unknow model"quad_f450_camera"

[wmq-wwk0519]

when i use the command "roslaunch mavros_off_board mavros_posix_sitl.launch",all things are right.But an error was happened,"unknow model 'quad_f450_camera'",so my gazebo could not open. i want to know what i need to do !

[MikeS96]

Hi @wmq-wwk0519 ,

You need to add the 'quad_f450_camera' model as suggested here. The main files are provided in the Repo. This is the direction of the SDF file of the vehicle. Here you can find the meshes.

The steps left are:

• Create a folder in 'Tools/sitl_gazebo/models' named 'quad_f450_camera'.
• Add in that folder the SDF file, meshes and config file.
• Follow the world step where you need to create a world file with the same name of the model for compilation.
• Create an airframe init file in 'ROMFS/px4fmu_common/init.d-posix', mine is named '1076_quad_f450_camera', you can change the four numbers but the model name has to be the same.
• Add the vehicle to compilation in 'platforms/posix/cmake/sitl_target.cmake' in the command command set(models …

I hope it helps.

[offjangir]

@MikeS96 can you add the airframe init file and the airframe file if possible. I am having trouble writing those

[MikeS96]

Hi @offjangir

The content of my airframe init file is as follows:

#!/bin/sh
#
# @name Solo
#
# @type Quadrotor
#

sh /etc/init.d/rc.mc_defaults

if [ $AUTOCNF = yes ]
then
    param set MC_PITCHRATE_P 0.15
    param set MC_ROLLRATE_P 0.15
fi

set MIXER quad_x

The aforementioned lines are pasted in a file named 1076_quad_f450_camera and it is moved into the path ROMFS/px4fmu_common/init.d-posix/airframes. The meshes of the model are located in mavros_off_board/meshes and the SDF file + Config file is in mavros_off_board/sdf. These have to be pasted in the folder Tools/sitl_gazebo/models/quad_f450_camera with the following structure.

├── meshes
│   ├── base_link.STL
│   ├── cam_link.STL
│   ├── propeller_0.STL
│   └── propeller_1.STL
├── model.config 
└── quad_f450_camera.sdf

Finally, the vehicle compilation is just the name of the vehicle in the file platforms/posix/cmake/sitl_target.cmake, in my file the lines where it is pasted looks as follows.

# create targets for each viewer/model/debugger combination
set(viewers none jmavsim gazebo)
set(debuggers none ide gdb lldb ddd valgrind callgrind)
set(models none shell
    if750a iris iris_opt_flow iris_opt_flow_mockup iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps solo typhoon_h480 **quad_f450_camera**
    plane plane_cam plane_catapult
    standard_vtol tailsitter tiltrotor
    rover boat
    uuv_hippocampus)
set(worlds none empty warehouse sonoma_raceway)

I hope this clarify your doubts.

[offjangir]

Thanks a lot...