Hey!
I’m working on Ubuntu 18.04
ROS Melodic / Gazebo 9
MAVProxy, Ardupilot etc. up to date
I’ve tested SITL<->Gazebo connection (with khancyr plugin) and everything seems to work fine. I try to make the Erle-Robotics (gym-gazebo) copter-hover-example work:
Link Github for gym-gazebo
However, after a lot of time i’m stuck and it seems that there is no connection between gazebo and ArduCopter/MAVProxy. This examples calls ArduCopter and MAVProxy first and after that Gazebo with the Modell in pause-mode.
Here are the Terminal outputs:
Arducopter:
Set parameter SIM_SPEEDUP to 1.000000
Creating model Gazebo at speed 1.0
Home: -35.363261 149.165230 alt=584.000000m hdg=353.000000
Starting SITL Gazebo
Bind 127.0.0.1:9003 for SITL in
Setting Gazebo interface to 127.0.0.1:9002
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 0
setup:314: bad header in setup - erasing
bind port 5762 for 2
Serial port 2 on TCP port 5762
bind port 5763 for 3
Serial port 3 on TCP port 5763
Terminal output (slightly shortened for the overview):
…
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
spawn_erlecopter (gazebo_ros/spawn_model)auto-starting new master
process[master]: started with pid [10806]
ROS_MASTER_URI=http://stephan-Z:14587/setting /run_id to 8a7dde86-8518-11e9-971e-50e54953a336
Taking off in in 10s
process[rosout-1]: started with pid [10830]
started core service [/rosout]
process[mavros-2]: started with pid [10839]
process[spawn_erlecopter-3]: started with pid [10840]
process[gazebo-4]: started with pid [10841]
process[gazebo_gui-5]: started with pid [10851]
[ INFO] [1559467607.976384085]: FCU URL: udp://127.0.0.1:14551@14555
[ INFO] [1559467607.980572379]: udp0: Bind address: 127.0.0.1:14551
[ INFO] [1559467607.981766141]: udp0: Remote address: 0.0.56.219:14550
…
Taking off in in 3s
Taking off in in 2s
Taking off in in 1s
Waiting for mavros…
And finally the output from SITL (in this case its called sim_vehicle.py but it should be SITL, right?):
Uploaded as screenshot
Any hint for me?
Thanks in advance.