3/mavros/setpoint_raw/thrust_scaling: 1.0
  • /uav3/mavros/setpoint_velocity/mav_frame: LOCAL_NED
  • /uav3/mavros/startup_px4_usb_quirk: True
  • /uav3/mavros/sys/disable_diag: False
  • /uav3/mavros/sys/min_voltage: 10.0
  • /uav3/mavros/target_component_id: 1
  • /uav3/mavros/target_system_id: 4
  • /uav3/mavros/tdr_radio/low_rssi: 40
  • /uav3/mavros/time/time_ref_source: fcu
  • /uav3/mavros/time/timesync_avg_alpha: 0.6
  • /uav3/mavros/time/timesync_mode: MAVLINK
  • /uav3/mavros/vibration/frame_id: base_link
  • /uav3/mavros/vision_pose/tf/child_frame_id: vision_estimate
  • /uav3/mavros/vision_pose/tf/frame_id: map
  • /uav3/mavros/vision_pose/tf/listen: False
  • /uav3/mavros/vision_pose/tf/rate_limit: 10.0
  • /uav3/mavros/vision_speed/listen_twist: True
  • /uav3/mavros/vision_speed/twist_cov: True
  • /uav3/mavros/wheel_odometry/child_frame_id: base_link
  • /uav3/mavros/wheel_odometry/count: 2
  • /uav3/mavros/wheel_odometry/frame_id: map
  • /uav3/mavros/wheel_odometry/send_raw: True
  • /uav3/mavros/wheel_odometry/send_twist: False
  • /uav3/mavros/wheel_odometry/tf/child_frame_id: base_link
  • /uav3/mavros/wheel_odometry/tf/frame_id: map
  • /uav3/mavros/wheel_odometry/tf/send: True
  • /uav3/mavros/wheel_odometry/use_rpm: False
  • /uav3/mavros/wheel_odometry/vel_error: 0.1
  • /uav3/mavros/wheel_odometry/wheel0/radius: 0.05
  • /uav3/mavros/wheel_odometry/wheel0/x: 0.0
  • /uav3/mavros/wheel_odometry/wheel0/y: -0.15
  • /uav3/mavros/wheel_odometry/wheel1/radius: 0.05
  • /uav3/mavros/wheel_odometry/wheel1/x: 0.0
  • /uav3/mavros/wheel_odometry/wheel1/y: 0.15
  • /uav3/rotors_description: <?xml version="1…
  • /use_sim_time: True

NODES
/uav1/
iris_1_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_1 (px4/px4)
/uav2/
iris_2_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_2 (px4/px4)
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
/uav3/
iris_3_spawn (gazebo_ros/spawn_model)
mavros (mavros/mavros_node)
sitl_3 (px4/px4)

auto-starting new master
process[master]: started with pid [4043]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b6d70db8-5624-11e9-8bf3-4437e67f600e
process[rosout-1]: started with pid [4057]
started core service [/rosout]
process[gazebo-2]: started with pid [4061]
process[gazebo_gui-3]: started with pid [4066]
process[uav1/sitl_1-4]: started with pid [4077]
INFO [px4] Creating symlink /home/piasd/src/Firmware/ROMFS/px4fmu_common -> /home/piasd/.ros/etc
0 WARNING: setRealtimeSched failed (not run as root?)


| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /
| |
| | / /^\ \ ___ |
_| / / |_/

px4 starting.

(…continuation…)

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 1
MAV_SYS_ID: curr: 1 -> new: 2
SYS_AUTOSTART: curr: 0 -> new: 10016
BAT_N_CELLS: curr: 0 -> new: 3
CAL_ACC0_ID: curr: 0 -> new: 1376264
CAL_ACC1_ID: curr: 0 -> new: 1310728
CAL_ACC_PRIME: curr: 0 -> new: 1376264
CAL_GYRO0_ID: curr: 0 -> new: 2293768
CAL_GYRO_PRIME: curr: 0 -> new: 2293768
CAL_MAG0_ID: curr: 0 -> new: 196616
CAL_MAG_PRIME: curr: 0 -> new: 196616
COM_DISARM_LAND: curr: -1.0000 -> new: 0.1000
COM_OBL_ACT: curr: 0 -> new: 2
COM_OF_LOSS_T: curr: 0.0000 -> new: 5.0000
COM_RC_IN_MODE: curr: 0 -> new: 1
EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
process[uav1/iris_1_spawn-5]: started with pid [4094]
MC_PITCH_P: curr: 6.5000 -> new: 6.0000
MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
MC_ROLL_P: curr: 6.5000 -> new: 6.0000
MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
MPC_Z_VEL_I: curr: 0.0200 -> new: 0.1500
MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
MPC_XY_P: curr: 0.9500 -> new: 0.8000
MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
MPC_ACC_HOR_MAX: curr: 10.0000 -> new: 3.0000
NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
NAV_DLL_ACT: curr: 0 -> new: 2
RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
SDLOG_PROFILE: curr: 3 -> new: 131
SDLOG_DIRS_MAX: curr: 0 -> new: 7
SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010

  • RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
  • RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
    PWM_MAX: curr: 2000 -> new: 1950
    PWM_MIN: curr: 1000 -> new: 1075
    process[uav1/mavros-6]: started with pid [4280]
    INFO [dataman] Unknown restart, data manager file ‘./dataman’ size is 11798680 bytes
    INFO [simulator] Waiting for simulator to connect on TCP port 4561
    process[uav2/sitl_2-7]: started with pid [4292]
    INFO [px4] Creating symlink /home/piasd/src/Firmware/ROMFS/px4fmu_common -> /home/piasd/.ros/etc
    0 WARNING: setRealtimeSched failed (not run as root?)

| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /
| |
| | / /^\ \ ___ |
_| / / |_/

px4 starting.

