Mavros between px4 and sitl

QGroundControl
1

Hi, friends. I’m new here and wanna explore some simulation work with the aid of gazebo and px4.
I got some problems when I run ‘roslaunch px4 mavros_posix_sitl.launch’, it can execute with no error and turn up the world and iris in gazebo correctly but cannot connect to the QGC.

I suppose I configure the mavros correctly by ‘roslaunch mavros px4.launch fcu_url:=“udp://:14540@127.0.0.1:14557”’ and I’m pretty sure I have the correct source in the~/.bashrc

I can also execute ‘make px4_sitl_default gazebo’ correctly with QGC auto-connected.

Here is the terminal message under ‘roslaunch px4 mavros_posix_sitl.launch’
roslaunch px4 mavros_posix_sitl.launch
… logging to /home/quantumy/.ros/log/b22689de-e02c-11ec-b423-a1f798d135f7/roslaunch-quantumy-7448.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://quantumy:45391/

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /gazebo/enable_ros_network: True
  • /mavros/camera/frame_id: base_link
  • /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: 1.15.14
  • /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
sitl (px4/px4)
vehicle_spawn_quantumy_7448_5879582809573284793 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [7471]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b22689de-e02c-11ec-b423-a1f798d135f7
process[rosout-1]: started with pid [7496]
started core service [/rosout]
process[sitl-2]: started with pid [7504]
INFO [px4] Creating symlink /home/quantumy/PX4-Firmware/ROMFS/px4fmu_common → /home/quantumy/.ros/etc

| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /| |
| | / /^\ \ ___ |
_| / / |_/

px4 starting.

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [7516]
process[gazebo_gui-4]: started with pid [7526]
INFO [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
process[vehicle_spawn_quantumy_7448_5879582809573284793-5]: started with pid [7536]
SYS_AUTOCONFIG: curr: 0 → new: 1
process[mavros-6]: started with pid [7543]

