I was trying to publish actuator_control topic in ros for a quadcopter to directly control the rotor speed in gazebo simulation. But when I try to run the simulation , it shows lockstep enabled . Can anyone give a rundown on how to do solve it ?
@abiengc97 You need to disable lockstep. You can do that by editing the Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris_hitl/iris_hitl.sdf file.
Change line <enable_lockstep>1</enable_lockstep> to <enable_lockstep>0</enable_lockstep>
The sdf file could be different for depending on the version you are running.
I tried disabling through the sdf file but there isn’t any luck
what if the px4 version doesn’t support boardconfig. The version i am using is 1.12.0
For v1.12, the sdf file is different. Do the same for Tools/sitl_gazebo/models/iris/iris.sdf
Also, I am not sure if it is possible to do actuator control with 1.12.