PX4 simulation in gazebo fortress support

PX4 Autopilot
1

so i am working on px4 simulation current version of PX4-Autopilot supports gazebo harmonic only which is compatible with ros jazzy but as i am using ROS2-Humble i want to run the simulation in gazebo ignition fortress version

as if u know that the simulation run using the command - " make px4_sitl gz_x500"
that runs the script “/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator” for simulation
so i just edited the script commands where it uses “gz” and “sim” to “ign” and “gazebo” also changed the sdf files available in “/simulation/gz/models/x500/model.sdf” and /simulation/gz/worlds/default.sdf" such that everything is compatiple with ignition gazebo

and surprisingly averything runs normally but the error occurs saying -

INFO [commander] Preflight check: FAILED
pxh> WARN [health_and_arming_checks] Too many arming check events (1, 14 > 14). Not reporting all
WARN [health_and_arming_checks] Preflight Fail: Accel Sensor 0 missing
WARN [health_and_arming_checks] Preflight Fail: barometer 0 missing
WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data
WARN [health_and_arming_checks] Preflight Fail: Gyro Sensor 0 missing
WARN [health_and_arming_checks] Preflight Fail: Found 0 compass (required: 1)
WARN [health_and_arming_checks] Preflight Fail: system power unavailable
WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station

which means that the simulation is running normally but the potential sensor data is missing
which is happenning bcz of the gz_bridge maybe
in my opinion the gz_bridge is not connecting to igntion i tried editing source codes but everytime it is not possible for me , so i am looking for a solution now .

also i would like to include that i want to use ignition bcz when i used default harmonic gazebo it doesnt publishes the depth camera data correctly in ros2 using ros_gz_bridge tool that’s why i need to use ignition gazebo which is best with ROS2 Humble

2

ROS2 Humble works with Gazebo Harmonic. What are the issues with ros_gz_bridge? Make sure you’re using the humble branch GitHub - gazebosim/ros_gz at humble

2 Likes
3

i have used binary plg of ros_gz_bridge but when i try to echo the ros2 data it doest show any output

i used correct commands
the data is echoed using “gz topic -e -t /depth_camera/data”
when i did “ros2 echo /depth_camera/data” it doesn’t work
and topic is listed there in ros2 topic list

the same thing worked when i simulated px4 in ignition gazebo

4

try building the ros_gz_bridge from source, others have had the same issue as you and building from source solves it

1 Like
5

thanks, the problem is solved, i tried building it from source but at “colcon build” my pc crashes, whatever, its a different problem
but idk what happened i reinstalled the bridge now its working with harmonic but not with ignition now

problem is solved, thanks for your support :heart::heart::heart:

1 Like
6

sudo apt install ros-humble-ros-gzharmonic-image ros-humble-ros-gzharmonic-sim ros-humble-ros-gzharmonic-bridge

this solved the problem