Ardupilotplugin resets

Hello,

My environment:

  • Ubuntu 22.04
  • Ardupilot - Copter 4.5
  • gazebo harmonic
  • ROS Humble
  • Mavros

My problem is when I am launching via ros launch the iris runway word and then the vehicle_sim.py , I get the following error from gazebo terminal:
[Wrn] [ArduPilotPlugin.cc:1583] ArduPilot controller has reset

Why i get this error? And how i can connect my autopilot with my simulation environment?

Hello @Anna_Charchalioti, are you following the instructions here: Using SITL with Gazebo — Dev documentation and here: ROS 2 with Gazebo — Dev documentation for launching ArduPilot / Gazebo / ROS 2?

The supported launch files use ArduPilot’s DDS interface for offboard control / ROS 2 integration. Your launch file may be for an older version of the ArduPilot Gazebo plugin. Could you provide a link to the set up documents you are referencing.

Thank you for your response.
However, I have followed those documentations and even without launching file when i run those commands:
gz sim -v4 -r iris_runway.sdf
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map --console
i get this error: [Wrn] [ArduPilotPlugin.cc:1583] ArduPilot controller has reset

But when i terminate the gazebo terminal, it seems to ardupilot terminal that the link is down as i get this: no link
link 1 down
no link
no link

Do you know any reason why this is happening?

Hi @Anna_Charchalioti, it’s hard to tell without more detail from the terminals. Some things to check first:

  1. Check ArduPilot SITL is working standalone?
sim_vehicle.py -v ArduCopter -f quad --console --map

This will verify that ArduPilot and dependencies are installed correctly and SITL is working.

  1. Check that Gazebo is working

Note the version output in the terminal

gz sim --version

Check that Gazebo is running ok

gz sim -v4 -r shapes.sdf
  1. Run the commands you provided above and post the output of all terminals as text (easier to read than screenshots). This should include the additional window launched by sim_vehicle.py that contains the output from the SITL process.

Hello, @rhys, first of all, thank you for the help, I appreciate it.

Secondly, I ran the commands and I provide you the output.

1.

sim_vehicle.py -v ArduCopter -f quad --console --map\n
SIM_VEHICLE: Start
SIM_VEHICLE: Killing tasks
SIM_VEHICLE: Starting up at SITL location
SIM_VEHICLE: WAF build
SIM_VEHICLE: Configure waf
SIM_VEHICLE: “/home/acharchalioti/sim_ws/src/ardupilot/modules/waf/waf-light” “configure” “–board” “sitl”
Setting top to : /home/acharchalioti/sim_ws/src/ardupilot
Setting out to : /home/acharchalioti/sim_ws/src/ardupilot/build
Autoconfiguration : enabled
Checking for program ‘python’ : /home/acharchalioti/anaconda3/bin/python
Checking for python version >= 3.6.9 : 3.11.7
Setting board to : sitl
Using toolchain : native
Checking for ‘g++’ (C++ compiler) : /usr/lib/ccache/g++
Checking for ‘gcc’ (C compiler) : /usr/lib/ccache/gcc
Checking for c flags ‘-MMD’ : yes
Checking for cxx flags ‘-MMD’ : yes
CXX Compiler : g++ 11.4.0
Checking for need to link with librt : not necessary
Checking for feenableexcept : yes
Enabling -Werror : yes
Enabled OpenDroneID : no
Enabled firmware ID checking : no
GPS Debug Logging : no
Enabled custom controller : yes
Checking for HAVE_CMATH_ISFINITE : yes
Checking for HAVE_CMATH_ISINF : yes
Checking for HAVE_CMATH_ISNAN : yes
Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : yes
Checking for NEED_CMATH_ISINF_STD_NAMESPACE : yes
Checking for NEED_CMATH_ISNAN_STD_NAMESPACE : yes
Checking for header endian.h : yes
Checking for header byteswap.h : yes
Checking for HAVE_MEMRCHR : yes
Configured VSCode Intellisense: : no
DC_DSDL compiler : /home/acharchalioti/sim_ws/src/ardupilot/modules/DroneCAN/dronecan_dsdlc/dronecan_dsdlc.py
Source is git repository : yes
Update submodules : yes
Checking for program ‘git’ : /usr/bin/git
Checking for program ‘size’ : /usr/bin/size
Benchmarks : disabled
Unit tests : enabled
Scripting : maybe
Scripting runtime checks : enabled
Debug build : disabled
Coverage build : disabled
Force 32-bit build : disabled
Checking for program ‘rsync’ : /usr/bin/rsync
‘configure’ finished successfully (1.050s)
{‘model’: ‘+’, ‘waf_target’: ‘bin/arducopter’, ‘default_params_filename’: ‘default_params/copter.parm’, ‘sitl-port’: True}
SIM_VEHICLE: Building
SIM_VEHICLE: “/home/acharchalioti/sim_ws/src/ardupilot/modules/waf/waf-light” “build” “–target” “bin/arducopter”
Waf: Entering directory /home/acharchalioti/sim_ws/src/ardupilot/build/sitl' Embedding file locations.txt:Tools/autotest/locations.txt Embedding file models/Callisto.json:Tools/autotest/models/Callisto.json Embedding file models/plane-3d.parm:Tools/autotest/models/plane-3d.parm Embedding file models/plane.parm:Tools/autotest/models/plane.parm Embedding file models/xplane_heli.json:Tools/autotest/models/xplane_heli.json Embedding file models/xplane_plane.json:Tools/autotest/models/xplane_plane.json Waf: Leaving directory /home/acharchalioti/sim_ws/src/ardupilot/build/sitl’

