I’m having trouble running Gazebo SITL on macOS. It seems to get hung up here with no obvious errors. This is a fresh clone of v1.9.2 master and using Gazebo 7. Any guidance is appreciated!
Last login: Mon Aug 19 16:24:54 on ttys000
Louiss-MacBook-Pro-2:~ louismueller$ cd Firmware/
Louiss-MacBook-Pro-2:Firmware louismueller$ HEADLESS=1 make px4_sitl gazebo_plane
[2/6] Performing configure step for 'sitl_gazebo'
-- install-prefix: /usr/local
-- Using C++17 compiler
-- Found Boost: /usr/local/include (found suitable version "1.70.0", minimum required is "1.58") found components: system thread filesystem chrono date_time atomic
-- Found Boost: /usr/local/include (found version "1.70.0")
-- Building klt_feature_tracker without catkin
-- Building OpticalFlow with OpenCV
-- catkin DISABLED
Gazebo version: 7.15
-- Configuring done
-- Generating done
-- Build files have been written to: /Users/louismueller/Firmware/build/px4_sitl_default/build_gazebo
[3/6] Performing build step for 'sitl_gazebo'
[1/63] Building CXX object CMakeFiles/nav_msgs.dir/Odometry.pb.cc.o
[2/63] Building CXX object CMakeFiles/std_msgs.dir/Int32.pb.cc.o
[3/63] Building CXX object CMakeFiles/gazebo_sonar_plugin.dir/src/gazebo_sonar_plugin.cpp.o
[4/63] Building CXX object CMakeFiles/LiftDragPlugin.dir/src/liftdrag_plugin/liftdrag_plugin.cpp.o
[5/63] Building CXX object CMakeFiles/gazebo_barometer_plugin.dir/src/gazebo_barometer_plugin.cpp.o
[6/63] Building CXX object CMakeFiles/gazebo_vision_plugin.dir/src/gazebo_vision_plugin.cpp.o
[7/63] Building CXX object CMakeFiles/gazebo_multirotor_base_plugin.dir/src/gazebo_multirotor_base_plugin.cpp.o
[8/63] Building CXX object CMakeFiles/gazebo_gps_plugin.dir/src/gazebo_gps_plugin.cpp.o
[9/63] Building CXX object CMakeFiles/gazebo_motor_model.dir/src/gazebo_motor_model.cpp.o
[10/63] Building CXX object CMakeFiles/gazebo_irlock_plugin.dir/src/gazebo_irlock_plugin.cpp.o
[11/63] Building CXX object CMakeFiles/sensor_msgs.dir/Float.pb.cc.o
[12/63] Building CXX object CMakeFiles/mav_msgs.dir/CommandMotorSpeed.pb.cc.o
[13/63] Building CXX object CMakeFiles/mav_msgs.dir/MotorSpeed.pb.cc.o
[14/63] Linking CXX shared library libmav_msgs.dylib
[15/63] Building CXX object CMakeFiles/gazebo_lidar_plugin.dir/src/gazebo_lidar_plugin.cpp.o
[16/63] Building CXX object CMakeFiles/sensor_msgs.dir/SITLGps.pb.cc.o
[17/63] Building CXX object CMakeFiles/sensor_msgs.dir/Groundtruth.pb.cc.o
[18/63] Building CXX object CMakeFiles/sensor_msgs.dir/Range.pb.cc.o
[19/63] Building CXX object CMakeFiles/gazebo_mavlink_interface.dir/src/gazebo_mavlink_interface.cpp.o
/Users/louismueller/Firmware/Tools/sitl_gazebo/src/gazebo_mavlink_interface.cpp:335:36: warning: result of comparison of constant 4294967295 with expression of type 'in_port_t' (aka 'unsigned short') is always false [-Wtautological-constant-out-of-range-compare]
if (local_qgc_addr_.sin_port == INADDR_NONE) {
~~~~~~~~~~~~~~~~~~~~~~~~ ^ ~~~~~~~~~~~
/Users/louismueller/Firmware/Tools/sitl_gazebo/src/gazebo_mavlink_interface.cpp:350:36: warning: result of comparison of constant 4294967295 with expression of type 'in_port_t' (aka 'unsigned short') is always false [-Wtautological-constant-out-of-range-compare]
if (local_sdk_addr_.sin_port == INADDR_NONE) {
~~~~~~~~~~~~~~~~~~~~~~~~ ^ ~~~~~~~~~~~
2 warnings generated.
