Gazebo Tiltrotor model joints are shaking in 1.9.0

PX4 Autopilot VTOL 🚁
1

Running the current v1.9.0 tag in Gazebo the tiltrotor motors are shaking violently when the simulation starts.

make px4_sitl gazebo_tiltrotor

2

This is occurring in both Gazebo 9.9 and Gazebo 8.6

3

Thanks for the note. I can reproduce this. I’ve made an issue: https://github.com/PX4/Firmware/issues/12240

4

For anyone running into this issue - a workaround is to disable lockstep in the model sdf and then increase the real-time rate to something higher than 250 in the world file.

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