BUILD SUMMARY
Build directory: /home/acharchalioti/sim_ws/src/ardupilot/build/sitl
Target Text (B) Data (B) BSS (B) Total Flash Used (B) Free Flash (B) External Flash Used (B)

bin/arducopter 4016316 183549 218696 4199865 Not Applicable Not Applicable

‘build’ finished successfully (1.436s)
SIM_VEHICLE: Using defaults from (src/ardupilot/Tools/autotest/default_params/copter.parm)
SIM_VEHICLE: Run ArduCopter
SIM_VEHICLE: “/home/acharchalioti/sim_ws/src/ardupilot/Tools/autotest/run_in_terminal_window.sh” “ArduCopter” “/home/acharchalioti/sim_ws/src/ardupilot/build/sitl/bin/arducopter” “-S” “–model” “+” “–speedup” “1” “–slave” “0” “–defaults” “src/ardupilot/Tools/autotest/default_params/copter.parm” “–sim-address=127.0.0.1” “-I0”
SIM_VEHICLE: Run MavProxy
SIM_VEHICLE: “mavproxy.py” “–out” “127.0.0.1:14550” “–master” “tcp:127.0.0.1:5760” “–sitl” “127.0.0.1:5501” “–map” “–console”
RiTW: Starting ArduCopter : /home/acharchalioti/sim_ws/src/ardupilot/build/sitl/bin/arducopter -S --model + --speedup 1 --slave 0 --defaults src/ardupilot/Tools/autotest/default_params/copter.parm --sim-address=127.0.0.1 -I0
Connect tcp:127.0.0.1:5760 source_system=255
Failed to load module: No module named ‘console’. Use ‘set moddebug 3’ in the MAVProxy console to enable traceback
Failed to load module: No module named ‘map’. Use ‘set moddebug 3’ in the MAVProxy console to enable traceback
Log Directory:
Telemetry log: mav.tlog
Waiting for heartbeat from tcp:127.0.0.1:5760
MAV> Detected vehicle 1:1 on link 0
online system 1
STABILIZE> Mode STABILIZE
AP: Barometer 1 calibration complete
AP: Barometer 2 calibration complete
Init Gyro**AP: ArduCopter V4.5.7 (f8d13d34)
AP: 78a8ba5a77ae4bc292acc7d503035e0a
AP: Frame: QUAD/PLUS

AP: ArduPilot Ready
AP: AHRS: DCM active
AP: RC7: SaveWaypoint LOW
Received 1390 parameters (ftp)
Saved 1390 parameters to mav.parm
AP: EKF3 IMU0 initialised
AP: EKF3 IMU1 initialised
AP: AHRS: EKF3 active
AP: EKF3 IMU1 tilt alignment complete
AP: EKF3 IMU0 tilt alignment complete
AP: EKF3 IMU1 MAG0 initial yaw alignment complete
AP: EKF3 IMU0 MAG0 initial yaw alignment complete
AP: GPS 1: detected as u-blox at 230400 baud
fence present
Flight battery 100 percent
MAV> AP: EKF3 IMU1 origin set
AP: Field Elevation Set: 584m
AP: EKF3 IMU0 origin set
AP: EKF3 IMU0 is using GPS
AP: EKF3 IMU1 is using GPS
Flight battery 100 percent
Flight battery 100 percent
Flight battery 100 percent
Flight battery 100 percent
Flight battery 100 percent
Flight battery 100 percent
Flight battery 100 percent
Flight battery 100 percent


2.
gz sim --version
Gazebo Sim, version 8.8.0
Copyright (C) 2018 Open Source Robotics Foundation.
Released under the Apache 2.0 License.