[20/63] Building CXX object CMakeFiles/sensor_msgs.dir/OpticalFlow.pb.cc.o
[21/63] Linking CXX shared library libstd_msgs.dylib
[22/63] Building CXX object CMakeFiles/sensor_msgs.dir/Pressure.pb.cc.o
[23/63] Building CXX object CMakeFiles/sensor_msgs.dir/MagneticField.pb.cc.o
[24/63] Building CXX object CMakeFiles/sensor_msgs.dir/IRLock.pb.cc.o
[25/63] Building CXX object CMakeFiles/sensor_msgs.dir/Imu.pb.cc.o
[26/63] Linking CXX shared library libnav_msgs.dylib
[27/63] Linking CXX shared library libsensor_msgs.dylib
[28/63] Building CXX object CMakeFiles/physics_msgs.dir/Wind.pb.cc.o
[29/63] Linking CXX shared library libphysics_msgs.dylib
[30/63] Linking CXX shared library libLiftDragPlugin.dylib
[31/63] Linking CXX shared library libgazebo_multirotor_base_plugin.dylib
[32/63] Linking CXX shared library libgazebo_motor_model.dylib
[33/63] Linking CXX shared library libgazebo_vision_plugin.dylib
[34/63] Linking CXX shared library libgazebo_barometer_plugin.dylib
[35/63] Linking CXX shared library libgazebo_mavlink_interface.dylib
[36/63] Linking CXX shared library libgazebo_irlock_plugin.dylib
[37/63] Linking CXX shared library libgazebo_lidar_plugin.dylib
[38/63] Linking CXX shared library libgazebo_sonar_plugin.dylib
[39/63] Linking CXX shared library libgazebo_gps_plugin.dylib
[40/63] Building CXX object OpticalFlow/CMakeFiles/OpticalFlow.dir/src/optical_flow.cpp.o
[41/63] Building CXX object OpticalFlow/CMakeFiles/OpticalFlow.dir/src/px4flow.cpp.o
[42/63] Building CXX object OpticalFlow/CMakeFiles/OpticalFlow.dir/src/flow_px4.cpp.o
[43/63] Building CXX object CMakeFiles/gazebo_gimbal_controller_plugin.dir/src/gazebo_gimbal_controller_plugin.cpp.o
[44/63] Linking CXX shared library libgazebo_gimbal_controller_plugin.dylib
[45/63] Building CXX object CMakeFiles/gazebo_uuv_plugin.dir/src/gazebo_uuv_plugin.cpp.o
[46/63] Building CXX object CMakeFiles/gazebo_imu_plugin.dir/src/gazebo_imu_plugin.cpp.o
[47/63] Linking CXX shared library libgazebo_uuv_plugin.dylib
[48/63] Linking CXX shared library libgazebo_imu_plugin.dylib
[49/63] Building CXX object OpticalFlow/klt_feature_tracker/CMakeFiles/klt_feature_tracker.dir/src/trackFeatures.cpp.o
[50/63] Linking CXX static library OpticalFlow/klt_feature_tracker/libklt_feature_tracker.a
[51/63] Building CXX object OpticalFlow/CMakeFiles/OpticalFlow.dir/src/flow_opencv.cpp.o
[52/63] Linking CXX shared library OpticalFlow/libOpticalFlow.dylib
[53/63] Building CXX object CMakeFiles/gazebo_controller_interface.dir/src/gazebo_controller_interface.cpp.o
[54/63] Linking CXX shared library libgazebo_controller_interface.dylib
[55/63] Building CXX object CMakeFiles/gazebo_magnetometer_plugin.dir/src/geo_mag_declination.cpp.o
[56/63] Building CXX object CMakeFiles/gazebo_magnetometer_plugin.dir/src/gazebo_magnetometer_plugin.cpp.o
