Using Gazebo Simulator with SITL - make-j4 error

cluue · February 20, 2019, 9:18am

Hello Community,

I am trying to set up the Gazebo Simulation as mentioned on the Using Gazebo Simulator with SITL wiki page (http://ardupilot.org/dev/docs/using-gazebo-simulator-with-sitl.html).

I am running it on Ubuntu 16.04 with ROS Kinetics, regarding to the wiki that should work.

Actually this is the error which pops up, when I come to the make -j4 part.

[ 16%] Building CXX object CMakeFiles/ArduPilotPlugin.dir/src/ArduPilotPlugin.cc.o
[ 33%] Building CXX object CMakeFiles/ArduCopterPlugin.dir/src/ArduCopterPlugin.cc.o
[ 50%] Building CXX object CMakeFiles/ArduCopterIRLockPlugin.dir/src/ArduCopterIRLockPlugin.cc.o
/home/thorsten/ardupilot_gazebo/src/ArduPilotPlugin.cc: In member function ‘void gazebo::ArduPilotPlugin::OnUpdate()’:
/home/thorsten/ardupilot_gazebo/src/ArduPilotPlugin.cc:914:39: error: ‘class gazebo::physics::World’ has no member named ‘GetSimTime’
     this->dataPtr->model->GetWorld()->GetSimTime();
                                       ^
/home/thorsten/ardupilot_gazebo/src/ArduPilotPlugin.cc: In member function ‘void gazebo::ArduPilotPlugin::ApplyMotorForces(double)’:
/home/thorsten/ardupilot_gazebo/src/ArduPilotPlugin.cc:999:62: error: ‘class gazebo::physics::Joint’ has no member named ‘GetAngle’
         const double pos = this->dataPtr->controls[i].joint->GetAngle(0).Radian();
                                                              ^
/home/thorsten/ardupilot_gazebo/src/ArduPilotPlugin.cc: In member function ‘void gazebo::ArduPilotPlugin::SendState() const’:
/home/thorsten/ardupilot_gazebo/src/ArduPilotPlugin.cc:1195:53: error: ‘class gazebo::physics::World’ has no member named ‘GetSimTime’
   pkt.timestamp = this->dataPtr->model->GetWorld()->GetSimTime().Double();
                                                     ^
/home/thorsten/ardupilot_gazebo/src/ArduPilotPlugin.cc:1245:27: error: ‘class gazebo::physics::Model’ has no member named ‘GetWorldPose’
     this->dataPtr->model->GetWorldPose().Ign();
                           ^
/home/thorsten/ardupilot_gazebo/src/ArduPilotPlugin.cc:1278:38: error: ‘class gazebo::physics::Link’ has no member named ‘GetWorldLinearVel’
     this->dataPtr->model->GetLink()->GetWorldLinearVel().Ign();
                                      ^
/home/thorsten/ardupilot_gazebo/src/ArduCopterPlugin.cc: In member function ‘void gazebo::ArduCopterPlugin::OnUpdate()’:
/home/thorsten/ardupilot_gazebo/src/ArduCopterPlugin.cc:565:68: error: ‘class gazebo::physics::World’ has no member named ‘GetSimTime’
   gazebo::common::Time curTime = this->dataPtr->model->GetWorld()->GetSimTime();
                                                                    ^
/home/thorsten/ardupilot_gazebo/src/ArduCopterPlugin.cc: In member function ‘void gazebo::ArduCopterPlugin::SendState() const’:
/home/thorsten/ardupilot_gazebo/src/ArduCopterPlugin.cc:752:53: error: ‘class gazebo::physics::World’ has no member named ‘GetSimTime’
   pkt.timestamp = this->dataPtr->model->GetWorld()->GetSimTime().Double();
                                                     ^
/home/thorsten/ardupilot_gazebo/src/ArduCopterPlugin.cc:802:27: error: ‘class gazebo::physics::Model’ has no member named ‘GetWorldPose’
     this->dataPtr->model->GetWorldPose().Ign();
                           ^
/home/thorsten/ardupilot_gazebo/src/ArduCopterPlugin.cc:833:38: error: ‘class gazebo::physics::Link’ has no member named ‘GetWorldLinearVel’
     this->dataPtr->model->GetLink()->GetWorldLinearVel().Ign();
                                      ^
In file included from /usr/include/boost/type_index/stl_type_index.hpp:32:0,
                 from /usr/include/boost/type_index.hpp:29,
                 from /usr/include/boost/any.hpp:20,