gz sim -v4 -r shapes.sdf
[Msg] Gazebo Sim GUI    v8.8.0
[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:275] Waiting for subscribers to [/gazebo/starting_world]...
[Msg] Received world [shapes.sdf] from the GUI.
[Dbg] [gz.cc:172] Unsubscribing from [/gazebo/starting_world].
[Msg] Gazebo Sim Server v8.8.0
[Msg] Loading SDF world file[/usr/share/gz/gz-sim8/worlds/shapes.sdf].
[Dbg] [Application.cc:96] Initializing application.
[Dbg] [Application.cc:170] Qt using OpenGL graphics interface
[GUI] [Dbg] [Application.cc:657] Create main window
[Msg] Serving entity system service on [/entity/system/add]
[Msg] Loaded level [default]
[Msg] No systems loaded from SDF, loading defaults
[Msg] Copied installed config [/usr/share/gz/gz-sim8/server.config] to default config [/home/acharchalioti/.gz/sim/8/server.config].
[Dbg] [ServerConfig.cc:1034] Loaded (3) plugins from file [/home/acharchalioti/.gz/sim/8/server.config]
[Dbg] [Physics.cc:871] 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:80] Loaded system [gz::sim::systems::Physics] for entity [1]
[Msg] Create service on [/world/shapes/create]
[Msg] Remove service on [/world/shapes/remove]
[Msg] Pose service on [/world/shapes/set_pose]
[Msg] Pose service on [/world/shapes/set_pose_vector]
[Msg] Light configuration service on [/world/shapes/light_config]
[Msg] Physics service on [/world/shapes/set_physics]
[Msg] SphericalCoordinates service on [/world/shapes/set_spherical_coordinates]
[Msg] Enable collision service on [/world/shapes/enable_collision]
[Msg] Disable collision service on [/world/shapes/disable_collision]
[Msg] Material service on [/world/shapes/visual_config]
[Msg] Material service on [/world/shapes/wheel_slip]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[Msg] Serving world controls on [/world/shapes/control], [/world/shapes/control/state] and [/world/shapes/playback/control]
[Msg] Serving GUI information on [/world/shapes/gui/info]
[Msg] World [shapes] initialized with [default_physics] physics profile.
[Msg] Serving world SDF generation service on [/world/shapes/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[GUI] [Dbg] [PathManager.cc:68] Requesting resource paths through [/gazebo/resource_paths/get]
[GUI] [Dbg] [Gui.cc:355] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[GUI] [Dbg] [PathManager.cc:57] Received resource paths.
[GUI] [Dbg] [Gui.cc:413] Requesting GUI from [/world/shapes/gui/info]...
[GUI] [Dbg] [GuiRunner.cc:149] Requesting initial state from [/world/shapes/state]...
[GUI] [Msg] Loading config [/home/acharchalioti/.gz/sim/8/gui.config]
[GUI] [Dbg] [Application.cc:528] Loading plugin [MinimalScene]
[GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
[GUI] [Msg] Added plugin [3D View] to main window
[GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libMinimalScene.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [EntityContextMenuPlugin]
[GUI] [Msg] Currently tracking topic on [/gui/currently_tracked]
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity Context Menu] to main window
[GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libEntityContextMenuPlugin.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [GzSceneManager]
[GUI] [Msg] Added plugin [Scene Manager] to main window
[GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libGzSceneManager.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [InteractiveViewControl]
[GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[GUI] [Msg] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual]
[GUI] [Msg] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity]
[GUI] [Msg] Added plugin [Interactive view control] to main window
[GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libInteractiveViewControl.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [CameraTracking]
[GUI] [Msg] Added plugin [Camera tracking] to main window
[GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libCameraTracking.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [MarkerManager]
[GUI] [Msg] Listening to stats on [/world/shapes/stats]
[GUI] [Msg] Added plugin [Marker Manager] to main window
[GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libMarkerManager.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [SelectEntities]
[GUI] [Msg] Added plugin [Select entities] to main window
[GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libSelectEntities.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [Spawn]
[GUI] [Msg] Added plugin [Spawn] to main window
[GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libSpawn.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [VisualizationCapabilities]
[GUI] [Msg] View as transparent service on [/gui/view/transparent]
[GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
[GUI] [Msg] View center of mass service on [/gui/view/com]
[GUI] [Msg] View inertia service on [/gui/view/inertia]
[GUI] [Msg] View collisions service on [/gui/view/collisions]
[GUI] [Msg] View joints service on [/gui/view/joints]
[GUI] [Msg] View frames service on [/gui/view/frames]
[GUI] [Msg] Added plugin [Visualization capabilities] to main window
[GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libVisualizationCapabilities.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [WorldControl]
[GUI] [Msg] Using world control service [/world/shapes/control]
[GUI] [Msg] Listening to stats on [/world/shapes/stats]
[GUI] [Dbg] [WorldControl.cc:237] Using an event to share WorldControl msgs with the server
[GUI] [Msg] Added plugin [World control] to main window
[GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libWorldControl.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [WorldStats]
[GUI] [Msg] Listening to stats on [/world/shapes/stats]
[GUI] [Msg] Added plugin [World stats] to main window
[GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libWorldStats.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [Shapes]
[GUI] [Msg] Added plugin [Shapes] to main window
[GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libShapes.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [Lights]
[GUI] [Msg] Added plugin [Lights] to main window
[GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libLights.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [TransformControl]
[GUI] [Msg] Added plugin [Transform control] to main window
[GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libTransformControl.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [Screenshot]
[GUI] [Msg] Screenshot service on [/gui/screenshot]
[GUI] [Msg] Added plugin [Screenshot] to main window
[GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libScreenshot.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [CopyPaste]
[GUI] [Msg] Added plugin [Copy/Paste] to main window
[GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libCopyPaste.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [ComponentInspector]
[GUI] [Msg] Added plugin [Component inspector] to main window
[GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libComponentInspector.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [EntityTree]
[GUI] [Msg] Currently tracking topic on [/gui/currently_tracked]
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity tree] to main window
[GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libEntityTree.so]
[GUI] [Dbg] [Application.cc:398] Loading window config
[GUI] [Msg] Using server control service [/server_control]
[GUI] [Dbg] [Application.cc:671] Applying config
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
[GUI] [Msg] Loading plugin [gz-rendering-ogre2]
libEGL warning: egl: failed to create dri2 screen
libEGL warning: egl: failed to create dri2 screen
[GUI] [Dbg] [MinimalScene.cc:749] Create scene [scene]
[GUI] [Dbg] [MinimalScene.cc:1037] Creating texture node render interface for OpenGL
[GUI] [Dbg] [TransformControl.cc:453] TransformControl plugin is using camera [scene::Camera(65527)]
[GUI] [Dbg] [Spawn.cc:308] Spawn plugin is using camera [scene::Camera(65527)]
[GUI] [Dbg] [SelectEntities.cc:452] SelectEntities plugin is using camera [scene::Camera(65527)]
[GUI] [Dbg] [MarkerManager.cc:169] Advertise /marker/list service.
[GUI] [Dbg] [MarkerManager.cc:179] Advertise /marker/list.
[GUI] [Dbg] [MarkerManager.cc:189] Advertise /marker_array.
[GUI] [Dbg] [CameraTracking.cc:205] CameraTrackingPrivate plugin is moving camera [scene::Camera(65527)]
[GUI] [Msg] Move to service on [/gui/move_to]
[GUI] [Msg] Follow service on [/gui/follow] (deprecated)
[GUI] [Msg] Tracking topic on [/gui/track]
[GUI] [Msg] Tracking status topic on [/gui/currently_tracked]
[GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[GUI] [Msg] Follow offset service on [/gui/follow/offset] (deprecated)
[GUI] [Dbg] [InteractiveViewControl.cc:176] InteractiveViewControl plugin is moving camera [scene::Camera(65527)]
[GUI] [Dbg] [EntityContextMenuPlugin.cc:79] Entity context menu plugin is using camera [scene::Camera(65527)]
[Msg] Found no publishers on /stats, adding root stats topic
[Msg] Found no publishers on /clock, adding root clock topic
[Dbg] [SimulationRunner.cc:533] Creating PostUpdate worker threads: 2
[Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (0)
[Wrn] [SDFFeatures.cc:365] DART: Ellipsoid is not a supported collision geomerty primitive, using generated mesh of an ellipsoid instead
[Wrn] [SDFFeatures.cc:350] DART: Cone is not a supported collision geomerty primitive, using generated mesh of a cone instead
[Msg] Serving scene information on [/world/shapes/scene/info]
[Msg] Serving graph information on [/world/shapes/scene/graph]
[Msg] Serving full state on [/world/shapes/state]
[Msg] Serving full state (async) on [/world/shapes/state_async]
[Msg] Publishing scene information on [/world/shapes/scene/info]
[Msg] Publishing entity deletions on [/world/shapes/scene/deletion]
[Msg] Publishing state changes on [/world/shapes/state]
[Msg] Publishing pose messages on [/world/shapes/pose/info]
[Msg] Publishing dynamic pose messages on [/world/shapes/dynamic_pose/info]
[Dbg] [EntityComponentManager.cc:1656] Updated state thread iterators: 16 threads processing around 3 entities each.
[Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v145WorldE], which doesn't have `operator<>`. Component will not be deserialized.