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 2
process[uav2/iris_2_spawn-8]: started with pid [4308]
process[uav2/mavros-9]: started with pid [4314]
MAV_SYS_ID: curr: 1 -> new: 3
SYS_AUTOSTART: curr: 0 -> new: 10016
BAT_N_CELLS: curr: 0 -> new: 3
CAL_ACC0_ID: curr: 0 -> new: 1376264
CAL_ACC1_ID: curr: 0 -> new: 1310728
CAL_ACC_PRIME: curr: 0 -> new: 1376264
CAL_GYRO0_ID: curr: 0 -> new: 2293768
CAL_GYRO_PRIME: curr: 0 -> new: 2293768
CAL_MAG0_ID: curr: 0 -> new: 196616
CAL_MAG_PRIME: curr: 0 -> new: 196616
COM_DISARM_LAND: curr: -1.0000 -> new: 0.1000
COM_OBL_ACT: curr: 0 -> new: 2
COM_OF_LOSS_T: curr: 0.0000 -> new: 5.0000
COM_RC_IN_MODE: curr: 0 -> new: 1
EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
MC_PITCH_P: curr: 6.5000 -> new: 6.0000
MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
MC_ROLL_P: curr: 6.5000 -> new: 6.0000
MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
MPC_Z_VEL_I: curr: 0.0200 -> new: 0.1500
MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
MPC_XY_P: curr: 0.9500 -> new: 0.8000
MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
MPC_ACC_HOR_MAX: curr: 10.0000 -> new: 3.0000
NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
NAV_DLL_ACT: curr: 0 -> new: 2
RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
SDLOG_PROFILE: curr: 3 -> new: 131
SDLOG_DIRS_MAX: curr: 0 -> new: 7
SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010

  • RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
  • RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
    PWM_MAX: curr: 2000 -> new: 1950
    PWM_MIN: curr: 1000 -> new: 1075
    process[uav3/sitl_3-10]: started with pid [4439]
    INFO [px4] Creating symlink /home/piasd/src/Firmware/ROMFS/px4fmu_common -> /home/piasd/.ros/etc
    0 WARNING: setRealtimeSched failed (not run as root?)

| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /
| |
| | / /^\ \ ___ |
_| / / |_/

px4 starting.

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 3
process[uav3/iris_3_spawn-11]: started with pid [4452]
MAV_SYS_ID: curr: 1 -> new: 4
process[uav3/mavros-12]: started with pid [4463]
SYS_AUTOSTART: curr: 0 -> new: 10016
BAT_N_CELLS: curr: 0 -> new: 3
CAL_ACC0_ID: curr: 0 -> new: 1376264
CAL_ACC1_ID: curr: 0 -> new: 1310728
CAL_ACC_PRIME: curr: 0 -> new: 1376264
CAL_GYRO0_ID: curr: 0 -> new: 2293768
CAL_GYRO_PRIME: curr: 0 -> new: 2293768
CAL_MAG0_ID: curr: 0 -> new: 196616
CAL_MAG_PRIME: curr: 0 -> new: 196616
COM_DISARM_LAND: curr: -1.0000 -> new: 0.1000
COM_OBL_ACT: curr: 0 -> new: 2
COM_OF_LOSS_T: curr: 0.0000 -> new: 5.0000
COM_RC_IN_MODE: curr: 0 -> new: 1
EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
MC_PITCH_P: curr: 6.5000 -> new: 6.0000
MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
MC_ROLL_P: curr: 6.5000 -> new: 6.0000
MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
MPC_Z_VEL_I: curr: 0.0200 -> new: 0.1500
MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
MPC_XY_P: curr: 0.9500 -> new: 0.8000
MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
MPC_ACC_HOR_MAX: curr: 10.0000 -> new: 3.0000
NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
NAV_DLL_ACT: curr: 0 -> new: 2
RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
SDLOG_PROFILE: curr: 3 -> new: 131
SDLOG_DIRS_MAX: curr: 0 -> new: 7
SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010

  • RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
  • RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
    PWM_MAX: curr: 2000 -> new: 1950
    PWM_MIN: curr: 1000 -> new: 1075
    [ INFO] [1554305134.001661525]: Finished loading Gazebo ROS API Plugin.
    [ INFO] [1554305134.003073635]: Finished loading Gazebo ROS API Plugin.
    [ INFO] [1554305134.004068481]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting…
    [ INFO] [1554305134.004666650]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting…
    INFO [dataman] Unknown restart, data manager file ‘./dataman’ size is 11798680 bytes
    INFO [dataman] Unknown restart, data manager file ‘./dataman’ size is 11798680 bytes
    INFO [simulator] Waiting for simulator to connect on TCP port 4562
    INFO [simulator] Waiting for simulator to connect on TCP port 4563
    [ INFO] [1554305134.668537750, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
    [ INFO] [1554305134.694784132, 0.048000000]: Physics dynamic reconfigure ready.
    [ INFO] [1554305136.214871926, 1.564000000]: FCU URL: udp://:14541@localhost:14581
    [ INFO] [1554305136.216279127, 1.564000000]: FCU URL: udp://:14543@localhost:14583
    [ INFO] [1554305136.217664875, 1.564000000]: FCU URL: udp://:14542@localhost:14582
    [ INFO] [1554305136.241237601, 1.588000000]: udp0: Bind address: 0.0.0.0:14543
    [ INFO] [1554305136.241237542, 1.588000000]: udp0: Bind address: 0.0.0.0:14542
    [ INFO] [1554305136.241238300, 1.588000000]: udp0: Bind address: 0.0.0.0:14541
    [ INFO] [1554305136.241426045, 1.588000000]: udp0: Remote address: 127.0.0.1:14583
    [ INFO] [1554305136.241434368, 1.588000000]: udp0: Remote address: 127.0.0.1:14582
    [ INFO] [1554305136.241434593, 1.588000000]: udp0: Remote address: 127.0.0.1:14581
    [ INFO] [1554305136.241788028, 1.588000000]: GCS bridge disabled
    [ INFO] [1554305136.241788162, 1.588000000]: GCS bridge disabled
    [ INFO] [1554305136.241789018, 1.588000000]: GCS bridge disabled
    [ INFO] [1554305136.853537835, 2.200000000]: Plugin 3dr_radio loaded
    [ INFO] [1554305136.853537801, 2.200000000]: Plugin 3dr_radio loaded
    [ INFO] [1554305136.853611155, 2.200000000]: Plugin 3dr_radio loaded
    [ INFO] [1554305136.858621446, 2.208000000]: Plugin 3dr_radio initialized
    [ INFO] [1554305136.858744039, 2.208000000]: Plugin actuator_control loaded
    [ INFO] [1554305136.859049928, 2.208000000]: Plugin 3dr_radio initialized
    [ INFO] [1554305136.859159612, 2.208000000]: Plugin actuator_control loaded
    [ INFO] [1554305136.859517401, 2.208000000]: Plugin 3dr_radio initialized
    [ INFO] [1554305136.859658430, 2.208000000]: Plugin actuator_control loaded
    [ INFO] [1554305136.863876428, 2.212000000]: Plugin actuator_control initialized
    [ INFO] [1554305136.865281070, 2.212000000]: Plugin actuator_control initialized
    [ INFO] [1554305136.865406717, 2.212000000]: Plugin actuator_control initialized
    INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: ‘/home/piasd/.ros/log/latest’
    [ INFO] [1554305137.683238482, 3.032000000]: Plugin adsb loaded
    [ INFO] [1554305137.683249303, 3.032000000]: Plugin adsb loaded
    [ INFO] [1554305137.683673821, 3.032000000]: Plugin adsb loaded
    [ INFO] [1554305137.688969251, 3.036000000]: Plugin adsb initialized
    [ INFO] [1554305137.689209929, 3.036000000]: Plugin altitude loaded
    [ INFO] [1554305137.692150790, 3.040000000]: Plugin adsb initialized
    [ INFO] [1554305137.692360115, 3.040000000]: Plugin altitude loaded
    [ INFO] [1554305137.692615139, 3.040000000]: Plugin altitude initialized
    [ INFO] [1554305137.692761913, 3.040000000]: Plugin cam_imu_sync loaded
    [ INFO] [1554305137.693745419, 3.040000000]: Plugin adsb initialized
    [ INFO] [1554305137.693913550, 3.040000000]: Plugin altitude initialized
    [ INFO] [1554305137.694017564, 3.040000000]: Plugin cam_imu_sync loaded
    [ INFO] [1554305137.694028865, 3.040000000]: Plugin altitude loaded
    [ INFO] [1554305137.694895271, 3.044000000]: Plugin cam_imu_sync initialized
    [ INFO] [1554305137.695103630, 3.044000000]: Plugin command loaded
    [ INFO] [1554305137.695127320, 3.044000000]: Plugin cam_imu_sync initialized
    [ INFO] [1554305137.695340388, 3.044000000]: Plugin command loaded
    [ INFO] [1554305137.695498463, 3.044000000]: Plugin altitude initialized
    [ INFO] [1554305137.695659256, 3.044000000]: Plugin cam_imu_sync loaded
    [ INFO] [1554305137.697402217, 3.044000000]: Plugin cam_imu_sync initialized
    [ INFO] [1554305137.697582562, 3.044000000]: Plugin command loaded
    [ INFO] [1554305137.708486403, 3.056000000]: Plugin command initialized
    [ INFO] [1554305137.708693749, 3.056000000]: Plugin companion_process_status loaded
    [ INFO] [1554305137.708908639, 3.056000000]: Plugin command initialized
    [ INFO] [1554305137.709086701, 3.056000000]: Plugin companion_process_status loaded
    [ INFO] [1554305137.713824903, 3.060000000]: Plugin command initialized
    [ INFO] [1554305137.714014650, 3.060000000]: Plugin companion_process_status loaded
    [ INFO] [1554305137.714347963, 3.060000000]: Plugin companion_process_status initialized
    [ INFO] [1554305137.714502116, 3.060000000]: Plugin debug_value loaded
    [ INFO] [1554305137.714857430, 3.064000000]: Plugin companion_process_status initialized
    [ INFO] [1554305137.715028377, 3.064000000]: Plugin debug_value loaded
    [ INFO] [1554305137.718038802, 3.064000000]: Plugin companion_process_status initialized
    [ INFO] [1554305137.718192289, 3.064000000]: Plugin debug_value loaded
    [ INFO] [1554305137.725917436, 3.072000000]: Plugin debug_value initialized
    [ INFO] [1554305137.725955044, 3.072000000]: Plugin distance_sensor blacklisted
    [ INFO] [1554305137.726092734, 3.072000000]: Plugin debug_value initialized
    [ INFO] [1554305137.726141491, 3.072000000]: Plugin distance_sensor blacklisted
