Faced a problem with Gazebo and px4 interaction: gz_bridge failed to start and spawn model. Can anyone help? Clock is published by gz
MicroXRCEAgent udp4 -p 8888
gz sim -v 4 aruco_field.sdf
export PX4_GZ_MODEL_NAME=x500_vision_0 &&
export PX4_GZ_MODEL_POSE='3,3,0.5,0,0,0,0,0' &&
cd ~/PX4-Autopilot && make px4_sitl gz_x500_vision
Error:
INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO [init] found model autostart file as SYS_AUTOSTART=4005
INFO [param] selected parameter default file parameters.bson
INFO [param] importing from 'parameters.bson'
INFO [parameters] BSON document size 316 bytes, decoded 316 bytes (INT32:13, FLOAT:3)
INFO [param] selected parameter backup file parameters_backup. bson
INFO [dataman] data manager file './dataman' size is 7872608 bytes
INFO [init] Gazebo simulator
INFO [init] gazebo already running world: aruco_world
WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin.
INFO [gz_bridge] world: aruco_world, model name: x500_vision_0, simulation model: x500_vision
INFO [gz_bridge] Requested Model Position: 0,0,0,0,0,0,0,0,0,0
INFO [gz_bridge] Model position z is less than or equal to 0. 0, moving upwards
ERROR [gz_bridge] timed out waiting for clock message
ERROR [gz_bridge] Task start failed (-1)
ERROR [init] gz_bridge failed to start and spawn model
ERROR [px4] Startup script returned with return value: 256
FAILED: src/modules/simulation/gz_bridge/CMakeFiles/gz_x500_vision /home/vor/PX4-Autopilot/build/px4_sitl_default/src/modules/simulation/gz_bridge/CMakeFiles/gz_x500_vision
cd /home/vor/PX4- Autopilot/build/px4_sitl_default/src/modules/simulation/gz_bridge && /usr/bin/cmake -E env PX4_SIM_MODEL=gz_x500_vision /home/vor/PX4-Autopilot/build/px4_sitl_default/bin/px4
ninja: build stopped: subcommand failed.
make: *** [Makefile:232: px4_sitl] Error 1
Well, after the failed attempt to spawn model, the topics appear, but nothing is published in them.
vor@DESKTOP-6F8AAJ8: ~/archipelag25$ gz topic - l
/clock
/gazebo/resource_paths
/gui/camera/pose
/model/x500_vision_0/odometry
/model/x500_vision_0/odometry_with_covariance
/model/x500_vision_0/pose
/stats
/world/aruco_world/clock
/world/aruco_world/dynamic_pose/info
/world/aruco_world/dynamic_pose/info
/world/aruco_world/scene/deletion
/world/aruco_world/scene/info
/world/aruco_world/state
/world/aruco_world/stats
I try to kill
pkill -9 ruby
unset GZ_IP
unset GZ_PARTITION
AAAND I TRY RUN PX4 and it works
vor@DESKTOP-6F8AAJ8:~/archipelag25$ gz topic -l
[1]+ Killed gz model --list
/clock
/gazebo/resource_paths
/gui/camera/pose
/model/x500_vision_0/command/motor_speed
/model/x500_vision_0/odometry
/model/x500_vision_0/odometry_with_covariance
/model/x500_vision_0/pose
/model/x500_vision_0/servo_0
/model/x500_vision_0/servo_1
/model/x500_vision_0/servo_2
/model/x500_vision_0/servo_3
/model/x500_vision_0/servo_4
/model/x500_vision_0/servo_5
/model/x500_vision_0/servo_6
/model/x500_vision_0/servo_7
/stats
/world/default/clock
/world/default/dynamic_pose/info
/world/default/model/x500_vision_0/link/base_link/sensor/air_pressure_sensor/air_pressure
/world/default/model/x500_vision_0/link/base_link/sensor/imu_sensor/imu
/world/default/model/x500_vision_0/link/base_link/sensor/navsat_sensor/navsat
/world/default/pose/info
/world/default/scene/deletion
/world/default/scene/info
/world/default/state
/world/default/stats
/x500_vision_0/command/motor_speed
But I have no idea how to run PX4 with my custom world!!!
My goal is to run px4 with my custom world in gazebo
the last log
px4 starting.
INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO [init] found model autostart file as SYS_AUTOSTART=4005
INFO [param] selected parameter default file parameters.bson
INFO [param] importing from 'parameters.bson'
INFO [parameters] BSON document size 316 bytes, decoded 316 bytes (INT32:13, FLOAT:3)
INFO [param] selected parameter backup file parameters_backup.bson
INFO [dataman] data manager file './dataman' size is 7872608 bytes
INFO [init] Gazebo simulator
INFO [init] starting gazebo with world: /home/vor/PX4-Autopilot/Tools/simulation/gz/worlds/aruco_field.sdf
WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin.
INFO [gz_bridge] world: aruco_field, model name: x500_vision_0, simulation model: x500_vision
INFO [gz_bridge] Requested Model Position: 0,0,0,0,0,0
INFO [gz_bridge] Model position z is less or equal 0.0, moving upwards
QStandardPaths: wrong permissions on runtime directory /mnt/wslg/runtime-dir, 0777 instead of 0700
ERROR [gz_bridge] Service call timed out. Check GZ_SIM_RESOURCE_PATH is set correctly.
ERROR [gz_bridge] Task start failed (-1)
ERROR [init] gz_bridge failed to start and spawn model
ERROR [px4] Startup script returned with return value: 256
libEGL warning: failed to open /dev/dri/renderD128: Permission denied
libEGL warning: failed to open /dev/dri/card0: Permission denied