  1. And lastly both commands simultaneously,
gz sim -v4 -r iris_runway.sdf
[Msg] Gazebo Sim GUI    v8.8.0
[Dbg] [gz.cc:166] Subscribing to [/gazebo/starting_world].
[Dbg] [Gui.cc:275] Waiting for subscribers to [/gazebo/starting_world]...
[Dbg] [gz.cc:168] Waiting for a world to be set from the GUI...
[Msg] Received world [iris_runway.sdf] from the GUI.
[Dbg] [gz.cc:172] Unsubscribing from [/gazebo/starting_world].
[Msg] Gazebo Sim Server v8.8.0
[Msg] Loading SDF world file[/home/acharchalioti/sim_ws/install/ardupilot_gazebo/share/ardupilot_gazebo/worlds/iris_runway.sdf].
[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] [Gui.cc:355] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[Msg] Serving entity system service on [/entity/system/add]
[Dbg] [Physics.cc:871] 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:80] Loaded system [gz::sim::systems::Physics] for entity [1]
[Dbg] [Sensors.cc:697] Configuring Sensors system
[Dbg] [Sensors.cc:557] SensorsPrivate::Run
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::Sensors] for entity [1]
[Dbg] [Sensors.cc:532] SensorsPrivate::RenderThread started
[Dbg] [Sensors.cc:337] 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:80] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::Imu] for entity [1]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::NavSat] for entity [1]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::JointStatePublisher] for entity [15]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:80] 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:80] 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:80] 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:80] 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:80] Loaded system [gz::sim::systems::ApplyJointForce] for entity [15]
[Msg] [iris_with_gimbal] Advertising on /gimbal/cmd_roll.
[Msg] [iris_with_gimbal] Advertising on /gimbal/cmd_pitch.
[Msg] [iris_with_gimbal] Advertising on /gimbal/cmd_yaw.
[Dbg] [SystemManager.cc:80] Loaded system [ArduPilotPlugin] for entity [15]
[Msg] JointPositionController subscribing to Double messages on [/gimbal/cmd_roll]
[Dbg] [JointPositionController.cc:302] [JointPositionController] system parameters:
[Dbg] [JointPositionController.cc:303] p_gain: [2]
[Dbg] [JointPositionController.cc:304] i_gain: [0.1]
[Dbg] [JointPositionController.cc:305] d_gain: [0.01]
[Dbg] [JointPositionController.cc:306] i_max: [1]
[Dbg] [JointPositionController.cc:307] i_min: [-1]
[Dbg] [JointPositionController.cc:308] cmd_max: [1000]
[Dbg] [JointPositionController.cc:309] cmd_min: [-1000]
[Dbg] [JointPositionController.cc:310] cmd_offset: [0]
[Dbg] [JointPositionController.cc:311] Topic: [/gimbal/cmd_roll]
[Dbg] [JointPositionController.cc:312] initial_position: [0]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::JointPositionController] for entity [15]
[Msg] JointPositionController subscribing to Double messages on [/gimbal/cmd_pitch]
[Dbg] [JointPositionController.cc:302] [JointPositionController] system parameters:
[Dbg] [JointPositionController.cc:303] p_gain: [2]
[Dbg] [JointPositionController.cc:304] i_gain: [0.1]
[Dbg] [JointPositionController.cc:305] d_gain: [0.01]
[Dbg] [JointPositionController.cc:306] i_max: [1]
[Dbg] [JointPositionController.cc:307] i_min: [-1]
[Dbg] [JointPositionController.cc:308] cmd_max: [1000]
[Dbg] [JointPositionController.cc:309] cmd_min: [-1000]
[Dbg] [JointPositionController.cc:310] cmd_offset: [0]
[Dbg] [JointPositionController.cc:311] Topic: [/gimbal/cmd_pitch]
[Dbg] [JointPositionController.cc:312] initial_position: [0]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::JointPositionController] for entity [15]
[Msg] JointPositionController subscribing to Double messages on [/gimbal/cmd_yaw]
[Dbg] [JointPositionController.cc:302] [JointPositionController] system parameters:
[Dbg] [JointPositionController.cc:303] p_gain: [2]
[Dbg] [JointPositionController.cc:304] i_gain: [0.1]
[Dbg] [JointPositionController.cc:305] d_gain: [0.01]
[Dbg] [JointPositionController.cc:306] i_max: [1]
[Dbg] [JointPositionController.cc:307] i_min: [-1]
[Dbg] [JointPositionController.cc:308] cmd_max: [1000]
[Dbg] [JointPositionController.cc:309] cmd_min: [-1000]
[Dbg] [JointPositionController.cc:310] cmd_offset: [0]
[Dbg] [JointPositionController.cc:311] Topic: [/gimbal/cmd_yaw]
[Dbg] [JointPositionController.cc:312] initial_position: [0]
[Dbg] [SystemManager.cc:80] Loaded system [gz::sim::systems::JointPositionController] for entity [15]
[Dbg] [CameraZoomPlugin.cc:309] CameraZoomPlugin attached to sensor [camera].
[Dbg] [CameraZoomPlugin.cc:380] CameraZoomPlugin subscribing to messages on [/model/gimbal/sensor/camera/zoom/cmd_zoom]
[Dbg] [SystemManager.cc:80] Loaded system [CameraZoomPlugin] for entity [59]
Error while loading the library [/home/acharchalioti/sim_ws/install/ardupilot_gazebo/lib/ardupilot_gazebo/libGstCameraPlugin.so]: /home/acharchalioti/anaconda3/lib/libgobject-2.0.so.0: undefined symbol: g_string_free_and_steal
[Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library)
- Requested plugin name: [GstCameraPlugin]
- Requested library name: [GstCameraPlugin]
- Resolved library path: [/home/acharchalioti/sim_ws/install/ardupilot_gazebo/lib/ardupilot_gazebo/libGstCameraPlugin.so]
[Msg] Loaded level [default]
[Msg] Serving world controls on [/world/iris_runway/control], [/world/iris_runway/control/state] and [/world/iris_runway/playback/control]
[Msg] Serving GUI information on [/world/iris_runway/gui/info]
[Msg] World [iris_runway] initialized with [default_physics] physics profile.
