Hi All,
Wondering if anyone can advise:
I’m trying to produce a model of our own drone for simulation using Gazebo (7.15), PX4 SITL (v1.9.1) and ROS Kinetic for offboard control but I’m running into trouble.
I have the simulation models for my custom drone in a ROS pkg (in catkin_ws/src), and although the PX4 Firmware repo exists outside my catkin_ws, I have symbolic links to both Firmware and Tools/sitl_gazebo in the src dir (I understand it’s necessary to have them in src, can anyone tell me why?).
My simulation model is urdf based, with a dir of the following form
(xacro file is used to generate the .urdf)
robot/
robot.urdf
meshes/
robot_mesh.dae
xacro/
robot.urdf.xacro
The launch file that I’m using is
<?xml version="1.0"?>
<launch>
<!-- MAVROS posix SITL environment launch script -->
<!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
<!-- vehicle pose -->
<arg name="x" default="0"/>
<arg name="y" default="0"/>
<arg name="z" default="0"/>
<arg name="R" default="0"/>
<arg name="P" default="0"/>
<arg name="Y" default="0"/>
<!-- vehicle model and world -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="xacro" default="false" />
<arg unless="$(arg xacro)" name="format" default="sdf" />
<arg if="$(arg xacro)" name="format" default="urdf" />
<arg if="$(arg xacro)" name="description_flag" default="-param" />
<arg unless="$(arg xacro)" name="description_flag" default="-file" />
<arg unless="$(arg xacro)" name="description_file"
default="$(find sim_pkg)/models/$(arg vehicle)/robot.$(arg format)" />
<arg if="$(arg xacro)" name="description_file"
default="/robot_description" />
<!-- Generate URDF file from XACRO, and load in ROS param server -->
<param if="$(arg xacro)" name="robot_description"
command="$(find xacro)/xacro $(find we_sim_gazebo)/models/$(arg vehicle)/xacro/robot.$(arg format).xacro --check-order" />
<!-- $(find xacro) looks for the xacro pkg (shipped with ROS/Gazebo), NOT the xacro launch arg -->
<arg name="world" default="$(find sim_pkg)/worlds/empty.world" />
<!-- gazebo configs -->
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<arg name="respawn_gazebo" default="false"/>
<!-- MAVROS configs -->
<!-- <arg name="fcu_url" default="udp://:14540@localhost:14557"/> -->
<arg name="fcu_url" default="udp://:14540@192.168.100.89:14557"/>
<arg name="respawn_mavros" default="false"/>
<!-- PX4 configs -->
<arg name="interactive" default="true"/>
<!-- PX4 SITL and Gazebo -->
<include file="$(find sim_pkg)/launch/posix_sitl.launch">
<arg name="x" value="$(arg x)"/>
<arg name="y" value="$(arg y)"/>
<arg name="z" value="$(arg z)"/>
<arg name="R" value="$(arg R)"/>
<arg name="P" value="$(arg P)"/>
<arg name="Y" value="$(arg Y)"/>
<arg name="world" value="$(arg world)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="xacro" value="false" />
<arg name="description_file" value="$(arg description_file)" />
<arg name="description_flag" value="$(arg description_flag)" />
<arg name="format" value="$(arg format)" />
<arg name="gui" value="$(arg gui)"/>
<arg name="interactive" value="$(arg interactive)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<!-- GCS link is provided by SITL -->
<arg name="gcs_url" value=""/>
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
</include>
</launch>
where the second launch file (posix_sitl.launch) is:
<?xml version="1.0"?>
<launch>
<!-- Posix SITL environment launch script -->
<!-- launches PX4 SITL, Gazebo environment, and spawns vehicle -->
<!-- vehicle pose -->
<arg name="x" default="0"/>
<arg name="y" default="0"/>
<arg name="z" default="0"/>
<arg name="R" default="0"/>
<arg name="P" default="0"/>
<arg name="Y" default="0"/>
<!-- vehicle model and world -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="xacro" default="false" />
<arg unless="$(arg xacro)" name="format" default="sdf" />
<arg if="$(arg xacro)" name="format" default="urdf" />
<arg if="$(arg xacro)" name="description_flag" default="-param" />
<arg unless="$(arg xacro)" name="description_flag" default="-file" />
<arg unless="$(arg xacro)" name="description_file"
