Px4-autopilot: Don`t work roslaunch px4 posix_sitl.launch

[archee8]

After updating Firmware, MAVROS and MAVLink roslaunch px4 posix_sitl.launch dont work. There is no iris.sdf in the firmware/Tools/sitl_gazebo/models. I add old version iris.sdf but it did not help. roslaunch px4 posix_sitl.launch conclusion:
`... logging to /home/archee/.ros/log/ec8c8c32-553c-11e9-80fb-f49634e9b2e0/roslaunch-KhazetdinovPC-19970.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://KhazetdinovPC:43333/

SUMMARY

PARAMETERS

• /rosdistro: kinetic
• /rosversion: 1.12.14
• /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
sitl (px4/px4)
vehicle_spawn_KhazetdinovPC_19970_3293164669616101250 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [19980]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ec8c8c32-553c-11e9-80fb-f49634e9b2e0
process[rosout-1]: started with pid [19993]
started core service [/rosout]
process[sitl-2]: started with pid [20017]
INFO [px4] Creating symlink /home/archee/src/Firmware/ROMFS/px4fmu_common -> /home/archee/.ros/etc
0 WARNING: setRealtimeSched failed (not run as root?)

______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ ___ |
_| / / |_/

px4 starting.

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [20033]
process[gazebo_gui-4]: started with pid [20045]
SYS_AUTOSTART: curr: 0 -> new: 10016
process[vehicle_spawn_KhazetdinovPC_19970_3293164669616101250-5]: started with pid [20051]
BAT_N_CELLS: curr: 0 -> new: 3
CAL_ACC0_ID: curr: 0 -> new: 1376264
CAL_ACC1_ID: curr: 0 -> new: 1310728
CAL_ACC_PRIME: curr: 0 -> new: 1376264
CAL_GYRO0_ID: curr: 0 -> new: 2293768
CAL_GYRO_PRIME: curr: 0 -> new: 2293768
CAL_MAG0_ID: curr: 0 -> new: 196616
CAL_MAG_PRIME: curr: 0 -> new: 196616
COM_DISARM_LAND: curr: -1.0000 -> new: 0.1000
COM_OBL_ACT: curr: 0 -> new: 2
COM_OF_LOSS_T: curr: 0.0000 -> new: 5.0000
COM_RC_IN_MODE: curr: 0 -> new: 1
EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
MC_PITCH_P: curr: 6.5000 -> new: 6.0000
MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
MC_ROLL_P: curr: 6.5000 -> new: 6.0000
MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
MPC_Z_VEL_I: curr: 0.0200 -> new: 0.1500
MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
MPC_XY_P: curr: 0.9500 -> new: 0.8000
MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
MPC_ACC_HOR_MAX: curr: 10.0000 -> new: 3.0000
NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
NAV_DLL_ACT: curr: 0 -> new: 2
RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
SDLOG_PROFILE: curr: 3 -> new: 131
SDLOG_DIRS_MAX: curr: 0 -> new: 7
SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010

• RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
• RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
  PWM_MAX: curr: 2000 -> new: 1950
  PWM_MIN: curr: 1000 -> new: 1075
  INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
  INFO [simulator] Waiting for simulator to connect on TCP port 4560
  SpawnModel script started
  [vehicle_spawn_KhazetdinovPC_19970_3293164669616101250-5] process has finished cleanly
  log file: /home/archee/.ros/log/ec8c8c32-553c-11e9-80fb-f49634e9b2e0/vehicle_spawn_KhazetdinovPC_19970_3293164669616101250-5*.log
  `

[bys1123]

I tried master branch yesterday, works well.

[archee8]

I tried master branch but in firmware directory dont have iris.sdf. I copy iris.sdf from old version firmware but i get error than launch posix_sitl

[lamping7]

How did you build the firmware? The model gets generated when you build the sitl_gazebo submodule. There are different make commands that do this depending on what you're trying to do. But, basically you need to build sitl_gazebo. make px4_sitl_default sitl_gazebo will build it without launching gazebo.

[archee8]

i use this command from dev.px4.io
make posix_sitl_default gazebo
source ~/catkin_ws/devel/setup.bash // (optional)
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/posix_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
roslaunch px4 posix_sitl.launch

[lamping7]

posix_sitl_default has been deprecated. Try px4_sitl_default. ~I can open an issue to fix the docs. Thanks for pointing it out.~

EDIT: It's already been fixed -- https://dev.px4.io/master/en/simulation/ros_interface.html You need to select the correct version of the docs with the dropdown box on the left.

[archee8]

thank you! everything is working!