MAVProxy link 1 down on Erle-Robotics qlearn example


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:


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 for SITL in
Setting Gazebo interface to
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):

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]

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://
[ INFO] [1559467607.980572379]: udp0: Bind address:
[ INFO] [1559467607.981766141]: udp0: Remote address:

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 but it should be SITL, right?):
Uploaded as screenshot

Any hint for me?

Thanks in advance.

Hey, could you please share the solution, if you got one? I was too trying to connect Webots with MavLink, but the same error pops up.

if anyone has the answer, please post will be very thankful