default="$(find we_sim_gazebo)/models/$(arg vehicle)/robot.$(arg format)" />
<arg if="$(arg xacro)" name="description_file"
default="/robot_description" />
<!-- Generate URDF file from XACRO, and load in ROS param server -->
<param if="$(arg xacro)" name="robot_description"
command="$(find xacro)/xacro $(find we_sim_gazebo)/models/$(arg vehicle)/xacro/robot.$(arg format).xacro --check-order" />
<arg name="world" default="$(find we_sim_gazebo)/worlds/empty.world"/>
<env name="PX4_SIM_MODEL" value="hexa_x" />
<env name="PX4_ESTIMATOR" value="$(arg est)" />
<!-- gazebo configs -->
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<arg name="respawn_gazebo" default="false"/>
<!-- PX4 configs -->
<arg name="interactive" default="true"/>
<!-- PX4 SITL -->
<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<arg if="$(arg interactive)" name="px4_command_arg1" value=""/>
<node name="sitl" pkg="px4" type="px4" output="screen"
args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS $(arg px4_command_arg1)" required="true"/>
<!-- Gazebo sim -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="gui" value="$(arg gui)"/>
<arg name="world_name" value="$(arg world)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
</include>
<!-- gazebo model -->
<node name="$(anon vehicle_spawn)" pkg="gazebo_ros" type="spawn_model" output="screen" args="-$(arg
format) $(arg description_flag) $(arg description_file) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)" />
</launch>
I then launch with the following line:
roslaunch we_sim_gazebo mavros_posix_sitl.launch vehicle:=june xacro:=true
And get the following output in the terminal:
(Can anyone let me know what is the significance of the line “Error: Unknown model ‘hexa_x’” ?)
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /mavros/cmd/use_comp_id_system_control: False
* /mavros/conn/heartbeat_rate: 1.0
* /mavros/conn/system_time_rate: 1.0
* /mavros/conn/timeout: 10.0
* /mavros/conn/timesync_rate: 10.0
* /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/laser_1_sub/id: 3
* /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /mavros/distance_sensor/laser_1_sub/subscriber: True
* /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /mavros/distance_sensor/lidarlite_pub/id: 1
* /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /mavros/distance_sensor/lidarlite_pub/send_tf: True
* /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/sonar_1_sub/id: 2
* /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /mavros/distance_sensor/sonar_1_sub/subscriber: True
* /mavros/fake_gps/eph: 2.0
* /mavros/fake_gps/epv: 2.0
* /mavros/fake_gps/fix_type: 3
* /mavros/fake_gps/geo_origin/alt: 408.0
* /mavros/fake_gps/geo_origin/lat: 47.3667
* /mavros/fake_gps/geo_origin/lon: 8.55
* /mavros/fake_gps/gps_rate: 5.0
* /mavros/fake_gps/mocap_transform: True
* /mavros/fake_gps/satellites_visible: 5
* /mavros/fake_gps/tf/child_frame_id: fix
* /mavros/fake_gps/tf/frame_id: map
* /mavros/fake_gps/tf/listen: False
* /mavros/fake_gps/tf/rate_limit: 10.0
* /mavros/fake_gps/tf/send: False
* /mavros/fake_gps/use_mocap: True
* /mavros/fake_gps/use_vision: False
* /mavros/fcu_protocol: v2.0
* /mavros/fcu_url: udp://:14540@192....
* /mavros/gcs_url:
* /mavros/global_position/child_frame_id: base_link
* /mavros/global_position/frame_id: map
* /mavros/global_position/gps_uere: 1.0
* /mavros/global_position/rot_covariance: 99999.0
* /mavros/global_position/tf/child_frame_id: base_link
* /mavros/global_position/tf/frame_id: map
* /mavros/global_position/tf/global_frame_id: earth
* /mavros/global_position/tf/send: False
* /mavros/global_position/use_relative_alt: True
* /mavros/image/frame_id: px4flow
* /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
* /mavros/imu/frame_id: base_link
* /mavros/imu/linear_acceleration_stdev: 0.0003
* /mavros/imu/magnetic_stdev: 0.0
* /mavros/imu/orientation_stdev: 1.0
* /mavros/landing_target/camera/fov_x: 2.0071286398
* /mavros/landing_target/camera/fov_y: 2.0071286398
* /mavros/landing_target/image/height: 480
