Create custom model for SITL

24

HI, i tried：

  • I created a folder under Tools/sitl_gazebo/models for my model, named x4vtail_vtol3
  • I created the following files under Tools/sitl_gazebo/models/x4vtail_vtol3: model.config and x4vtail_vtol3.sdf (which is based off the standard_vtol models in Tools/sitl_gazebo/models)
  • I create my own airframe file in init.d-posix, named 1044_x4vtail_vtol3. Also i will use my own mixer, name x4vtail_vtol3_sitl.main.mix.
  • I added the airframe name to the platforms/posix/cmake/sitl_target.cmake in the command set(models …)
  • And i added name of it to ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt.
    *Then, i run
cd build
cmake .. 
make
cd ..

*When i run
make px4_sitl gazebo_x4vtail_vtol3
it gets stuck at INFO [simulator] Waiting for simulator to accept connection on TCP port 4560 and gazebo do not open, here is the result:

[0/1] Re-running CMake...
-- PX4 version: v1.12.1
-- PX4 config file: /home/x/PX4-Autopilot/boards/px4/sitl/default.cmake
-- PX4 config: px4_sitl_default
-- PX4 platform: posix
-- PX4 lockstep: enabled
-- cmake build type: RelWithDebInfo
-- Building for code coverage
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
-- build type is RelWithDebInfo
-- PX4 ECL: Very lightweight Estimation & Control Library v1.9.0-rc1-591-gb3fed06
-- ROMFS: ROMFS/px4fmu_common
-- Configuring done
-- Generating done
-- Build files have been written to: /home/x/PX4-Autopilot/build/px4_sitl_default
[0/4] Performing build step for 'sitl_gazebo'
ninja: no work to do.
[3/4] cd /home/x/PX4-Autopilot/build/px4_sitl_default/t...-Autopilot /home/x/PX4-Autopilot/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/x/PX4-Autopilot/build/px4_sitl_default/bin/px4
debugger: none
program: gazebo
model: x4vtail_vtol3
world: none
src_path: /home/x/PX4-Autopilot
build_path: /home/x/PX4-Autopilot/build/px4_sitl_default
GAZEBO_PLUGIN_PATH :/home/x/PX4-Autopilot/build/posix_sitl_default/build_gazebo:/home/x/PX4-Autopilot/build/posix_sitl_default/build_gazebo:/home/x/PX4-Autopilot/build/posix_sitl_default/build_gazebo:/home/x/PX4-Autopilot/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/x/PX4-Autopilot/Tools/sitl_gazebo/models:/home/x/PX4-Autopilot/Tools/sitl_gazebo/models:/home/x/PX4-Autopilot/Tools/sitl_gazebo/models:/home/x/PX4-Autopilot/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /home/x/catkin_ws/devel/lib:/opt/ros/melodic/lib:/home/x/PX4-Autopilot/build/posix_sitl_default/build_gazebo:/home/x/PX4-Autopilot/build/posix_sitl_default/build_gazebo:/home/x/PX4-Autopilot/build/posix_sitl_default/build_gazebo:/home/x/PX4-Autopilot/build/px4_sitl_default/build_gazebo
empty world, setting empty.world as default
Using: /home/x/PX4-Autopilot/Tools/sitl_gazebo/models/x4vtail_vtol3/x4vtail_vtol3.sdf
/home/x/PX4-Autopilot/Tools/sitl_run.sh: line 201: 30918 Segmentation fault      (core dumped) gzserver $verbose $world_path
SITL COMMAND: "/home/x/PX4-Autopilot/build/px4_sitl_default/bin/px4" "/home/x/PX4-Autopilot/build/px4_sitl_default"/etc -s etc/init.d-posix/rcS -t "/home/x/PX4-Autopilot"/test_data
INFO  [px4] Creating symlink /home/x/PX4-Autopilot/build/px4_sitl_default/etc -> /home/x/PX4-Autopilot/build/px4_sitl_default/tmp/rootfs/etc

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
Info: found model autostart file as SYS_AUTOSTART=1044
INFO  [param] selected parameter default file eeprom/parameters_1044
[param] parameter file not found, creating eeprom/parameters_1044
  SYS_AUTOCONFIG: curr: 0 -> new: 1
  SYS_AUTOSTART: curr: 0 -> new: 1044
  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_MAG1_ID: curr: 0 -> new: 197644
  SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
  SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
Gazebo multi-robot simulator, version 9.19.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
* SYS_AUTOCONFIG: curr: 1 -> new: 0
  IMU_INTEG_RATE: curr: 200 -> new: 250
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
PX4 SIM HOST: localhost
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560

I have no idea about it ,can you help me? Please and Thanks! :sob:

25

I once added this model in another computer through the above steps. At that time, it could be successfully added, and my plane could fly normally. But this time I followed the same steps and failed. I don’t know why.

1 Like
26

I have the same problem
if anyone could help, it would be appreciated.
to find the solution to this problem, I used the iris model but just changed the name to something else, and I got the following errors:
@Jaeyoung-Lim Jaeyoung-Lim

[0/4] Performing build step for 'sitl_gazebo'
ninja: no work to do.
[3/4] cd /home/aminys/PX4-Autopilot/bu...s/PX4-Autopilot/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/aminys/PX4-Autopilot/build/px4_sitl_default/bin/px4
debugger: none
program: gazebo
model: HB_x500
world: none
src_path: /home/aminys/PX4-Autopilot
build_path: /home/aminys/PX4-Autopilot/build/px4_sitl_default
GAZEBO_PLUGIN_PATH :/home/aminys/PX4-Autopilot/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/aminys/PX4-Autopilot/Tools/sitl_gazebo/models
LD_LIBRARY_PATH :/home/aminys/PX4-Autopilot/build/px4_sitl_default/build_gazebo
empty world, setting empty.world as default
Using: /home/aminys/PX4-Autopilot/Tools/sitl_gazebo/models/HB_x500/HB_x500.sdf
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Error [Param.cc:329] Invalid boolean value
Error [Param.cc:329] Invalid boolean value
Error [Param.cc:449] Invalid argument. Unable to set value [{{ mavlink_udp_port }} ] for key[mavlink_udp_port].
Error [Param.cc:449] Invalid argument. Unable to set value [{{ mavlink_tcp_port }} ] for key[mavlink_tcp_port].
SITL COMMAND: "/home/aminys/PX4-Autopilot/build/px4_sitl_default/bin/px4" "/home/aminys/PX4-Autopilot/build/px4_sitl_default"/etc -s etc/init.d-posix/rcS -t "/home/aminys/PX4-Autopilot"/test_data
Creating symlink /home/aminys/PX4-Autopilot/build/px4_sitl_default/etc -> /home/aminys/PX4-Autopilot/build/px4_sitl_def
27

I have a question, if I change let’s say the box size in the sdf file, will the physical properties change like will it simulate according to real life conditions based on the measurements given

28

Same error, anything new ?

29

Hello!
I’m relatively new to this, I was trying to follow these steps, but I find myself stuck at the last step. I can’t find the sitl_target.cmake. I don’t see in on main in Github as well. What changes should I incorporate to get this working?
Any help would be appreciated!
Thanks in advance!

30

Hi. I created the model according to the instructions. Error on startup. I also get the same error if I run some of the list of available models. For example:models iris, plane, plane_catapult, boat - start normally; models iris_rplidar, iris_opt_flow, plane_lidar, iris_foggy_lidar - do not start and give an error.

https://github.com/Andreykulachenko/catkin_ws/issues/1