Simulation started without drone

[spajder16]

I can run simulation and connect to px4 stack but quad is not spawned in simulation.

[0/4] Performing build step for 'simulation-ignition'
ninja: no work to do.
[3/4] cd /home/kamil/PX4-Autopilot/build/px4_sitl_default/tmp && /home/kamil/PX4-Autopilot/Tools/sitl_run.sh /home/kamil/PX4-Autopilot/build/px4_sitl_default/bin/px4 none ignition none none /home/kamil/PX4-Autopilot /home/kamil/PX4-Autopilot/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/kamil/PX4-Autopilot/build/px4_sitl_default/bin/px4
debugger: none
program: ignition
model: none
world: none
src_path: /home/kamil/PX4-Autopilot
build_path: /home/kamil/PX4-Autopilot/build/px4_sitl_default
empty model, setting iris as default
Ignition Gazebo
LD_LIBRARY_PATH /opt/ros/galactic/opt/yaml_cpp_vendor/lib:/opt/ros/galactic/opt/rviz_ogre_vendor/lib:/opt/ros/galactic/lib/x86_64-linux-gnu:/opt/ros/galactic/lib::/usr/local/cuda-11.2/lib64:/home/kamil/PX4-Autopilot/build/px4_sitl_default/build_ign_gazebo
SITL COMMAND: "/home/kamil/PX4-Autopilot/build/px4_sitl_default/bin/px4" "/home/kamil/PX4-Autopilot/build/px4_sitl_default"/etc -s etc/init.d-posix/rcS -t "/home/kamil/PX4-Autopilot"/test_data
Creating symlink /home/kamil/PX4-Autopilot/build/px4_sitl_default/etc -> /home/kamil/PX4-Autopilot/build/px4_sitl_defau

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

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [init] found model autostart file as SYS_AUTOSTART=10016
INFO  [param] selected parameter default file eeprom/parameters_10016
INFO  [parameters] BSON document size 312 bytes, decoded 312 bytes (INT32:13, FLOAT:3)
[param] Loaded: eeprom/parameters_10016
INFO  [dataman] data manager file './dataman' size is 7866640 bytes
PX4 SIM HOST: localhost
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
[Msg] Ignition Gazebo Server v5.4.0
[Msg] Ignition Gazebo GUI    v5.4.0
[Msg] Loading SDF world file[/home/kamil/PX4-Autopilot/Tools/simulation-ignition/worlds/iris.world].
[Msg] Create service on [/world/quadcopter/create]
[Msg] Remove service on [/world/quadcopter/remove]
[Msg] Pose service on [/world/quadcopter/set_pose]
[Msg] Pose service on [/world/quadcopter/set_pose_vector]
[Msg] Light configuration service on [/world/quadcopter/light_config]
[Msg] Physics service on [/world/quadcopter/set_physics]
[Msg] Enable collision service on [/world/quadcopter/enable_collision]
[Msg] Disable collision service on [/world/quadcopter/disable_collision]
[Msg] Material service on [/world/quadcopter/visual_config]
[Msg] Material service on [/world/quadcopter/wheel_slip]
[Wrn] [gazebo_magnetometer_plugin.cpp:70] [gazebo_magnetometer_plugin] Using default publication rate of 100 Hz
[Wrn] [gazebo_magnetometer_plugin.cpp:77] [gazebo_magnetometer_plugin] Using default noise density of 0.0004 (gauss) / sqrt(hz)
[Wrn] [gazebo_magnetometer_plugin.cpp:84] [gazebo_magnetometer_plugin] Using default random walk of 6.4e-06 (gauss) * sqrt(hz)
[Wrn] [gazebo_magnetometer_plugin.cpp:91] [gazebo_magnetometer_plugin] Using default bias correlation time of 6.4e-06 s
[Wrn] [gazebo_magnetometer_plugin.cpp:98] [gazebo_magnetometer_plugin] Using default magnetometer topic mag
[Wrn] [gazebo_gps_plugin.cpp:86] [gazebo_gps_plugin] Using default random walk in XY plane: 2
[Wrn] [gazebo_gps_plugin.cpp:94] [gazebo_gps_plugin] Using default random walk in Z: 4
[Wrn] [gazebo_gps_plugin.cpp:102] [gazebo_gps_plugin] Using default position noise density in XY plane: 0.0002
[Wrn] [gazebo_gps_plugin.cpp:110] [gazebo_gps_plugin] Using default position noise density in Z: 0.0004
[Wrn] [gazebo_gps_plugin.cpp:118] [gazebo_gps_plugin] Using default velocity noise density in XY plane: 0.2
[Wrn] [gazebo_gps_plugin.cpp:126] [gazebo_gps_plugin] Using default velocity noise density in Z: 0.4
[Wrn] [gazebo_gps_plugin.cpp:135] [gazebo_gps_plugin] Using default update rate of 5hz 
[Msg] Connecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
[Msg] Using MAVLink protocol v2.0
[Msg] Loaded level [3]
[Msg] Serving world controls on [/world/quadcopter/control] and [/world/quadcopter/playback/control]
[Msg] Serving GUI information on [/world/quadcopter/gui/info]
[Msg] World [quadcopter] initialized with [4ms] physics profile.
[Msg] Serving world SDF generation service on [/world/quadcopter/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
INFO  [simulator] Simulator connected on TCP port 4560.
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[GUI] [Wrn] [Application.cc:757] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[GUI] [Wrn] [Application.cc:757] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[GUI] [Msg] Video recorder stats topic advertised on [/gui/record_video/stats]
[GUI] [Msg] Transform mode service on [/gui/transform_mode]
[GUI] [Msg] Record video service on [/gui/record_video]
[GUI] [Msg] Move to service on [/gui/move_to]
[GUI] [Msg] Follow service on [/gui/follow]
[GUI] [Msg] Follow offset service on [/gui/follow/offset]
[GUI] [Msg] View angle service on [/gui/view_angle]
[GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[GUI] [Msg] View collisions service on [/gui/view/collisions]
[GUI] [Msg] Added plugin [3D View] to main window
[GUI] [Msg] Loaded plugin [GzScene3D] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-5/plugins/gui/libGzScene3D.so]
[GUI] [Msg] Using world control service [/world/quadcopter/control]
[GUI] [Msg] Listening to stats on [/world/quadcopter/stats]
[GUI] [Msg] Added plugin [World control] to main window
[GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-5/plugins/libWorldControl.so]
[GUI] [Msg] Listening to stats on [/world/quadcopter/stats]
[GUI] [Msg] Added plugin [World stats] to main window
[GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-5/plugins/libWorldStats.so]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[Msg] Found no publishers on /stats, adding root stats topic
[Msg] Found no publishers on /clock, adding root clock topic
[Msg] Serving scene information on [/world/quadcopter/scene/info]
[Msg] Serving graph information on [/world/quadcopter/scene/graph]
[Msg] Serving full state on [/world/quadcopter/state]
[Msg] Serving full state (async) on [/world/quadcopter/state_async]
[Msg] Publishing scene information on [/world/quadcopter/scene/info]
[Msg] Publishing entity deletions on [/world/quadcopter/scene/deletion]
[Msg] Publishing state changes on [/world/quadcopter/state]
[Msg] Publishing pose messages on [/world/quadcopter/pose/info]
[Msg] Publishing dynamic pose messages on [/world/quadcopter/dynamic_pose/info]
[Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v115ModelE], which doesn't have `operator<<`. Component will not be serialized.
[Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v115WorldE], which doesn't have `operator<<`. Component will not be serialized.
[Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v115ModelE], which doesn't have `operator<<`. Component will not be serialized.
[GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v115WorldE], which doesn't have `operator>>`. Component will not be deserialized.
[GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v115ModelE], which doesn't have `operator>>`. Component will not be deserialized.
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] setting PWM_AUX_OUT none
INFO  [navigator] Mission #3 loaded, 1 WPs
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2022-04-23/19_26_05.ulg   
INFO  [logger] Opened full log file: ./log/2022-04-23/19_26_05.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh> INFO  [tone_alarm] home set
INFO  [tone_alarm] notify positive
WARN  [mc_pos_control] invalid setpoints
[GUI] [Wrn] [Application.cc:757] [QT] file::/Gazebo/GazeboDrawer.qml:175:3: QML Dialog: Binding loop detected for property "implicitWidth"
[GUI] [Wrn] [Application.cc:757] [QT] file::/Gazebo/GazeboDrawer.qml:175:3: QML Dialog: Binding loop detected for property "implicitWidth"
[GUI] [Wrn] [Application.cc:757] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"

[Jaeyoung-Lim]

@spajder16 Which ignitiom gazebo version do you have?

[spajder16]

I think is edifice but I might be wrong.

[matheus-ps]

I currently have the same Ignition Version (5.4) and I'm getting the same behavior (simulation starts without drone).

[Edekheh]

Same error for me, ignition starts without drone, but everything working (even with sitl_rtps and micrortps agent with QGroundControl). For make px4_sitl_rtps gazebo or make px4_sitl gazebo everything works fine.

[Jaeyoung-Lim]

@spajder16 @matheus-ps @Edekheh Unfortunately I cannot reproduce the problem. Could you explain what your system setup is?

For me, Ubuntu 20.04 Ignition Gazebo 5 works on myside