Ardupilot Sitl with gazebo custom world

General
1

I am new to the ardupilot, and simulation field.

I am using ardupilot sitl with ardupilot gazebo plugin, that helps simulate the iris drone in gazebo and help controlling the movements.

This is all good with the default one. But when I try to spawn the iris drone in my custom world, the drone appears but doesn’t connect with ardupilot sitl through sim vechile.py(name can be different) but using official command. This connects to the default one correctly, but not with the custom world.

Here’s my custom world, you can view this.

Please help me with this, how can I simulate and control the iris model in gazebo with my custom world.

2

Hello @atharvrahane31, the custom world is missing the IMU sensor plugin:

 <plugin filename="gz-sim-imu-system"
      name="gz::sim::systems::Imu">
 </plugin>

See: ardupilot_gazebo/worlds/iris_runway.sdf at main · ArduPilot/ardupilot_gazebo · GitHub

The plugin will not publish back to the FC until IMU data is received. There may be other issues, but this is the first one to address.

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