  • SYS_AUTOSTART: curr: 0 → new: 10016
    BAT_N_CELLS: curr: 0 → new: 3
    CAL_ACC0_ID: curr: 0 → new: 1311244
    CAL_ACC_PRIME: curr: 0 → new: 1311244
    CAL_GYRO0_ID: curr: 0 → new: 2294028
    CAL_GYRO_PRIME: curr: 0 → new: 2294028
    CAL_MAG0_ID: curr: 0 → new: 197388
    CAL_MAG_PRIME: curr: 0 → new: 197388
    COM_DISARM_LAND: curr: 2.0000 → new: 0.5000
    COM_OBL_ACT: curr: 0 → new: 2
    COM_RC_IN_MODE: curr: 0 → new: 1
    EKF2_ANGERR_INIT: curr: 0.1000 → new: 0.0100
    EKF2_GBIAS_INIT: curr: 0.1000 → new: 0.0100
    COM_ARM_EKF_AB: curr: 0.0017 → new: 0.0050
    EKF2_REQ_GPS_H: curr: 10.0000 → new: 0.5000
    MC_PITCH_P: curr: 6.5000 → new: 6.0000
    MC_PITCHRATE_P: curr: 0.1500 → new: 0.2000
    MC_ROLL_P: curr: 6.5000 → new: 6.0000
    MC_ROLLRATE_P: curr: 0.1500 → new: 0.2000
    MPC_HOLD_MAX_Z: curr: 0.6000 → new: 2.0000
    MPC_Z_VEL_I: curr: 0.1000 → new: 0.1500
    MPC_Z_VEL_P: curr: 0.2000 → new: 0.6000
    MPC_XY_P: curr: 0.9500 → new: 0.8000
    MPC_XY_VEL_P: curr: 0.0900 → new: 0.2000
    [ INFO] [1653924311.875305653]: FCU URL: udp://:14540@localhost:14557
    MPC_XY_VEL_D: curr: 0.0100 → new: 0.0160
    [ INFO] [1653924311.877157060]: udp0: Bind address: 0.0.0.0:14540
    MPC_SPOOLUP_TIME: curr: 1.0000 → new: 0.5000
    [ INFO] [1653924311.877228064]: udp0: Remote address: 127.0.0.1:14557
    [ INFO] [1653924311.877268583]: GCS bridge disabled
    MPC_TKO_RAMP_T: curr: 3.0000 → new: 1.0000
    NAV_ACC_RAD: curr: 10.0000 → new: 2.0000
    NAV_DLL_ACT: curr: 0 → new: 2
    RTL_DESCEND_ALT: curr: 30.0000 → new: 5.0000
    [ INFO] [1653924311.883070108]: Plugin 3dr_radio loaded
    RTL_LAND_DELAY: curr: -1.0000 → new: 5.0000
    [ INFO] [1653924311.883937732]: Plugin 3dr_radio initialized
    [ INFO] [1653924311.883987818]: Plugin actuator_control loaded
    RTL_RETURN_ALT: curr: 60.0000 → new: 30.0000
    [ INFO] [1653924311.885347436]: Plugin actuator_control initialized
    SDLOG_MODE: curr: 0 → new: 1
    SDLOG_PROFILE: curr: 3 → new: 131
    [ INFO] [1653924311.887241409]: Plugin adsb loaded
    SDLOG_DIRS_MAX: curr: 0 → new: 7
    [ INFO] [1653924311.888480110]: Plugin adsb initialized
    [ INFO] [1653924311.888532203]: Plugin altitude loaded
    [ INFO] [1653924311.888849809]: Plugin altitude initialized
    [ INFO] [1653924311.888878640]: Plugin cam_imu_sync loaded
    [ INFO] [1653924311.889062976]: Plugin cam_imu_sync initialized
    [ INFO] [1653924311.889090364]: Plugin camera loaded
    [ INFO] [1653924311.889274152]: Plugin camera initialized
    [ INFO] [1653924311.889305261]: Plugin command loaded
    SENS_BOARD_X_OFF: curr: 0.0000 → new: 0.0000
    SENS_DPRES_OFF: curr: 0.0000 → new: 0.0010
    [ INFO] [1653924311.891298116]: Plugin command initialized
    [ INFO] [1653924311.891340519]: Plugin companion_process_status loaded
    [ INFO] [1653924311.892074192]: Plugin companion_process_status initialized
    [ INFO] [1653924311.892108455]: Plugin debug_value loaded
    TRIG_INTERFACE: curr: 4 → new: 3
    [ INFO] [1653924311.893517358]: Plugin debug_value initialized
    [ INFO] [1653924311.893532467]: Plugin distance_sensor blacklisted
    [ INFO] [1653924311.893568322]: Plugin esc_status loaded
    [ INFO] [1653924311.893919488]: Plugin esc_status initialized
    [ INFO] [1653924311.893953652]: Plugin esc_telemetry loaded
    [ INFO] [1653924311.894206674]: Plugin esc_telemetry initialized
    [ INFO] [1653924311.894250367]: Plugin fake_gps loaded
  • RTL_DESCEND_ALT: curr: 5.0000 → new: 10.0000
  • RTL_LAND_DELAY: curr: 5.0000 → new: 0.0000
    PWM_MAX: curr: 2000 → new: 1950
    [ INFO] [1653924311.899001919]: Plugin fake_gps initialized
    [ INFO] [1653924311.899057221]: Plugin ftp loaded
    PWM_MIN: curr: 1000 → new: 1075
    [ INFO] [1653924311.901018294]: Plugin ftp initialized
