Ardupilot: Problem with Gazebo simulation and ROS

[bosskwei]

Platform

• Copter in Gazebo (sim_vehicle.py -f gazebo-iris -D --console --map)
• Gazebo 8
• ROS Kinetic with Ubuntu 16.04

Issue details

Hi, I want to control an iris quadrotor with ros-mavros-package, I tried many times but failed in the end, so I really need some help.
There is a step-by-step guide of how I set it up:

1. sim_vehicle.py -f gazebo-iris -D --console --map

Then console outputs: SIM_VEHICLE: "mavproxy.py" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501" "--out" "127.0.0.1:14550" "--out" "127.0.0.1:14551".

1. gazebo --verbose worlds/iris_arducopter_demo.world
   Now everything is ok
2. arm throttle & rc 3 1700
   Then the quadrotor began to takeoff
3. roslaunch my_launch_file.launch
   include file="$(find mavros)/launch/node.launch
   arg name="fcu_url" default="tcp://127.0.0.1:5760"
   arg name="gcs_url" default="udp://[email protected]:14550"
   arg name="tgt_system" default="1"
   arg name="tgt_component" default="1"
   arg name="log_output" default="screen"
   arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml"
   arg name="config_yaml" value="$(find mavros)/launch/apm_config.yaml"
4. mavros/mavlink could connect to sitl / firmware correctly, but when I tried to print some response such as /diagnostics topic, it always returns fcu not connected

Is there anything wrong in my step? I think I could not notice them by myself, I really need some help, thx

[khancyr]

Hi, your mavros config is wrong :
arg name="fcu_url" default="tcp://127.0.0.1:5761" as 5760 is already take by mavproxy
you don't need arg name="gcs_url" default="udp://[email protected]:14550" as it is just for take out mavlink to a GCS but mavproxy is already doing in with "--out" "127.0.0.1:14550" "--out" "127.0.0.1:14551"

BTW :this issues list is for confirmed bugs and feature requests. User support questions should be posted at the forum (http://discuss.ardupilot.org).

[OXINARF]

Like @khancyr said, this isn't the appropriate place for this. Either post in the forum or ask in Gitter.

[bosskwei]

@OXINARF @khancyr Thanks a lot.