Problem compiling PX4 v13.3 and 14-beta1 and beta2 with ROS2 HUMBLE and Ubuntu 22

Cristian-wp · May 19, 2023, 7:56am

I can not compile and run the example correctly. I have followed several guide and topic about this problem but I can not manage to end the procedure.
I have followed all the following tutorial in details and I have used :

for v1.13.3:

PX4 Guide (main)

for v1.14:

PX4 ROS2 offboard tutorial · GitHub
building PX4 with colcon on ubuntu22 - ros2 humble: ROS2 interface proto can't find px4 module · Issue #21128 · PX4/PX4-Autopilot · GitHub

For v1.14 I have use uXRCE-DDS
and for v1.13.3 I have use microRTPS Bridge

All the dependency were installed with PX4-Autopilot/Tools/setup/ubuntu.sh, I have try with Gazebo Ignition and Gazebo Garden, but no one have worked on.

This is the output of the compilation command with v.1.13.3:

ctrazzi@jelly:~/px4_ros_com_ros2/src/PX4-Autopilot$ make px4_sitl gazebo-classic
-- PX4 version: v1.14.0-beta2-132-g636c3c069f (1.14.0)
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.10.6", minimum required is "3") 
-- PX4 config file: /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/boards/px4/sitl/default.px4board
-- PLATFORM posix
-- ROMFSROOT px4fmu_common
-- ROOTFSDIR .
-- TESTING y
-- ETHERNET y
-- PX4 config: px4_sitl_default
-- PX4 platform: posix
-- PX4 lockstep: enabled
-- The CXX compiler identification is GNU 11.3.0
-- The C compiler identification is GNU 11.3.0
-- The ASM compiler identification is GNU
-- Found assembler: /usr/bin/cc
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- cmake build type: RelWithDebInfo
-- Looking for gz-transport12 -- found version 12.2.0
-- Searching for dependencies of gz-transport12
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so (found suitable version "3.12.4", minimum required is "3") 
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
--   Found libzmq , version 4.3.4
-- Found ZeroMQ: TRUE (Required is at least version "4") 
-- Checking for module 'uuid'
--   Found uuid, version 2.37.2
-- Found UUID: TRUE  
-- Looking for gz-utils2 -- found version 2.0.0
-- Searching for dependencies of gz-utils2
-- Searching for <gz-utils2> component [cli]
-- Looking for gz-utils2-cli -- found version 2.0.0
-- Searching for dependencies of gz-utils2-cli
-- Looking for gz-msgs9 -- found version 9.4.0
-- Searching for dependencies of gz-msgs9
-- Looking for gz-math7 -- found version 7.1.0
-- Searching for dependencies of gz-math7
-- Looking for gz-utils2 -- found version 2.0.0
-- Checking for module 'tinyxml2'
--   Found tinyxml2, version 9.0.0
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.2") 
-- Checking for module 'bullet>=2.82'
--   Found bullet, version 3.05
-- Found fcl: /usr/include (found suitable version "0.7.0", minimum required is "0.5.0") 
-- Found assimp: /usr/include (found version "5.2.0") 
-- Found DART: /usr/include (Required is at least version "6.6") found components: dart 
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.74.0/BoostConfig.cmake (found suitable version "1.74.0", minimum required is "1.40.0") found components: thread system filesystem program_options regex iostreams date_time 
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so (found version "3.12.4") 
-- Looking for ignition-math6 -- found version 6.14.0
-- Searching for dependencies of ignition-math6
-- Looking for OGRE...
-- OGRE_PREFIX_WATCH changed.
-- Checking for module 'OGRE'
--   Found OGRE, version 1.9.0
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
-- Looking for ignition-math6 -- found version 6.14.0
-- Looking for ignition-transport8 -- found version 8.2.1
-- Searching for dependencies of ignition-transport8
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so (found suitable version "3.12.4", minimum required is "3") 
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
--   Found libzmq , version 4.3.4
-- Checking for module 'uuid'
--   Found uuid, version 2.37.2
-- Looking for ignition-msgs5 -- found version 5.8.1
-- Searching for dependencies of ignition-msgs5
-- Looking for ignition-math6 -- found version 6.14.0
-- Checking for module 'tinyxml2'
--   Found tinyxml2, version 9.0.0
-- Looking for ignition-msgs5 -- found version 5.8.1
-- Looking for ignition-common3 -- found version 3.14.0
-- Searching for dependencies of ignition-common3
-- Looking for dlfcn.h - found
-- Looking for libdl - found
-- Found DL: TRUE  
-- Found tinyobjloader: /usr/lib/x86_64-linux-gnu/cmake/tinyobjloader/tinyobjloader-config.cmake (found version "2.0.0") 
-- Searching for <ignition-common3> component [graphics]
-- Looking for ignition-common3-graphics -- found version 3.14.0
-- Searching for dependencies of ignition-common3-graphics
-- Looking for ignition-math6 -- found version 6.14.0
-- Looking for ignition-fuel_tools4 -- found version 4.4.0
-- Searching for dependencies of ignition-fuel_tools4
-- Found CURL: /usr/lib/x86_64-linux-gnu/libcurl.so (found version "7.81.0")  
-- Checking for module 'jsoncpp'
--   Found jsoncpp, version 1.9.5
-- Found JSONCPP: TRUE  
-- Checking for module 'libzip'
--   Found libzip, version 1.7.3
-- Found ZIP: TRUE  
-- Looking for ignition-common3 -- found version 3.14.0
-- Looking for ignition-math6 -- found version 6.14.0
-- Looking for ignition-msgs5 -- found version 5.8.1
-- Found gazebo-classic 11.10.2, including sitl_gazebo-classic simulator and gazebo-classic targets