[57/63] Linking CXX shared library libgazebo_magnetometer_plugin.dylib
[58/63] Building CXX object CMakeFiles/gazebo_wind_plugin.dir/src/gazebo_wind_plugin.cpp.o
[59/63] Linking CXX shared library libgazebo_wind_plugin.dylib
[60/63] Building CXX object CMakeFiles/gazebo_geotagged_images_plugin.dir/src/gazebo_geotagged_images_plugin.cpp.o
[61/63] Linking CXX shared library libgazebo_geotagged_images_plugin.dylib
[62/63] Building CXX object CMakeFiles/gazebo_opticalflow_plugin.dir/src/gazebo_opticalflow_plugin.cpp.o
[63/63] Linking CXX shared library libgazebo_opticalflow_plugin.dylib
[5/6] cd /Users/louismueller/Firmware/...ueller/Firmware/build/px4_sitl_default
SITL ARGS
sitl_bin: /Users/louismueller/Firmware/build/px4_sitl_default/bin/px4
debugger: none
program: gazebo
model: plane
src_path: /Users/louismueller/Firmware
build_path: /Users/louismueller/Firmware/build/px4_sitl_default
GAZEBO_PLUGIN_PATH :/Users/louismueller/Firmware/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/Users/louismueller/Firmware/Tools/sitl_gazebo/models
LD_LIBRARY_PATH :/Users/louismueller/Firmware/build/px4_sitl_default/build_gazebo
not running gazebo gui
SITL COMMAND: "/Users/louismueller/Firmware/build/px4_sitl_default/bin/px4" "/Users/louismueller/Firmware"/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t "/Users/louismueller/Firmware"/test_data
INFO [px4] Creating symlink /Users/louismueller/Firmware/ROMFS/px4fmu_common -> /Users/louismueller/Firmware/build/px4_sitl_default/tmp/rootfs/etc
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
SYS_AUTOSTART: curr: 0 -> new: 1030
BAT_N_CELLS: curr: 0 -> new: 3
CAL_ACC0_ID: curr: 0 -> new: 1311244
CAL_ACC_PRIME: curr: 0 -> new: 1311244
Gazebo multi-robot simulator, version 7.15.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Msg] Waiting for master.
CAL_GYRO0_ID: curr: 0 -> new: 2294028
CAL_GYRO_PRIME: curr: 0 -> new: 2294028
CAL_MAG0_ID: curr: 0 -> new: 197388
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 172.25.0.187
CAL_MAG_PRIME: curr: 0 -> new: 197388
CAL_BARO_PRIME: curr: 0 -> new: 6620172
COM_DISARM_LAND: curr: 2.0000 -> new: 0.1000
COM_OBL_ACT: curr: 0 -> new: 2
COM_OF_LOSS_T: curr: 0.0000 -> new: 5.0000
COM_RC_IN_MODE: curr: 0 -> new: 1
EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
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
MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
MPC_Z_VEL_I: curr: 0.1000 -> new: 0.1500
MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
MPC_XY_P: curr: 0.9500 -> new: 0.8000
MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
MPC_ACC_HOR_MAX: curr: 5.0000 -> new: 3.0000
NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
NAV_DLL_ACT: curr: 0 -> new: 2
RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