    [ INFO] [1554305137.726150029, 3.072000000]: Plugin fake_gps loaded
    [ INFO] [1554305137.726353943, 3.072000000]: Plugin fake_gps loaded
    [ INFO] [1554305137.726381687, 3.072000000]: Plugin debug_value initialized
    [ INFO] [1554305137.726429310, 3.072000000]: Plugin distance_sensor blacklisted
    [ INFO] [1554305137.726637815, 3.072000000]: Plugin fake_gps loaded
    [ INFO] [1554305137.765297087, 3.112000000]: Plugin fake_gps initialized
    [ INFO] [1554305137.765699587, 3.112000000]: Plugin ftp loaded
    [ INFO] [1554305137.766692408, 3.112000000]: Plugin fake_gps initialized
    [ INFO] [1554305137.767084700, 3.116000000]: Plugin ftp loaded
    [ INFO] [1554305137.769931683, 3.116000000]: Plugin fake_gps initialized
    [ INFO] [1554305137.770341418, 3.116000000]: Plugin ftp loaded
    [ INFO] [1554305137.801662132, 3.148000000]: Plugin ftp initialized
    [ INFO] [1554305137.802049458, 3.148000000]: Plugin global_position loaded
    [ INFO] [1554305137.802082757, 3.148000000]: Plugin ftp initialized
    [ INFO] [1554305137.802358740, 3.148000000]: Plugin global_position loaded
    [ INFO] [1554305137.805803774, 3.152000000]: Plugin ftp initialized
    [ INFO] [1554305137.806048840, 3.152000000]: Plugin global_position loaded
    [INFO] [1554305137.871925, 0.000000]: Loading model XML from ros parameter rotors_description
    [INFO] [1554305137.876017, 0.000000]: Loading model XML from ros parameter rotors_description
    [INFO] [1554305137.884941, 0.000000]: Loading model XML from ros parameter rotors_description
    [INFO] [1554305137.897320, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
    [ INFO] [1554305137.897751129, 3.244000000]: Plugin global_position initialized
    [ INFO] [1554305137.897950275, 3.244000000]: Plugin gps_rtk loaded
    [INFO] [1554305137.898803, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
    [ INFO] [1554305137.899254212, 3.244000000]: Plugin global_position initialized
    [ INFO] [1554305137.899453791, 3.244000000]: Plugin gps_rtk loaded
    [ INFO] [1554305137.901867292, 3.248000000]: Plugin global_position initialized
    [ INFO] [1554305137.902048073, 3.248000000]: Plugin gps_rtk loaded
    [INFO] [1554305137.903098, 0.000000]: Calling service /gazebo/spawn_urdf_model
    [INFO] [1554305137.906154, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
    [ INFO] [1554305137.907352743, 3.252000000]: Plugin gps_rtk initialized
    [ INFO] [1554305137.907542827, 3.252000000]: Plugin hil loaded
    [ INFO] [1554305137.908859165, 3.256000000]: Plugin gps_rtk initialized
    [ INFO] [1554305137.909022584, 3.256000000]: Plugin hil loaded
    [INFO] [1554305137.910212, 3.256000]: Calling service /gazebo/spawn_urdf_model
    [ INFO] [1554305137.911706445, 3.256000000]: Plugin gps_rtk initialized
    [ INFO] [1554305137.912003086, 3.260000000]: Plugin hil loaded
    [INFO] [1554305137.913191, 3.260000]: Calling service /gazebo/spawn_urdf_model
    [ INFO] [1554305137.956386556, 3.304000000]: Plugin hil initialized
    [ INFO] [1554305137.956669991, 3.304000000]: Plugin home_position loaded
    [ INFO] [1554305137.956746370, 3.304000000]: Plugin hil initialized
    [ INFO] [1554305137.957106240, 3.304000000]: Plugin home_position loaded
    [ INFO] [1554305137.964243342, 3.312000000]: Plugin hil initialized
    [ INFO] [1554305137.964677022, 3.312000000]: Plugin home_position loaded
    [ INFO] [1554305137.972237282, 3.320000000]: Plugin home_position initialized
    [ INFO] [1554305137.972544868, 3.320000000]: Plugin imu loaded
    [ INFO] [1554305137.973312902, 3.320000000]: Plugin home_position initialized
    [ INFO] [1554305137.973636373, 3.320000000]: Plugin imu loaded
    [ INFO] [1554305137.978320978, 3.324000000]: Plugin home_position initialized
    [ INFO] [1554305137.978562680, 3.324000000]: Plugin imu loaded
    [ INFO] [1554305138.002189408, 3.348000000]: Plugin imu initialized
    [ INFO] [1554305138.002429497, 3.348000000]: Plugin imu initialized
    [ INFO] [1554305138.002442179, 3.348000000]: Plugin local_position loaded
    [ INFO] [1554305138.002673873, 3.348000000]: Plugin local_position loaded
    [ INFO] [1554305138.008777488, 3.356000000]: Plugin imu initialized
    [ INFO] [1554305138.009060345, 3.356000000]: Plugin local_position loaded
    [ INFO] [1554305138.029440491, 3.372000000]: Plugin local_position initialized
    [ INFO] [1554305138.029696888, 3.372000000]: Plugin log_transfer loaded
    [ INFO] [1554305138.029723421, 3.372000000]: Plugin local_position initialized
    [ INFO] [1554305138.030016940, 3.372000000]: Plugin log_transfer loaded
    [ INFO] [1554305138.032150930, 3.372000000]: Plugin local_position initialized
    [ INFO] [1554305138.032453975, 3.372000000]: Plugin log_transfer loaded
    [ INFO] [1554305138.039319304, 3.372000000]: Plugin log_transfer initialized
    [ INFO] [1554305138.039685783, 3.372000000]: Plugin manual_control loaded
    [ INFO] [1554305138.040147458, 3.372000000]: Plugin log_transfer initialized
    [ INFO] [1554305138.040387033, 3.372000000]: Plugin manual_control loaded
    [ INFO] [1554305138.043892750, 3.372000000]: Plugin log_transfer initialized
    [ INFO] [1554305138.044141542, 3.372000000]: Plugin manual_control loaded
    [ INFO] [1554305138.049859690, 3.372000000]: Plugin manual_control initialized
    [ INFO] [1554305138.050071399, 3.372000000]: Plugin mocap_pose_estimate loaded
    [ INFO] [1554305138.050235972, 3.372000000]: Plugin manual_control initialized
    [ INFO] [1554305138.050434720, 3.372000000]: Plugin mocap_pose_estimate loaded
    [ INFO] [1554305138.056813157, 3.372000000]: Plugin manual_control initialized
    [ INFO] [1554305138.057053332, 3.372000000]: Plugin mocap_pose_estimate loaded
    [ INFO] [1554305138.066190097, 3.372000000]: Plugin mocap_pose_estimate initialized
    [ INFO] [1554305138.066420754, 3.372000000]: Plugin obstacle_distance loaded
    [ INFO] [1554305138.066773131, 3.372000000]: Plugin mocap_pose_estimate initialized