* /mavros/landing_target/image/width: 640
* /mavros/landing_target/land_target_type: VISION_FIDUCIAL
* /mavros/landing_target/listen_lt: False
* /mavros/landing_target/mav_frame: LOCAL_NED
* /mavros/landing_target/target_size/x: 0.3
* /mavros/landing_target/target_size/y: 0.3
* /mavros/landing_target/tf/child_frame_id: camera_center
* /mavros/landing_target/tf/frame_id: landing_target
* /mavros/landing_target/tf/listen: False
* /mavros/landing_target/tf/rate_limit: 10.0
* /mavros/landing_target/tf/send: True
* /mavros/local_position/frame_id: map
* /mavros/local_position/tf/child_frame_id: base_link
* /mavros/local_position/tf/frame_id: map
* /mavros/local_position/tf/send: False
* /mavros/local_position/tf/send_fcu: False
* /mavros/mission/pull_after_gcs: True
* /mavros/mocap/use_pose: True
* /mavros/mocap/use_tf: False
* /mavros/odometry/in/child_frame_id: base_link
* /mavros/odometry/in/frame_id: odom
* /mavros/odometry/in/frame_tf/body_frame_orientation: flu
* /mavros/odometry/in/frame_tf/local_frame: local_origin_ned
* /mavros/odometry/out/frame_tf/body_frame_orientation: frd
* /mavros/odometry/out/frame_tf/local_frame: vision_ned
* /mavros/plugin_blacklist: ['safety_area', '...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.118682
* /mavros/px4flow/ranger_max_range: 5.0
* /mavros/px4flow/ranger_min_range: 0.3
* /mavros/safety_area/p1/x: 1.0
* /mavros/safety_area/p1/y: 1.0
* /mavros/safety_area/p1/z: 1.0
* /mavros/safety_area/p2/x: -1.0
* /mavros/safety_area/p2/y: -1.0
* /mavros/safety_area/p2/z: -1.0
* /mavros/setpoint_accel/send_force: False
* /mavros/setpoint_attitude/reverse_thrust: False
* /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
* /mavros/setpoint_attitude/tf/frame_id: map
* /mavros/setpoint_attitude/tf/listen: False
* /mavros/setpoint_attitude/tf/rate_limit: 50.0
* /mavros/setpoint_attitude/use_quaternion: False
* /mavros/setpoint_position/mav_frame: LOCAL_NED
* /mavros/setpoint_position/tf/child_frame_id: target_position
* /mavros/setpoint_position/tf/frame_id: map
* /mavros/setpoint_position/tf/listen: False
* /mavros/setpoint_position/tf/rate_limit: 50.0
* /mavros/setpoint_raw/thrust_scaling: 1.0
* /mavros/setpoint_velocity/mav_frame: LOCAL_NED
* /mavros/startup_px4_usb_quirk: True
* /mavros/sys/disable_diag: False
* /mavros/sys/min_voltage: 10.0
* /mavros/target_component_id: 1
* /mavros/target_system_id: 1
* /mavros/tdr_radio/low_rssi: 40
* /mavros/time/time_ref_source: fcu
* /mavros/time/timesync_avg_alpha: 0.6
* /mavros/time/timesync_mode: MAVLINK
* /mavros/vibration/frame_id: base_link
* /mavros/vision_pose/tf/child_frame_id: vision_estimate
* /mavros/vision_pose/tf/frame_id: map
* /mavros/vision_pose/tf/listen: False
* /mavros/vision_pose/tf/rate_limit: 10.0
* /mavros/vision_speed/listen_twist: True
* /mavros/vision_speed/twist_cov: True
* /mavros/wheel_odometry/child_frame_id: base_link
* /mavros/wheel_odometry/count: 2
* /mavros/wheel_odometry/frame_id: map
* /mavros/wheel_odometry/send_raw: True
* /mavros/wheel_odometry/send_twist: False
* /mavros/wheel_odometry/tf/child_frame_id: base_link
* /mavros/wheel_odometry/tf/frame_id: map
* /mavros/wheel_odometry/tf/send: True
* /mavros/wheel_odometry/use_rpm: False
* /mavros/wheel_odometry/vel_error: 0.1
* /mavros/wheel_odometry/wheel0/radius: 0.05
* /mavros/wheel_odometry/wheel0/x: 0.0
* /mavros/wheel_odometry/wheel0/y: -0.15
* /mavros/wheel_odometry/wheel1/radius: 0.05
* /mavros/wheel_odometry/wheel1/x: 0.0
* /mavros/wheel_odometry/wheel1/y: 0.15
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
sitl (px4/px4)
vehicle_spawn_kieran_dwn_xps15_9570_26393_8065768406667524225 (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [26406]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to c710799c-aca7-11e9-9a23-9cb6d0c132b1
process[rosout-1]: started with pid [26419]
started core service [/rosout]
process[sitl-2]: started with pid [26444]
INFO [px4] Creating symlink /home/kieran-dwn/ROS_development/src/Firmware/ROMFS/px4fmu_common -> /home/kieran-dwn/.ros/etc