    [ INFO] [1653924311.901070979]: Plugin geofence loaded
    GPS_UBX_DYNMODEL: curr: 7 → new: 6
    [ INFO] [1653924311.902065820]: Plugin geofence initialized
    [ INFO] [1653924311.902111931]: Plugin global_position loaded
  • SYS_AUTOCONFIG: curr: 1 → new: 0
    [ INFO] [1653924311.906991349]: Plugin global_position initialized
    [ INFO] [1653924311.907045561]: Plugin gps_input loaded
    [ INFO] [1653924311.908069462]: Plugin gps_input initialized
    [ INFO] [1653924311.908107048]: Plugin gps_rtk loaded
    [ INFO] [1653924311.909027289]: Plugin gps_rtk initialized
    [ INFO] [1653924311.909064624]: Plugin gps_status loaded
    [ INFO] [1653924311.909743738]: Plugin gps_status initialized
    [ INFO] [1653924311.909781937]: Plugin hil loaded
    [ INFO] [1653924311.913770417]: Plugin hil initialized
    [ INFO] [1653924311.913835246]: Plugin home_position loaded
    [ INFO] [1653924311.915164909]: Plugin home_position initialized
    [ INFO] [1653924311.915240612]: Plugin imu loaded
    INFO [dataman] Unknown restart, data manager file ‘./dataman’ size is 11798680 bytes
    [ INFO] [1653924311.917872683]: Plugin imu initialized
    [ INFO] [1653924311.917928690]: Plugin landing_target loaded
    INFO [simulator] Waiting for simulator to accept connection on TCP port 4560
    [ INFO] [1653924311.922764438]: Plugin landing_target initialized
    [ INFO] [1653924311.922838790]: Plugin local_position loaded
    [ INFO] [1653924311.925021316]: Plugin local_position initialized
    [ INFO] [1653924311.925084285]: Plugin log_transfer loaded
    [ INFO] [1653924311.926178568]: Plugin log_transfer initialized
    [ INFO] [1653924311.926218437]: Plugin mag_calibration_status loaded
    [ INFO] [1653924311.926564608]: Plugin mag_calibration_status initialized
    [ INFO] [1653924311.926604791]: Plugin manual_control loaded
    [ INFO] [1653924311.927495204]: Plugin manual_control initialized
    [ INFO] [1653924311.927535300]: Plugin mocap_pose_estimate loaded
    [ INFO] [1653924311.928686129]: Plugin mocap_pose_estimate initialized
    [ INFO] [1653924311.928728477]: Plugin mount_control loaded
    [ INFO] [1653924311.929939754]: Plugin mount_control initialized
    [ INFO] [1653924311.929986474]: Plugin nav_controller_output loaded
    [ INFO] [1653924311.930181048]: Plugin nav_controller_output initialized
    [ INFO] [1653924311.930212843]: Plugin obstacle_distance loaded
    [ INFO] [1653924311.931048156]: Plugin obstacle_distance initialized
    [ INFO] [1653924311.931085517]: Plugin odom loaded
    [ INFO] [1653924311.932458883]: Plugin odom initialized
    [ INFO] [1653924311.932500086]: Plugin onboard_computer_status loaded
    [ INFO] [1653924311.933216298]: Plugin onboard_computer_status initialized
    [ INFO] [1653924311.933258647]: Plugin param loaded
    [ INFO] [1653924311.934107568]: Plugin param initialized
    [ INFO] [1653924311.934149689]: Plugin play_tune loaded
    [ INFO] [1653924311.934869198]: Plugin play_tune initialized
    [ INFO] [1653924311.934907875]: Plugin px4flow loaded
    [ INFO] [1653924311.937003716]: Plugin px4flow initialized
    [ INFO] [1653924311.937053094]: Plugin rallypoint loaded
    [ INFO] [1653924311.937966941]: Plugin rallypoint initialized
    [ INFO] [1653924311.937980765]: Plugin rangefinder blacklisted
    [ INFO] [1653924311.938038727]: Plugin rc_io loaded
    [ INFO] [1653924311.939077819]: Plugin rc_io initialized
    [ INFO] [1653924311.939091418]: Plugin safety_area blacklisted
    [ INFO] [1653924311.939127123]: Plugin setpoint_accel loaded
    [ INFO] [1653924311.940062001]: Plugin setpoint_accel initialized
    [ INFO] [1653924311.940108584]: Plugin setpoint_attitude loaded
    [ INFO] [1653924311.943104917]: Plugin setpoint_attitude initialized
    [ INFO] [1653924311.943169594]: Plugin setpoint_position loaded
