Px4-autopilot: px4_sitl gazebo not working on ubuntu16.04 with gazebo9
Please suggest a work around for the pc hangup when run the command
make px4_sitl gazebo
-- computer freezes when doing this -- I have to press the power button to restart.
I am trying to simulate a plane in gazebo and work with the mavsdk libraries.
If this issue is still new, then I do have a pixhawk with which I can start HITL directly. But would need the steps to run mavsdk c++ file to run a mission on QGC and Xplane10.
Would be grateful to whoever is able to help me here.!
Thanks,
Prasheel
Prasheel24
All 6 comments
Update:
So, I had been SMH for quite a few days on this, and finally got it to work!
I commented every dependency in the CMakeLists of sitl_gazebo. Somehow with all at once, the plugins do not work. I worked them out one by one.
But, there are some serious issues in usv_dynamics plugin as thats the last part in the commented part with which the issue still exists!. Also, had to first build on px4_sitl_default gazebo then worked it out on gazebo_plane. This finally got the model running with mission commands from QGC.
But, did give these errors-
In file included from /usr/include/eigen3/Eigen/Core:316:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/common.h:26,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_mockup_plugin.h:37,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/src/gazebo_opticalflow_mockup_plugin.cpp:27:
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:60:39: warning: ignoring attributes on template argument ‘__m128 {aka __vector(4) float}’ [-Wignored-attributes]
template<> struct is_arithmetic<__m128> { enum { value = true }; };
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:61:40: warning: ignoring attributes on template argument ‘__m128i {aka __vector(2) long long int}’ [-Wignored-attributes]
template<> struct is_arithmetic<__m128i> { enum { value = true }; };
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:62:40: warning: ignoring attributes on template argument ‘__m128d {aka __vector(2) double}’ [-Wignored-attributes]
template<> struct is_arithmetic<__m128d> { enum { value = true }; };
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:160:43: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f {aka __vector(4) float}’ [-Wignored-attributes]
template<> struct unpacket_traits<Packet4f> { typedef float type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
^
In file included from /usr/include/eigen3/Eigen/Core:316:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/common.h:26,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_mockup_plugin.h:37,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/src/gazebo_opticalflow_mockup_plugin.cpp:27:
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:161:43: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d {aka __vector(2) double}’ [-Wignored-attributes]
template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:162:43: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4i {aka __vector(2) long long int}’ [-Wignored-attributes]
template<> struct unpacket_traits<Packet4i> { typedef int type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:468:37: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f {aka __vector(4) float}’ [-Wignored-attributes]
struct protate_impl<offset, Packet4f>
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:476:37: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4i {aka __vector(2) long long int}’ [-Wignored-attributes]
struct protate_impl<offset, Packet4i>
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:484:37: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d {aka __vector(2) double}’ [-Wignored-attributes]
struct protate_impl<offset, Packet2d>
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:755:35: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f {aka __vector(4) float}’ [-Wignored-attributes]
struct palign_impl<Offset,Packet4f>
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:778:35: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4i {aka __vector(2) long long int}’ [-Wignored-attributes]
struct palign_impl<Offset,Packet4i>
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:801:35: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d {aka __vector(2) double}’ [-Wignored-attributes]
struct palign_impl<Offset,Packet2d>
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:815:34: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f {aka __vector(4) float}’ [-Wignored-attributes]
ptranspose(PacketBlock<Packet4f,4>& kernel) {
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:820:34: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d {aka __vector(2) double}’ [-Wignored-attributes]
ptranspose(PacketBlock<Packet2d,2>& kernel) {
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:827:34: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4i {aka __vector(2) long long int}’ [-Wignored-attributes]
ptranspose(PacketBlock<Packet4i,4>& kernel) {
^
In file included from /usr/include/eigen3/Eigen/Core:318:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/common.h:26,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_mockup_plugin.h:37,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/src/gazebo_opticalflow_mockup_plugin.cpp:27:
/usr/include/eigen3/Eigen/src/Core/arch/SSE/Complex.h:232:63: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f {aka __vector(4) float}’ [-Wignored-attributes]
template<> struct conj_helper<Packet4f, Packet2cf, false,false>
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/Complex.h:241:63: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f {aka __vector(4) float}’ [-Wignored-attributes]
template<> struct conj_helper<Packet2cf, Packet4f, false,false>
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/Complex.h:433:63: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d {aka __vector(2) double}’ [-Wignored-attributes]
template<> struct conj_helper<Packet2d, Packet1cd, false,false>
^
/usr/include/eigen3/Eigen/src/Core/arch/SSE/Complex.h:442:63: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d {aka __vector(2) double}’ [-Wignored-attributes]
template<> struct conj_helper<Packet1cd, Packet2d, false,false>
^
In file included from /usr/include/eigen3/Eigen/Core:298:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/common.h:26,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_mockup_plugin.h:37,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/src/gazebo_opticalflow_mockup_plugin.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<float, 4>’:
/usr/include/eigen3/Eigen/src/Core/Matrix.h:144:57: required from ‘struct Eigen::internal::traits<Eigen::Matrix<float, 4, 1> >’
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:219:7: required from ‘struct Eigen::internal::traits<Eigen::Quaternion<float> >’
/usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:34:56: required from ‘class Eigen::RotationBase<Eigen::Quaternion<float>, 3>’
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:35:7: required from ‘class Eigen::QuaternionBase<Eigen::Quaternion<float> >’
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:227:7: required from ‘class Eigen::Quaternion<float>’
/usr/include/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h:22:3: required from here
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:130:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type {aka __vector(4) float}’ [-Wignored-attributes]
bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:130:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type {aka __vector(4) float}’ [-Wignored-attributes]
bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:130:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type {aka __vector(4) float}’ [-Wignored-attributes]
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:130:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(4) float>::half {aka __vector(4) float}’ [-Wignored-attributes]
In file included from /usr/include/eigen3/Eigen/Core:298:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/common.h:26,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_mockup_plugin.h:37,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/src/gazebo_opticalflow_mockup_plugin.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:148:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type {aka __vector(4) float}’ [-Wignored-attributes]
typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
^~~~
In file included from /usr/include/eigen3/Eigen/Core:343:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/common.h:26,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_mockup_plugin.h:37,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/src/gazebo_opticalflow_mockup_plugin.cpp:27:
/usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 0>’:
/usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:288:7: required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 1>’
/usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:527:7: required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 3>’
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:457:8: required from ‘struct Eigen::internal::special_scalar_op_base<Eigen::Matrix<float, 4, 1>, float, float, Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 3>, false>’
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:41:34: required from ‘class Eigen::DenseBase<Eigen::Matrix<float, 4, 1> >’
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:48:34: required from ‘class Eigen::MatrixBase<Eigen::Matrix<float, 4, 1> >’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:91:7: required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<float, 4, 1> >’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:178:7: required from ‘class Eigen::Matrix<float, 4, 1>’
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:287:16: required from ‘class Eigen::Quaternion<float>’
/usr/include/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h:22:3: required from here
/usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:55:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type {aka __vector(4) float}’ [-Wignored-attributes]
>::type PacketReturnType;
^~~~~~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:298:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/common.h:26,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_mockup_plugin.h:37,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/src/gazebo_opticalflow_mockup_plugin.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 4>’:
/usr/include/eigen3/Eigen/src/Core/Matrix.h:144:57: required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, 4, 1> >’
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:219:7: required from ‘struct Eigen::internal::traits<Eigen::Quaternion<double> >’
/usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:34:56: required from ‘class Eigen::RotationBase<Eigen::Quaternion<double>, 3>’
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:35:7: required from ‘class Eigen::QuaternionBase<Eigen::Quaternion<double> >’
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:227:7: required from ‘class Eigen::Quaternion<double>’
/usr/include/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h:75:3: required from here
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:130:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type {aka __vector(2) double}’ [-Wignored-attributes]
bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:130:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type {aka __vector(2) double}’ [-Wignored-attributes]
bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:130:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type {aka __vector(2) double}’ [-Wignored-attributes]
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:130:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half {aka __vector(2) double}’ [-Wignored-attributes]
In file included from /usr/include/eigen3/Eigen/Core:298:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/common.h:26,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_mockup_plugin.h:37,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/src/gazebo_opticalflow_mockup_plugin.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:148:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type {aka __vector(2) double}’ [-Wignored-attributes]
typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
^~~~
In file included from /usr/include/eigen3/Eigen/Core:343:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/common.h:26,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_mockup_plugin.h:37,
from /home/prasheel/Workspace/RA/Dependencies/Firmware/Tools/sitl_gazebo/src/gazebo_opticalflow_mockup_plugin.cpp:27:
/usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 0>’:
/usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:288:7: required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 1>’
/usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:527:7: required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 3>’
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:457:8: required from ‘struct Eigen::internal::special_scalar_op_base<Eigen::Matrix<double, 4, 1>, double, double, Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 3>, false>’
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:41:34: required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 4, 1> >’
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:48:34: required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 4, 1> >’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:91:7: required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 1> >’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:178:7: required from ‘class Eigen::Matrix<double, 4, 1>’
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:287:16: required from ‘class Eigen::Quaternion<double>’
/usr/include/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h:75:3: required from here
/usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:55:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type {aka __vector(2) double}’ [-Wignored-attributes]
>::type PacketReturnType;
^~~~~~~~~~~~~~~~
cc1plus: warning: unrecognized command line option ‘-Wno-address-of-packed-member’
I believe there are some issues with the build as it does not let me take all these plugins at once. I specially upgraded to gazebo9 for this (compromised my work on turtlebot - doesnt work on g9). The memory taken up at runtime is huge that causes the machine to freeze? I would be happy to work it out with you guys! But for now the issue is resolved (except the error log from eigen, which disappears on successive runs). I hope there are no dependencies on the usv_dynamics plugin.
Please do let me know how I can be of any help guys!.
Thanks,
Prasheel
Prasheel24
on 24 Apr 2020
-- computer freezes when doing this -- I have to press the power button to restart.
I guess it's your computer running out of RAM during linking.
cc1plus: warning: unrecognized command line option ‘-Wno-address-of-packed-member
This is a warning, so you should be able to get around it by disabling -Werror.
julianoes
on 24 Apr 2020
👍1
I am using an 8GB RAM with >50GB free space on my hard drive. I have an NVIDIA GPU.
I would be happy to know the requirements to run the firmware?
Prasheel24
on 24 Apr 2020
RAM usage depends on your CPU threads (compiler jobs), usually need 2GB per job.
bys1123
on 24 Apr 2020
👀1
Well, I wonder how this same firmware works well on a Pixhawk2 (currently using for HITL).
Please mind my knowledge in the field, kind of a rookie in flying drones but I'm good with C++!
Anyway, great to know about this. Would definitely take a look at the source code.
Thank you for the insight.
Prasheel24
on 24 Apr 2020
With #14971 you can now build with fewer cores in order to avoid running out of RAM:
make px4_sitl gazebo -2
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