-- Found Java: /usr/bin/java (found version "11.0.19") 
-- ROMFS: ROMFS/px4fmu_common
Architecture:  amd64
==> CPACK_INSTALL_PREFIX = @DEB_INSTALL_PREFIX@
-- Configuring done
-- Generating done
-- Build files have been written to: /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/build/px4_sitl_default
[0/907] git submodule src/drivers/gps/devices
[2/907] git submodule src/modules/mavlink/mavlink
[8/907] git submodule Tools/simulation/gazebo-classic/sitl_gazebo-classic
[11/907] git submodule src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
[17/907] Performing configure step for 'sitl_gazebo-classic'
-- install-prefix: /usr/local
-- cmake build type: RelWithDebInfo
-- The C compiler identification is GNU 11.3.0
-- The CXX compiler identification is GNU 11.3.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Performing Test COMPILER_SUPPORTS_CXX17
-- Performing Test COMPILER_SUPPORTS_CXX17 - Success
-- Performing Test COMPILER_SUPPORTS_CXX14
-- Performing Test COMPILER_SUPPORTS_CXX14 - Success
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Using C++17 standard
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.74.0/BoostConfig.cmake (found suitable version "1.74.0", minimum required is "1.58") found components: system thread filesystem 
CMake Warning (dev) at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (PkgConfig)
  does not match the name of the calling package (gazebo).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/share/cmake-3.22/Modules/FindPkgConfig.cmake:99 (find_package_handle_standard_args)
  /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:72 (include)
  CMakeLists.txt:48 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.2") 
-- Checking for module 'bullet>=2.82'
--   Found bullet, version 3.05
-- Found fcl: /usr/include (found suitable version "0.7.0", minimum required is "0.5.0") 
-- Found assimp: /usr/include (found version "5.2.0") 
-- Found DART: /usr/include (Required is at least version "6.6") found components: dart 
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.74.0/BoostConfig.cmake (found suitable version "1.74.0", minimum required is "1.40.0") found components: thread system filesystem program_options regex iostreams date_time 
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so (found version "3.12.4") 
-- Looking for ignition-math6 -- found version 6.14.0
-- Searching for dependencies of ignition-math6
-- Looking for OGRE...
-- OGRE_PREFIX_WATCH changed.
-- Checking for module 'OGRE'
--   Found OGRE, version 1.9.0
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
-- Looking for ignition-math6 -- found version 6.14.0
-- Looking for ignition-transport8 -- found version 8.2.1
-- Searching for dependencies of ignition-transport8
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so (found suitable version "3.12.4", minimum required is "3") 
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
--   Found libzmq , version 4.3.4
-- Found ZeroMQ: TRUE (Required is at least version "4") 
-- Checking for module 'uuid'
--   Found uuid, version 2.37.2
-- Found UUID: TRUE  
-- Looking for ignition-msgs5 -- found version 5.8.1
-- Searching for dependencies of ignition-msgs5
-- Looking for ignition-math6 -- found version 6.14.0
-- Checking for module 'tinyxml2'
--   Found tinyxml2, version 9.0.0
-- Looking for ignition-msgs5 -- found version 5.8.1
-- Looking for ignition-common3 -- found version 3.14.0
-- Searching for dependencies of ignition-common3
-- Looking for dlfcn.h - found
-- Looking for libdl - found
-- Found DL: TRUE  
-- Found tinyobjloader: /usr/lib/x86_64-linux-gnu/cmake/tinyobjloader/tinyobjloader-config.cmake (found version "2.0.0") 
-- Searching for <ignition-common3> component [graphics]
-- Looking for ignition-common3-graphics -- found version 3.14.0
-- Searching for dependencies of ignition-common3-graphics
-- Looking for ignition-math6 -- found version 6.14.0
-- Looking for ignition-fuel_tools4 -- found version 4.4.0
-- Searching for dependencies of ignition-fuel_tools4
-- Found CURL: /usr/lib/x86_64-linux-gnu/libcurl.so (found version "7.81.0")  
-- Checking for module 'jsoncpp'
--   Found jsoncpp, version 1.9.5
-- Found JSONCPP: TRUE  
-- Checking for module 'libzip'
--   Found libzip, version 1.7.3
-- Found ZIP: TRUE  
-- Looking for ignition-common3 -- found version 3.14.0
-- Looking for ignition-math6 -- found version 6.14.0
-- Looking for ignition-msgs5 -- found version 5.8.1
-- Checking for one of the modules 'glib-2.0'
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.10.6", minimum required is "3") 
-- Found OpenCV: /usr (found version "4.5.4") 
-- Found TinyXML: /usr/lib/x86_64-linux-gnu/libtinyxml.so  
-- Checking for module 'gstreamer-1.0 >= 1.0'
--   Found gstreamer-1.0 , version 1.20.3
-- Checking for module 'gstreamer-base-1.0 >= 1.0'
--   Found gstreamer-base-1.0 , version 1.20.3
-- Checking for module 'gstreamer-app-1.0 >= 1.0'
--   Found gstreamer-app-1.0 , version 1.20.1
-- Found GStreamer: GSTREAMER_INCLUDE_DIRS;GSTREAMER_LIBRARIES;GSTREAMER_VERSION;GSTREAMER_BASE_INCLUDE_DIRS;GSTREAMER_BASE_LIBRARIES (Required is at least version "1.0") 
-- Checking for module 'OGRE'
--   Found OGRE, version 1.9.0
CMake Deprecation Warning at external/OpticalFlow/CMakeLists.txt:34 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