    [ INFO] [1554305138.067002042, 3.372000000]: Plugin obstacle_distance loaded
    [ INFO] [1554305138.067777746, 3.372000000]: Plugin mocap_pose_estimate initialized
    [ INFO] [1554305138.068029701, 3.372000000]: Plugin obstacle_distance loaded
    [ INFO] [1554305138.074042548, 3.372000000]: Plugin obstacle_distance initialized
    [ INFO] [1554305138.074296853, 3.372000000]: Plugin odom loaded
    [ INFO] [1554305138.075479366, 3.372000000]: Plugin obstacle_distance initialized
    [ INFO] [1554305138.075674081, 3.372000000]: Plugin odom loaded
    [ INFO] [1554305138.076955107, 3.372000000]: Plugin obstacle_distance initialized
    [ INFO] [1554305138.077126249, 3.372000000]: Plugin odom loaded
    [ INFO] [1554305138.089872264, 3.372000000]: Plugin odom initialized
    [ INFO] [1554305138.090118092, 3.372000000]: Plugin param loaded
    [ INFO] [1554305138.090382766, 3.372000000]: Plugin odom initialized
    [ INFO] [1554305138.090566614, 3.372000000]: Plugin param loaded
    [ INFO] [1554305138.090617464, 3.372000000]: Plugin odom initialized
    [ INFO] [1554305138.090849528, 3.372000000]: Plugin param loaded
    [ INFO] [1554305138.095097020, 3.372000000]: Plugin param initialized
    [ INFO] [1554305138.095247636, 3.372000000]: Plugin px4flow loaded
    [ INFO] [1554305138.096605288, 3.372000000]: Plugin param initialized
    [ INFO] [1554305138.096729759, 3.372000000]: Plugin px4flow loaded
    [ INFO] [1554305138.097132551, 3.372000000]: Plugin param initialized
    [ INFO] [1554305138.097257318, 3.372000000]: Plugin px4flow loaded
    [ INFO] [1554305138.109643946, 3.372000000]: Plugin px4flow initialized
    [ INFO] [1554305138.109699954, 3.372000000]: Plugin rangefinder blacklisted
    [ INFO] [1554305138.109934783, 3.372000000]: Plugin rc_io loaded
    [ INFO] [1554305138.112263413, 3.372000000]: Plugin px4flow initialized
    [ INFO] [1554305138.112300728, 3.372000000]: Plugin rangefinder blacklisted
    [ INFO] [1554305138.112453121, 3.372000000]: Plugin px4flow initialized
    [ INFO] [1554305138.112472361, 3.372000000]: Plugin rc_io loaded
    [ INFO] [1554305138.112489423, 3.372000000]: Plugin rangefinder blacklisted
    [ INFO] [1554305138.112663857, 3.372000000]: Plugin rc_io loaded
    [ INFO] [1554305138.118326161, 3.372000000]: Plugin rc_io initialized
    [ INFO] [1554305138.118374189, 3.372000000]: Plugin safety_area blacklisted
    [ INFO] [1554305138.118549840, 3.372000000]: Plugin setpoint_accel loaded
    [ INFO] [1554305138.120155893, 3.372000000]: Plugin rc_io initialized
    [ INFO] [1554305138.120208357, 3.372000000]: Plugin safety_area blacklisted
    [ INFO] [1554305138.120376398, 3.372000000]: Plugin setpoint_accel loaded
    [ INFO] [1554305138.121095233, 3.372000000]: Plugin rc_io initialized
    [ INFO] [1554305138.121150152, 3.372000000]: Plugin safety_area blacklisted
    [ INFO] [1554305138.121340927, 3.372000000]: Plugin setpoint_accel loaded
    [ INFO] [1554305138.124990509, 3.372000000]: Plugin setpoint_accel initialized
    [ INFO] [1554305138.125235577, 3.372000000]: Plugin setpoint_attitude loaded
    [ INFO] [1554305138.126379298, 3.372000000]: Plugin setpoint_accel initialized
    [ INFO] [1554305138.126611222, 3.372000000]: Plugin setpoint_attitude loaded
    [ INFO] [1554305138.127704692, 3.372000000]: Plugin setpoint_accel initialized
    [ INFO] [1554305138.127977627, 3.372000000]: Plugin setpoint_attitude loaded
    [INFO] [1554305138.143246, 3.372000]: Spawn status: SpawnModel: Successfully spawned entity
    [ INFO] [1554305138.161619965, 3.392000000]: Plugin setpoint_attitude initialized
    [ INFO] [1554305138.161620608, 3.392000000]: Plugin setpoint_attitude initialized
    [ INFO] [1554305138.161622412, 3.392000000]: Plugin setpoint_attitude initialized
    [ INFO] [1554305138.161810973, 3.392000000]: Plugin setpoint_position loaded
    [ INFO] [1554305138.161825928, 3.392000000]: Plugin setpoint_position loaded
    [ INFO] [1554305138.161846187, 3.392000000]: Plugin setpoint_position loaded
    [ INFO] [1554305138.189426600, 3.420000000]: Plugin setpoint_position initialized
    [ INFO] [1554305138.189627514, 3.420000000]: Plugin setpoint_raw loaded
    [ INFO] [1554305138.191162446, 3.420000000]: Plugin setpoint_position initialized
    [ INFO] [1554305138.191306016, 3.420000000]: Plugin setpoint_raw loaded
    [ INFO] [1554305138.193069333, 3.424000000]: Plugin setpoint_position initialized
    [ INFO] [1554305138.193217267, 3.424000000]: Plugin setpoint_raw loaded
    [ INFO] [1554305138.207927127, 3.436000000]: Plugin setpoint_raw initialized
    [ INFO] [1554305138.208144911, 3.436000000]: Plugin setpoint_velocity loaded
    [ INFO] [1554305138.211011638, 3.440000000]: Plugin setpoint_raw initialized
    [ INFO] [1554305138.211219046, 3.440000000]: Plugin setpoint_velocity loaded
    [ INFO] [1554305138.211678408, 3.440000000]: Plugin setpoint_raw initialized
    [ INFO] [1554305138.211815266, 3.440000000]: Plugin setpoint_velocity loaded
    [ INFO] [1554305138.221745744, 3.452000000]: Plugin setpoint_velocity initialized
    [ INFO] [1554305138.222095659, 3.452000000]: Plugin sys_status loaded
    [ INFO] [1554305138.223401559, 3.452000000]: Plugin setpoint_velocity initialized
    [ INFO] [1554305138.223732145, 3.452000000]: Plugin sys_status loaded
    [ INFO] [1554305138.224667067, 3.456000000]: Plugin setpoint_velocity initialized
    [ INFO] [1554305138.224945206, 3.456000000]: Plugin sys_status loaded
    [ INFO] [1554305138.242954382, 3.472000000]: Plugin sys_status initialized
    [ INFO] [1554305138.243194938, 3.472000000]: Plugin sys_time loaded
    [ INFO] [1554305138.247731303, 3.476000000]: Plugin sys_status initialized
    [ INFO] [1554305138.247917072, 3.476000000]: Plugin sys_status initialized
    [ INFO] [1554305138.247961086, 3.476000000]: Plugin sys_time loaded
    [ INFO] [1554305138.248093834, 3.476000000]: Plugin sys_time loaded
