Gazebo simulation: drone in Gazebo not moving but frames in Rviz moving

[ZhongmouLi]

Hi Guys,

I just met a very strange case when I used this package in px4-mavros-gazebo simulation.

Following the instructions here, I am able to run both

• roslaunch px4 posix_sitl.launch to get a Gazebo world with a iris drone model

• roslaunch geometric_controller sitl_trajectory_track_circle.launch to run the controller without error.

But, the results are so strange:

1. drone frame in Rviz moves while drone in Gazebo does not move at all
2. I use Qgroundcontrol to arm the drone, but it cannot be switched to offboard mode

This is so strange to me. Do you have any ideas how to solve it?

[ZhongmouLi]

This is solved by COM_RCL_EXCEPT=4.

[Jaeyoung-Lim]

@ZhongmouLi Thanks for the update!