Hi there,
this might be not the right place to post this, since I believe is a gazebo related error.
I am just trying to launch the “standard” iris simulation under Gazebo. The world is loaded, just the drone is not. I spent already half a day trying to figure out …but no luck so far.
Any help would be much appreciated.
roslaunch px4 mavros_posix_sitl.launch
... logging to /home/user/.ros/log/b3204c24-21b6-11ec-b266-01c319e94acb/roslaunch-dookei-laptop-20053.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/user/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
started roslaunch server http://user-laptop:41255/
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /gazebo/enable_ros_network: True
* /mavros/cmd/use_comp_id_system_control: False
* /mavros/conn/heartbeat_rate: 1.0
* /mavros/conn/system_time_rate: 1.0
* /mavros/conn/timeout: 10.0
* /mavros/conn/timesync_rate: 10.0
* /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/laser_1_sub/id: 3
* /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /mavros/distance_sensor/laser_1_sub/subscriber: True
* /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /mavros/distance_sensor/lidarlite_pub/id: 1
* /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /mavros/distance_sensor/lidarlite_pub/send_tf: True
* /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
* /mavros/distance_sensor/sonar_1_sub/id: 2
* /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /mavros/distance_sensor/sonar_1_sub/subscriber: True
* /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
* /mavros/fake_gps/eph: 2.0
* /mavros/fake_gps/epv: 2.0
* /mavros/fake_gps/fix_type: 3
* /mavros/fake_gps/geo_origin/alt: 408.0
* /mavros/fake_gps/geo_origin/lat: 47.3667
* /mavros/fake_gps/geo_origin/lon: 8.55
* /mavros/fake_gps/gps_rate: 5.0
* /mavros/fake_gps/mocap_transform: True
* /mavros/fake_gps/satellites_visible: 5
* /mavros/fake_gps/tf/child_frame_id: fix
* /mavros/fake_gps/tf/frame_id: map
* /mavros/fake_gps/tf/listen: False
* /mavros/fake_gps/tf/rate_limit: 10.0
* /mavros/fake_gps/tf/send: False
* /mavros/fake_gps/use_mocap: True
* /mavros/fake_gps/use_vision: False
* /mavros/fcu_protocol: v2.0
* /mavros/fcu_url: udp://:14540@loca...
* /mavros/gcs_url:
* /mavros/global_position/child_frame_id: base_link
* /mavros/global_position/frame_id: map
* /mavros/global_position/gps_uere: 1.0
* /mavros/global_position/rot_covariance: 99999.0
* /mavros/global_position/tf/child_frame_id: base_link
* /mavros/global_position/tf/frame_id: map
* /mavros/global_position/tf/global_frame_id: earth
* /mavros/global_position/tf/send: False
* /mavros/global_position/use_relative_alt: True
* /mavros/image/frame_id: px4flow
* /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
* /mavros/imu/frame_id: base_link
* /mavros/imu/linear_acceleration_stdev: 0.0003
* /mavros/imu/magnetic_stdev: 0.0
* /mavros/imu/orientation_stdev: 1.0
* /mavros/landing_target/camera/fov_x: 2.0071286398
* /mavros/landing_target/camera/fov_y: 2.0071286398
* /mavros/landing_target/image/height: 480
* /mavros/landing_target/image/width: 640
* /mavros/landing_target/land_target_type: VISION_FIDUCIAL
* /mavros/landing_target/listen_lt: False
* /mavros/landing_target/mav_frame: LOCAL_NED
* /mavros/landing_target/target_size/x: 0.3
* /mavros/landing_target/target_size/y: 0.3
* /mavros/landing_target/tf/child_frame_id: camera_center
* /mavros/landing_target/tf/frame_id: landing_target
* /mavros/landing_target/tf/listen: False
* /mavros/landing_target/tf/rate_limit: 10.0
* /mavros/landing_target/tf/send: True
* /mavros/local_position/frame_id: map
* /mavros/local_position/tf/child_frame_id: base_link
* /mavros/local_position/tf/frame_id: map
* /mavros/local_position/tf/send: False
* /mavros/local_position/tf/send_fcu: False
* /mavros/mission/pull_after_gcs: True
* /mavros/mission/use_mission_item_int: True
* /mavros/mocap/use_pose: True
* /mavros/mocap/use_tf: False
* /mavros/odometry/fcu/odom_child_id_des: base_link
* /mavros/odometry/fcu/odom_parent_id_des: map
* /mavros/plugin_blacklist: ['safety_area', '...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.118682
