I am trying to launch gazebo with multiple drones as described here Multi-Vehicle Simulation with Gazebo | PX4 Guide (v1.16)
After launching a single drone using `PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1` I eventually get a sensor error `ERROR [sensors] Accel #0 fail: TIMEOUT!`. It takes almost 5 minutes for it to show. Starting it using `make px4_sitl gz_x500` give the same warnings but not the error. I am not so worried about the warnings as I plan on using MAVROS and not the MicroXRCEAgent. I am new to this and do not know where to begin troubleshooting.
INFO [px4] instance: 1
INFO [px4] working directory /home/amanda-lyvik/PX4/PX4-Autopilot/build/px4_sitl_default/rootfs/1
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px4 starting.
INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 1
env SYS_AUTOSTART: 4001
INFO [param] selected parameter default file parameters.bson
INFO [param] importing from ‘parameters.bson’
INFO [parameters] BSON document size 347 bytes, decoded 347 bytes (INT32:15, FLOAT:3)
INFO [param] selected parameter backup file parameters_backup.bson
INFO [dataman] data manager file ‘./dataman’ size is 1208528 bytes
INFO [init] Gazebo simulator
INFO [init] Starting gazebo with world: /home/amanda-lyvik/PX4/PX4-Autopilot/Tools/simulation/gz/worlds/default.sdf
INFO [init] Starting gz gui
INFO [init] Gazebo world is ready
INFO [init] Spawning model
INFO [gz_bridge] world: default, model: x500_1
INFO [lockstep_scheduler] setting initial absolute time to 3196000 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: No connection to the ground control station
INFO [tone_alarm] home set
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 18571 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14581 remote port 14541
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14281 remote port 14031
INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13031 remote port 13281
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2026-02-24/09_25_28.ulg
INFO [logger] Opened full log file: ./log/2026-02-24/09_25_28.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 [mavlink] partner IP: 127.0.0.1
ERROR [mavlink] vehicle_command_ack lost, generation 3 → 26
ERROR [mavlink] vehicle_command_ack lost, generation 4 → 26
ERROR [mavlink] vehicle_command_ack lost, generation 4 → 26
ERROR [mavlink] vehicle_command_ack lost, generation 4 → 26
INFO [commander] Ready for takeoff!
INFO [uxrce_dds_client] synchronized with time offset 1771925124734119us
INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/register_ext_component_reply data writer, topiINFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/arming_check_request data writer, topic id: 17INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/mode_completed data writer, topic id: 150
INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/battery_status data writer, topic id: 20
INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/collision_constraints data writer, topic id: 2INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/estimator_status_flags data writer, topic id: INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/failsafe_flags data writer, topic id: 91
INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/manual_control_setpoint data writer, topic id:INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/message_format_response data writer, topic id:INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/position_setpoint_triplet data writer, topic iINFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/sensor_combined data writer, topic id: 217
INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/timesync_status data writer, topic id: 240
INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/vehicle_land_detected data writer, topic id: 2INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/vehicle_attitude data writer, topic id: 255
INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/vehicle_control_mode data writer, topic id: 26INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/vehicle_command_ack data writer, topic id: 259INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/vehicle_global_position data writer, topic id:INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/vehicle_gps_position data writer, topic id: 26INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/vehicle_local_position data writer, topic id: INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/vehicle_odometry data writer, topic id: 274
INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/vehicle_status_v1 data writer, topic id: 279
INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/airspeed_validated data writer, topic id: 14
INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/vtol_vehicle_status data writer, topic id: 288INFO [uxrce_dds_client] successfully created rt/px4_1/fmu/out/home_position data writer, topic id: 123
INFO [uxrce_dds_client] time sync converged
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [uxrce_dds_client] time sync no longer converged
INFO [uxrce_dds_client] time sync converged
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [uxrce_dds_client] time sync no longer converged
INFO [uxrce_dds_client] time sync converged
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [uxrce_dds_client] time sync no longer converged
INFO [uxrce_dds_client] time sync converged
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [uxrce_dds_client] time sync no longer converged
INFO [uxrce_dds_client] time sync converged
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [uxrce_dds_client] time sync no longer converged
INFO [uxrce_dds_client] time sync converged
WARN [timesync] time jump detected. Resetting time synchroniser.
WARN [uxrce_dds_client] time sync no longer converged
INFO [uxrce_dds_client] time sync converged
ERROR [sensors] Accel #0 fail: TIMEOUT!