                 from /usr/include/sdformat-6.2/sdf/Param.hh:21,
                 from /usr/include/sdformat-6.2/sdf/Element.hh:25,
                 from /usr/include/sdformat-6.2/sdf/sdf.hh:4,
                 from /home/thorsten/ardupilot_gazebo/src/ArduPilotPlugin.cc:41:
/usr/include/boost/variant/get.hpp: In instantiation of ‘typename boost::add_reference<T>::type boost::strict_get(boost::variant<T0, TN ...>&) [with U = short unsigned int; T0 = bool; TN = {char, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, int, long unsigned int, unsigned int, double, float, sdf::Time, ignition::math::v4::Color, ignition::math::v4::Vector2<int>, ignition::math::v4::Vector2<double>, ignition::math::v4::Vector3<double>, ignition::math::v4::Quaternion<double>, ignition::math::v4::Pose3<double>}; typename boost::add_reference<T>::type = short unsigned int&]’:
/usr/include/boost/variant/get.hpp:284:25:   required from ‘typename boost::add_reference<T>::type boost::get(boost::variant<T0, TN ...>&) [with U = short unsigned int; T0 = bool; TN = {char, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, int, long unsigned int, unsigned int, double, float, sdf::Time, ignition::math::v4::Color, ignition::math::v4::Vector2<int>, ignition::math::v4::Vector2<double>, ignition::math::v4::Vector3<double>, ignition::math::v4::Quaternion<double>, ignition::math::v4::Pose3<double>}; typename boost::add_reference<T>::type = short unsigned int&]’
/usr/include/sdformat-6.2/sdf/Param.hh:300:31:   required from ‘bool sdf::Param::Get(T&) const [with T = short unsigned int]’
/usr/include/sdformat-6.2/sdf/Element.hh:454:7:   required from ‘std::pair<T, bool> sdf::Element::Get(const string&, const T&) const [with T = short unsigned int; std::__cxx11::string = std::__cxx11::basic_string<char>]’
/usr/include/sdformat-6.2/sdf/Element.hh:429:55:   required from ‘T sdf::Element::Get(const string&) const [with T = short unsigned int; std::__cxx11::string = std::__cxx11::basic_string<char>]’
/home/thorsten/ardupilot_gazebo/src/ArduPilotPlugin.cc:69:12:   required from ‘bool getSdfParam(sdf::ElementPtr, const string&, T&, const T&, const bool&) [with T = short unsigned int; sdf::ElementPtr = std::shared_ptr<sdf::Element>; std::__cxx11::string = std::__cxx11::basic_string<char>]’
/home/thorsten/ardupilot_gazebo/src/ArduPilotPlugin.cc:950:39:   required from here
/usr/include/boost/variant/get.hpp:212:5: error: static assertion failed: boost::variant does not contain specified type U, call to boost::get<U>(boost::variant<T...>&) will always throw boost::bad_get exception
     BOOST_STATIC_ASSERT_MSG(
     ^
In file included from /usr/include/boost/type_index/stl_type_index.hpp:32:0,
                 from /usr/include/boost/type_index.hpp:29,
                 from /usr/include/boost/any.hpp:20,
                 from /usr/include/sdformat-6.2/sdf/Param.hh:21,
                 from /usr/include/sdformat-6.2/sdf/Element.hh:25,
                 from /usr/include/sdformat-6.2/sdf/sdf.hh:4,
                 from /home/thorsten/ardupilot_gazebo/src/ArduCopterPlugin.cc:27:
/usr/include/boost/variant/get.hpp: In instantiation of ‘typename boost::add_reference<T>::type boost::strict_get(boost::variant<T0, TN ...>&) [with U = short unsigned int; T0 = bool; TN = {char, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, int, long unsigned int, unsigned int, double, float, sdf::Time, ignition::math::v4::Color, ignition::math::v4::Vector2<int>, ignition::math::v4::Vector2<double>, ignition::math::v4::Vector3<double>, ignition::math::v4::Quaternion<double>, ignition::math::v4::Pose3<double>}; typename boost::add_reference<T>::type = short unsigned int&]’:
/usr/include/boost/variant/get.hpp:284:25:   required from ‘typename boost::add_reference<T>::type boost::get(boost::variant<T0, TN ...>&) [with U = short unsigned int; T0 = bool; TN = {char, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, int, long unsigned int, unsigned int, double, float, sdf::Time, ignition::math::v4::Color, ignition::math::v4::Vector2<int>, ignition::math::v4::Vector2<double>, ignition::math::v4::Vector3<double>, ignition::math::v4::Quaternion<double>, ignition::math::v4::Pose3<double>}; typename boost::add_reference<T>::type = short unsigned int&]’
/usr/include/sdformat-6.2/sdf/Param.hh:300:31:   required from ‘bool sdf::Param::Get(T&) const [with T = short unsigned int]’
/usr/include/sdformat-6.2/sdf/Element.hh:454:7:   required from ‘std::pair<T, bool> sdf::Element::Get(const string&, const T&) const [with T = short unsigned int; std::__cxx11::string = std::__cxx11::basic_string<char>]’
/usr/include/sdformat-6.2/sdf/Element.hh:429:55:   required from ‘T sdf::Element::Get(const string&) const [with T = short unsigned int; std::__cxx11::string = std::__cxx11::basic_string<char>]’
/home/thorsten/ardupilot_gazebo/src/ArduCopterPlugin.cc:55:12:   required from ‘bool getSdfParam(sdf::ElementPtr, const string&, T&, const T&, const bool&) [with T = short unsigned int; sdf::ElementPtr = std::shared_ptr<sdf::Element>; std::__cxx11::string = std::__cxx11::basic_string<char>]’
/home/thorsten/ardupilot_gazebo/src/ArduCopterPlugin.cc:590:45:   required from here
/usr/include/boost/variant/get.hpp:212:5: error: static assertion failed: boost::variant does not contain specified type U, call to boost::get<U>(boost::variant<T...>&) will always throw boost::bad_get exception
     BOOST_STATIC_ASSERT_MSG(
     ^
CMakeFiles/ArduCopterPlugin.dir/build.make:62: recipe for target 'CMakeFiles/ArduCopterPlugin.dir/src/ArduCopterPlugin.cc.o' failed
make[2]: *** [CMakeFiles/ArduCopterPlugin.dir/src/ArduCopterPlugin.cc.o] Error 1
CMakeFiles/Makefile2:141: recipe for target 'CMakeFiles/ArduCopterPlugin.dir/all' failed
make[1]: *** [CMakeFiles/ArduCopterPlugin.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
CMakeFiles/ArduPilotPlugin.dir/build.make:62: recipe for target 'CMakeFiles/ArduPilotPlugin.dir/src/ArduPilotPlugin.cc.o' failed
make[2]: *** [CMakeFiles/ArduPilotPlugin.dir/src/ArduPilotPlugin.cc.o] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/ArduPilotPlugin.dir/all' failed
make[1]: *** [CMakeFiles/ArduPilotPlugin.dir/all] Error 2
/home/thorsten/ardupilot_gazebo/src/ArduCopterIRLockPlugin.cc: In member function ‘virtual void gazebo::ArduCopterIRLockPlugin::OnNewFrame(const unsigned char*, unsigned int, unsigned int, unsigned int, const string&)’:
/home/thorsten/ardupilot_gazebo/src/ArduCopterIRLockPlugin.cc:237:14: error: ‘class gazebo::rendering::Visual’ has no member named ‘GetWorldPose’
         vis->GetWorldPose().pos.Ign(), camera);
              ^
/home/thorsten/ardupilot_gazebo/src/ArduCopterIRLockPlugin.cc:262:26: error: ‘class gazebo::rendering::Visual’ has no member named ‘GetName’
       this->Publish(vis->GetName(), pt.X(), pt.Y());
                          ^
In file included from /usr/include/boost/type_index/stl_type_index.hpp:32:0,
                 from /usr/include/boost/type_index.hpp:29,
                 from /usr/include/boost/any.hpp:20,
                 from /usr/include/sdformat-6.2/sdf/Param.hh:21,
                 from /usr/include/sdformat-6.2/sdf/Element.hh:25,
                 from /usr/include/sdformat-6.2/sdf/sdf.hh:4,
                 from /usr/include/gazebo-9/gazebo/sensors/Sensor.hh:25,
                 from /usr/include/gazebo-9/gazebo/sensors/CameraSensor.hh:24,
                 from /home/thorsten/ardupilot_gazebo/src/ArduCopterIRLockPlugin.cc:44:
/usr/include/boost/variant/get.hpp: In instantiation of ‘typename boost::add_reference<T>::type boost::strict_get(boost::variant<T0, TN ...>&) [with U = short unsigned int; T0 = bool; TN = {char, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, int, long unsigned int, unsigned int, double, float, sdf::Time, ignition::math::v4::Color, ignition::math::v4::Vector2<int>, ignition::math::v4::Vector2<double>, ignition::math::v4::Vector3<double>, ignition::math::v4::Quaternion<double>, ignition::math::v4::Pose3<double>}; typename boost::add_reference<T>::type = short unsigned int&]’:
/usr/include/boost/variant/get.hpp:284:25:   required from ‘typename boost::add_reference<T>::type boost::get(boost::variant<T0, TN ...>&) [with U = short unsigned int; T0 = bool; TN = {char, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, int, long unsigned int, unsigned int, double, float, sdf::Time, ignition::math::v4::Color, ignition::math::v4::Vector2<int>, ignition::math::v4::Vector2<double>, ignition::math::v4::Vector3<double>, ignition::math::v4::Quaternion<double>, ignition::math::v4::Pose3<double>}; typename boost::add_reference<T>::type = short unsigned int&]’
/usr/include/sdformat-6.2/sdf/Param.hh:300:31:   required from ‘bool sdf::Param::Get(T&) const [with T = short unsigned int]’
/usr/include/sdformat-6.2/sdf/Element.hh:454:7:   required from ‘std::pair<T, bool> sdf::Element::Get(const string&, const T&) const [with T = short unsigned int; std::__cxx11::string = std::__cxx11::basic_string<char>]’
/usr/include/sdformat-6.2/sdf/Element.hh:429:55:   required from ‘T sdf::Element::Get(const string&) const [with T = short unsigned int; std::__cxx11::string = std::__cxx11::basic_string<char>]’
/home/thorsten/ardupilot_gazebo/src/ArduCopterIRLockPlugin.cc:70:14:   required from ‘bool gazebo::getSdfParam(sdf::ElementPtr, const string&, T&, const T&, const bool&) [with T = short unsigned int; sdf::ElementPtr = std::shared_ptr<sdf::Element>; std::__cxx11::string = std::__cxx11::basic_string<char>]’
/home/thorsten/ardupilot_gazebo/src/ArduCopterIRLockPlugin.cc:199:39:   required from here
/usr/include/boost/variant/get.hpp:212:5: error: static assertion failed: boost::variant does not contain specified type U, call to boost::get<U>(boost::variant<T...>&) will always throw boost::bad_get exception
     BOOST_STATIC_ASSERT_MSG(
     ^
CMakeFiles/ArduCopterIRLockPlugin.dir/build.make:62: recipe for target 'CMakeFiles/ArduCopterIRLockPlugin.dir/src/ArduCopterIRLockPlugin.cc.o' failed
make[2]: *** [CMakeFiles/ArduCopterIRLockPlugin.dir/src/ArduCopterIRLockPlugin.cc.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/ArduCopterIRLockPlugin.dir/all' failed
make[1]: *** [CMakeFiles/ArduCopterIRLockPlugin.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

I feel like its an issue with my boost version, but I am pretty new to ROS, to Gazebo, to Linux and ArduPilot and I dont know how to fix that.

I appreciate your help!
Thanks alot!

KiloNovemberDelta · February 20, 2019, 1:50pm

Hello,

If you want to use ROS Kinetic (as I’m doing), it is better to use Gazebo v7, and not v9 as it is described in the tutorial.

I recommand to follow the nice tutorial from SwiftGust : https://github.com/SwiftGust/ardupilot_gazebo

Firstly, install ROS Kinetic for Ubuntu : http://wiki.ros.org/kinetic/Installation/Ubuntu
Then, install Gazebo as described by SwiftGust and play with it

[Good to have] Install Gazebo ROS plugin (google “install ros plugin gazebo”) , and use the command “roscore & rosrun gazebo_ros gazebo [your_world.world] --verbose” to run your world, and see publication from Gazebo into ROS.

Good luck, let me know if you succeed !

cluue · February 20, 2019, 3:31pm

Thanks alot, that fixed the problem!

EmotionFly · July 5, 2019, 6:10am

Hello, I would like to ask you to solve the above problem？or follow the help to reconfigure the operating environment? Because I have the same problem with you.

leelaser · November 4, 2019, 12:42am

how to problem？thank you