versions
rosversion: noetic
gazebo11
rosversion mavros
command
cmdA: make px4_sitl gazebo-classic_iris_depth_camera
cmdB: roslaunch mavros px4.launch fcu_url:=tcp://127.0.0.1:4560
Question
When I run cmdA, the iris_depth_camera model appears in the Gazebo simulation environment. However, when I connect it with MAVROS and run rostopic list to use this depth camera, no depth camera-related topics show up. How can I resolve this issue? This is my first time working with ROS, Gazebo, and PX4 for this project.
cmdA output
@ubuntu:~/Desktop/PX4-Autopilot$ make px4_sitl gazebo-classic_iris_depth_camera
[0/4] Performing build step for ‘sitl_gazebo-classic’
ninja: no work to do.
[3/4] cd /home/minchan/Desktop/PX4-Aut…p/PX4-Autopilot/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/minchan/Desktop/PX4-Autopilot/build/px4_sitl_default/bin/px4
debugger: none
model: iris_depth_camera
world: none
src_path: /home/minchan/Desktop/PX4-Autopilot
build_path: /home/minchan/Desktop/PX4-Autopilot/build/px4_sitl_default
GAZEBO_PLUGIN_PATH /usr/lib/x86_64-linux-gnu/gazebo-11/plugins::/home/minchan/Desktop/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic
GAZEBO_MODEL_PATH /usr/share/gazebo-11/models::/home/minchan/Desktop/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
LD_LIBRARY_PATH /opt/ros/noetic/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins::/home/minchan/Desktop/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic
empty world, setting empty.world as default
Using: /home/minchan/Desktop/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris_depth_camera/iris_depth_camera.sdf
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
SITL COMMAND: “/home/minchan/Desktop/PX4-Autopilot/build/px4_sitl_default/bin/px4” “/home/minchan/Desktop/PX4-Autopilot/build/px4_sitl_default”/etc
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| | / /^\ \ ___ |
_| / / |_/
px4 starting.
INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO [init] found model autostart file as SYS_AUTOSTART=1015
INFO [param] selected parameter default file parameters.bson
INFO [param] importing from ‘parameters.bson’
INFO [parameters] BSON document size 392 bytes, decoded 392 bytes (INT32:17, FLOAT:3)
INFO [param] selected parameter backup file parameters_backup.bson
INFO [dataman] data manager file ‘./dataman’ size is 1208528 bytes
INFO [init] PX4_SIM_HOSTNAME: localhost
INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
INFO [simulator_mavlink] Simulator connected on TCP port 4560.
INFO [lockstep_scheduler] setting initial absolute time to 2444000 us
INFO [commander] LED: open /dev/led0 failed (22)
WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data
WARN [health_and_arming_checks] Preflight Fail: system power unavailable
INFO [uxrce_dds_client] init UDP agent IP:127.0.0.1, port:8888
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
Gazebo multi-robot simulator, version 11.15.1
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
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# # # # # # #
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## # # # # # #
# ####### # ### #####
This version of Gazebo, now called Gazebo classic, reaches end-of-life
in January 2025. Users are highly encouraged to migrate to the new Gazebo
using our migration guides (Gazebo Classic Migration — Gazebo ionic documentation)
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.111.128
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2025-06-10/11_51_07.ulg
INFO [logger] Opened full log file: ./log/2025-06-10/11_51_07.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}BROADCAST = 1 to enable network)
INFO [mavlink] MAVLink only on localhost (set param MAV{i}_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh> INFO [tone_alarm] home set
INFO [commander] Ready for takeoff!
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
pxh> commander takeoff
pxh> INFO [commander] Armed by internal command
INFO [tone_alarm] arming warning
INFO [navigator] Using default takeoff altitude: 2.5 m
INFO [commander] Takeoff detected
pxh> commander land
pxh> INFO [commander] Landing at current position
INFO [commander] Landing detected
INFO [commander] Disarmed by landing
INFO [tone_alarm] notify neutral
INFO [logger] closed logfile, bytes written: 243780771