0 WARNING: setRealtimeSched failed (not run as root?)
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
Error: Unknown model 'hexa_x'
ERROR [px4] Startup script returned with return value: 256
pxh> process[gazebo-3]: started with pid [26457]
process[gazebo_gui-4]: started with pid [26465]
process[vehicle_spawn_kieran_dwn_xps15_9570_26393_8065768406667524225-5]: started with pid [26470]
process[mavros-6]: started with pid [26471]
[ INFO] [1563817222.245290990]: FCU URL: udp://:14540@192.168.100.89:14557
[ INFO] [1563817222.246993076]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1563817222.247045052]: udp0: Remote address: 192.168.100.89:14557
[ INFO] [1563817222.247261898]: GCS bridge disabled
[ INFO] [1563817222.257104743]: Plugin 3dr_radio loaded
[ INFO] [1563817222.259385322]: Plugin 3dr_radio initialized
[ INFO] [1563817222.259500716]: Plugin actuator_control loaded
[ INFO] [1563817222.262633958]: Plugin actuator_control initialized
[ INFO] [1563817222.265557070]: Plugin adsb loaded
[ INFO] [1563817222.268685648]: Plugin adsb initialized
[ INFO] [1563817222.268821621]: Plugin altitude loaded
[ INFO] [1563817222.269966672]: Plugin altitude initialized
[ INFO] [1563817222.270072623]: Plugin cam_imu_sync loaded
[ INFO] [1563817222.270706015]: Plugin cam_imu_sync initialized
[ INFO] [1563817222.270836741]: Plugin command loaded
[ INFO] [1563817222.276185484]: Plugin command initialized
[ INFO] [1563817222.276315417]: Plugin companion_process_status loaded
[ INFO] [1563817222.278605640]: Plugin companion_process_status initialized
[ INFO] [1563817222.278767930]: Plugin debug_value loaded
[ INFO] [1563817222.283322001]: Plugin debug_value initialized
[ INFO] [1563817222.283365091]: Plugin distance_sensor blacklisted
[ INFO] [1563817222.283581487]: Plugin fake_gps loaded
[ INFO] [1563817222.296636807]: Plugin fake_gps initialized
[ INFO] [1563817222.296874125]: Plugin ftp loaded
[ INFO] [1563817222.304210631]: Plugin ftp initialized
[ INFO] [1563817222.304415406]: Plugin global_position loaded
[ INFO] [1563817222.318287038]: Plugin global_position initialized
[ INFO] [1563817222.318448603]: Plugin gps_rtk loaded
[ INFO] [1563817222.320566247]: Plugin gps_rtk initialized
[ INFO] [1563817222.320754273]: Plugin hil loaded
[ INFO] [1563817222.332584141]: Plugin hil initialized
[ INFO] [1563817222.332780356]: Plugin home_position loaded
[ INFO] [1563817222.336172940]: Plugin home_position initialized
[ INFO] [1563817222.336355932]: Plugin imu loaded
[ INFO] [1563817222.344216376]: Plugin imu initialized
[ INFO] [1563817222.344414678]: Plugin landing_target loaded
[ INFO] [1563817222.356800938]: Plugin landing_target initialized
[ INFO] [1563817222.356995367]: Plugin local_position loaded
[ INFO] [1563817222.362626378]: Plugin local_position initialized
[ INFO] [1563817222.362792942]: Plugin log_transfer loaded
[ INFO] [1563817222.365625963]: Plugin log_transfer initialized
[ INFO] [1563817222.365821606]: Plugin manual_control loaded
[ INFO] [1563817222.368471671]: Plugin manual_control initialized
[ INFO] [1563817222.368615624]: Plugin mocap_pose_estimate loaded
[ INFO] [1563817222.371835490]: Plugin mocap_pose_estimate initialized
[ INFO] [1563817222.371999607]: Plugin mount_control loaded
[ INFO] [1563817222.374359692]: Plugin mount_control initialized
[ INFO] [1563817222.374479627]: Plugin obstacle_distance loaded
[ INFO] [1563817222.376492629]: Plugin obstacle_distance initialized
[ INFO] [1563817222.376605354]: Plugin odom loaded
[ INFO] [1563817222.382330979]: Plugin odom initialized
[ INFO] [1563817222.382524334]: Plugin param loaded
[ INFO] [1563817222.385288213]: Plugin param initialized
[ INFO] [1563817222.385402038]: Plugin px4flow loaded
[ INFO] [1563817222.391385004]: Plugin px4flow initialized
[ INFO] [1563817222.391415528]: Plugin rangefinder blacklisted
[ INFO] [1563817222.391564656]: Plugin rc_io loaded
[ INFO] [1563817222.394590486]: Plugin rc_io initialized
[ INFO] [1563817222.394620293]: Plugin safety_area blacklisted
[ INFO] [1563817222.394738130]: Plugin setpoint_accel loaded
[ INFO] [1563817222.398138638]: Plugin setpoint_accel initialized
[ INFO] [1563817222.398363400]: Plugin setpoint_attitude loaded
