I am encountering issues while attempting to spawn multiple drones with custom camera plugin in PX4 SITL using Gazebo Classic. Here are the details:
- When running a single drone simulation, I can successfully access camera topics (e.g.,
/camera/camera_info,/camera/points). However, I do not receive PX4 messages, even with the Micro-XRCE agent running in the background. - When trying to spawn multiple drones (e.g., using
sitl_multiple_run.sh -m iris -n 2), the drones fail to spawn properly, and Gazebo throws errors. Specifically, I encounter a segmentation fault (core dumped) and an error related to multiple nodes with the same name (/depth_camera_controller). This seems to result from conflicting plugin names or namespaces.
How can I resolve these issues to:
- Ensure proper spawning of multiple drones with cameras.
- Receive both camera topics and PX4 messages simultaneously?
Any guidance on fixing these problems would be greatly appreciated!
╭─munawwar at munawwar-ASUS in ~/PX4-Autopilot on main✘✘✘
╰─± ./Tools/simulation/gazebo-classic/sitl_multiple_run.sh -m iris -n 2
killing running instances
GAZEBO_PLUGIN_PATH /usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins::/home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/../../../build/px4_sitl_default/build_gazebo-classic
GAZEBO_MODEL_PATH /usr/share/gazebo-11/models:/usr/share/gazebo-11/models::/home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/../../../Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
LD_LIBRARY_PATH /home/munawwar/ws_offboard_control/install/px4_ros_com/lib:/home/munawwar/ws_offboard_control/install/px4_msgs/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins::/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins::/home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/../../../build/px4_sitl_default/build_gazebo-classic
Starting gazebo
Gazebo multi-robot simulator, version 11.10.2
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 10.3.13.191
[Msg] Loading world file [/home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/../../../Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/postoffice.world]
[Wrn] [OBJLoader.cc:79] Both `d` and `Tr` parameters defined for "SUV_Body". Use the value of `d` for dissolve (line 8 in .mtl.)
Both `d` and `Tr` parameters defined for "SUV_Wheels". Use the value of `d` for dissolve (line 22 in .mtl.)
starting instance 1 in /home/munawwar/PX4-Autopilot/build/px4_sitl_default/rootfs/0
Running /home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py
/home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/../../../Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf.jinja -> /tmp/iris_1.sdf
Spawning iris_1 at 0.0 2
starting instance 2 in /home/munawwar/PX4-Autopilot/build/px4_sitl_default/rootfs/1
Running /home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py
/home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/../../../Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf.jinja -> /tmp/iris_2.sdf
Spawning iris_2 at 0.0 4
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[INFO] [1732488068.753167244] [depth_camera_controller]: Publishing camera info to [/camera/camera_info]
[INFO] [1732488068.753603943] [depth_camera_controller]: Publishing depth camera info to [/camera/depth/camera_info]
[INFO] [1732488068.753856459] [depth_camera_controller]: Publishing pointcloud to [/camera/points]
[Wrn] [gazebo_gps_plugin.cpp:77] [gazebo_gps_plugin]: iris_1::gps0 using gps topic "gps0"
[Wrn] [gazebo_gps_plugin.cpp:202] [gazebo_gps_plugin] Using default update rate of 5hz
[Msg] Connecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
[Msg] Using MAVLink protocol v2.0
Starting gazebo client
[Wrn] [OBJLoader.cc:79] Both `d` and `Tr` parameters defined for "Hybrid". Use the value of `d` for dissolve (line 8 in .mtl.)
Both `d` and `Tr` parameters defined for "Wheels3". Use the value of `d` for dissolve (line 22 in .mtl.)
Both `d` and `Tr` parameters defined for "Hybrid_Interior". Use the value of `d` for dissolve (line 36 in .mtl.)
Both `d` and `Tr` parameters defined for "Windows". Use the value of `d` for dissolve (line 50 in .mtl.)
[Wrn] [FuelModelDatabase.cc:313] URI not supported by Fuel [House_1_Normal.png]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [House_1_Normal.png]
[ERROR] [1732488069.606850562] [gazebo_ros_node]: Found multiple nodes with same name: /depth_camera_controller. This might be due to multiple plugins using the same name. Try changing one of the the plugin names or use a different ROS namespace. This error might also result from a custom plugin inheriting from another gazebo_ros plugin and the custom plugin trying to access the ROS node object hence creating multiple nodes with same name. To solve this try providing the optional node_name argument in gazebo_ros::Node::Get() function.
╰─± ./Tools/simulation/gazebo-classic/sitl_multiple_run.sh -m iris -n 2
killing running instances
GAZEBO_PLUGIN_PATH /usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins::/home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/../../../build/px4_sitl_default/build_gazebo-classic
GAZEBO_MODEL_PATH /usr/share/gazebo-11/models:/usr/share/gazebo-11/models::/home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/../../../Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
LD_LIBRARY_PATH /home/munawwar/ws_offboard_control/install/px4_ros_com/lib:/home/munawwar/ws_offboard_control/install/px4_msgs/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins::/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins::/home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/../../../build/px4_sitl_default/build_gazebo-classic
Starting gazebo
Gazebo multi-robot simulator, version 11.10.2
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 10.3.13.191
[Msg] Loading world file [/home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/../../../Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/postoffice.world]
[Wrn] [OBJLoader.cc:79] Both `d` and `Tr` parameters defined for "SUV_Body". Use the value of `d` for dissolve (line 8 in .mtl.)
Both `d` and `Tr` parameters defined for "SUV_Wheels". Use the value of `d` for dissolve (line 22 in .mtl.)
starting instance 1 in /home/munawwar/PX4-Autopilot/build/px4_sitl_default/rootfs/0
Running /home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py
/home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/../../../Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf.jinja -> /tmp/iris_1.sdf
Spawning iris_1 at 0.0 2
starting instance 2 in /home/munawwar/PX4-Autopilot/build/px4_sitl_default/rootfs/1
Running /home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py
/home/munawwar/PX4-Autopilot/Tools/simulation/gazebo-classic/../../../Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf.jinja -> /tmp/iris_2.sdf
Spawning iris_2 at 0.0 4
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[INFO] [1732488068.753167244] [depth_camera_controller]: Publishing camera info to [/camera/camera_info]
[INFO] [1732488068.753603943] [depth_camera_controller]: Publishing depth camera info to [/camera/depth/camera_info]
[INFO] [1732488068.753856459] [depth_camera_controller]: Publishing pointcloud to [/camera/points]
[Wrn] [gazebo_gps_plugin.cpp:77] [gazebo_gps_plugin]: iris_1::gps0 using gps topic "gps0"
[Wrn] [gazebo_gps_plugin.cpp:202] [gazebo_gps_plugin] Using default update rate of 5hz
[Msg] Connecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
[Msg] Using MAVLink protocol v2.0
Starting gazebo client
[Wrn] [OBJLoader.cc:79] Both `d` and `Tr` parameters defined for "Hybrid". Use the value of `d` for dissolve (line 8 in .mtl.)
Both `d` and `Tr` parameters defined for "Wheels3". Use the value of `d` for dissolve (line 22 in .mtl.)
Both `d` and `Tr` parameters defined for "Hybrid_Interior". Use the value of `d` for dissolve (line 36 in .mtl.)
Both `d` and `Tr` parameters defined for "Windows". Use the value of `d` for dissolve (line 50 in .mtl.)
[Wrn] [FuelModelDatabase.cc:313] URI not supported by Fuel [House_1_Normal.png]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [House_1_Normal.png]
[ERROR] [1732488069.606850562] [gazebo_ros_node]: Found multiple nodes with same name: /depth_camera_controller. This might be due to multiple plugins using the same name. Try changing one of the the plugin names or use a different ROS namespace. This error might also result from a custom plugin inheriting from another gazebo_ros plugin and the custom plugin trying to access the ROS node object hence creating multiple nodes with same name. To solve this try providing the optional node_name argument in gazebo_ros::Node::Get() function.
^C./Tools/simulation/gazebo-classic/sitl_multiple_run.sh: line 153: 312631 Segmentation fault (core dumped) gzserver ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world --verbose $ros_args`
^C./Tools/simulation/gazebo-classic/sitl_multiple_run.sh: line 153: 312631 Segmentation fault (core dumped) gzserver ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world --verbose $ros_args```