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AkashJohnSubash / CrazySimGT

A Crazyflie simulator for testing CFLib Python code, ROS 2 nodes through Crazyswarm2, custom crazyflie-firmware modules, or perform a flight demo on the crazyflie-python-client.
GNU General Public License v3.0
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Gazebo garden error (arm64): [MulticopterMotorModel.cc:287] Please specify a motorNumber. #4

Open AkashJohnSubash opened 1 month ago

AkashJohnSubash commented 1 month ago

starting the gazebo simulation with below script throws the above mentioned error on arm64 (apple's M1) Ubuntu 22.04 (VM, native) bash tools/crazyflie-simulation/simulator_files/gazebo/launch/sitl_singleagent.sh -m crazyflie -x 0 -y 0

Gazebo model dosen't complete handshaking subsequently when crazyflie-client (still-release version 0.dev1632) tries to connect. Below is the log

INFO:cfclient.gui:Disabling STL printouts INFO:cfclient.utils.input.inputreaders:Input readers: ['linuxjsdev', 'pysdl2'] INFO:cfclient.utils.input.inputreaders:Successfully initialized [linuxjsdev] INFO:cfclient.utils.input.inputreaders:Could not initialize [pysdl2]: No SDL2 support on Linux INFO:cfclient.utils.input.inputinterfaces:Found interfaces: ['leapmotion', 'wiimote', 'zmqpull'] INFO:cfclient.utils.input.inputinterfaces:Could not initialize [leapmotion]: Leap Motion library probably not installed (No module named 'leapsdk') INFO:cfclient.utils.input.inputinterfaces:Could not initialize [wiimote]: Missing cwiid (wiimote) driver No module named 'cwiid' INFO:cfclient.utils.config:Dist config read from /home/aku/Desktop/LocalPlanDrone/CrazySimGT/crazyflie-clients-python/src/cfclient/configs/config.json INFO:cfclient.utils.input.inputinterfaces:Could not initialize [zmqpull]: ZMQ input disabled in config file INFO:cfclient.utils.zmq_led_driver:ZMQ led disabled in config file INFO:cfclient.utils.zmq_param:ZMQ param disabled in config file INFO:cfclient.gui:If startup fails because of "xcb", install dependency with sudo apt install libxcb-xinerama0. INFO:cfclient.utils.input:Using device blacklist [(VirtualBox|VMware)] INFO:cfclient.ui.tab_toolbox:No config found for toolbox_areas Cannot find a Crazyradio Dongle INFO:cflib.drivers.cfusb:Looking for devices.... INFO:cflib.crtp.udpdriver:Initialized UDP driver. INFO:cflib.crtp.prrtdriver:Initialized PRRT driver. INFO:cfclient.ui.tab_toolbox:No config found for toolbox_areas INFO:cfclient.ui.tab_toolbox:No config found for toolbox_areas INFO:cfclient.ui.tab_toolbox:No config found for toolbox_areas INFO:cfclient.ui.tab_toolbox:No config found for toolbox_areas INFO:cfclient.ui.tab_toolbox:No config found for toolbox_areas INFO:cfclient.ui.tab_toolbox:No config found for toolbox_areas INFO:cfclient.ui.tab_toolbox:No config found for toolbox_areas INFO:cfclient.ui.tab_toolbox:No config found for toolbox_areas INFO:cfclient.ui.tab_toolbox:No config found for toolbox_areas INFO:cfclient.ui.tab_toolbox:No config found for open_toolboxes INFO:cfclient.ui.tab_toolbox:No config found for open_toolboxes INFO:cfclient.utils.input:Selected MUX: Normal INFO:cfclient.ui.main:Role of spice vdagent tablet is Device INFO:cfclient.utils.input.mux:Adding device spice vdagent tablet to MUX Normal INFO:cfclient.ui.main:Select first device WARNING:cfclient.ui.main:Cannot find a Crazyradio Dongle Cannot find a Crazyradio Dongle INFO:cflib.drivers.cfusb:Looking for devices.... INFO:cflib.crtp.udpdriver:Initialized UDP driver. INFO:cflib.crtp.prrtdriver:Initialized PRRT driver. INFO:cflib.crazyflie:Callback->Connection initialized[udp://0.0.0.0:19850] INFO:cflib.crtp.udpdriver:Initialized UDP driver. INFO:cflib.crazyflie:We are connected[udp://0.0.0.0:19850], request connection setup INFO:cflib.crazyflie.platformservice:Request _request_protocol_version()

AkashJohnSubash commented 1 month ago

suspect it's an arm64 Gazebo Garden release issue due to the similar PX4 issue on RaspberryPi

AkashJohnSubash commented 1 month ago

upgrading to Gazebo Harmonic gets rid of this error message, but the simulation still dosent move