I couldn't do setup of HITL

PX4 Autopilot
1

Hello everyone,
I am a newbie about this autopilot things. I am trying to do Quadrotor HITL. I followed the steps in here.
But i am so confused cause i made hitl once. (my gazebo opened, and i could connect QGC).
But i changed the iris_hitl model because of the missing parts. Like in Gazebo vehicle showing up but there was no propeller. Or one proppeler moving around randomly.
Like guide said i changed the iris.sdf for HITL and than
i changed 55. line of hitl_iris.world file like this:
<uri>model://iris_hitl</uri>
to this
<uri>model://iris</uri>
I couldn’t start HITL. Maybe i changed other files and parameters but don’t think so(I can’t remember).
Also these error showed up all the time(Even able to use HITL or not)

Error opening log file: "/home/metin/.gazebo/client-11345/gzclient.log"
Error opening log file: "/home/metin/.gazebo/client-11345/default.log"
Error opening log file: "/home/metin/.gazebo/server-11345/gzserver.log"

My steps are like this:

  • Enable HITL mode by selecting Enabled from the HITL Enabled list

  • Select Airframe

(HIL Quadcopter)

  • Calibrate Virtual Joystick

  • Setup UDP

      cd <PX4_Autopilot_clone>

  DONT_RUN=1 make px4_sitl gazebo

  • Change iris.sdf for HITL

  • source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl

  • gazebo Tools/sitl_gazebo/worlds/iris.world

And all the time it needs sudo idk why but for solving issues i used a lot sudo and made steps.