    [ INFO] [1554305138.254002426, 3.484000000]: TM: Timesync mode: MAVLINK
    [ INFO] [1554305138.256869753, 3.488000000]: Plugin sys_time initialized
    [ INFO] [1554305138.257046632, 3.488000000]: Plugin trajectory loaded
    [ INFO] [1554305138.259031361, 3.488000000]: TM: Timesync mode: MAVLINK
    [ INFO] [1554305138.259582749, 3.488000000]: TM: Timesync mode: MAVLINK
    [ INFO] [1554305138.261929395, 3.492000000]: Plugin sys_time initialized
    [ INFO] [1554305138.262132170, 3.492000000]: Plugin trajectory loaded
    [ INFO] [1554305138.262332504, 3.492000000]: Plugin sys_time initialized
    [ INFO] [1554305138.262476062, 3.492000000]: Plugin trajectory loaded
    [ INFO] [1554305138.271120961, 3.500000000]: Plugin trajectory initialized
    [ INFO] [1554305138.271392565, 3.500000000]: Plugin vfr_hud loaded
    [ INFO] [1554305138.274193313, 3.504000000]: Plugin vfr_hud initialized
    [ INFO] [1554305138.274270252, 3.504000000]: Plugin vibration blacklisted
    [ INFO] [1554305138.274476211, 3.504000000]: Plugin vision_pose_estimate loaded
    [ INFO] [1554305138.277492836, 3.508000000]: Plugin trajectory initialized
    [ INFO] [1554305138.277692911, 3.508000000]: Plugin vfr_hud loaded
    [ INFO] [1554305138.278780799, 3.508000000]: Plugin trajectory initialized
    [ INFO] [1554305138.279017147, 3.508000000]: Plugin vfr_hud loaded
    [ INFO] [1554305138.279326842, 3.508000000]: Plugin vfr_hud initialized
    [ INFO] [1554305138.279375820, 3.508000000]: Plugin vibration blacklisted
    [ INFO] [1554305138.279517216, 3.508000000]: Plugin vision_pose_estimate loaded
    [ INFO] [1554305138.282658085, 3.512000000]: Plugin vfr_hud initialized
    [ INFO] [1554305138.282730599, 3.512000000]: Plugin vibration blacklisted
    [ INFO] [1554305138.282933947, 3.512000000]: Plugin vision_pose_estimate loaded
    [ INFO] [1554305138.294455600, 3.524000000]: Plugin vision_pose_estimate initialized
    [ INFO] [1554305138.294687389, 3.524000000]: Plugin vision_speed_estimate loaded
    [ INFO] [1554305138.297185858, 3.528000000]: Plugin vision_pose_estimate initialized
    [ INFO] [1554305138.297378474, 3.528000000]: Plugin vision_speed_estimate loaded
    [ INFO] [1554305138.304150637, 3.532000000]: Plugin vision_pose_estimate initialized
    [ INFO] [1554305138.304366654, 3.532000000]: Plugin vision_speed_estimate loaded
    [ INFO] [1554305138.304897581, 3.536000000]: Plugin vision_speed_estimate initialized
    [ INFO] [1554305138.305089946, 3.536000000]: Plugin waypoint loaded
    [ INFO] [1554305138.305432441, 3.536000000]: Plugin vision_speed_estimate initialized
    [ INFO] [1554305138.305668600, 3.536000000]: Plugin waypoint loaded
    [ INFO] [1554305138.310993682, 3.540000000]: Plugin vision_speed_estimate initialized
    [ INFO] [1554305138.311156100, 3.540000000]: Plugin waypoint loaded
    [ INFO] [1554305138.314546641, 3.544000000]: Plugin waypoint initialized
    [ INFO] [1554305138.314589238, 3.544000000]: Plugin wheel_odometry blacklisted
    [ INFO] [1554305138.314798114, 3.544000000]: Plugin wind_estimation loaded
    [ INFO] [1554305138.315760895, 3.544000000]: Plugin waypoint initialized
    [ INFO] [1554305138.315802072, 3.544000000]: Plugin wheel_odometry blacklisted
    [ INFO] [1554305138.315949753, 3.544000000]: Plugin wind_estimation initialized
    [ INFO] [1554305138.315972510, 3.544000000]: Plugin wind_estimation loaded
    [ INFO] [1554305138.315999524, 3.544000000]: Autostarting mavlink via USB on PX4
    [ INFO] [1554305138.316167536, 3.544000000]: Built-in SIMD instructions: SSE, SSE2
    [ INFO] [1554305138.316211197, 3.544000000]: Built-in MAVLink package version: 2019.3.3
    [ INFO] [1554305138.316256940, 3.544000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
    [ INFO] [1554305138.316296047, 3.544000000]: MAVROS started. MY ID 1.240, TARGET ID 4.1
    [ INFO] [1554305138.317248223, 3.548000000]: Plugin wind_estimation initialized
    [ INFO] [1554305138.317316093, 3.548000000]: Autostarting mavlink via USB on PX4
    [ INFO] [1554305138.317471768, 3.548000000]: Built-in SIMD instructions: SSE, SSE2
    [ INFO] [1554305138.317520584, 3.548000000]: Built-in MAVLink package version: 2019.3.3
    [ INFO] [1554305138.317576091, 3.548000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
    [ INFO] [1554305138.317614894, 3.548000000]: MAVROS started. MY ID 1.240, TARGET ID 2.1
    [ INFO] [1554305138.318808667, 3.548000000]: Plugin waypoint initialized
    [ INFO] [1554305138.318867903, 3.548000000]: Plugin wheel_odometry blacklisted
    [ INFO] [1554305138.319047839, 3.548000000]: Plugin wind_estimation loaded
    [ INFO] [1554305138.319775712, 3.548000000]: Plugin wind_estimation initialized
    [ INFO] [1554305138.319838400, 3.548000000]: Autostarting mavlink via USB on PX4
    [ INFO] [1554305138.319989105, 3.548000000]: Built-in SIMD instructions: SSE, SSE2
    [ INFO] [1554305138.320036687, 3.548000000]: Built-in MAVLink package version: 2019.3.3
    [ INFO] [1554305138.320089354, 3.548000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
    [ INFO] [1554305138.320140082, 3.548000000]: MAVROS started. MY ID 1.240, TARGET ID 3.1
    [uav3/iris_3_spawn-11] process has finished cleanly
    log file: /home/piasd/.ros/log/b6d70db8-5624-11e9-8bf3-4437e67f600e/uav3-iris_3_spawn-11*.log
    [INFO] [1554305138.418572, 3.580000]: Spawn status: SpawnModel: Successfully spawned entity
    [INFO] [1554305138.687184, 3.784000]: Spawn status: SpawnModel: Successfully spawned entity
    [uav1/iris_1_spawn-5] process has finished cleanly
    log file: /home/piasd/.ros/log/b6d70db8-5624-11e9-8bf3-4437e67f600e/uav1-iris_1_spawn-5*.log
    [uav2/iris_2_spawn-8] process has finished cleanly
    log file: /home/piasd/.ros/log/b6d70db8-5624-11e9-8bf3-4437e67f600e/uav2-iris_2_spawn-8*.log
    make posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flowmake posix gazebo_iris_opt_flow

