Unable to Arm Drones in Multi-Vehicle SITL Setup with PX4 and MicroXRCEAgent

ROS 1 / ROS 2
1

Issue: Unable to Arm Drones in Multi-Vehicle SITL Setup with PX4 and MicroXRCEAgent

Description:

I am running a multi-vehicle SITL simulation using the PX4 toolchain and Gazebo Classic with the following setup:

  1. Spawn Command:

    ./Tools/simulation/gazebo-classic/sitl_multiple_run.sh -m iris -n 4

    This successfully spawns 4 Iris drones in Gazebo.

  2. MicroXRCEAgent:
    I am running the MicroXRCEAgent to bridge DDS/RTPS communication:

    MicroXRCEAgent udp4 -p 8888

    This also starts without any errors.

  3. PX4-Autopilot
    I am running this to connect the PX4 with the gazebo
    PX4-Autopilot/build/px4_sitl_default/bin/px4
    but it is not connecting. It says INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560 but does not find it.
    Issue:
    I am unsure of the correct procedure to arm the drones after they are spawned. Specifically:

  • Which topics and messages should be used for arming the drones and setting modes (e.g., OFFBOARD)?
  • Are there any prerequisites or additional steps required to ensure the drones can be armed successfully?

Additional Context:

  • The drones spawn correctly in the Gazebo simulation, and I can inspect topics and messages via ros2 topic list.
  • I need guidance on sending the appropriate messages to arm and control the drones.

I have been stuck on this issue for a very long time any insights or suggestions would be greatly appreciated!

2

I meet the same problem they can not arm by vehivle command

3

Hey, try referring to this Github repo we were able to arm the drones and take them off the ground.