Hi there!
I’ve installed ardupilot sources and sitl accordinly to documentation.Then I’ve followed this guide to connect sitl to Webots Using SITL with Webots Python — Dev documentation. Sitl makes connection with webots fine, but mavproxy don’t wont to connect to 5760 port. Can’t understand what’s going on there. This is command which I’m using to launch sitl for Webots
Tools/autotest/sim_vehicle.py -v ArduCopter -w --model webots-python --sim-address=172.17.208.1
And then get this issue:
Logs:
SIM_VEHICLE: Using defaults from (Tools/autotest/default_params/copter.parm)
SIM_VEHICLE: Run ArduCopter
SIM_VEHICLE: "/home/alex/dron_dev/ardupilot/Tools/autotest/run_in_terminal_window.sh" "ArduCopter" "/home/alex/dron_dev/ardupilot/build/sitl/bin/arducopter" "-S" "-w" "--model" "webots-python" "--speedup" "1" "--slave" "0" "--defaults" "Tools/autotest/default_params/copter.parm" "--sim-address=172.17.208.1" "-I0"
RiTW: Starting ArduCopter : /home/alex/dron_dev/ardupilot/build/sitl/bin/arducopter -S -w --model webots-python --speedup 1 --slave 0 --defaults Tools/autotest/default_params/copter.parm --sim-address=172.17.208.1 -I0
SIM_VEHICLE: Run MavProxy
SIM_VEHICLE: "mavproxy.py" "--out" "172.17.208.1:14550" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501" "--moddebug" "3"
xterm: cannot load font "10x20"
xterm: cannot load font "-misc-fixed-medium-r-normal--20-200-75-75-c-100-iso10646-1"
Connect tcp:127.0.0.1:5760 source_system=255
Log Directory:
Telemetry log: mav.tlog
Waiting for heartbeat from tcp:127.0.0.1:5760
MAV> link 1 down
SITL console shows this
Setting SIM_SPEEDUP=1.000000
Starting SITL Webots
Bind 127.0.0.1:9003 for SITL in
Setting Webots interface to 172.17.208.1:9002
Starting sketch 'ArduCopter'
Starting SITL input
Using Irlock at port : 9005
bind port 5760 for 0
Serial port 0 on TCP port 5760
Waiting for connection ....
Connection on serial port 5760
Loaded defaults from Tools/autotest/default_params/copter.parm
Home: -35.363262 149.165237 alt=584.000000m hdg=353.000000
I’ve tried another models and it works fine, so mavproxy dont work for webots-python model only. I’ve also tried ground stations but the same issue “Connection refused”.
Also checked ports and it shows this
Proto Recv-Q Send-Q Local Address Foreign Address State
tcp 0 0 0.0.0.0:5760 0.0.0.0:* LISTEN
tcp 0 0 127.0.0.53:53 0.0.0.0:* LISTEN
udp 0 0 0.0.0.0:5501 0.0.0.0:*
udp 0 0 127.0.0.53:53 0.0.0.0:*
udp 0 0 127.0.0.1:323 0.0.0.0:*
udp 0 0 0.0.0.0:9003 0.0.0.0:*
udp6 0 0 ::1:323 :::*
Sitl running on WSL2 UBUNTU 22.04 . Host system is Windows 11.
Will be very glad for help!