Some error occur in SITL with gazebo classic

Fortinov · April 15, 2024, 7:14am

Hello all, I am a newbie on this px4 platform. There are some errors appear when I run SITL for the iris quadrotor as you can see below

INFO  [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [init] found model autostart file as SYS_AUTOSTART=10015
INFO  [param] selected parameter default file parameters.bson
INFO  [param] importing from 'parameters.bson'
INFO  [parameters] BSON document size 684 bytes, decoded 684 bytes (INT32:25, FLOAT:9)
INFO  [param] selected parameter backup file parameters_backup.bson
INFO  [dataman] data manager file './dataman' size is 7872608 bytes
INFO  [init] PX4_SIM_HOSTNAME: localhost
INFO  [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
INFO  [simulator_mavlink] Simulator connected on TCP port 4560.
INFO  [lockstep_scheduler] setting initial absolute time to 3228000 us
WARN  [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 1310988
INFO  [commander] LED: open /dev/led0 failed (22)
WARN  [health_and_arming_checks] Preflight Fail: ekf2 missing data
Gazebo multi-robot simulator, version 11.10.2
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

As can be seen in the code above, 2 WARN messages occur. I already checked through QGC that the gyro_sensor is available. It will be great help if someone tells me how to fix this error. Thank you in advance!

JulianOes · April 16, 2024, 10:29pm

Please paste the full output. I don’t think the actual error is shown here.

Fortinov · April 17, 2024, 10:00am

Here is the full output when I run “make px4_sitl gazebo-classic”

[0/4] Performing build step for 'sitl_gazebo-classic'
ninja: no work to do.
[3/4] cd /home/fortinov/PX4-Autopilot/build/px4_sitl_defau...opilot /home/fortinov/PX4-Autopilot/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/fortinov/PX4-Autopilot/build/px4_sitl_default/bin/px4
debugger: none
model: iris
world: none
src_path: /home/fortinov/PX4-Autopilot
build_path: /home/fortinov/PX4-Autopilot/build/px4_sitl_default
GAZEBO_PLUGIN_PATH :/home/fortinov/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic
GAZEBO_MODEL_PATH :/home/fortinov/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
LD_LIBRARY_PATH /opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib:/home/fortinov/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic
empty world, setting empty.world as default
Using: /home/fortinov/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf
SITL COMMAND: "/home/fortinov/PX4-Autopilot/build/px4_sitl_default/bin/px4" "/home/fortinov/PX4-Autopilot/build/px4_sitl_default"/etc

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

px4 starting.

INFO  [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [init] found model autostart file as SYS_AUTOSTART=10015
INFO  [param] selected parameter default file parameters.bson
INFO  [param] importing from 'parameters.bson'
INFO  [parameters] BSON document size 338 bytes, decoded 338 bytes (INT32:14, FLOAT:3)
INFO  [param] selected parameter backup file parameters_backup.bson
INFO  [dataman] data manager file './dataman' size is 7872608 bytes
INFO  [init] PX4_SIM_HOSTNAME: localhost
INFO  [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
INFO  [simulator_mavlink] Simulator connected on TCP port 4560.
INFO  [lockstep_scheduler] setting initial absolute time to 3328000 us
WARN  [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 1310988
INFO  [commander] LED: open /dev/led0 failed (22)
WARN  [health_and_arming_checks] Preflight Fail: ekf2 missing data
Gazebo multi-robot simulator, version 11.10.2
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: 172.29.68.132
+ UXRCE_DDS_DOM_ID: curr: 25 -> new: 0
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  [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/2024-04-17/09_57_25.ulg
INFO  [logger] Opened full log file: ./log/2024-04-17/09_57_25.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> INFO  [tone_alarm] home set
INFO  [commander] Ready for takeoff!
[Wrn] [GuiIface.cc:120] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
INFO  [uxrce_dds_client] synchronized with time offset 1713347842805999us
INFO  [uxrce_dds_client] successfully created rt/fmu/out/battery_status data writer, topic id: 19
INFO  [uxrce_dds_client] successfully created rt/fmu/out/estimator_status_flags data writer, topic id: 87
INFO  [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 93
INFO  [uxrce_dds_client] successfully created rt/fmu/out/manual_control_setpoint data writer, topic id: 140
INFO  [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 171INFO  [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 194
INFO  [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 217
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_attitude data writer, topic id: 233
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 240
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_global_position data writer, topic id: 241
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 243
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 247
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 252
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 257
INFO  [uxrce_dds_client] successfully created rt/fmu/out/actuator_motors data writer, topic id: 4
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_rates_setpoint data writer, topic id: 255
WARN  [timesync] time jump detected. Resetting time synchroniser.

I noticed also there is warning related to time jump detected. Can you tell me also why the warning occurred? Thank you in advance!

JulianOes · April 18, 2024, 1:49am

What system is this on? Ubuntu? What version of PX4?

Fortinov · April 18, 2024, 6:48am

It is Ubuntu 22.04.3 LTS and PX4 v1.14.0

JulianOes · April 19, 2024, 3:16am

Can you do a clean build and then paste the full output? I still don’t see anything that would explain the problem

Fortinov · April 19, 2024, 9:21am

Sorry, how to do a clean build? To be honest, I am not really familiar with all these things. I have learned all related to Ubuntu and PX4 for only these past 2 months. Hence, I will appreciate if I could be guided comprehensively to understand all of the setups. Thank you for your consideration!

JulianOes · April 21, 2024, 2:18am

I usually just do rm -rf build but there are also make targets:

Choose what you prefer:

github.com

PX4/PX4-Autopilot/blob/0a7689f3232eb804e6d6ffb7e6d1ed1930ccca16/Makefile#L496-L515


      
          clean:
          	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
          	@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source
          
          submodulesclean:
          	@git submodule foreach --quiet --recursive git clean -ff -x -d
          	@git submodule update --quiet --init --recursive --force || true
          	@git submodule sync --recursive
          	@git submodule update --init --recursive --force --jobs 4
          
          submodulesupdate:
          	@git submodule update --quiet --init --recursive --jobs 4 || true
          	@git submodule sync --recursive
          	@git submodule update --init --recursive --jobs 4
          	@git fetch --all --tags --recurse-submodules=yes --jobs=4
          
          distclean:
          	@git submodule deinit --force $(SRC_DIR)
          	@rm -rf "$(SRC_DIR)/build"
          	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"