CMake Deprecation Warning at external/OpticalFlow/external/klt_feature_tracker/CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


-- Building klt_feature_tracker without catkin
-- Building OpticalFlow with OpenCV
-- Found MAVLink: /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/build/px4_sitl_default/mavlink (found version "2.0") 
-- catkin DISABLED
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so (found version "3.12.4") 
-- Checking for module 'protobuf'
--   Found protobuf, version 3.12.4
-- Gazebo version: 11.10
-- Found GStreamer: adding gst_camera_plugin
-- Found GStreamer: adding gst_video_stream_widget
-- Configuring done
-- Generating done
-- Build files have been written to: /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic
[240/907] Performing build step for 'sitl_gazebo-classic'
[1/141] Generating /home/ctrazzi/px4_ros_com_ros2/s...l_gazebo-classic/models/3DR_gps_mag/3DR_gps_mag.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/3DR_gps_mag/3DR_gps_mag.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/3DR_gps_mag/3DR_gps_mag.sdf
[2/141] Generating /home/ctrazzi/px4_ros_com_ros2/s...bo-classic/sitl_gazebo-classic/models/boat/boat.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/boat/boat.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/boat/boat.sdf
[3/141] Generating /home/ctrazzi/px4_ros_com_ros2/s...bo-classic/sitl_gazebo-classic/models/iris/iris.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf
[4/141] Generating /home/ctrazzi/px4_ros_com_ros2/s...bo-classic/models/advanced_plane/advanced_plane.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/advanced_plane/advanced_plane.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/advanced_plane/advanced_plane.sdf
[5/141] Generating /home/ctrazzi/px4_ros_com_ros2/s...bo-classic/sitl_gazebo-classic/models/c920/c920.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/c920/c920.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/c920/c920.sdf
[6/141] Generating /home/ctrazzi/px4_ros_com_ros2/s...gazebo-classic/models/depth_camera/depth_camera.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/depth_camera/depth_camera.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/depth_camera/depth_camera.sdf
[7/141] Generating /home/ctrazzi/px4_ros_com_ros2/s...l_gazebo-classic/models/matrice_100/matrice_100.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/matrice_100/matrice_100.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/matrice_100/matrice_100.sdf
[8/141] Generating /home/ctrazzi/px4_ros_com_ros2/s.../sitl_gazebo-classic/models/cloudship/cloudship.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/cloudship/cloudship.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/cloudship/cloudship.sdf
[9/141] Generating /home/ctrazzi/px4_ros_com_ros2/s...ic/sitl_gazebo-classic/models/r1_rover/r1_rover.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/r1_rover/r1_rover.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/r1_rover/r1_rover.sdf
[10/141] Generating /home/ctrazzi/px4_ros_com_ros2/...bo-classic/sitl_gazebo-classic/models/r200/r200.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/r200/r200.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/r200/r200.sdf
[11/141] Generating /home/ctrazzi/px4_ros_com_ros2/...zebo-classic/models/mb1240-xl-ez4/mb1240-xl-ez4.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/mb1240-xl-ez4/mb1240-xl-ez4.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/mb1240-xl-ez4/mb1240-xl-ez4.sdf
[12/141] Generating /home/ctrazzi/px4_ros_com_ros2/...ssic/sitl_gazebo-classic/models/px4flow/px4flow.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/px4flow/px4flow.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/px4flow/px4flow.sdf
[13/141] Generating /home/ctrazzi/px4_ros_com_ros2/...ssic/sitl_gazebo-classic/models/pixhawk/pixhawk.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/pixhawk/pixhawk.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/pixhawk/pixhawk.sdf
[14/141] Generating /home/ctrazzi/px4_ros_com_ros2/...-classic/sitl_gazebo-classic/models/sf10a/sf10a.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/sf10a/sf10a.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/sf10a/sf10a.sdf