[ INFO] [1563817222.410601199]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1563817222.411009043]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1563817222.412559919]: Plugin setpoint_attitude initialized
[ INFO] [1563817222.412722838]: Plugin setpoint_position loaded
[ INFO] [1563817222.424679897]: Plugin setpoint_position initialized
[ INFO] [1563817222.424837230]: Plugin setpoint_raw loaded
[ INFO] [1563817222.439897338]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1563817222.440465270]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1563817222.442839585]: Plugin setpoint_raw initialized
[ INFO] [1563817222.442990682]: Plugin setpoint_velocity loaded
[ INFO] [1563817222.448346641]: Plugin setpoint_velocity initialized
[ INFO] [1563817222.448631773]: Plugin sys_status loaded
[ INFO] [1563817222.459322072]: Plugin sys_status initialized
[ INFO] [1563817222.459522931]: Plugin sys_time loaded
[ INFO] [1563817222.464241650]: TM: Timesync mode: MAVLINK
[ INFO] [1563817222.465241838]: Plugin sys_time initialized
[ INFO] [1563817222.465368392]: Plugin trajectory loaded
[ INFO] [1563817222.470026610]: Plugin trajectory initialized
[ INFO] [1563817222.470158861]: Plugin vfr_hud loaded
[ INFO] [1563817222.470748424]: Plugin vfr_hud initialized
[ INFO] [1563817222.470772486]: Plugin vibration blacklisted
[ INFO] [1563817222.470875487]: Plugin vision_pose_estimate loaded
[ INFO] [1563817222.477605908]: Plugin vision_pose_estimate initialized
[ INFO] [1563817222.477774061]: Plugin vision_speed_estimate loaded
[ INFO] [1563817222.481215851]: Plugin vision_speed_estimate initialized
[ INFO] [1563817222.481408166]: Plugin waypoint loaded
[ INFO] [1563817222.485875296]: Plugin waypoint initialized
[ INFO] [1563817222.485919200]: Plugin wheel_odometry blacklisted
[ INFO] [1563817222.486100629]: Plugin wind_estimation loaded
[ INFO] [1563817222.486820302]: Plugin wind_estimation initialized
[ INFO] [1563817222.486858801]: Autostarting mavlink via USB on PX4
[ INFO] [1563817222.486957501]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1563817222.486973103]: Built-in MAVLink package version: 2019.7.7
[ INFO] [1563817222.486995140]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1563817222.487006625]: MAVROS started. MY ID 1.240, TARGET ID 1.1
SpawnModel script started
[INFO] [1563817222.705218, 0.000000]: Loading model XML from ros parameter
[INFO] [1563817222.708090, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1563817223.781027385, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1563817223.802219590, 0.044000000]: Physics dynamic reconfigure ready.
[INFO] [1563817223.913664, 0.152000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1563817223.972098, 0.172000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1563817224.201284557, 0.172000000]: Loading gazebo_ros_control plugin
[ INFO] [1563817224.201359332, 0.172000000]: Starting gazebo_ros_control plugin in namespace: /june
[ INFO] [1563817224.201959807, 0.172000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[vehicle_spawn_kieran_dwn_xps15_9570_26393_8065768406667524225-5] process has finished cleanly
log file: /home/kieran-dwn/.ros/log/c710799c-aca7-11e9-9a23-9cb6d0c132b1/vehicle_spawn_kieran_dwn_xps15_9570_26393_8065768406667524225-5*.log
[ INFO] [1563817224.317286473, 0.172000000]: Loaded gazebo_ros_control.
[ INFO] [1563817224.346594459, 0.196000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1563817224.365535178, 0.216000000]: Physics dynamic reconfigure ready.
And following a (failed) attempt to speak to mavros,
rosservice call /mavros/set_mode "base_mode: 0
custom_mode: 'OFFBOARD'"
the following is displayed (in the terminal px4/mavros/gazebo[_spawn] was launched from):
[ERROR] [1563817277.697662954, 53.472000000]: MODE: Unsupported FCU
How can I get mavros to communicate with the model I have of the drone - I have the same problem with our drone and the iris model pulled from the px4 dirs (identical except from location)?
I’ve included the custom xacro (slightly censored) in a comment below.
Any help would be greatly appreciated - I’ve tried to be as comprehensive as possible but please let me know if any more information is needed.
Thanks,
K