When i make px4_sitl_default along with gazebo, once done a launch file is done but the iris drone is not shown on gazebo and looks like it is waiting a connection on the wrong port as it is shown below:
fabrice@fabrice-desktop:~/src/Firmware$ make px4_sitl_default gazebo
[1/4] Performing build step for 'sitl_gazebo'
ninja: no work to do.
[4/4] cd /home/fabrice/src/Firmware/build/px4_sitl_default/tmp &&...ce/src/Firmware /home/fabrice/src/Firmware/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/fabrice/src/Firmware/build/px4_sitl_default/bin/px4
debugger: none
program: gazebo
model: none
world: none
src_path: /home/fabrice/src/Firmware
build_path: /home/fabrice/src/Firmware/build/px4_sitl_default
empty model, setting iris as default
GAZEBO_PLUGIN_PATH :/home/fabrice/src/Firmware/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/fabrice/src/Firmware/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /home/fabrice/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/fabrice/src/Firmware/build/px4_sitl_default/build_gazebo
empty world, setting empty.world as default
SITL COMMAND: "/home/fabrice/src/Firmware/build/px4_sitl_default/bin/px4" "/home/fabrice/src/Firmware/build/px4_sitl_default"/etc -s etc/init.d-posix/rcS -t "/home/fabrice/src/Firmware"/test_data
INFO [px4] Creating symlink /home/fabrice/src/Firmware/build/px4_sitl_default/etc -> /home/fabrice/src/Firmware/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_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
Gazebo multi-robot simulator, version 7.0.0
Copyright (C) 2012-2016 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Msg] Waiting for master.
EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
COM_ARM_EKF_AB: curr: 0.0022 -> new: 0.0050
EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
MC_PITCH_P: curr: 6.5000 -> new: 6.0000
MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
MC_ROLL_P: curr: 6.5000 -> new: 6.0000
MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.116
MPC_Z_VEL_P_ACC: curr: 4.0000 -> new: 12.0000
MPC_Z_VEL_I_ACC: curr: 2.0000 -> new: 3.0000
MPC_XY_P: curr: 0.9500 -> new: 0.8000
MPC_XY_VEL_P_ACC: curr: 1.8000 -> new: 4.0000
MPC_XY_VEL_D_ACC: curr: 0.2000 -> new: 0.3200
RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
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_DESCEND_ALT: curr: 30.0000 -> new: 10.0000
RTL_LAND_DELAY: curr: -1.0000 -> new: 0.0000
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
[Err] [ModelDatabase.cc:389] Unable to parse model.config for model[http://gazebosim.org/models/bin_4_dropping_task]
[Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
Someone can tell me how to fix this issue? Because when I launch : roslaunch px4 mavros_posix_sitl.launch Here is what I got on the screen (copy/paste just the end of the messages);
[ INFO] [1602162110.890045479]: Plugin waypoint loaded
[ INFO] [1602162110.902326861]: Plugin waypoint initialized
[ INFO] [1602162110.902384355]: Plugin wheel_odometry blacklisted
[ INFO] [1602162110.902658121]: Plugin wind_estimation loaded
[ INFO] [1602162110.904062641]: Plugin wind_estimation initialized
[ INFO] [1602162110.904131829]: Autostarting mavlink via USB on PX4
[ INFO] [1602162110.904321807]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1602162110.904352620]: Built-in MAVLink package version: 2019.12.30
[ INFO] [1602162110.904386965]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1602162110.904685798]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1602162110.905377, 0.000000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1602162110.907186758]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1602162110.907462582]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1602162111.174684, 0.104000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1602162111.234841666, 0.160000000]: Physics dynamic reconfigure ready.
[ INFO] [1602162111.235009176, 0.160000000]: Physics dynamic reconfigure ready.
[vehicle_spawn_fabrice_desktop_23471_4397345226325475552-5] process has finished cleanly
log file: /home/fabrice/.ros/log/6d1acef2-0966-11eb-94eb-88b1116f3669/vehicle_spawn_fabrice_desktop_23471_4397345226325475552-5*.log
I see that mavros is not connected to px4:
level: 1
name: "mavros: FCU connection"
message: "not connected"
hardware_id: "udp://:14540@localhost:14557"
values:
Mavros: 0.33.4
px4: v.1.11.1 (master)
OS: ubuntu 16.04
it means that there is something wrong here but I cannot find out what…
Thank you for your help