[Msg] Serving world SDF generation service on [/world/iris_runway/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[GUI] [Dbg] [PathManager.cc:57] Received resource paths.
[GUI] [Dbg] [Gui.cc:413] Requesting GUI from [/world/iris_runway/gui/info]...
[GUI] [Dbg] [GuiRunner.cc:149] Requesting initial state from [/world/iris_runway/state]...
[GUI] [Msg] Loading config [/home/acharchalioti/.gz/sim/8/gui.config]
[GUI] [Dbg] [Application.cc:528] Loading plugin [MinimalScene]
[GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
[GUI] [Msg] Added plugin [3D View] to main window
[GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libMinimalScene.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [EntityContextMenuPlugin]
[GUI] [Msg] Currently tracking topic on [/gui/currently_tracked]
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity Context Menu] to main window
[GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libEntityContextMenuPlugin.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [GzSceneManager]
[GUI] [Msg] Added plugin [Scene Manager] to main window
[GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libGzSceneManager.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [InteractiveViewControl]
[GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[GUI] [Msg] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual]
[GUI] [Msg] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity]
[GUI] [Msg] Added plugin [Interactive view control] to main window
[GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libInteractiveViewControl.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [CameraTracking]
[GUI] [Msg] Added plugin [Camera tracking] to main window
[GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libCameraTracking.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [MarkerManager]
[GUI] [Msg] Listening to stats on [/world/iris_runway/stats]
[GUI] [Msg] Added plugin [Marker Manager] to main window
[GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libMarkerManager.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [SelectEntities]
[GUI] [Msg] Added plugin [Select entities] to main window
[GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libSelectEntities.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [Spawn]
[GUI] [Msg] Added plugin [Spawn] to main window
[GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libSpawn.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [VisualizationCapabilities]
[GUI] [Msg] View as transparent service on [/gui/view/transparent]
[GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
[GUI] [Msg] View center of mass service on [/gui/view/com]
[GUI] [Msg] View inertia service on [/gui/view/inertia]
[GUI] [Msg] View collisions service on [/gui/view/collisions]
[GUI] [Msg] View joints service on [/gui/view/joints]
[GUI] [Msg] View frames service on [/gui/view/frames]
[GUI] [Msg] Added plugin [Visualization capabilities] to main window
[GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libVisualizationCapabilities.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [WorldControl]
[GUI] [Msg] Using world control service [/world/iris_runway/control]
[GUI] [Msg] Listening to stats on [/world/iris_runway/stats]
[GUI] [Dbg] [WorldControl.cc:237] Using an event to share WorldControl msgs with the server
[GUI] [Msg] Added plugin [World control] to main window
[GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libWorldControl.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [WorldStats]
[GUI] [Msg] Listening to stats on [/world/iris_runway/stats]
[GUI] [Msg] Added plugin [World stats] to main window
[GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libWorldStats.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [Shapes]
[GUI] [Msg] Added plugin [Shapes] to main window
[GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libShapes.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [Lights]
[GUI] [Msg] Added plugin [Lights] to main window
[GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libLights.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [TransformControl]
[GUI] [Msg] Added plugin [Transform control] to main window
[GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libTransformControl.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [Screenshot]
[GUI] [Msg] Screenshot service on [/gui/screenshot]
[GUI] [Msg] Added plugin [Screenshot] to main window
[GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/gz-gui-8/plugins/libScreenshot.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [CopyPaste]
[GUI] [Msg] Added plugin [Copy/Paste] to main window
[GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libCopyPaste.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [ComponentInspector]
[GUI] [Msg] Added plugin [Component inspector] to main window
[GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libComponentInspector.so]
[GUI] [Dbg] [Application.cc:528] Loading plugin [EntityTree]
[GUI] [Msg] Currently tracking topic on [/gui/currently_tracked]
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity tree] to main window
[GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libEntityTree.so]
[GUI] [Dbg] [Application.cc:398] Loading window config
[GUI] [Msg] Using server control service [/server_control]
[GUI] [Dbg] [Application.cc:671] Applying config
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
[GUI] [Msg] Loading plugin [gz-rendering-ogre2]
libEGL warning: egl: failed to create dri2 screen
libEGL warning: egl: failed to create dri2 screen
[GUI] [Dbg] [MinimalScene.cc:749] Create scene [scene]
[GUI] [Dbg] [MinimalScene.cc:1037] Creating texture node render interface for OpenGL