* /mavros/px4flow/ranger_max_range: 5.0
* /mavros/px4flow/ranger_min_range: 0.3
* /mavros/safety_area/p1/x: 1.0
* /mavros/safety_area/p1/y: 1.0
* /mavros/safety_area/p1/z: 1.0
* /mavros/safety_area/p2/x: -1.0
* /mavros/safety_area/p2/y: -1.0
* /mavros/safety_area/p2/z: -1.0
* /mavros/setpoint_accel/send_force: False
* /mavros/setpoint_attitude/reverse_thrust: False
* /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /mavros/setpoint_attitude/tf/frame_id: map
* /mavros/setpoint_attitude/tf/listen: False
* /mavros/setpoint_attitude/tf/rate_limit: 50.0
* /mavros/setpoint_attitude/use_quaternion: False
* /mavros/setpoint_position/mav_frame: LOCAL_NED
* /mavros/setpoint_position/tf/child_frame_id: target_position
* /mavros/setpoint_position/tf/frame_id: map
* /mavros/setpoint_position/tf/listen: False
* /mavros/setpoint_position/tf/rate_limit: 50.0
* /mavros/setpoint_raw/thrust_scaling: 1.0
* /mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /mavros/startup_px4_usb_quirk: True
* /mavros/sys/disable_diag: False
* /mavros/sys/min_voltage: 10.0
* /mavros/target_component_id: 1
* /mavros/target_system_id: 1
* /mavros/tdr_radio/low_rssi: 40
* /mavros/time/time_ref_source: fcu
* /mavros/time/timesync_avg_alpha: 0.6
* /mavros/time/timesync_mode: MAVLINK
* /mavros/vibration/frame_id: base_link
* /mavros/vision_pose/tf/child_frame_id: vision_estimate
* /mavros/vision_pose/tf/frame_id: odom
* /mavros/vision_pose/tf/listen: False
* /mavros/vision_pose/tf/rate_limit: 10.0
* /mavros/vision_speed/listen_twist: True
* /mavros/vision_speed/twist_cov: True
* /mavros/wheel_odometry/child_frame_id: base_link
* /mavros/wheel_odometry/count: 2
* /mavros/wheel_odometry/frame_id: odom
* /mavros/wheel_odometry/send_raw: True
* /mavros/wheel_odometry/send_twist: False
* /mavros/wheel_odometry/tf/child_frame_id: base_link
* /mavros/wheel_odometry/tf/frame_id: odom
* /mavros/wheel_odometry/tf/send: False
* /mavros/wheel_odometry/use_rpm: False
* /mavros/wheel_odometry/vel_error: 0.1
* /mavros/wheel_odometry/wheel0/radius: 0.05
* /mavros/wheel_odometry/wheel0/x: 0.0
* /mavros/wheel_odometry/wheel0/y: -0.15
* /mavros/wheel_odometry/wheel1/radius: 0.05
* /mavros/wheel_odometry/wheel1/x: 0.0
* /mavros/wheel_odometry/wheel1/y: 0.15
* /rosdistro: noetic
* /rosversion: 1.15.13
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
sitl (px4/px4)
vehicle_spawn_user_laptop_20053_684229375104091025 (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [20097]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to b3204c24-21b6-11ec-b266-01c319e94acb
process[rosout-1]: started with pid [20126]
started core service [/rosout]
process[sitl-2]: started with pid [20141]
INFO [px4] Creating symlink /home/user/catkin_ws/src/PX4-Autopilot/ROMFS/px4fmu_common -> /home/user/.ros/etc
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [20143]
WARN [uORB] already loaded
process[gazebo_gui-4]: started with pid [20164]
INFO [param] selected parameter default file eeprom/parameters_10016
ERROR [parameters] ignoring unrecognised parameter 'CAL_ACC_PRIME'
ERROR [parameters] ignoring unrecognised parameter 'CAL_GYRO_PRIME'
ERROR [parameters] ignoring unrecognised parameter 'CAL_MAG_PRIME'
ERROR [parameters] ignoring unrecognised parameter 'COM_ARM_EKF_AB'
ERROR [parameters] ignoring unrecognised parameter 'EKF2_MAGBIAS_ID'
ERROR [parameters] ignoring unrecognised parameter 'EKF2_MAGBIAS_X'
ERROR [parameters] ignoring unrecognised parameter 'EKF2_MAGBIAS_Y'
ERROR [parameters] ignoring unrecognised parameter 'EKF2_MAGBIAS_Z'
INFO [parameters] copying PWM_MAX -> PWM_MAIN_MAX
INFO [parameters] copying PWM_MIN -> PWM_MAIN_MIN
INFO [parameters] BSON document size 0 bytes, decoded 959 bytes
[param] Loaded: eeprom/parameters_10016
process[vehicle_spawn_dookei_laptop_20053_684229375104091025-5]: started with pid [20174]
process[mavros-6]: started with pid [20183]
sh: 0: Can't open /etc/init.d/rc.mc_defaults
INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1632982913.450481870]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1632982913.455777738]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1632982913.456122615]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1632982913.456624216]: GCS bridge disabled
[ INFO] [1632982913.513101853]: Plugin 3dr_radio loaded
[ INFO] [1632982913.516026115]: Plugin 3dr_radio initialized
[ INFO] [1632982913.516195061]: Plugin actuator_control loaded
[ INFO] [1632982913.520185732]: Plugin actuator_control initialized
[ INFO] [1632982913.552085674]: Plugin adsb loaded
[ INFO] [1632982913.557451523]: Plugin adsb initialized
[ INFO] [1632982913.557742342]: Plugin altitude loaded
[ INFO] [1632982913.559462048]: Plugin altitude initialized
[ INFO] [1632982913.559719414]: Plugin cam_imu_sync loaded
[ INFO] [1632982913.560794973]: Plugin cam_imu_sync initialized
[ INFO] [1632982913.561120853]: Plugin command loaded
[ INFO] [1632982913.572659987]: Plugin command initialized
[ INFO] [1632982913.572890464]: Plugin companion_process_status loaded
[ INFO] [1632982913.574875567]: Plugin companion_process_status initialized
[ INFO] [1632982913.575069796]: Plugin debug_value loaded
[ INFO] [1632982913.581758372]: Plugin debug_value initialized
[ INFO] [1632982913.581817249]: Plugin distance_sensor blacklisted
[ INFO] [1632982913.582037110]: Plugin esc_status loaded
[ INFO] [1632982913.583655825]: Plugin esc_status initialized
[ INFO] [1632982913.583990226]: Plugin fake_gps loaded
[ INFO] [1632982913.596075381]: Plugin fake_gps initialized
[ INFO] [1632982913.596396861]: Plugin ftp loaded
[ INFO] [1632982913.607596775]: Plugin ftp initialized
[ INFO] [1632982913.607942909]: Plugin geofence loaded
[ INFO] [1632982913.614226684]: Plugin geofence initialized
[ INFO] [1632982913.614480069]: Plugin global_position loaded
[ INFO] [1632982913.633504391]: Plugin global_position initialized
[ INFO] [1632982913.633762246]: Plugin gps_rtk loaded
[ INFO] [1632982913.636878222]: Plugin gps_rtk initialized
[ INFO] [1632982913.637115334]: Plugin gps_status loaded
[ INFO] [1632982913.640553768]: Plugin gps_status initialized
[ INFO] [1632982913.640833413]: Plugin hil loaded
[ INFO] [1632982913.657402668]: Plugin hil initialized
[ INFO] [1632982913.657731412]: Plugin home_position loaded
[ INFO] [1632982913.662851838]: Plugin home_position initialized
[ INFO] [1632982913.663193362]: Plugin imu loaded
[ INFO] [1632982913.675528969]: Plugin imu initialized
[ INFO] [1632982913.675795763]: Plugin keyboard_command loaded
[ INFO] [1632982913.679758148]: Plugin keyboard_command initialized
[ INFO] [1632982913.680063704]: Plugin landing_target loaded
Traceback (most recent call last):
File "/opt/ros/noetic/lib/gazebo_ros/spawn_model", line 30, in <module>
from gazebo_msgs.msg import ModelStates
ImportError: cannot import name 'ModelStates' from 'gazebo_msgs.msg' (unknown location)
[ INFO] [1632982913.694264706]: Plugin landing_target initialized
[ INFO] [1632982913.694523748]: Plugin local_position loaded
[ INFO] [1632982913.702902277]: Plugin local_position initialized
[ INFO] [1632982913.703158456]: Plugin log_transfer loaded
[ INFO] [1632982913.709212173]: Plugin log_transfer initialized
[ INFO] [1632982913.709471215]: Plugin manual_control loaded
[ INFO] [1632982913.712890373]: Plugin manual_control initialized
[ INFO] [1632982913.713053103]: Plugin mocap_pose_estimate loaded
[ INFO] [1632982913.715411719]: Plugin mocap_pose_estimate initialized
[ INFO] [1632982913.715567186]: Plugin mount_control loaded
[ INFO] [1632982913.719393450]: Plugin mount_control initialized
[ INFO] [1632982913.719549406]: Plugin obstacle_distance loaded
[ INFO] [1632982913.721670420]: Plugin obstacle_distance initialized
[ INFO] [1632982913.721823164]: Plugin odom loaded
[ INFO] [1632982913.725058918]: Plugin odom initialized
[ INFO] [1632982913.725210544]: Plugin onboard_computer_status loaded
[ INFO] [1632982913.727026771]: Plugin onboard_computer_status initialized
[ INFO] [1632982913.727261298]: Plugin param loaded
[ INFO] [1632982913.731229620]: Plugin param initialized
[ INFO] [1632982913.731387741]: Plugin play_tune loaded
[ INFO] [1632982913.733437727]: Plugin play_tune initialized
