Gazebo sim error sdf

ArduCopter Copter Simulation
1

hi all
I’m working on a ubuntu 21.10 impish
I ve installed gazebo 9 as required in Using Gazebo Simulator with SITL — Dev documentation
but when asking for version it says 11

$ gazebo --version
Gazebo multi-robot simulator, version 11.1.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org


Gazebo multi-robot simulator, version 11.1.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

when trying to launch irisworld I get error about sdf 1.7 not compatible and I dont know how to change this

 gazebo --verbose worlds/iris_arducopter_runway.world
Gazebo multi-robot simulator, version 11.1.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
Gazebo multi-robot simulator, version 11.1.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.104
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.104
[Msg] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
Error [parser.cc:525] parse as sdf version 1.7 failed, should try to parse as old deprecated format
Error Code 4 Msg: Required attribute[xmlns:xacro] in element[sdf] is not specified in SDF.
Error Code 8 Msg: Unable to parse sdf element[sdf]
[Err] [World.cc:193] Error Code 23 Msg: FrameAttachedToGraph error, Non-LINK vertex with name [__model__] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
[Err] [World.cc:193] Error Code 23 Msg: Graph with __model__ scope has sink vertex named [__model__] when starting from vertex with name [__model__], which is not permitted.
[Wrn] [Publisher.cc:136] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once.
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[Wrn] [Publisher.cc:136] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.

I didn’t find any one here who get same error

1 Like
2

I got the same problem… Did you fix it?

1 Like
3

Getting the same error on Ubuntu 20.04 and Gazebo 11. Gazebo world opens up but the iris model is not loaded.

4

I get the same problem exactly in ubuntu 22.04, did you fix it?

5

@zeynel007 - if you are open to updating your version of Gazebo we support a version of the ArduPilot Gazebo plugin for the 2nd generation of Gazebo simulator here: ArduPilot/ardupilot_gazebo. The Iris, Zephyr and a number of other models run on this against the master version of ArduPilot SITL.