[GUI] [Dbg] [TransformControl.cc:453] TransformControl plugin is using camera [scene::Camera(65527)]
[GUI] [Dbg] [Spawn.cc:308] Spawn plugin is using camera [scene::Camera(65527)]
[GUI] [Dbg] [SelectEntities.cc:452] SelectEntities plugin is using camera [scene::Camera(65527)]
[GUI] [Dbg] [MarkerManager.cc:169] Advertise /marker/list service.
[GUI] [Dbg] [MarkerManager.cc:179] Advertise /marker/list.
[GUI] [Dbg] [MarkerManager.cc:189] Advertise /marker_array.
[GUI] [Dbg] [CameraTracking.cc:205] CameraTrackingPrivate plugin is moving camera [scene::Camera(65527)]
[GUI] [Msg] Move to service on [/gui/move_to]
[GUI] [Msg] Follow service on [/gui/follow] (deprecated)
[GUI] [Msg] Tracking topic on [/gui/track]
[GUI] [Msg] Tracking status topic on [/gui/currently_tracked]
[GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[GUI] [Msg] Follow offset service on [/gui/follow/offset] (deprecated)
[GUI] [Dbg] [InteractiveViewControl.cc:176] InteractiveViewControl plugin is moving camera [scene::Camera(65527)]
[GUI] [Dbg] [EntityContextMenuPlugin.cc:79] Entity context menu plugin is using camera [scene::Camera(65527)]
[Msg] Found no publishers on /stats, adding root stats topic
[Msg] Found no publishers on /clock, adding root clock topic
[Dbg] [SimulationRunner.cc:533] Creating PostUpdate worker threads: 8
[Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (2)
[Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (3)
[Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (4)
[Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (5)
[Dbg] [SimulationRunner.cc:544] Creating postupdate worker thread (6)
[Msg] Found IMU sensor with name [iris_with_standoffs::imu_link::imu_sensor]
[Dbg] [ArduPilotPlugin.cc:1158] Computed IMU topic to be: world/iris_runway/model/iris_with_gimbal/model/iris_with_standoffs/link/imu_link/sensor/imu_sensor/imu
[Dbg] [JointPositionController.cc:376] Identified joint [gimbal::roll_joint] as Entity [61]
[Dbg] [JointPositionController.cc:376] Identified joint [gimbal::pitch_joint] as Entity [62]
[Dbg] [JointPositionController.cc:376] Identified joint [gimbal::yaw_joint] as Entity [60]
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [yaw_collision] couldn't be created
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [roll_collision] couldn't be created
[Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:864] The geometry element of collision [pitch_collision] couldn't be created
Msg [NameManager::issueNewName] (Skeleton::BodyNode | iris_with_gimbal::iris_with_standoffs) The name [base_link] is a duplicate, so it has been renamed to [base_link(1)]
Msg [NameManager::issueNewName] (Skeleton::N4dart8dynamics9ShapeNodeE | iris_with_gimbal::iris_with_standoffs) The name [base_link:base_collision] is a duplicate, so it has been renamed to [base_link:base_collision(1)]
[Dbg] [Sensors.cc:953] Initialization needed
[Dbg] [Sensors.cc:349] Initializing render context
[Dbg] [CameraZoomPlugin.cc:502] Camera name: [iris_with_gimbal::gimbal::pitch_link::camera].
[Msg] Loading plugin [gz-rendering-ogre2]
[Msg] Serving scene information on [/world/iris_runway/scene/info]
[Dbg] [ImuSensor.cc:150] [Msg] Serving graph information on [/world/iris_runway/scene/graph]
IMU data for [iris_with_gimbal::iris_with_standoffs::imu_link::imu_sensor] advertised on [world/iris_runway/model/iris_with_gimbal/model/iris_with_standoffs/link/imu_link/sensor/imu_sensor/imu]
[Msg] Serving full state on [/world/iris_runway/state]
[Msg] Serving full state (async) on [/world/iris_runway/state_async]
[Msg] Publishing scene information on [/world/iris_runway/scene/info]
[Msg] Publishing entity deletions on [/world/iris_runway/scene/deletion]
[Msg] Publishing state changes on [/world/iris_runway/state]
[Msg] Publishing pose messages on [/world/iris_runway/pose/info]
[Msg] Publishing dynamic pose messages on [/world/iris_runway/dynamic_pose/info]
[Dbg] [EntityComponentManager.cc:1656] Updated state thread iterators: 16 threads processing around 4 entities each.
[Wrn] [Model.hh:69] Skipping serialization / deserialization for models [Wrn] [Component.hh:144] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[Wrn] [Model.hh:69] Trying to serialize component with data type [N3sdf3v145WorldE[Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
with //pose/@relative_to attribute.`operator<>`. Component will not be deserialized.
libEGL warning: egl: failed to create dri2 screen
libEGL warning: egl: failed to create dri2 screen
[Dbg] [RenderUtil.cc:2643] Create scene [scene]
[Dbg] [RenderingIface.cc:156] No scene has been created yet
[Wrn] [CameraZoomPlugin.cc:218] No scene or camera sensors available.
[Wrn] [Component.hh:144] Trying to serialize component with data type [St6vectorIdSaIdEE], which doesn't have `operator<>`. Component will not be deserialized.
[Dbg] [CameraSensor.cc:398] Camera images for [iris_with_gimbal::gimbal::pitch_link::camera] advertised on [world/iris_runway/model/iris_with_gimbal/model/gimbal/link/pitch_link/sensor/camera/image]
[Dbg] [CameraSensor.cc:688] Camera info for [iris_with_gimbal::gimbal::pitch_link::camera] advertised on [/world/iris_runway/model/iris_with_gimbal/model/gimbal/link/pitch_link/sensor/camera/camera_info]
[Wrn] [Ogre2Camera.cc:421] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend.
[Wrn] [ArduPilotPlugin.cc:1583] ArduPilot controller has reset
[Wrn] [ArduPilotPlugin.cc:1583] ArduPilot controller has reset
[Wrn] [ArduPilotPlugin.cc:1583] ArduPilot controller has reset
[Wrn] [ArduPilotPlugin.cc:1583] ArduPilot controller has reset
[Wrn] [ArduPilotPlugin.cc:1583] ArduPilot controller has reset


sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map --console
SIM_VEHICLE: Start
SIM_VEHICLE: Killing tasks
SIM_VEHICLE: Starting up at SITL location
SIM_VEHICLE: WAF build
SIM_VEHICLE: Configure waf
SIM_VEHICLE: "/home/acharchalioti/sim_ws/src/ardupilot/modules/waf/waf-light" "configure" "--board" "sitl"
Setting top to                           : /home/acharchalioti/sim_ws/src/ardupilot 
Setting out to                           : /home/acharchalioti/sim_ws/src/ardupilot/build 
Autoconfiguration                        : enabled 
Checking for program 'python'            : /home/acharchalioti/anaconda3/bin/python 
Checking for python version >= 3.6.9     : 3.11.7 
Setting board to                         : sitl 
Using toolchain                          : native 
Checking for 'g++' (C++ compiler)        : /usr/lib/ccache/g++ 
Checking for 'gcc' (C compiler)          : /usr/lib/ccache/gcc 
Checking for c flags '-MMD'              : yes 
Checking for cxx flags '-MMD'            : yes 
CXX Compiler                             : g++ 11.4.0 
Checking for need to link with librt     : not necessary 
Checking for feenableexcept              : yes 
Enabling -Werror                         : yes 
Enabled OpenDroneID                      : no 
Enabled firmware ID checking             : no 
GPS Debug Logging                        : no 
Enabled custom controller                : yes 
Checking for HAVE_CMATH_ISFINITE         : yes 
Checking for HAVE_CMATH_ISINF            : yes 
Checking for HAVE_CMATH_ISNAN            : yes 
Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : yes 
Checking for NEED_CMATH_ISINF_STD_NAMESPACE    : yes 
Checking for NEED_CMATH_ISNAN_STD_NAMESPACE    : yes 
Checking for header endian.h                   : yes 
Checking for header byteswap.h                 : yes 
Checking for HAVE_MEMRCHR                      : yes 
Configured VSCode Intellisense:                : no 
DC_DSDL compiler                               : /home/acharchalioti/sim_ws/src/ardupilot/modules/DroneCAN/dronecan_dsdlc/dronecan_dsdlc.py 
Source is git repository                       : yes 
Update submodules                              : yes 
Checking for program 'git'                     : /usr/bin/git 
Checking for program 'size'                    : /usr/bin/size 
Benchmarks                                     : disabled 
Unit tests                                     : enabled 
Scripting                                      : maybe 
Scripting runtime checks                       : enabled 
Debug build                                    : disabled 
Coverage build                                 : disabled 
Force 32-bit build                             : disabled 
Checking for program 'rsync'                   : /usr/bin/rsync 
'configure' finished successfully (1.220s)
{'waf_target': 'bin/arducopter', 'default_params_filename': ['default_params/copter.parm', 'default_params/gazebo-iris.parm'], 'external': True, 'model': 'JSON', 'sitl-port': True}
SIM_VEHICLE: Building
SIM_VEHICLE: "/home/acharchalioti/sim_ws/src/ardupilot/modules/waf/waf-light" "build" "--target" "bin/arducopter"
Waf: Entering directory `/home/acharchalioti/sim_ws/src/ardupilot/build/sitl'
Embedding file locations.txt:Tools/autotest/locations.txt
Embedding file models/Callisto.json:Tools/autotest/models/Callisto.json
Embedding file models/plane-3d.parm:Tools/autotest/models/plane-3d.parm
Embedding file models/plane.parm:Tools/autotest/models/plane.parm
Embedding file models/xplane_heli.json:Tools/autotest/models/xplane_heli.json
Embedding file models/xplane_plane.json:Tools/autotest/models/xplane_plane.json
Waf: Leaving directory `/home/acharchalioti/sim_ws/src/ardupilot/build/sitl'

