I tried to launch multiple vehicles using SDF models by following this Multi-Vehicle Simulation with Gazebo Classic | PX4 User Guide (main) and it works for “plane”, but when I changed the model to iris_vision (and had to modify the airframe to 10015_gazebo-classic_iris instead of 10016_gazebo-classic_iris), QGC only connects to 1 vehicle although 3 vehicles are spawned on gazebo. Why is this so and how can I connect to all of the vehicles in QGC?
Logs after roslaunch:
process[gazebo-1]: started with pid [74617]
process[gazebo_gui-2]: started with pid [74620]
process[uav0/sitl_0-3]: started with pid [74631]
INFO [px4] instance: 0
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px4 starting.
INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
process[uav0/iris_vision_0_spawn-4]: started with pid [74641]
INFO [init] found model autostart file as SYS_AUTOSTART=1013
INFO [param] selected parameter default file parameters.bson
INFO [param] importing from ‘parameters.bson’
INFO [parameters] BSON document size 251 bytes, decoded 251 bytes (INT32:11, FLOAT:2)
INFO [param] selected parameter backup file parameters_backup.bson
INFO [dataman] data manager file ‘./dataman’ size is 7872608 bytes
INFO [init] PX4_SIM_HOSTNAME: localhost
INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
process[uav1/sitl_1-5]: started with pid [74834]
INFO [px4] instance: 1
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px4 starting.
INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 1
process[uav1/iris_vision_1_spawn-6]: started with pid [74835]
INFO [init] found model autostart file as SYS_AUTOSTART=1013
INFO [param] selected parameter default file parameters.bson
INFO [param] selected parameter backup file parameters_backup.bson
SYS_AUTOCONFIG: curr: 0 → new: 1
MAV_SYS_ID: curr: 1 → new: 2
UXRCE_DDS_KEY: curr: 1 → new: 2
SYS_AUTOSTART: curr: 0 → new: 1013
CAL_ACC0_ID: curr: 0 → new: 1310988
CAL_GYRO0_ID: curr: 0 → new: 1310988
CAL_ACC1_ID: curr: 0 → new: 1310996
CAL_GYRO1_ID: curr: 0 → new: 1310996
CAL_ACC2_ID: curr: 0 → new: 1311004
CAL_GYRO2_ID: curr: 0 → new: 1311004
CAL_MAG0_ID: curr: 0 → new: 197388
CAL_MAG0_PRIO: curr: -1 → new: 50
CAL_MAG1_ID: curr: 0 → new: 197644
CAL_MAG1_PRIO: curr: -1 → new: 50
SENS_BOARD_X_OFF: curr: 0.0000 → new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 → new: 0.0010
INFO [dataman] data manager file ‘./dataman’ size is 7872608 bytes
INFO [init] PX4_SIM_HOSTNAME: localhost
INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4561
process[uav2/sitl_2-7]: started with pid [75013]
INFO [px4] instance: 2
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_| / / |_/
px4 starting.
INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 2
INFO [init] found model autostart file as SYS_AUTOSTART=1013
process[uav2/iris_vision_2_spawn-8]: started with pid [75026]
INFO [param] selected parameter default file parameters.bson
INFO [param] selected parameter backup file parameters_backup.bson
SYS_AUTOCONFIG: curr: 0 → new: 1
MAV_SYS_ID: curr: 1 → new: 3
UXRCE_DDS_KEY: curr: 1 → new: 3
SYS_AUTOSTART: curr: 0 → new: 1013
CAL_ACC0_ID: curr: 0 → new: 1310988
CAL_GYRO0_ID: curr: 0 → new: 1310988
CAL_ACC1_ID: curr: 0 → new: 1310996
CAL_GYRO1_ID: curr: 0 → new: 1310996
CAL_ACC2_ID: curr: 0 → new: 1311004
CAL_GYRO2_ID: curr: 0 → new: 1311004
CAL_MAG0_ID: curr: 0 → new: 197388
CAL_MAG0_PRIO: curr: -1 → new: 50
CAL_MAG1_ID: curr: 0 → new: 197644
CAL_MAG1_PRIO: curr: -1 → new: 50
SENS_BOARD_X_OFF: curr: 0.0000 → new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 → new: 0.0010
[INFO] [1707385067.908294, 0.000000]: Loading model XML from ros parameter model_description
[INFO] [1707385067.914481, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
INFO [dataman] data manager file ‘./dataman’ size is 7872608 bytes
[ INFO] [1707385068.043895547]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1707385068.046573407]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting…
INFO [init] PX4_SIM_HOSTNAME: localhost
INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4562
[INFO] [1707385068.158453, 0.000000]: Loading model XML from ros parameter model_description
[INFO] [1707385068.163154, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1707385068.275354277]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1707385068.278909464]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting…
[ WARN] [1707385068.287391373, 1227.964000000]: Shutdown request received.
[ WARN] [1707385068.287569354, 1227.964000000]: Reason given for shutdown: [[/gazebo_gui] Reason: new node registered with same name]
[INFO] [1707385068.523773, 0.000000]: Loading model XML from ros parameter model_description
[INFO] [1707385068.530012, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[INFO] [1707385069.074627, 0.000000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1707385069.095384872]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1707385069.128833, 0.016000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1707385069.139490, 0.024000]: Calling service /gazebo/spawn_sdf_model
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.
…/src/intel/isl/isl.c:2105: FINISHME: …/src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.
[INFO] [1707385069.588033, 0.120000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1707385069.604423847, 0.120000000]: Physics dynamic reconfigure ready.
INFO [simulator_mavlink] Simulator connected on TCP port 4560.
INFO [lockstep_scheduler] setting initial absolute time to 132000 us
WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 1310988
INFO [commander] LED: open /dev/led0 failed (22)
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
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.
[uav1/iris_vision_1_spawn-6] process has finished cleanly
log file: /home/chin_tian/.ros/log/06bd7904-c635-11ee-a3c2-847b57726d20/uav1-iris_vision_1_spawn-6*.log
[INFO] [1707385070.283032, 0.324000]: Spawn status: SpawnModel: Successfully spawned entity
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/2024-02-08/09_37_50.ulg
INFO [logger] Opened full log file: ./log/2024-02-08/09_37_50.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
INFO [tone_alarm] home set
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.
[INFO] [1707385070.767095, 0.528000]: Spawn status: SpawnModel: Successfully spawned entity
[uav0/iris_vision_0_spawn-4] process has finished cleanly
log file: /home/chin_tian/.ros/log/06bd7904-c635-11ee-a3c2-847b57726d20/uav0-iris_vision_0_spawn-4*.log
[uav2/iris_vision_2_spawn-8] process has finished cleanly
log file: /home/chin_tian/.ros/log/06bd7904-c635-11ee-a3c2-847b57726d20/uav2-iris_vision_2_spawn-8*.log
INFO [mavlink] partner IP: 127.0.0.1
INFO [commander] Ready for takeoff!
INFO [mavlink] partner IP: 127.0.0.1