    [ INFO] [1653924311.948230503]: Plugin setpoint_position initialized
    [ INFO] [1653924311.948297086]: Plugin setpoint_raw loaded
    [ INFO] [1653924311.951472527]: Plugin setpoint_raw initialized
    [ INFO] [1653924311.951537848]: Plugin setpoint_trajectory loaded
    [ INFO] [1653924311.953919455]: Plugin setpoint_trajectory initialized
    [ INFO] [1653924311.954039707]: Plugin setpoint_velocity loaded
    [ INFO] [1653924311.956110395]: Plugin setpoint_velocity initialized
    [ INFO] [1653924311.956211226]: Plugin sys_status loaded
    [ INFO] [1653924311.959779817]: Plugin sys_status initialized
    [ INFO] [1653924311.959862806]: Plugin sys_time loaded
    [ INFO] [1653924311.961630348]: TM: Timesync mode: MAVLINK
    [ INFO] [1653924311.961775389]: TM: Not publishing sim time
    [ INFO] [1653924311.962219257]: Plugin sys_time initialized
    [ INFO] [1653924311.962270588]: Plugin terrain loaded
    [ INFO] [1653924311.962460696]: Plugin terrain initialized
    [ INFO] [1653924311.962498508]: Plugin trajectory loaded
    [ INFO] [1653924311.964071596]: Plugin trajectory initialized
    [ INFO] [1653924311.964107727]: Plugin tunnel loaded
    [ INFO] [1653924311.964965143]: Plugin tunnel initialized
    [ INFO] [1653924311.965004618]: Plugin vfr_hud loaded
    [ INFO] [1653924311.965180033]: Plugin vfr_hud initialized
    [ INFO] [1653924311.965190345]: Plugin vibration blacklisted
    [ INFO] [1653924311.965226324]: Plugin vision_pose_estimate loaded
    [ INFO] [1653924311.967560206]: Plugin vision_pose_estimate initialized
    [ INFO] [1653924311.967602069]: Plugin vision_speed_estimate loaded
    [ INFO] [1653924311.968724111]: Plugin vision_speed_estimate initialized
    [ INFO] [1653924311.968768719]: Plugin waypoint loaded
    [ INFO] [1653924311.970225173]: Plugin waypoint initialized
    [ INFO] [1653924311.970244819]: Plugin wheel_odometry blacklisted
    [ INFO] [1653924311.970286725]: Plugin wind_estimation loaded
    [ INFO] [1653924311.970473376]: Plugin wind_estimation initialized
    [ INFO] [1653924311.970519829]: Autostarting mavlink via USB on PX4
    [ INFO] [1653924311.970535357]: Built-in SIMD instructions: SSE, SSE2
    [ INFO] [1653924311.970545272]: Built-in MAVLink package version: 2022.3.3
    [ INFO] [1653924311.970557547]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
    [ INFO] [1653924311.970568031]: MAVROS started. MY ID 1.240, TARGET ID 1.1
    [ INFO] [1653924312.042667509]: Finished loading Gazebo ROS API Plugin.
    [ INFO] [1653924312.043320587]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting…
    [ INFO] [1653924312.052994073]: Finished loading Gazebo ROS API Plugin.
    [ INFO] [1653924312.053680333]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting…
    [INFO] [1653924312.086434, 0.000000]: Loading model XML from file /home/quantumy/PX4-Firmware/Tools/sitl_gazebo/models/iris/iris.sdf
    [INFO] [1653924312.088176, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
    [ INFO] [1653924312.937296554]: waitForService: Service [/gazebo/set_physics_properties] is now available.
    [ INFO] [1653924312.951396666, 0.004000000]: Physics dynamic reconfigure ready.
    [INFO] [1653924312.991118, 0.000000]: Calling service /gazebo/spawn_sdf_model
    [INFO] [1653924313.173215, 0.176000]: Spawn status: SpawnModel: Successfully spawned entity
    [vehicle_spawn_quantumy_7448_5879582809573284793-5] process has finished cleanly
    log file: /home/quantumy/.ros/log/b22689de-e02c-11ec-b423-a1f798d135f7/vehicle_spawn_quantumy_7448_5879582809573284793-5*.log

terminal message under ‘rostopic echo /mavros/state’
rostopic echo /mavros/state
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ‘’
connected: False
armed: False
guided: False
manual_input: False
mode: ‘’
system_status: 0

Any advice? Thanks in advance!