For rostopic list I get the following:

/clock
/diagnostics
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/rosout
/rosout_agg
/tf
/tf_static
/uav1/mavlink/from
/uav1/mavlink/to
/uav1/mavros/actuator_control
/uav1/mavros/adsb/send
/uav1/mavros/adsb/vehicle
/uav1/mavros/altitude
/uav1/mavros/battery
/uav1/mavros/cam_imu_sync/cam_imu_stamp
/uav1/mavros/companion_process/status
/uav1/mavros/debug_value/debug
/uav1/mavros/debug_value/debug_vector
/uav1/mavros/debug_value/named_value_float
/uav1/mavros/debug_value/named_value_int
/uav1/mavros/debug_value/send
/uav1/mavros/extended_state
/uav1/mavros/fake_gps/mocap/tf
/uav1/mavros/global_position/compass_hdg
/uav1/mavros/global_position/global
/uav1/mavros/global_position/gp_lp_offset
/uav1/mavros/global_position/gp_origin
/uav1/mavros/global_position/home
/uav1/mavros/global_position/local
/uav1/mavros/global_position/raw/fix
/uav1/mavros/global_position/raw/gps_vel
/uav1/mavros/global_position/rel_alt
/uav1/mavros/global_position/set_gp_origin
/uav1/mavros/gps_rtk/send_rtcm
/uav1/mavros/hil/actuator_controls
/uav1/mavros/hil/controls
/uav1/mavros/hil/gps
/uav1/mavros/hil/imu_ned
/uav1/mavros/hil/optical_flow
/uav1/mavros/hil/rc_inputs
/uav1/mavros/hil/state
/uav1/mavros/home_position/home
/uav1/mavros/home_position/set
/uav1/mavros/imu/data
/uav1/mavros/imu/data_raw
/uav1/mavros/imu/diff_pressure
/uav1/mavros/imu/mag
/uav1/mavros/imu/static_pressure
/uav1/mavros/imu/temperature_baro
/uav1/mavros/imu/temperature_imu
/uav1/mavros/local_position/accel
/uav1/mavros/local_position/odom
/uav1/mavros/local_position/pose
/uav1/mavros/local_position/pose_cov
/uav1/mavros/local_position/velocity_body
/uav1/mavros/local_position/velocity_body_cov
/uav1/mavros/local_position/velocity_local
/uav1/mavros/log_transfer/raw/log_data
/uav1/mavros/log_transfer/raw/log_entry
/uav1/mavros/manual_control/control
/uav1/mavros/manual_control/send
/uav1/mavros/mission/reached
/uav1/mavros/mission/waypoints
/uav1/mavros/mocap/pose
/uav1/mavros/obstacle/send
/uav1/mavros/odometry/in
/uav1/mavros/odometry/out
/uav1/mavros/param/param_value
/uav1/mavros/px4flow/ground_distance
/uav1/mavros/px4flow/raw/optical_flow_rad
/uav1/mavros/px4flow/raw/send
/uav1/mavros/px4flow/temperature
/uav1/mavros/radio_status
/uav1/mavros/rc/in
/uav1/mavros/rc/out
/uav1/mavros/rc/override
/uav1/mavros/setpoint_accel/accel
/uav1/mavros/setpoint_attitude/cmd_vel
/uav1/mavros/setpoint_attitude/thrust
/uav1/mavros/setpoint_position/global
/uav1/mavros/setpoint_position/local
/uav1/mavros/setpoint_raw/attitude
/uav1/mavros/setpoint_raw/global
/uav1/mavros/setpoint_raw/local
/uav1/mavros/setpoint_raw/target_attitude
/uav1/mavros/setpoint_raw/target_global
/uav1/mavros/setpoint_raw/target_local
/uav1/mavros/setpoint_velocity/cmd_vel
/uav1/mavros/setpoint_velocity/cmd_vel_unstamped
/uav1/mavros/state
/uav1/mavros/statustext/recv
/uav1/mavros/statustext/send
/uav1/mavros/target_actuator_control
/uav1/mavros/time_reference
/uav1/mavros/timesync_status
/uav1/mavros/trajectory/desired
/uav1/mavros/trajectory/generated
/uav1/mavros/trajectory/path
/uav1/mavros/vfr_hud
/uav1/mavros/vision_pose/pose
/uav1/mavros/vision_pose/pose_cov
/uav1/mavros/vision_speed/speed_twist_cov
/uav1/mavros/wind_estimation
/uav2/mavlink/from
/uav2/mavlink/to
/uav2/mavros/actuator_control
/uav2/mavros/adsb/send
/uav2/mavros/adsb/vehicle
/uav2/mavros/altitude
/uav2/mavros/battery
/uav2/mavros/cam_imu_sync/cam_imu_stamp
/uav2/mavros/companion_process/status
/uav2/mavros/debug_value/debug
/uav2/mavros/debug_value/debug_vector
/uav2/mavros/debug_value/named_value_float
/uav2/mavros/debug_value/named_value_int
/uav2/mavros/debug_value/send
/uav2/mavros/extended_state
/uav2/mavros/fake_gps/mocap/tf
/uav2/mavros/global_position/compass_hdg
/uav2/mavros/global_position/global
/uav2/mavros/global_position/gp_lp_offset
/uav2/mavros/global_position/gp_origin
/uav2/mavros/global_position/home
/uav2/mavros/global_position/local
/uav2/mavros/global_position/raw/fix
/uav2/mavros/global_position/raw/gps_vel
/uav2/mavros/global_position/rel_alt
/uav2/mavros/global_position/set_gp_origin
/uav2/mavros/gps_rtk/send_rtcm
/uav2/mavros/hil/actuator_controls
/uav2/mavros/hil/controls
/uav2/mavros/hil/gps
/uav2/mavros/hil/imu_ned
/uav2/mavros/hil/optical_flow
/uav2/mavros/hil/rc_inputs
/uav2/mavros/hil/state
/uav2/mavros/home_position/home
/uav2/mavros/home_position/set
/uav2/mavros/imu/data
/uav2/mavros/imu/data_raw
/uav2/mavros/imu/diff_pressure
/uav2/mavros/imu/mag
/uav2/mavros/imu/static_pressure
/uav2/mavros/imu/temperature_baro
/uav2/mavros/imu/temperature_imu
/uav2/mavros/local_position/accel
/uav2/mavros/local_position/odom
/uav2/mavros/local_position/pose
/uav2/mavros/local_position/pose_cov
/uav2/mavros/local_position/velocity_body
/uav2/mavros/local_position/velocity_body_cov
/uav2/mavros/local_position/velocity_local
/uav2/mavros/log_transfer/raw/log_data
/uav2/mavros/log_transfer/raw/log_entry
/uav2/mavros/manual_control/control
/uav2/mavros/manual_control/send
/uav2/mavros/mission/reached
/uav2/mavros/mission/waypoints
/uav2/mavros/mocap/pose
/uav2/mavros/obstacle/send
/uav2/mavros/odometry/in
/uav2/mavros/odometry/out
/uav2/mavros/param/param_value
/uav2/mavros/px4flow/ground_distance
/uav2/mavros/px4flow/raw/optical_flow_rad
/uav2/mavros/px4flow/raw/send
/uav2/mavros/px4flow/temperature
/uav2/mavros/radio_status
/uav2/mavros/rc/in
/uav2/mavros/rc/out
/uav2/mavros/rc/override
/uav2/mavros/setpoint_accel/accel
/uav2/mavros/setpoint_attitude/cmd_vel
/uav2/mavros/setpoint_attitude/thrust
/uav2/mavros/setpoint_position/global
/uav2/mavros/setpoint_position/local
/uav2/mavros/setpoint_raw/attitude
/uav2/mavros/setpoint_raw/global
/uav2/mavros/setpoint_raw/local
/uav2/mavros/setpoint_raw/target_attitude
/uav2/mavros/setpoint_raw/target_global
/uav2/mavros/setpoint_raw/target_local
/uav2/mavros/setpoint_velocity/cmd_vel
/uav2/mavros/setpoint_velocity/cmd_vel_unstamped
/uav2/mavros/state
/uav2/mavros/statustext/recv
/uav2/mavros/statustext/send
/uav2/mavros/target_actuator_control
/uav2/mavros/time_reference
/uav2/mavros/timesync_status
/uav2/mavros/trajectory/desired
/uav2/mavros/trajectory/generated
/uav2/mavros/trajectory/path
/uav2/mavros/vfr_hud
/uav2/mavros/vision_pose/pose
/uav2/mavros/vision_pose/pose_cov
/uav2/mavros/vision_speed/speed_twist_cov
/uav2/mavros/wind_estimation
/uav3/mavlink/from
/uav3/mavlink/to
/uav3/mavros/actuator_control
/uav3/mavros/adsb/send
/uav3/mavros/adsb/vehicle
/uav3/mavros/altitude
/uav3/mavros/battery
/uav3/mavros/cam_imu_sync/cam_imu_stamp
/uav3/mavros/companion_process/status
/uav3/mavros/debug_value/debug
/uav3/mavros/debug_value/debug_vector
/uav3/mavros/debug_value/named_value_float
/uav3/mavros/debug_value/named_value_int
/uav3/mavros/debug_value/send
/uav3/mavros/extended_state
/uav3/mavros/fake_gps/mocap/tf
/uav3/mavros/global_position/compass_hdg
/uav3/mavros/global_position/global
/uav3/mavros/global_position/gp_lp_offset
/uav3/mavros/global_position/gp_origin
/uav3/mavros/global_position/home
/uav3/mavros/global_position/local
/uav3/mavros/global_position/raw/fix
/uav3/mavros/global_position/raw/gps_vel
/uav3/mavros/global_position/rel_alt
/uav3/mavros/global_position/set_gp_origin
/uav3/mavros/gps_rtk/send_rtcm
/uav3/mavros/hil/actuator_controls
/uav3/mavros/hil/controls
/uav3/mavros/hil/gps
/uav3/mavros/hil/imu_ned
/uav3/mavros/hil/optical_flow
/uav3/mavros/hil/rc_inputs
/uav3/mavros/hil/state
/uav3/mavros/home_position/home
/uav3/mavros/home_position/set
/uav3/mavros/imu/data
/uav3/mavros/imu/data_raw
/uav3/mavros/imu/diff_pressure
/uav3/mavros/imu/mag
/uav3/mavros/imu/static_pressure
/uav3/mavros/imu/temperature_baro
/uav3/mavros/imu/temperature_imu
/uav3/mavros/local_position/accel
/uav3/mavros/local_position/odom
/uav3/mavros/local_position/pose
/uav3/mavros/local_position/pose_cov
/uav3/mavros/local_position/velocity_body
/uav3/mavros/local_position/velocity_body_cov
/uav3/mavros/local_position/velocity_local
/uav3/mavros/log_transfer/raw/log_data
/uav3/mavros/log_transfer/raw/log_entry
/uav3/mavros/manual_control/control
/uav3/mavros/manual_control/send
/uav3/mavros/mission/reached
/uav3/mavros/mission/waypoints
/uav3/mavros/mocap/pose
/uav3/mavros/obstacle/send
/uav3/mavros/odometry/in
/uav3/mavros/odometry/out
/uav3/mavros/param/param_value
/uav3/mavros/px4flow/ground_distance
/uav3/mavros/px4flow/raw/optical_flow_rad
/uav3/mavros/px4flow/raw/send
/uav3/mavros/px4flow/temperature
/uav3/mavros/radio_status
/uav3/mavros/rc/in
/uav3/mavros/rc/out
/uav3/mavros/rc/override
/uav3/mavros/setpoint_accel/accel
/uav3/mavros/setpoint_attitude/cmd_vel
/uav3/mavros/setpoint_attitude/thrust
/uav3/mavros/setpoint_position/global
/uav3/mavros/setpoint_position/local
/uav3/mavros/setpoint_raw/attitude
/uav3/mavros/setpoint_raw/global
/uav3/mavros/setpoint_raw/local
/uav3/mavros/setpoint_raw/target_attitude
/uav3/mavros/setpoint_raw/target_global
/uav3/mavros/setpoint_raw/target_local
/uav3/mavros/setpoint_velocity/cmd_vel
/uav3/mavros/setpoint_velocity/cmd_vel_unstamped
/uav3/mavros/state
/uav3/mavros/statustext/recv
/uav3/mavros/statustext/send
/uav3/mavros/target_actuator_control
/uav3/mavros/time_reference
/uav3/mavros/timesync_status
/uav3/mavros/trajectory/desired
/uav3/mavros/trajectory/generated
/uav3/mavros/trajectory/path
/uav3/mavros/vfr_hud
/uav3/mavros/vision_pose/pose
/uav3/mavros/vision_pose/pose_cov
/uav3/mavros/vision_speed/speed_twist_cov
/uav3/mavros/wind_estimation

