Hi. I’ve just installed Ubuntu 22.04 and the simulation environment as described here https://docs.px4.io/main/en/dev_setup/dev_env_linux_ubuntu.html#simulation-and-nuttx-pixhawk-target. The installation is performed with two shell commands:
- Download PX4 Source Code:
git clone https://github.com/PX4/PX4-Autopilot.git --recursive - Run ubuntu.sh:
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
No errors occurred during the installation. However, when I run the simulation (make px4_sitl gz_x500), an exception of Ogre occurs and Gazebo is terminated. Below is the log returned.
[0/1] cd /home/pedro/DroneSimulators/PX4-Autopilot/build/px4_sitl_default/src/modu...L=gz_x500 /home/pedro/DroneSimulators/PX4-Autopilot/build/px4_sitl_default/bin/px4
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO [init] found model autostart file as SYS_AUTOSTART=4001
INFO [param] selected parameter default file parameters.bson
INFO [param] importing from 'parameters.bson'
INFO [parameters] BSON document size 274 bytes, decoded 274 bytes (INT32:11, FLOAT:3)
INFO [param] selected parameter backup file parameters_backup.bson
INFO [dataman] data manager file './dataman' size is 7866640 bytes
INFO [init] starting gazebo with world: /home/pedro/DroneSimulators/PX4-Autopilot/Tools/simulation/gz/worlds/default.sdf
WARN [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL.
INFO [gz_bridge] world: default, model name: x500_0, simulation model: x500
INFO [lockstep_scheduler] setting initial absolute time to 8000 us
INFO [commander] LED: open /dev/led0 failed (22)
INFO [tone_alarm] home set
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
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 [tone_alarm] notify negative
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/2023-07-05/16_40_36.ulg
INFO [logger] Opened full log file: ./log/2023-07-05/16_40_36.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
pxh> terminate called after throwing an instance of 'Ogre::RenderingAPIException'
what(): OGRE EXCEPTION(3:RenderingAPIException): Vertex Program 100000000VertexShader_vs failed to compile. See compile log above for details. in GLSLShader::compile at ./RenderSystems/GL3Plus/src/GLSL/OgreGLSLShader.cpp (line 361)
Stack trace (most recent call last) in thread 4479:
#10 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#9 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f18700469ff, in
#8 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f186ffb4b42, in
#7 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f186a3bc99d, in
#6 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f186a3baf90, in qTerminate()
#5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f186c0472b6, in std::terminate()
#4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f186c04724b, in
#3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f186c03bbbd, in
#2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f186ff487f2, in abort
#1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f186ff62475, in raise
#0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f186ffb6a7c, in pthread_kill
Aborted (Signal sent by tkill() 3851 1000)
INFO [commander] Ready for takeoff!
It seems that the simulation is running, but the Gazebo is terminated.
Any ideas of how the gazebo simulation can be fixed?
Thanks in advance.