Px4_sitl_default gazebo hanging on simulator connection to TCP port 4560

PX4 Autopilot
1

I’m trying to run sitl on a Jetson TX2. When I run “make px4_sitl_default gazebo” it builds find but seem to hang on “Waiting for simulator to accept connection on TCP port 4560”. I have the same code working on a desktop computer, so I can see what the finished output is supposed to be, but I haven’t been able to figure out the difference on the Jetson TX2. Stepping through the code, I found that it never exits out of this while loop.

OS: Ubuntu 18.04
Gazebo: 9.0.0
PX4-Autopilot: latest master branch
submodules: recently updated recursively
Hardware: Jetson TX2

Thank you!

user:PX4-Autopilot$ make px4_sitl_default gazebo
[0/4] Performing build step for 'sitl_gazebo'
ninja: no work to do.
[3/4] cd /home/user/catkin_ws/src/PX4-Autopilot/build/px.../user/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/user/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/bin/px4
debugger: none
program: gazebo
model: none
world: none
src_path: /home/user/catkin_ws/src/PX4-Autopilot
build_path: /home/user/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default
empty model, setting iris as default
GAZEBO_PLUGIN_PATH :/home/user/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/user/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /home/user/catkin_ws/devel/lib:/opt/ros/melodic/lib:/home/user/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/build_gazebo
empty world, setting empty.world as default
Using: /home/user/catkin_ws/src/PX4-Autopilot/Tools/sitl_gazebo/models/iris/iris.sdf
SITL COMMAND: "/home/user/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/bin/px4" "/home/user/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default"/etc -s etc/init.d-posix/rcS -t "/home/user/catkin_ws/src/PX4-Autopilot"/test_data
INFO  [px4] Creating symlink /home/user/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/etc -> /home/user/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/tmp/rootfs/etc

______  __   __    ___
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
Info: found model autostart file as SYS_AUTOSTART=10016
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
  SYS_AUTOCONFIG: curr: 0 -> new: 1
  SYS_AUTOSTART: curr: 0 -> new: 10016
  BAT_N_CELLS: curr: 0 -> new: 4
  CAL_ACC0_ID: curr: 0 -> new: 1310988
  CAL_ACC1_ID: curr: 0 -> new: 1310996
  CAL_ACC2_ID: curr: 0 -> new: 1311004
  CAL_GYRO0_ID: curr: 0 -> new: 1310988
  CAL_GYRO1_ID: curr: 0 -> new: 1310996
  CAL_GYRO2_ID: curr: 0 -> new: 1311004
  CAL_MAG0_ID: curr: 0 -> new: 197388
  CAL_MAG1_ID: curr: 0 -> new: 197644
  CBRK_SUPPLY_CHK: curr: 0 -> new: 894281
  COM_RC_IN_MODE: curr: 0 -> new: 1
  EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
  EKF2_MULTI_IMU: curr: 0 -> new: 3
  SENS_IMU_MODE: curr: 1 -> new: 0
  EKF2_MULTI_MAG: curr: 0 -> new: 2
  SENS_MAG_MODE: curr: 1 -> new: 0
  SDLOG_MODE: curr: 0 -> new: 1
  SDLOG_PROFILE: curr: 1 -> new: 131
  SDLOG_DIRS_MAX: curr: 0 -> new: 7
  SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
  SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
  TRIG_INTERFACE: curr: 4 -> new: 3
  COM_CPU_MAX: curr: 90.0000 -> new: -1.0000
  IMU_INTEG_RATE: curr: 200 -> new: 250
  NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
  RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
  RTL_DESCEND_ALT: curr: 30.0000 -> new: 10.0000
  PWM_MAX: curr: 2000 -> new: 1950
  PWM_MIN: curr: 1000 -> new: 1075
  GPS_UBX_DYNMODEL: curr: 7 -> new: 6
* SYS_AUTOCONFIG: curr: 1 -> new: 0
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
Gazebo multi-robot simulator, version 9.0.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 10.34.197.122
[Err] [ModelDatabase.cc:390] Unable to parse model.config for model[http://gazebosim.org/models/bin_4_dropping_task]
1 Like
2

Hi betaBison, I have the same problem. Did u solve it?

3

@yigitto It seems to be an issue running on Jetson hardware. I got it working after following the steps in this similar post to have the simulator connect via udp. Best of luck

1 Like