And for mavros/state, how do I get it???

If possible, could you give me the steps to make a clean install and not miss anything of it? I think I may be screwing up somewhere…

use the command:
rostopic echo /uav1/mavros/state
to check if the connected is true. if it is true, the problem may be QGroundControl cannot control multi uavs.If you want to control multi uavs through QGC, I think you should change the source code of it.
If it is false, it means the gazebo and FCU cannot connected, you can found solution for this on google.
To make a clean install:
make clean
make px4_sitl_default gazbeo

By running it, I got the following result:

rostopic echo /uav1/mavros/state
header:
seq: 0
stamp:
secs: 2
nsecs: 348000000
frame_id: ‘’
connected: False
armed: False
guided: False
mode: ‘’
system_status: 0

So I’ll try to solve it by this means for now…
But by clean install I mean uninstalling all the software and reinstalling again, really from the start.

Still nothing runs guys… Can anyone help me with the installation? I can’t seem to make it work anyhow…
Already tried to run a clean 16.04 Ubuntu LTS install, a clean 18.04 Ubuntu LTS install with Dockers… Nothing seems to make the multi drone simulation work anymore… Still can’t see them on QGroundControl

I followed these instructions: https://dev.px4.io/master/en/simulation/multi-vehicle-simulation.html

Btw. to paste long output like this you can also use services like pastebin.com.

Does Gazebo actually come up and show the 3 drones?

Yes, Gazebo launches normally and I get the 3 drones, no errors as showed.
In QGroundControl I get “waiting for vehicle connection” and I don’t get drones over there…