[15/141] Generating /home/ctrazzi/px4_ros_com_ros2/...-classic/sitl_gazebo-classic/models/rover/rover.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/rover/rover.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/rover/rover.sdf
[16/141] Generating /home/ctrazzi/px4_ros_com_ros2/...-classic/sitl_gazebo-classic/models/plane/plane.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/plane/plane.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/plane/plane.sdf
[21/141] Generating /home/ctrazzi/px4_ros_com_ros2/...zebo-classic/models/standard_vtol/standard_vtol.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/standard_vtol/standard_vtol.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/standard_vtol/standard_vtol.sdf
[23/141] Generating /home/ctrazzi/px4_ros_com_ros2/...itl_gazebo-classic/models/tailsitter/tailsitter.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/tailsitter/tailsitter.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/tailsitter/tailsitter.sdf
[24/141] Generating /home/ctrazzi/px4_ros_com_ros2/.../sitl_gazebo-classic/models/tiltrotor/tiltrotor.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/tiltrotor/tiltrotor.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/tiltrotor/tiltrotor.sdf
[25/141] Generating /home/ctrazzi/px4_ros_com_ros2/...ic/models/standard_vtol_drop/standard_vtol_drop.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/standard_vtol_drop/standard_vtol_drop.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/standard_vtol_drop/standard_vtol_drop.sdf
[37/141] Generating /home/ctrazzi/px4_ros_com_ros2/...gazebo-classic/models/typhoon_h480/typhoon_h480.sdf
/home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/typhoon_h480/typhoon_h480.sdf.jinja -> /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/typhoon_h480/typhoon_h480.sdf
[66/141] Building CXX object CMakeFiles/gazebo_cont...interface.dir/src/gazebo_controller_interface.cpp.o
In file included from /usr/include/boost/bind.hpp:30,
                 from /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/include/gazebo_controller_interface.h:22,
                 from /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/src/gazebo_controller_interface.cpp:22:
/usr/include/boost/bind.hpp:36:1: note: ‘#pragma message: The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use <boost/bind/bind.hpp> + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior.’
   36 | BOOST_PRAGMA_MESSAGE(
      | ^~~~~~~~~~~~~~~~~~~~
[86/141] Building CXX object CMakeFiles/gazebo_uuv_plugin.dir/src/gazebo_uuv_plugin.cpp.o
In file included from /usr/include/boost/bind.hpp:30,
                 from /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/include/gazebo_uuv_plugin.h:22,
                 from /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/src/gazebo_uuv_plugin.cpp:28:
/usr/include/boost/bind.hpp:36:1: note: ‘#pragma message: The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use <boost/bind/bind.hpp> + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior.’
   36 | BOOST_PRAGMA_MESSAGE(
      | ^~~~~~~~~~~~~~~~~~~~
[88/141] Building CXX object CMakeFiles/gazebo_mavlink_interface.dir/src/mavlink_interface.cpp.o
In file included from /usr/include/boost/smart_ptr/detail/sp_thread_sleep.hpp:22,
                 from /usr/include/boost/smart_ptr/detail/yield_k.hpp:23,
                 from /usr/include/boost/smart_ptr/detail/spinlock_gcc_atomic.hpp:14,
                 from /usr/include/boost/smart_ptr/detail/spinlock.hpp:42,
                 from /usr/include/boost/smart_ptr/detail/spinlock_pool.hpp:25,
                 from /usr/include/boost/smart_ptr/shared_ptr.hpp:29,
                 from /usr/include/boost/shared_ptr.hpp:17,
                 from /usr/include/boost/date_time/time_clock.hpp:17,
                 from /usr/include/boost/date_time/posix_time/posix_time_types.hpp:10,
                 from /usr/include/boost/asio/time_traits.hpp:23,
                 from /usr/include/boost/asio/detail/timer_queue_ptime.hpp:22,
                 from /usr/include/boost/asio/detail/deadline_timer_service.hpp:29,
                 from /usr/include/boost/asio/basic_deadline_timer.hpp:25,
                 from /usr/include/boost/asio.hpp:25,
                 from /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/include/mavlink_interface.h:36,
                 from /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/src/mavlink_interface.cpp:1:
/usr/include/boost/bind.hpp:36:1: note: ‘#pragma message: The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use <boost/bind/bind.hpp> + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior.’
   36 | BOOST_PRAGMA_MESSAGE(
      | ^~~~~~~~~~~~~~~~~~~~
[96/141] Building CXX object CMakeFiles/gazebo_motor_model.dir/src/gazebo_motor_model.cpp.o
In file included from /usr/include/boost/bind.hpp:30,
                 from /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/include/gazebo_motor_model.h:25,
                 from /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/src/gazebo_motor_model.cpp:22:
/usr/include/boost/bind.hpp:36:1: note: ‘#pragma message: The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use <boost/bind/bind.hpp> + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior.’
   36 | BOOST_PRAGMA_MESSAGE(
      | ^~~~~~~~~~~~~~~~~~~~
[102/141] Building CXX object CMakeFiles/gazebo_mavlink_interface.dir/src/gazebo_mavlink_interface.cpp.o
In file included from /usr/include/boost/smart_ptr/detail/sp_thread_sleep.hpp:22,
                 from /usr/include/boost/smart_ptr/detail/yield_k.hpp:23,
                 from /usr/include/boost/smart_ptr/detail/spinlock_gcc_atomic.hpp:14,
                 from /usr/include/boost/smart_ptr/detail/spinlock.hpp:42,
                 from /usr/include/boost/smart_ptr/detail/spinlock_pool.hpp:25,
                 from /usr/include/boost/smart_ptr/shared_ptr.hpp:29,
                 from /usr/include/boost/shared_ptr.hpp:17,
                 from /usr/include/boost/date_time/time_clock.hpp:17,
                 from /usr/include/boost/date_time/posix_time/posix_time_types.hpp:10,
                 from /usr/include/boost/asio/time_traits.hpp:23,
                 from /usr/include/boost/asio/detail/timer_queue_ptime.hpp:22,
                 from /usr/include/boost/asio/detail/deadline_timer_service.hpp:29,
                 from /usr/include/boost/asio/basic_deadline_timer.hpp:25,
                 from /usr/include/boost/asio.hpp:25,
                 from /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/include/gazebo_mavlink_interface.h:33,
                 from /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/src/gazebo_mavlink_interface.cpp:22:
/usr/include/boost/bind.hpp:36:1: note: ‘#pragma message: The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use <boost/bind/bind.hpp> + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior.’
   36 | BOOST_PRAGMA_MESSAGE(
      | ^~~~~~~~~~~~~~~~~~~~
[117/141] Building CXX object CMakeFiles/gazebo_air...plugin.dir/src/gazebo_airship_dynamics_plugin.cpp.o
In file included from /usr/include/boost/bind.hpp:30,
                 from /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/include/gazebo_airship_dynamics_plugin.h:45,
                 from /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/src/gazebo_airship_dynamics_plugin.cpp:44:
/usr/include/boost/bind.hpp:36:1: note: ‘#pragma message: The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use <boost/bind/bind.hpp> + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior.’
   36 | BOOST_PRAGMA_MESSAGE(
      | ^~~~~~~~~~~~~~~~~~~~
[141/141] Linking CXX shared library libgazebo_user_camera_plugin.so
[906/907] cd /home/ctrazzi/px4_ros_com_ros2/src/PX4...s_com_ros2/src/PX4-Autopilot/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/build/px4_sitl_default/bin/px4
debugger: none
model: iris
world: none
src_path: /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot
build_path: /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/build/px4_sitl_default
**You need to have gazebo simulator installed!**
FAILED: src/modules/simulation/simulator_mavlink/CMakeFiles/gazebo-classic_iris /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/build/px4_sitl_default/src/modules/simulation/simulator_mavlink/CMakeFiles/gazebo-classic_iris 
cd /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/build/px4_sitl_default/src/modules/simulation/simulator_mavlink && /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_run.sh /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/build/px4_sitl_default/bin/px4 none iris none /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot /home/ctrazzi/px4_ros_com_ros2/src/PX4-Autopilot/build/px4_sitl_default
ninja: build stopped: subcommand failed.
make: *** [Makefile:232: px4_sitl] Error 1

