Docker SITL and Mavproxy not working with gazebo

ArduCopter Copter Simulation
1

Hi,
I use an ARM macbook

I am trying to run:

  1. sim_vehicle.py in a Docker container, exposing port 5760
  2. mavproxy on the host, using nix package, with --master=tcp:127.0.0.1:5760 --out=udp:127.0.0.1:14550
  3. gazebo harmonic on the host, installed with brew. One terminal for the server, one for the ui (gz sim -v4 -s iris_runway.sdf and gz sim -v4 -g)
  4. ardupilot_gazebo is compiled on the host, with the commands given in the repo
  5. QGroundcontrol

Running a non-gazebo model on sim_vehicle.py works: QGroundcontrol sees the drone connect and I can use it normally.

Running gazebo on its own works, I can see the runway and drone and can look around.

Running sim_vehicle.py with --vehicle gazebo-iris and/or --model JSON makes mavproxy fail to connect (it reports link 1 down and nothing further happens), so QGroundcontrol also doesn’t get a connection.

Is it a problem that the sim_vehicle.py runs in the docker container, without ardupilot_gazebo present/configured? Am I missing something major?

2

Did you solve this? I have the exact same issue.

3

No, I ended up using PX4 with gazebo :confused:

Do tell if you find a solution, I need to test my software with Ardupilot as well

4

Hello,

You need to expose port 9001 and 9002 to allow the JSON messaging between SITL and gazebo to pass.

we should probably write this explicitly on the documentation

1 Like
5

It seems my port 9001 and 9002 are exposed but it is still not working.

I have sim_vehicle.py running on host and it is unable to connect with the gazebo drone.

Edit: i gave up and switched to Px4 lol gazebo classic spun right up on my mac and is working well. If anyone can fix this, I would love to come back to ardupilot