BUILD SUMMARY
Build directory: /home/acharchalioti/sim_ws/src/ardupilot/build/sitl
Target          Text (B)  Data (B)  BSS (B)  Total Flash Used (B)  Free Flash (B)  External Flash Used (B)
----------------------------------------------------------------------------------------------------------
bin/arducopter   4016316    183549   218696               4199865  Not Applicable  Not Applicable         

'build' finished successfully (1.648s)
SIM_VEHICLE: Using defaults from (src/ardupilot/Tools/autotest/default_params/copter.parm,src/ardupilot/Tools/autotest/default_params/gazebo-iris.parm)
SIM_VEHICLE: Run ArduCopter
SIM_VEHICLE: "/home/acharchalioti/sim_ws/src/ardupilot/Tools/autotest/run_in_terminal_window.sh" "ArduCopter" "/home/acharchalioti/sim_ws/src/ardupilot/build/sitl/bin/arducopter" "-S" "--model" "JSON" "--speedup" "1" "--slave" "0" "--defaults" "src/ardupilot/Tools/autotest/default_params/copter.parm,src/ardupilot/Tools/autotest/default_params/gazebo-iris.parm" "--sim-address=127.0.0.1" "-I0"
SIM_VEHICLE: Run MavProxy
SIM_VEHICLE: "mavproxy.py" "--out" "127.0.0.1:14550" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501" "--map" "--console"
RiTW: Starting ArduCopter : /home/acharchalioti/sim_ws/src/ardupilot/build/sitl/bin/arducopter -S --model JSON --speedup 1 --slave 0 --defaults src/ardupilot/Tools/autotest/default_params/copter.parm,src/ardupilot/Tools/autotest/default_params/gazebo-iris.parm --sim-address=127.0.0.1 -I0
Connect tcp:127.0.0.1:5760 source_system=255
Failed to load module: No module named 'console'. Use 'set moddebug 3' in the MAVProxy console to enable traceback
Failed to load module: No module named 'map'. Use 'set moddebug 3' in the MAVProxy console to enable traceback
Log Directory: 
Telemetry log: mav.tlog
Waiting for heartbeat from tcp:127.0.0.1:5760
MAV> Detected vehicle 1:1 on link 0
online system 1
STABILIZE> Mode STABILIZE
AP_IRLock_SITL::init()
AP: Calibrating barometer
AP: ArduCopter V4.5.7 (f8d13d34)
AP: 78a8ba5a77ae4bc292acc7d503035e0a
AP: Frame: QUAD/X
Received 1424 parameters (ftp)
Saved 1424 parameters to mav.parm
AP: Barometer 1 calibration complete
AP: Barometer 2 calibration complete
AP: ArduPilot Ready
AP: AHRS: DCM active
fence present
Flight battery 100 percent
AP: RC7: SaveWaypoint LOW
AP: RC8: PrecisionLoiter MIDDLE
AP: EKF3 IMU0 initialised
AP: EKF3 IMU1 initialised
AP: AHRS: EKF3 active
AP: EKF3 IMU0 tilt alignment complete
AP: EKF3 IMU1 tilt alignment complete
AP: EKF3 IMU1 MAG0 initial yaw alignment complete
AP: EKF3 IMU0 MAG0 initial yaw alignment complete
AP: GPS 1: detected as u-blox at 230400 baud
AP: EKF3 IMU0 origin set
AP: Field Elevation Set: 584m
AP: EKF3 IMU1 origin set
AP: EKF3 IMU0 is using GPS
AP: EKF3 IMU1 is using GPS
Flight battery 100 percent
Flight battery 100 percent
Flight battery 100 percent
Flight battery 100 percent
Flight battery 100 percent

Note, i know --map don’t work i will solve that.
Thank you in advance

Looks like there are some issues with the mavproxy install (no console and no map).

There is also a warning in the Gazebo logs about dri2 screen. This could be a driver issue? Is the system running Ubuntu natively or as a VM using WLS2 or similar?

The ArduPilot plugin is loading correctly, so the Gazebo set up seems ok. The issue may be more on the SITL / MAVProxy side of things?

I am running Ubuntu natively.

Also, when I runned gazebo sim with debug, I got this error as well.

Hello, do you have any feedback on my issue please? Thank you

@Anna_Charchalioti, I’m afraid there isn’t enough information in a screenshot to determine what the issue in your system is. It could be a number of things, conflicting gazebo versions, out of date system libraries, incorrectly installed Python libraries, etc. For example if there is a version of Gazebo 11 installed in your system that must be removed completely.

On a clean system running Ubuntu 22.04 or 24.04, Gazebo Harmonic is know to run with ArduPilot and it’s Gazebo plugins.

did you find a solution to this problem?

It seems like even with these errors, the sitl works. Though it seems like it glitches at start (even if the UAV seemed to be prearmed good and use gps). It takes some time for UAV to do the commands you write in mavproxy terminal