QUESTION

Plus I can not understand if is possible to work with PX4 on Ubuntu22 with ROS2 Humble, because on the guide there is only ROS2 Foxy that is at the end of its life.

Benja · May 19, 2023, 3:41pm

Your build problem is exclusively related to Gazebo, no ROS involved here.
You are trying to use Gazebo Classic with Ubuntu 22.04, but in v1.14-beta the setup.bash of PX4

Installs Gazebo Garden on Ubuntu 22.04 (and removes gazebo Classic, if it was previously installed)
Installs Gazebo Classic on Ubuntu 20.04 (and removes gazebo Garden, if it was previously installed)

see Simulation | PX4 User Guide (main)

However, you still can use gazebo classic on Ubuntu 22.04, my suggestion is to remove everything gazebo related from your system and then reinstall gazebo classic.

That note is just a disclaimer, it says that the above docs was written for Ubuntu 20.04 and ROS Foxy. However, it works well on Humble too

Cristian-wp · May 26, 2023, 8:02am

Hi @Benja Thank you for your support. I have manage to start a basic simulation (offboard) before your reply doing the exact same thing you suggested. I think that the documentation regarding ROS2 is a little bit confusing…but I have manage to achieve it before your reply
Thanks a lot!

If is possible, can I ask you to give a look to my another support request?

Benja · May 26, 2023, 4:06pm

Great!
Could you argument a bit about

?
What do you find confusing?

Cristian-wp · May 26, 2023, 4:33pm

To be honest I have recently start to work with ROS2 so its almost all new for me, I have only work with ROS Melodic until now.

But what I have found confusing are the following things:

As previously say the fact that only ros foxy is mentioned
I havent understand until I had read Julian Oes github readme (and if I remember correctly one of yours) that i can manage to use uRos to speak with PX4 using ROS
The gazebo version that must be used, is different for the one suggested for ROS Humble on Gazebo website
I think that the ROS1 guide is written more “linear” than the ROS2 one, but maybe is just a personal impression

But as I say maybe is just an impression because I had working untill now with ROS1 and the transition are always difficult.