Trying to make custom SITL model but doesn't proceed

PX4 Autopilot
1

I want to add custom SITL model and run Gazebo Simulation. So I’ve done these procedures

  1. Tools/sitl_gazebo/models
    + Model

  2. Tools/sitl_gazebo/worlds
    + world

  3. ROMFS/px4fmu_common/mixer-sitl
    + mixer & Cmakelist

  4. ROMFS/px4fmu_common/init.d-posix
    + Model

  5. platforms/posix/cmake/sitl_target.cmake
    + Model name

And I ran a make px4_sitl gazebo_(model name) but the terminal’s message doesn’t proceed after it.

dogcontrol99@dogcontrol99-TUF-Gaming-FX505DT-FX505DT:~/PX4-Autopilot$ make px4_sitl gazebo_cnu_vtol
[0/4] Performing build step for 'sitl_gazebo'
ninja: no work to do.
[3/4] cd /home/dogcontrol99/PX4-Autopi...9/PX4-Autopilot/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/dogcontrol99/PX4-Autopilot/build/px4_sitl_default/bin/px4
debugger: none
program: gazebo
model: cnu_vtol
world: none
src_path: /home/dogcontrol99/PX4-Autopilot
build_path: /home/dogcontrol99/PX4-Autopilot/build/px4_sitl_default
GAZEBO_PLUGIN_PATH :/home/dogcontrol99/PX4-Autopilot/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/dogcontrol99/PX4-Autopilot/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /opt/ros/noetic/lib:/home/dogcontrol99/PX4-Autopilot/build/px4_sitl_default/build_gazebo
empty world, default world cnu_vtol.world for model found
Using: /home/dogcontrol99/PX4-Autopilot/Tools/sitl_gazebo/models/cnu_vtol/cnu_vtol.sdf

Is there any missing things? Or Is there any solutions of it? The version of PX4 is v1.13.3
Thank you

2

Hi, Maybe stupid Q, but did you specify the airframe too PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes at main · PX4/PX4-Autopilot · GitHub?

3

I didn’t try it at PX4-Autopilot main branch because model file is my senior’s old work so it has mixer file that doesn’t works on main branch. Is it necessary to check model at PX4-Autopilot main branch?

4

No, if you have your own branch it shall be ok. I am asking because I dont know the mixer file, just wanted to be sure you know about those airframes, since you did not mentioned it directly in the issue description.
Lukas

5

Oh, here’s the mixer file

# Motors
R: 3y 10000 10000 10000 0

Z:

M: 2
O:      10000  10000      0 -10000  10000
S: 1 4      0 -20000  10000 -10000  10000
S: 0 2   8000   8000      0 -10000  10000

M: 2
O:      10000  10000      0 -10000  10000
S: 1 4      0  20000 -10000 -10000  10000
S: 0 2   8000   8000      0 -10000  10000

M: 2
S: 1 1   7500   7500      0 -10000  10000
S: 1 0   8000   8000      0 -10000  10000

M: 2
S: 1 1   7500   7500      0 -10000  10000
S: 1 0  -8000  -8000      0 -10000  10000

M: 2
S: 1 1   7500   7500      0 -10000  10000
S: 1 0   8000   8000      0 -10000  10000

M: 2
S: 1 1   7500   7500      0 -10000  10000
S: 1 0  -8000  -8000      0 -10000  10000

When the mixer configuration is finished, the version of PX4-Autopilot was v1.9.1 . However, some troubles happened when launching Autopilot v.1.9.1 in Ubuntu 20.04, so i was trying to launch model files with v1.13.3 .

6

Hi, I am sorry, but this goes far than my knowledge here :frowning:

1 Like
7

No problem! Thank you for your replies

8

Hi @dogcontrol , did you succeeded ? I have managed to convert the x500 model for gazebo garden into gazebo classic model, but it is dead. Once I start simulation, the drone is spawned, but it does not communicate. And I have no mixer files… I use latest commits from PX4-Autopilot.
Any ideas?
Lukas

9

Still no answer, but for your question, you need to check PX4_Autopilot toolchian installation because gazebo garden is Gazebo ignition which is different to gazebo classic. Once simulation tool is different, Mavlink system will be different too.

10

ok, so mixer files are for Gazebo Ignition, got it. And I am sorry, I am unable to help.
Lukas