SDLOG_MODE: curr: 0 -> new: 1
SDLOG_PROFILE: curr: 3 -> 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_POS_FS_DELAY: curr: 1 -> new: 5
COM_POS_FS_EPH: curr: 5.0000 -> new: 15.0000
COM_POS_FS_EPV: curr: 10.0000 -> new: 30.0000
COM_POS_FS_GAIN: curr: 10 -> new: 0
COM_POS_FS_PROB: curr: 30 -> new: 1
COM_VEL_FS_EVH: curr: 1.0000 -> new: 5.0000
EKF2_ARSP_THR: curr: 0.0000 -> new: 8.0000
EKF2_FUSE_BETA: curr: 0 -> new: 1
EKF2_GPS_CHECK: curr: 245 -> new: 21
EKF2_MAG_ACCLIM: curr: 0.5000 -> new: 0.0000
EKF2_MAG_YAWLIM: curr: 0.2500 -> new: 0.0000
EKF2_REQ_EPH: curr: 3.0000 -> new: 10.0000
EKF2_REQ_EPV: curr: 5.0000 -> new: 10.0000
EKF2_REQ_HDRIFT: curr: 0.1000 -> new: 0.5000
EKF2_REQ_SACC: curr: 0.5000 -> new: 1.0000
EKF2_REQ_VDRIFT: curr: 0.2000 -> new: 1.0000
* RTL_RETURN_ALT: curr: 30.0000 -> new: 100.0000
* RTL_DESCEND_ALT: curr: 5.0000 -> new: 100.0000
* RTL_LAND_DELAY: curr: 5.0000 -> new: -1.0000
* NAV_ACC_RAD: curr: 2.0000 -> new: 10.0000
MIS_LTRMIN_ALT: curr: -1.0000 -> new: 25.0000
MIS_TAKEOFF_ALT: curr: 2.5000 -> new: 25.0000
PWM_RATE: curr: 400 -> new: 50
GPS_UBX_DYNMODEL: curr: 7 -> new: 8
FW_LND_AIRSPD_SC: curr: 1.3000 -> new: 1.0000
FW_LND_ANG: curr: 5.0000 -> new: 8.0000
FW_THR_LND_MAX: curr: 1.0000 -> new: 0.0000
FW_P_TC: curr: 0.4000 -> new: 0.5000
FW_PR_FF: curr: 0.5000 -> new: 0.4000
FW_PR_I: curr: 0.1000 -> new: 0.0500
FW_PR_P: curr: 0.0800 -> new: 0.0500
FW_R_TC: curr: 0.4000 -> new: 0.7000
FW_RR_FF: curr: 0.5000 -> new: 0.2000
FW_RR_I: curr: 0.1000 -> new: 0.0200
FW_RR_P: curr: 0.0500 -> new: 0.2200
FW_W_EN: curr: 0 -> new: 1
* MIS_LTRMIN_ALT: curr: 25.0000 -> new: 30.0000
* MIS_TAKEOFF_ALT: curr: 25.0000 -> new: 30.0000
* NAV_ACC_RAD: curr: 10.0000 -> new: 15.0000
RWTO_TKOFF: curr: 0 -> new: 1
INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO [simulator] Waiting for simulator to connect on TCP port 4560
ERROR [px4_work_queue] setting stack size for wq:hp_default failed (22)
INFO [px4_work_queue] creating: wq:hp_default, priority: 35, stack: 11192 bytes
ERROR [px4_work_queue] setting stack size for wq:att_pos_ctrl failed (22)
INFO [px4_work_queue] creating: wq:att_pos_ctrl, priority: 36, stack: 22192 bytes
ERROR [px4_work_queue] setting stack size for wq:rate_ctrl failed (22)
INFO [px4_work_queue] creating: wq:rate_ctrl, priority: 47, stack: 11392 bytes
MAV_TYPE: curr: 2 -> new: 1
INFO [init] Mixer: etc/mixers-sitl/plane_sitl.main.mix on /dev/pwm_output0
ERROR [px4_work_queue] setting stack size for wq:lp_default failed (22)
INFO [px4_work_queue] creating: wq:lp_default, priority: -3, stack: 11592 bytes
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14570 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] Opened full log file: ./log/2019-08-19/21_52_33.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh>