Hi guys,
I’m trying to run Ardupilot SITL using Gazebo. I am using Ubuntu 22.04 Jammy Jellyfish and did the Ardupilot setup from (Setting up the Build Environment (Linux/Ubuntu) — Dev documentation). I’ve followed the installation instructions for Gazebo Garden from (Using SITL with Gazebo — Dev documentation). My final application is to use QGroundControl, ArduPilot, and Gazebo together as described here ([GSoC 2020] Integration of ArduPilot and Realsense D4xx Depth Camera for simple Obstacle Avoidance).
When I try to run Gazebo alone it runs without issues, but when I attempt to run SITL with ArduPilot and Gazebo by running the command ./Tools/autotest/sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map --console, I encounter the error below :
Has anyone experienced this issue or have any suggestions on how to resolve it?
Thank you!
arunachalam@arunachalam-Victus-by-HP-Gaming-Laptop-15-fb0xxx:~$ gz sim -v4 -r iris_runway.sdf
[Msg] Gazebo Sim GUI v8.6.0
[Dbg] [gz.cc:166] Subscribing to [/gazebo/starting_world].
[Dbg] [gz.cc:168] Waiting for a world to be set from the GUI...
[Dbg] [Gui.cc:263] Waiting for subscribers to [/gazebo/starting_world]...
[Msg] Received world [iris_runway.sdf] from the GUI.
[Dbg] [gz.cc:172] Unsubscribing from [/gazebo/starting_world].
[Msg] Gazebo Sim Server v8.6.0
Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[Msg] Loading SDF world file[/home/arunachalam/gz_ws/src/ardupilot_gazebo/worlds/iris_runway.sdf].
[Msg] Serving entity system service on [/entity/system/add]
[Dbg] [Physics.cc:870] Loaded [gz::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::Physics] for entity [1]
[Dbg] [Sensors.cc:530] Configuring Sensors system
[Dbg] [Sensors.cc:449] SensorsPrivate::Run
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::Sensors] for entity [1]
[Dbg] [Sensors.cc:425] SensorsPrivate::RenderThread started
[Dbg] [Sensors.cc:265] Waiting for init
[Msg] Create service on [/world/iris_runway/create]
[Msg] Remove service on [/world/iris_runway/remove]
[Msg] Pose service on [/world/iris_runway/set_pose]
[Msg] Pose service on [/world/iris_runway/set_pose_vector]
[Msg] Light configuration service on [/world/iris_runway/light_config]
[Msg] Physics service on [/world/iris_runway/set_physics]
[Msg] SphericalCoordinates service on [/world/iris_runway/set_spherical_coordinates]
[Msg] Enable collision service on [/world/iris_runway/enable_collision]
[Msg] Disable collision service on [/world/iris_runway/disable_collision]
[Msg] Material service on [/world/iris_runway/visual_config]
[Msg] Material service on [/world/iris_runway/wheel_slip]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::Imu] for entity [1]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::NavSat] for entity [1]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::JointStatePublisher] for entity [15]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Msg] ApplyJointForce subscribing to Double messages on [/model/iris_with_gimbal/joint/iris_with_standoffs::rotor_0_joint/cmd_force]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::ApplyJointForce] for entity [15]
[Msg] ApplyJointForce subscribing to Double messages on [/model/iris_with_gimbal/joint/iris_with_standoffs::rotor_1_joint/cmd_force]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::ApplyJointForce] for entity [15]
[Msg] ApplyJointForce subscribing to Double messages on [/model/iris_with_gimbal/joint/iris_with_standoffs::rotor_2_joint/cmd_force]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::ApplyJointForce] for entity [15]
[Msg] ApplyJointForce subscribing to Double messages on [/model/iris_with_gimbal/joint/iris_with_standoffs::rotor_3_joint/cmd_force]
[Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::ApplyJointForce] for entity [15]
[libprotobuf ERROR google/protobuf/descriptor_database.cc:175] Symbol name "gz.sim.private_msgs.PerformerAffinity" conflicts with the existing symbol "gz.sim.private_msgs.PerformerAffinity".
[libprotobuf FATAL google/protobuf/descriptor.cc:1382] CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size):
terminate called after throwing an instance of 'google::protobuf::FatalException'
what(): CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size):
Stack trace (most recent call last):
#31 Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x743120722d10, in gz::sim::v8::SdfEntityCreator::CreateEntities(sdf::v14::Model const*)
#30 Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7431206f9f05, in
#29 Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x74312074c378, in gz::sim::v8::SimulationRunner::LoadPlugins(unsigned long, std::vector<sdf::v14::Plugin, std::allocator<sdf::v14::Plugin> > const&)
#28 Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x74312075f3c3, in gz::sim::v8::SystemManager::LoadPlugin(unsigned long, sdf::v14::Plugin const&)
#27 Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x74312075ebe9, in gz::sim::v8::SystemLoader::LoadPlugin(sdf::v14::Plugin const&)
#26 Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x74312075dba8, in
#25 Object "/lib/x86_64-linux-gnu/libgz-plugin2-loader.so.2", at 0x74312308e56f, in gz::plugin::Loader::LoadLib(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)
#24 Object "/lib/x86_64-linux-gnu/libgz-plugin2-loader.so.2", at 0x74312308d4dd, in gz::plugin::Loader::Implementation::LoadLib(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)
#23 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x743125a906c7, in dlopen
#22 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x743125a9012d, in
#21 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x743125b74b62, in _dl_catch_error
#20 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x743125b74a97, in _dl_catch_exception
#19 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x743125a9063b, in
#18 Object "/lib64/ld-linux-x86-64.so.2", at 0x74312621834d, in
#17 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x743125b74a97, in _dl_catch_exception
#16 Object "/lib64/ld-linux-x86-64.so.2", at 0x743126217ff5, in
#15 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x743125b74af4, in _dl_catch_exception
#14 Object "/lib64/ld-linux-x86-64.so.2", at 0x743126210567, in
#13 Object "/lib64/ld-linux-x86-64.so.2", at 0x74312621047d, in
#12 Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x74308c2b826b, in
#11 Object "/lib/x86_64-linux-gnu/libprotobuf.so.23", at 0x74311fb81951, in google::protobuf::internal::AddDescriptors(google::protobuf::internal::DescriptorTable const*)
#10 Object "/lib/x86_64-linux-gnu/libprotobuf.so.23", at 0x74311fb81966, in google::protobuf::internal::AddDescriptors(google::protobuf::internal::DescriptorTable const*)
#9 Object "/lib/x86_64-linux-gnu/libprotobuf.so.23", at 0x74311fa92c35, in
#8 Object "/lib/x86_64-linux-gnu/libgcc_s.so.1", at 0x7431252f62dc, in _Unwind_Resume
#7 Object "/lib/x86_64-linux-gnu/libgcc_s.so.1", at 0x7431252f5883, in
#6 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7431218ad958, in __gxx_personality_v0
#5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7431218ad1e8, in
#4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7431218ae20b, in
#3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7431218a2b9d, in
#2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x743125a287f2, in abort
#1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x743125a42475, in raise
#0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x743125a969fc, in pthread_kill
Aborted (Signal sent by tkill() 3561 1000)
[Dbg] [SignalHandler.cc:142] Received signal[2].
[Dbg] [Application.cc:96] Initializing application.
[Dbg] [Application.cc:170] Qt using OpenGL graphics interface
[GUI] [Dbg] [Application.cc:657] Create main window
[GUI] [Dbg] [PathManager.cc:68] Requesting resource paths through [/gazebo/resource_paths/get]
[GUI] [Dbg] [Application.cc:237] Terminating application.
arunachalam@arunachalam-Victus-by-HP-Gaming-Laptop-15-fb0xxx:~$