[ INFO] [1632982913.733587327]: Plugin px4flow loaded
[ INFO] [1632982913.738668153]: Plugin px4flow initialized
[ INFO] [1632982913.738971544]: Plugin rallypoint loaded
[ INFO] [1632982913.741901044]: Plugin rallypoint initialized
[ INFO] [1632982913.741972492]: Plugin rangefinder blacklisted
[ INFO] [1632982913.742246829]: Plugin rc_io loaded
[ INFO] [1632982913.745405408]: Plugin rc_io initialized
[ INFO] [1632982913.745468336]: Plugin safety_area blacklisted
[ INFO] [1632982913.745674088]: Plugin setpoint_accel loaded
[ INFO] [1632982913.748126641]: Plugin setpoint_accel initialized
[ INFO] [1632982913.748592832]: Plugin setpoint_attitude loaded
[ INFO] [1632982913.758899056]: Plugin setpoint_attitude initialized
[ INFO] [1632982913.759188618]: Plugin setpoint_position loaded
[ INFO] [1632982913.775527956]: Plugin setpoint_position initialized
[ INFO] [1632982913.775692153]: Plugin setpoint_raw loaded
[ INFO] [1632982913.783407608]: Plugin setpoint_raw initialized
[ INFO] [1632982913.783593456]: Plugin setpoint_trajectory loaded
[ INFO] [1632982913.787242881]: Plugin setpoint_trajectory initialized
[ INFO] [1632982913.787499548]: Plugin setpoint_velocity loaded
[ INFO] [1632982913.791872880]: Plugin setpoint_velocity initialized
[ INFO] [1632982913.792682063]: Plugin sys_status loaded
[ INFO] [1632982913.804249483]: Plugin sys_status initialized
[ INFO] [1632982913.804572081]: Plugin sys_time loaded
[ INFO] [1632982913.810997494]: TM: Timesync mode: MAVLINK
[ INFO] [1632982913.812208475]: Plugin sys_time initialized
[ INFO] [1632982913.812436507]: Plugin trajectory loaded
[ INFO] [1632982913.818002801]: Plugin trajectory initialized
[ INFO] [1632982913.818271970]: Plugin vfr_hud loaded
[ INFO] [1632982913.819483719]: Plugin vfr_hud initialized
[ INFO] [1632982913.819550977]: Plugin vibration blacklisted
[ INFO] [1632982913.819748977]: Plugin vision_pose_estimate loaded
[ INFO] [1632982913.829094112]: Plugin vision_pose_estimate initialized
[ INFO] [1632982913.829395967]: Plugin vision_speed_estimate loaded
[ INFO] [1632982913.832930084]: Plugin vision_speed_estimate initialized
[ INFO] [1632982913.833210288]: Plugin waypoint loaded
[ INFO] [1632982913.838245856]: Plugin waypoint initialized
[ INFO] [1632982913.838310180]: Plugin wheel_odometry blacklisted
[ INFO] [1632982913.838533254]: Plugin wind_estimation loaded
[ INFO] [1632982913.839414304]: Plugin wind_estimation initialized
[ INFO] [1632982913.839479047]: Autostarting mavlink via USB on PX4
[ INFO] [1632982913.839691714]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1632982913.839726006]: Built-in MAVLink package version: 2021.6.6
[ INFO] [1632982913.839760997]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1632982913.839799549]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[vehicle_spawn_user_laptop_20053_684229375104091025-5] process has died [pid 20174, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -sdf -file /home/user/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo/models/iris/iris.sdf -model iris -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0 __name:=vehicle_spawn_dookei_laptop_20053_684229375104091025 __log:=/home/user/.ros/log/b3204c24-21b6-11ec-b266-01c319e94acb/vehicle_spawn_user_laptop_20053_684229375104091025-5.log].
log file: /home/user/.ros/log/b3204c24-21b6-11ec-b266-01c319e94acb/vehicle_spawn_user_laptop_20053_684229375104091025-5*.log
log file: /home/user/.ros/log/b3204c24-21b6-11ec-b266-01c319e94acb/vehicle_spawn_user_laptop_20053_684229375104091025-5*.log
[ INFO] [1632982914.468607885]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1632982914.470967688]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1632982914.615153264]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1632982914.616567902]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
(gzclient:20286): Gtk-WARNING **: 08:21:55.745: Theme parsing error: gtk.css:1:8: Expected a valid selector
(gzclient:20286): Gtk-WARNING **: 08:21:55.745: Theme parsing error: gtk.css:11:2: Expected a valid selector